Internal logistics system and guided vehicles and self-propelled load carriers used thereby

Abstract

An internal logistics system and a guided load carrier and a self-propelled load cart used therein. The guided load carrier is remote-controlled or autonomous and configured to be connected to the self-propelled load cart and to guide and control the propulsion of the self-propelled load cart so that the self-propelled load cart can transport a load in the internal logistics system. The guided load carrier comprises a mechanical connector for mechanically connecting the guided load carrier to the self-propelled load cart and a connector for transmitting data. The guided load carrier is configured to receive navigation data from the self-propelled load cart using the connector for transmitting data, the navigation data being in the form of information on the movement of a drive wheel of the self-propelled load cart obtained from at least one motor of the self-propelled load cart or from at least one encoder connected to the drive wheel, and the guided load carrier being smaller than the self-propelled load cart.

Description

[0001] This application is a divisional application of the invention patent application filed on December 14, 2021, with application number 202180084840.9 and entitled "Internal Logistics System and Guided Vehicle and Self-Propelled Carrier Trolley Used Therein". Technical Field

[0002] The present invention relates to a remotely controlled or autonomously guided vehicle for guiding a self-propelled carrier trolley in one or more internal logistics systems, and the self-propelled carrier trolley used in such systems. Background Technology

[0003] All forms of handling of manufactured goods, materials, or items require internal logistics—that is, logistics within a defined area such as a factory, warehouse, or site. Traditionally, forklifts have been the primary carrier for individually transporting small items and pallets of larger items. However, forklifts have many limitations. Forklifts are generally limited to lifting items specifically suited for forks, such as pallets. Forklifts also require relatively large clearances to operate, and forklifts are a source of many workplace accidents. Therefore, forklifts are not suitable for use in environments with many human workers. Consequently, forklifts are being replaced by handcarts pushed by human workers in many environments. Handcarts are less likely to cause accidents and are better suited to the specific purpose or size of the items being transported. However, handcarts also have disadvantages, such as limitations on the maximum load capacity that human operators can handle, and the logistics system becoming relatively labor-intensive. Summary of the Invention

[0004] The purpose is to mitigate, alleviate or eliminate one or more of the aforementioned defects and disadvantages in the art, either alone or in any combination.

[0005] According to one aspect, a guided vehicle for an internal logistics system is provided. The guided vehicle is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley, guiding and controlling the propulsion of the self-propelled carrier trolley so that the self-propelled carrier trolley can transport a load within the internal logistics system. The guided vehicle includes: a mechanical connector for mechanically connecting the guided vehicle to the self-propelled carrier trolley; and a connector for transmitting data. The guided vehicle is configured to receive navigation data from the self-propelled carrier trolley using the connector for transmitting data. The navigation data is in the form of information about the movement of the drive wheel obtained from at least one motor of the self-propelled carrier trolley or from at least one encoder connected to the drive wheel of the self-propelled carrier trolley, and wherein the guided vehicle is smaller than the self-propelled carrier trolley.

[0006] By receiving information about the movement of the drive wheels of the self-propelled load, the guide vehicle can keep track of the exact movement of the self-propelled load trolley, which enables the guide vehicle to safely and autonomously guide and navigate the self-propelled load trolley.

[0007] According to one embodiment, the mechanical connector is configured to connect via horizontal movement along the floor plane between the guide carrier and the self-propelled carrier trolley.

[0008] According to one embodiment, the mechanical connector includes an actuator for vertically moving the mechanical connector relative to the floor surface and thereby mechanically connecting the guide carrier to the self-propelled carrier trolley.

[0009] According to one embodiment, the guide vehicle includes an energy storage device, and wherein the guide vehicle is configured to transmit electrical energy from the energy storage device to the self-propelled carrier trolley via an electrical connector for at least one of: propelling the self-propelled carrier trolley and handling a load placed on the self-propelled carrier trolley.

[0010] According to one embodiment, the mechanical connector includes a recess or protrusion for connection with a corresponding recess or protrusion located on the self-propelled carrier trolley.

[0011] According to one embodiment, the guide vehicle further includes at least one of the following: a connector for pressurized fluid, enabling the pressurized fluid to be transferred to or from the guide vehicle; and a connector for transmitting visible light from the guide vehicle to the self-propelled carrier trolley.

[0012] According to one embodiment, at least one of the electrical connector, the connector for pressurizing fluid, and the connector for transmitting visible light is part of an integrated connector together with the mechanical connector, thereby enabling simultaneous connection of at least one of the mechanical connector and the electrical connector, the connector for pressurizing fluid, and the connector for transmitting visible light.

[0013] According to one embodiment, the guided vehicle is of a certain size, allowing it to be placed within the space occupied by the self-propelled carrier trolley.

[0014] According to one embodiment, the guided vehicle is configured to be placed at least partially beneath the load carried by the self-propelled carrier trolley.

[0015] According to one embodiment, the total length of the guided vehicle is less than 50% of the total length of the self-propelled carrier trolley.

[0016] According to one embodiment, the weight of the guided vehicle is less than 50% of the weight of the self-propelled carrier.

[0017] According to one embodiment, the space occupied by the guided vehicle is less than 50% of the space occupied by the self-propelled carrier trolley.

[0018] According to one embodiment, the guide vehicle is configured to receive an emergency stop signal generated by an emergency switch on the self-propelled carrier trolley, the emergency switch being configured to be pressed by an operator, and wherein the guide vehicle is configured to control the propulsion of the self-propelled carrier trolley based on the received stop signal in order to stop the self-propelled carrier trolley.

[0019] According to one embodiment, the guide vehicle is configured to be lifted completely off the floor surface.

[0020] According to one embodiment, the guided vehicle includes an actuator for lifting the guided vehicle relative to the self-propelled carrier.

[0021] A self-propelled carrier trolley for use in an internal logistics system is further provided. The self-propelled carrier trolley is configured to connect to and be guided and controlled by a guide vehicle according to any one of the embodiments described herein, such that the self-propelled carrier trolley can transport a load within the internal logistics system. The self-propelled carrier trolley includes: at least one motor connected to drive wheels configured to engage a floor surface for propulsion; a mechanical connector for mechanically connecting the self-propelled carrier trolley to the guide vehicle; and a connector for data transmission. The self-propelled carrier trolley is configured to send navigation data to the guide vehicle using the data transmission connector, the navigation data being in the form of information about the movement of the drive wheels obtained from at least one motor of the self-propelled carrier trolley or from at least one encoder connected to the drive wheels of the self-propelled carrier trolley. The self-propelled carrier trolley is larger than the guide vehicle.

[0022] According to one embodiment, the self-propelled carrier includes lighting elements configured to be illuminated by visible light, which is transmitted from the guide vehicle via a connector for transmitting the visible light.

[0023] According to one embodiment, the self-propelled carrier trolley includes at least one emergency switch configured to be pressed by an operator. The self-propelled carrier trolley is configured to transmit a signal from the at least one emergency switch to the guided vehicle.

[0024] According to one embodiment, the self-propelled load-bearing trolley is configured to carry a load in the range of 300 kg to 2000 kg.

[0025] According to one embodiment, the self-propelled carrier trolley includes support structures that connect the frame of the self-propelled carrier trolley to the wheels of the self-propelled carrier trolley, and wherein, when the support structures are mounted to the frame, the support structures have a first length along a first axis parallel to a plane, and wherein the support structures further have a second length along an axis parallel to the first axis, the second length being less than 1 / 3 of the length of the first length.

[0026] According to one embodiment, the mechanical connector includes a recess or protrusion for connection with a corresponding recess or protrusion located on the self-propelled carrier trolley.

[0027] According to one embodiment, the self-propelled carrier trolley further includes at least one of the following: a connector for pressurized fluid, enabling the pressurized fluid to be transferred to or from the self-propelled carrier trolley; and a connector for transmitting visible light from the guide vehicle to the self-propelled carrier trolley.

[0028] According to one embodiment, the total length of the self-propelled carrier trolley exceeds 200% of the total length of the guided vehicle.

[0029] According to one embodiment, the weight of the self-propelled carrier trolley exceeds 200% of the weight of the guided vehicle.

[0030] According to one embodiment, the space occupied by the self-propelled carrier exceeds 200% of the space occupied by the guided vehicle.

[0031] According to one embodiment, the guide vehicle is configured to be lifted completely off the floor surface.

[0032] According to one embodiment, the self-propelled carrier trolley includes an actuator for lifting the guide vehicle relative to the self-propelled carrier trolley.

[0033] According to another aspect, a guided vehicle for an internal logistics system is provided. The guided vehicle is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley, guiding and controlling the propulsion of the self-propelled carrier trolley so that the self-propelled carrier trolley can transport a load within the internal logistics system. The guided vehicle includes: at least one drive wheel configured to engage a floor surface for propulsion; at least one additional wheel; and a mechanical connector for mechanically connecting the guided vehicle to the self-propelled carrier trolley. The guided vehicle further includes a transceiver configured to perform at least one of the following: transmitting navigation data to and receiving navigation data from the self-propelled carrier trolley. The guide vehicle is configured to maintain constant traction between the at least one drive wheel and the floor surface when the guide vehicle is connected to the self-propelled carrier trolley via the mechanical connector, such that constant traction between the at least one drive wheel and the floor surface can be maintained when the interconnected guide vehicle and the self-propelled carrier trolley travel over an uneven floor surface.

[0034] By maintaining constant traction, the guide vehicle can keep track of the exact movement of the self-propelled carrier, which enables the guide vehicle to safely and autonomously guide and navigate the self-propelled carrier.

[0035] According to one embodiment, the guide vehicle is configured such that when the guide vehicle is connected to the self-propelled carrier, at least one additional wheel is lifted off the floor surface while the drive wheel remains in contact with the floor surface. Lifting the additional wheel increases the traction between the floor surface and the drive wheels, which helps ensure that the drive wheels have constant traction.

[0036] According to one embodiment, the guide vehicle includes at least one of an actuator and an elastic element configured to lift the additional wheel off the floor surface when the guide vehicle is connected to the self-propelled carrier trolley.

[0037] According to one embodiment, the guide vehicle includes at least one of an actuator and an elastic element configured to act as a suspension for the additional wheel when the guide vehicle is connected to the self-propelled carrier trolley. The elastic element configured to act as a suspension for the additional wheel can be configured to be substantially unaffected by the weight of the guide vehicle alone and to elastically deform by the combined weight of the guide vehicle and the self-propelled carrier trolley, such that when the guide vehicle is connected to the self-propelled carrier trolley, the elastic element acts as a suspension for the additional wheel.

[0038] According to one embodiment, the mechanical connector is configured to connect via horizontal movement along the floor plane between the guide carrier and the self-propelled carrier, meaning that the guide carrier can be mechanically connected to the self-propelled carrier.

[0039] According to one embodiment, the mechanical connector includes an actuator for vertically moving the mechanical connector relative to the floor surface and thereby mechanically connecting the guide carrier to the self-propelled carrier trolley.

[0040] The guided vehicle may further include an electrical connector for electrically connecting the guided vehicle to the self-propelled carrier trolley.

[0041] The guided vehicle may further include an energy storage device, and the guided vehicle may be configured to transfer electrical energy from the energy storage device to the self-propelled carrier trolley via the electrical connector for at least one of the following: propelling the self-propelled carrier trolley, and handling a load placed on the self-propelled carrier trolley.

[0042] According to one embodiment, the mechanical connector includes a recess or protrusion for engagement with a corresponding recess or protrusion located on the self-propelled carrier trolley. The recess or protrusion includes an inclined surface configured to provide a lifting force to lift the additional wheel from the floor surface. This enables the additional wheel to be lifted from the floor surface without the use of an additional actuator.

[0043] The guide vehicle may further include at least one of the following: a connector for pressurizing fluid, enabling the pressurized fluid to be transferred to or from the guide vehicle; and a connector for transmitting visible light from the guide vehicle to the self-propelled carrier trolley.

[0044] The electrical connector, the connector for pressurizing fluid, and the connector for transmitting visible light may be part of an integrated connector together with the mechanical connector, thereby enabling simultaneous connection of at least one of the mechanical connector and the electrical connector, the connector for pressurizing fluid, and the connector for transmitting visible light.

[0045] According to one embodiment, the guided vehicle is smaller than the self-propelled carrier and is configured to be placed within the space occupied by the self-propelled carrier and below the load carried by the self-propelled carrier.

[0046] A self-propelled load-carrying trolley for use in an internal logistics system is further provided. The self-propelled load-carrying trolley is configured to connect to and be guided and controlled by a guide vehicle, enabling it to transport loads within the internal logistics system. The self-propelled load-carrying trolley includes at least one motor connected to a drive wheel configured to engage a floor surface for propulsion. The self-propelled load-carrying trolley further includes a mechanical connector for mechanically connecting it to the guide vehicle. When the guide vehicle is placed within the space occupied by the self-propelled load-carrying trolley and connected to it, the self-propelled load-carrying trolley provides an unobstructed visibility sector in a first plane for at least one navigation sensor placed on the guide vehicle. In this first plane, the unobstructed visibility exceeds 100 degrees in a first direction and exceeds 100 degrees in the opposite direction.

[0047] The self-propelled carrier may further include lighting elements configured to be illuminated by visible light, which is transmitted from the guide vehicle via a connector for transmitting the visible light. The visible light-illuminated lighting elements are highly reliable, durable, cost-effective, and require no maintenance.

[0048] The self-propelled carrier trolley may further include at least one emergency switch configured to be pressed by an operator. The self-propelled carrier trolley may then be configured to transmit a signal from the at least one emergency switch to the guided vehicle.

[0049] A further cleaning nozzle is provided for cleaning navigation sensors on an autonomous vehicle. The cleaning nozzle includes: an inlet for receiving cleaning fluid; a channel fluidly connected to the inlet; and a plurality of outlets distributed within the channel. The channel has a curved extension, and the plurality of outlets are positioned along the curved extension such that the flow direction of the plurality of outlets changes with the curved extension. This cleaning nozzle enables cleaning of the navigation sensor from multiple directions without moving the cleaning nozzle.

[0050] According to one embodiment, the curved extension extends at least 90°, preferably at least 180°, and most preferably about 270°, so that most of the navigation sensor can be cleaned simultaneously.

[0051] According to one embodiment, the plurality of outlets are located on the inside of the curved extension.

[0052] According to one embodiment, the flow direction of the plurality of outlets is configured to guide the cleaning fluid toward the navigation sensor from different angles along the curved extension.

[0053] According to one embodiment, the curved extension of the channel extends primarily in a first plane, and the flow direction of the plurality of outlets is configured to guide the cleaning fluid at least partially out of the first plane.

[0054] According to one embodiment, the flow direction of the plurality of outlets has at least two different flow direction angles relative to the first plane, such that the fluid flow cleans a large portion of the navigation sensor.

[0055] According to one embodiment, the curvature of the extension of the channel is about 10 mm to 100 mm, preferably about 20 mm to 80 mm.

[0056] The cleaning fluid can be at least one of the following: pressurized air, gas, and liquid.

[0057] The nozzle may include a receiving area for receiving navigation sensors to be cleaned, and the receiving area is arranged on the inside of the curved extension of the channel.

[0058] A further provision provides a navigation sensor cleaning system for a charging station of an autonomous vehicle. The navigation sensor cleaning system includes: a cleaning nozzle according to any one of the foregoing embodiments; a cleaning fluid source for supplying cleaning fluid to the inlet; and a control unit for activating the cleaning system upon detecting the presence of a navigation sensor to be cleaned.

[0059] A method for cleaning navigation sensors on an autonomous vehicle is further provided. The method includes the steps of: detecting the presence of a navigation sensor in a navigation sensor cleaning system; providing cleaning fluid to the inlet of a cleaning nozzle; guiding the flow of the cleaning fluid along a curved extension of a channel in the cleaning nozzle; and spraying the cleaning fluid through a plurality of outlets distributed in the channel and having a plurality of flow directions directed toward the navigation sensor.

[0060] According to one embodiment, at least one of these steps is performed during the charging process of the autonomous vehicle, regardless of whether the autonomous vehicle is stationary.

[0061] According to one embodiment, the cleaning nozzle is used to perform the steps of guiding and spraying the cleaning fluid.

[0062] It should be noted that, unless there is an obvious contradiction, any aspect or part of an aspect, as well as any method or part of a method, or any unit, feature, or system, may be combined in any applicable manner. Attached Figure Description

[0063] The invention will be described in more detail by way of example with reference to the accompanying schematic diagrams, in which:

[0064] Figure 1 Slightly below and from the left, the guide vehicle and self-propelled carrier trolley used for the internal logistics system are shown.

[0065] Figure 2a The left-hand plan view shows the guided vehicles and self-propelled load-bearing trolleys used in the internal logistics system.

[0066] Figure 2b The elevation view shows the guided vehicles and self-propelled load-bearing trolleys used in the internal logistics system.

[0067] Figure 3 The self-propelled load-bearing trolley used for the internal logistics system is shown in a plan view from the rear.

[0068] Figure 4 A view from the left shows a guided vehicle used for the internal logistics system.

[0069] Figure 5 The rear elevation view shows the cleaning nozzles and navigation sensors.

[0070] Figure 6 The cleaning nozzle is shown in elevation slightly from the left.

[0071] Figure 7 The cleaning nozzle is shown in elevation slightly from the left.

[0072] Figure 8 The cleaning nozzle is shown from below and slightly to the right.

[0073] Figure 9 A flowchart illustrating a method for cleaning navigation sensors is shown. Detailed Implementation

[0074] The invention will now be described more fully below with reference to the accompanying drawings, in which embodiments of the invention are illustrated. However, the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness.

[0075] In practicing the claimed invention, those skilled in the art can understand and implement variations of the disclosed embodiments by studying the accompanying drawings, the disclosure, and the appended claims.

[0076] A logistics system is provided that uses a guided vehicle to move a self-propelled load-bearing trolley, as well as the self-propelled load-bearing trolley for moving loads in such a system and the guided vehicle for guiding and controlling the self-propelled load-bearing trolley in the system. This logistics system can be used in internal logistics systems where materials, goods, or articles need to be transported efficiently and / or autonomously.

[0077] Figure 1 The diagram illustrates the guide vehicle 100 used in an internal logistics system when it is positioned below and connected to a self-propelled carrier trolley 200. The view is slightly below and from the left. The guide vehicle 100 is remotely controlled and / or autonomous and is configured to guide and control the propulsion of the self-propelled carrier trolley 200, enabling the self-propelled carrier trolley 200 to transport loads within the internal logistics system when connected to the guide vehicle 100. Figure 1 In the illustrated embodiment, the guide vehicle 100 includes two drive wheels 103 configured to engage a floor surface for propulsion. The guide vehicle 100 further includes at least one additional wheel 121 in the form of a swivel caster.

[0078] The guided vehicle 100 further includes a mechanical connector 170 for mechanically connecting the guided vehicle 100 to a mechanical connector 270 of the self-propelled carrier trolley 200.

[0079] exist Figure 1 In the illustrated embodiment, mechanical connector 270 is hinged at pivot point 265, such that when guide carrier 100 is connected to self-propelled carrier trolley 200, guide carrier 100 can pivot relative to self-propelled carrier trolley 200. Mechanical connectors 170 and 270 are further referenced. Figure 3 and Figure 4 Describe it.

[0080] The guided vehicle 100 further includes a transceiver (see further reference) Figure 3 and Figure 4 (As described below), the transceiver is configured to send navigation data to and receive navigation data from the self-propelled carrier trolley 200. The navigation data may, for example, come from navigation sensors (such as those located on the guided vehicle 100, further reference...) Figure 4 Data from a lidar unit (shown on the guide unit 100 or located on the self-propelled carrier trolley 200) is included. Navigation data may also be information about the surrounding environment received by the guide unit 100 or the self-propelled carrier trolley 200 from an external source, such as a factory or warehouse layout, or from fixed or mobile external navigation sensors (such as a fixed lidar, IR sensor, or lidar on another remotely controlled or autonomous vehicle). Navigation information may also be information about the movement of the drive wheels 103, 203 of the guide vehicle 100 and / or the self-propelled carrier trolley 200. Information about the movement of the drive wheels 103, 203 may preferably be obtained from an encoder connected to the drive wheels 103, 203. Navigation information may also be an emergency stop signal.

[0081] An emergency stop signal can be generated, for example, by an operator pushing an emergency stop button 280 located on the self-propelled carrier trolley 200. The emergency stop signal can then be transmitted via an electrical connection between the self-propelled carrier trolley 200 and the guide vehicle 100, so that the guide vehicle 100 can control the advancement of the self-propelled carrier trolley 200 to stop it.

[0082] Navigation information can also be related to the load of the self-propelled carrier trolley 200 or to surface conditions or traffic conditions.

[0083] exist Figure 1 In the illustrated embodiment, the guide vehicle 100 is configured to maintain constant traction between the drive wheel 103 and the floor surface when the guide vehicle 100 is connected to the self-propelled carrier trolley 200 via mechanical connectors 170, 270.

[0084] exist Figure 1 In the illustrated embodiment, when the guide carrier 100 is connected to the self-propelled carrier trolley 200, the constant traction between the drive wheel 103 and the floor surface is maintained by lifting the auxiliary wheel 121 from the floor surface while keeping the drive wheel 103 in contact with the floor surface. Alternatively, the auxiliary wheel 121 is suspended by an elastic element, such as a spring or hydraulic or pneumatic suspension. The suspension for the auxiliary wheel 121 is configured to be substantially unaffected by the weight of the guide carrier 103 alone and to elastically deform under the combined weight of the guide carrier 100 and the self-propelled carrier trolley 200. This means that if, for example, an uneven surface adds pressure from the floor to the auxiliary wheel 121, the auxiliary wheel 121 will move in the vertical direction. This means that the auxiliary wheel 121 is protected from the large strain that would otherwise be caused by the large weight of the self-propelled carrier trolley 200 on the auxiliary wheel 121 and the mechanical connectors 170, 270.

[0085] In embodiments where the additional wheel 121 is lifted from the floor surface, such lifting can be achieved, for example, by a linear electric actuator that is activated when the guide carrier 100 is connected to the self-propelled carrier trolley 200 to lift the additional wheel 121.

[0086] The self-propelled trolley 200 has two drive wheels 203 and four swivel casters 221, with essentially one swivel caster at each of the four corners. The swivel casters 221 are fixed to support structures 230a, 230b, which are in turn fixed to the frame 210 of the self-propelled trolley 200 by means of screws. An emergency stop button 280 is also fixed to the frame 210 of the self-propelled trolley 200.

[0087] The mechanical connector 270 of the self-propelled carrier trolley 200 includes a protrusion for engaging with a corresponding recess of the self-propelled carrier trolley 100 (this is further referenced). Figure 3 and Figure 4 (Description to follow). In one embodiment, the protrusion includes an inclined surface configured to provide a lifting force that lifts the additional wheel 121 from the floor surface.

[0088] exist Figure 1 In the illustrated embodiment, drive wheel 103 is located at a distance d from pivot point 265. Therefore, drive wheel 103 can pivot up and down as the interconnected guide vehicle 100 and self-propelled carrier trolley 200 travel over uneven surfaces, while maintaining constant traction between drive wheel 103 of guide vehicle 100 and the floor surface. In embodiments where additional wheel 121 is lifted from the floor surface, the weight carried by drive wheel 103 increases due to the lifting of additional wheel 121, which means an increase in the force generating traction between drive wheel 103 and floor surface. This helps maintain constant traction between floor surface and drive wheel 103.

[0089] In an alternative embodiment, all wheels of the guide vehicle are lifted off the floor surface, thereby lifting the entire guide vehicle off the floor surface. This increases the weight of the self-propelled carrier, which in turn increases the force generating traction between the drive wheels of the self-propelled carrier and the floor surface. In embodiments where the entire guide vehicle is lifted off the floor surface, the guide vehicle is configured to receive navigation data from the self-propelled carrier in the form of information about the movement of the drive wheels of the self-propelled carrier, obtained from at least one motor of the self-propelled carrier or from at least one encoder connected to at least one drive wheel of the self-propelled carrier. Preferably, information about the movement of at least one drive wheel is received from two drive wheels of the self-propelled carrier, allowing for the evaluation of the steering and drive patterns of the self-propelled carrier. For lifting the guide vehicle, the guide vehicle may be equipped with actuators, such as linear actuators. In an alternative, the self-propelled carrier may be equipped with actuators, such as linear actuators.

[0090] Figure 2a It shows that according to Figure 1 The illustrated embodiment shows the guide vehicle 100 used in an internal logistics system when the guide vehicle 100 is placed below and connected to the self-propelled carrier trolley 200. This view is a plan view from the left-hand side of the interconnected guide vehicle 100 and self-propelled carrier trolley 200.

[0091] The self-propelled carrier trolley 200 has two drive wheels 203 and four swivel casters 221, with essentially one swivel caster at each of the four corners of the self-propelled carrier trolley 200. The swivel casters 221 are fixed to support structures 230a', 230b', which are in turn fixed to the frame 210 of the self-propelled carrier trolley 200 by means of screws. An emergency stop button 280 is also fixed to the frame 210 of the self-propelled carrier trolley 200 and electrically connected to a mechanical connector that connects the self-propelled carrier trolley 200 to the guide vehicle 100, so that an emergency stop signal from the emergency stop button 280 on the frame of the self-propelled carrier trolley 200 is sent to the guide vehicle 100, allowing the guide vehicle 100 to act according to the emergency stop signal and control the propulsion of the self-propelled carrier trolley 200 accordingly.

[0092] Two support structures 230a' and 230b' are configured such that the self-propelled carrier trolley 200 provides an unobstructed visibility sector in the first plane P1 for a navigation sensor 101 in the form of a lidar placed on the guide vehicle 100. When the guide vehicle 100 is placed within the space occupied by the self-propelled carrier trolley 200 and connected to it, this unobstructed visibility sector allows the two lidars (front and rear) of the guide vehicle 100 to function as navigation sensors 101 for interconnecting the guide vehicle 100 and the self-propelled carrier trolley 200. Figure 2b Furthermore, it is shown that in the first plane P1, unobstructed visibility exceeds 100 degrees in the first forward direction and exceeds 100 degrees in the opposite rearward direction. Figure 2a and Figure 2b In the illustrated embodiment, the self-propelled carrier trolley 200 provides unobstructed visibility of more than 120 degrees in a first forward direction and more than 120 degrees in the opposite rearward direction.

[0093] Unobstructed visibility sectors are achieved by centrally fixing support structures 230a and 230b to the frame 210 of the self-propelled carrier trolley 200, ensuring that the front and rear sections, as well as the corners of plane P1, are essentially unobstructed. Figure 2aIn the illustrated embodiment, support structures 230a' and 230b' obstruct the visibility of the lidar along approximately one-third of the length L of the self-propelled carrier trolley 200 in the first plane P1. A preferred configuration is that support structures 230a' and 230b' obstruct the visibility of the lidar along a distance less than half the length L of the self-propelled carrier trolley 200 in the first plane P1. In other words, support structures 230a' and 230b' are configured such that when mounted to frame 210, they have a first length SL1 along a first axis parallel to plane P1. Support structures 230a' and 230b' further have a second length SL2 along an axis parallel to the first axis, which is less than one-third of the length of the first length SL1.

[0094] exist Figure 2a In the illustrated embodiment, the corner of the self-propelled carrier trolley 200 includes a support element 271 for supporting a European-style pallet, such that the European-style pallet remains fixed to the self-propelled carrier trolley 200 as it moves. In alternative embodiments, the support element 271 in the corner may be omitted or replaced by elements for securing other structures to the self-propelled carrier trolley 200 (such as shelving or racking systems) or any element suitable for securing or supporting goods being transported by the self-propelled carrier trolley 200.

[0095] In the embodiment shown in Figure 2, the corners of the self-propelled carrier trolley 200 include lighting elements 272 configured to be illuminated by visible light, which is transmitted from the guide carrier 100 via a connector for transmitting visible light (further reference). Figure 3 (Describe it).

[0096] Figure 2b The diagram shows the interconnected guide vehicle 100 and the self-propelled carrier 200 when the guide vehicle 100 is placed within the space occupied by the self-propelled carrier 200 and connected to the self-propelled carrier 200. Figure 2b In the view, the top surface and rear portion of frame 210 have been removed to show unobstructed visibility sectors S1 and S2. In the first plane ( Figure 2a In P1), the unobstructed visibility sectors S1 and S2 exceed 100 degrees in the first forward direction and also exceed 100 degrees in the opposite rearward direction. Figure 2b In the illustrated embodiment, the self-propelled carrier trolley 200 provides a first unobstructed visibility sector S1 of more than 120 degrees in a first forward direction and a second unobstructed visibility sector S2 of more than 120 degrees in the opposite rearward direction.

[0097] Unobstructed visibility sectors S1 and S2 are centrally fixed to the frame 210 of the self-propelled carrier trolley 200 via support structures 230a', 230a'', 230b', and 230b'', so that the front and rear portions as well as the corners of the plane are essentially unobstructed.

[0098] Figure 3 The self-propelled carrier trolley 200 is shown in a rear view. The mechanical connector 270 of the self-propelled carrier trolley 200 is located at the center below the frame 210 of the self-propelled carrier trolley 200. The mechanical connector 270 is configured to allow a guide vehicle to connect to the self-propelled carrier trolley 200. The mechanical connector 270 is located in the front portion and front half of the self-propelled carrier trolley 200 and faces rearward, such that when the guide vehicle is connected to the self-propelled carrier trolley 200, the guide vehicle will be substantially located at the center below and within the space occupied by the self-propelled carrier trolley 200.

[0099] Mechanical connector 270 is pivotally mounted to connecting support 231, which in turn is connected to support structures 230a', 230a''. When the guided vehicle is connected to the self-propelled carrier trolley 200, the pivotally mounted mechanical connector 270 allows the guided vehicle to pivot relative to the self-propelled carrier trolley 200.

[0100] The mechanical connector 270 includes two protruding connecting elements 273 adapted to engage with a connecting recess of a guide vehicle. Figure 3 In the illustrated embodiment, the protruding connecting element 273 guides the mechanical connector 270, ensuring that the interfaces of the mechanical connector 270 are aligned and securely connected. In embodiments where the additional wheels of the guide vehicle are lifted from the floor surface, this lifting can be achieved by interconnecting the mechanical connectors 270 via the protruding connecting elements 273, which include beveled surfaces on their upper distal surfaces for engaging elements secured to the additional wheels and thus providing a lifting force to lift the additional wheels from the floor surface.

[0101] Figure 3 The mechanical connector 270 shown in the embodiment includes two electrical connectors 274, 275 for electrically connecting a guided vehicle to a self-propelled carrier trolley. The first electrical connector 274 is configured to electrically connect the guided vehicle to a motor 205 or motor controller of the self-propelled carrier trolley 200, such that the guided vehicle can control the propulsion of the self-propelled carrier trolley 200. The first electrical connector can also be adapted to power devices used for handling loads placed on the self-propelled carrier trolley 200, such as rollers for loading / unloading.

[0102] The second electrical connector 275 is configured to transmit electrical energy for the purpose of charging the battery on the self-propelled carrier trolley 200 from the battery on the guided vehicle, or for the purpose of charging the battery on the guided vehicle from the battery on the self-propelled carrier trolley 200.

[0103] Figure 3 The mechanical connector 270 shown in the embodiment further includes a connector 276 for pressurized fluid, such that the pressurized fluid can be transferred from the guide vehicle to the self-propelled carrier trolley 200.

[0104] Figure 3 The mechanical connector 270 shown in the embodiment further includes a connector 277 for transmitting visible light from the guided vehicle to the self-propelled carrier trolley 200. Visible light transmits in optical fibers, and the connector 277 for transmitting visible light is a connector for connecting the optical fibers. Figure 3 In the illustrated embodiment, visible light is used to illuminate a lighting element 272 located at a corner of the self-propelled carrier trolley 200. The lighting element 272, illuminated by visible light passing through an optical fiber, is highly reliable, durable, cost-effective, and requires no maintenance.

[0105] Figure 3 The mechanical connector 270 shown in the embodiment further includes a connector 278 for transmitting data. The transmitted data may be, for example, navigation data to and from a guided vehicle. The navigation data may be, for example, navigation data from navigation sensors of the guided vehicle (in... Figure 2a The data is shown as 101. Navigation data can be information about the surrounding environment received by the guidance unit or information about the movement of the drive wheels 203 of the self-propelled carrier 200 obtained from the motor 205 of the self-propelled carrier 200 or from the encoder connected to the drive wheels 203. Navigation information can also be an emergency stop signal generated by the operator pushing the emergency stop button 280 located on the self-propelled carrier 200. The emergency stop signal is transmitted via a connector 278 for transmitting data from the self-propelled carrier 200 to the guide vehicle, so that the guide vehicle can control the propulsion of the self-propelled carrier 200 to stop the self-propelled carrier 200.

[0106] exist Figure 3 In the illustrated embodiment, electrical connectors 274 and 275, connector 276 for pressurized fluid, connector 277 for transmitting visible light, and connector 278 for transmitting data are part of an integrated connector that includes mechanical connector 270, thereby enabling simultaneous connection of mechanical connector 270 and the remaining connectors. However, in alternative embodiments, it is equally conceivable that some additional connectors are separate from mechanical connector 270.

[0107] The mechanical connector 270 further includes an elastic element (not shown) configured to lift the mechanical connector 270 when it is disconnected from the guide carrier, so that the mechanical connector 270 does not drag on the floor surface.

[0108] The elastic element can be further configured to generate an elastic downward force on the guide vehicle, such that the pressure on the wheels of the guide vehicle is increased through connection with the self-propelled carrier trolley 200. As an example, the elastic element can be a torsion spring configured to elastically bias the mechanical connector 270 in a direction of -5 degrees relative to the horizontal plane. Such a torsion spring can increase the force on the wheels of the guide vehicle by 10 N or more, or 30 N or more, which will increase the traction between the wheels of the guide vehicle and the floor surface, thereby helping to maintain the traction between the guide vehicle and the floor surface when the interconnected guide vehicle and self-propelled carrier trolley 200 travel over uneven floor surfaces.

[0109] Figures 1 to 3 In the embodiments, the guide carrier and the self-propelled carrier trolley 200 are configured to be interconnected by means of a mechanical connector 270 via horizontal movement along the floor plane between the guide carrier and the self-propelled carrier trolley 200. This essentially means that the guide carrier is driven beneath the self-propelled carrier trolley 200 and reaches the mechanical connector 270, which is then vertical at the correct distance from the floor surface. In cases where the floor surface is slightly uneven, the pivoting function of the hinged mechanical connector 270 allows the mechanical connector 270 to compensate for unevenness and to be turned into the correct position by means of the rounded or chamfered edges of the protruding element 273.

[0110] When the guided carrier and the self-propelled carrier trolley 200 are connected to each other by means of the mechanical connector 270, the mechanical connector 270, the guided carrier, and the self-propelled carrier trolley 200 are all horizontally aligned such that the upper surface 279a and the lower surface 279b of the mechanical connector 270 are parallel to the floor surface, the frame 210 of the self-propelled carrier trolley 200 is parallel to the floor surface, and the upper and lower surfaces of the guided carrier are parallel to the floor surface.

[0111] In an alternative embodiment (not shown), the guide vehicle and the self-propelled carrier trolley are configured to be interconnected by means of a mechanical connector via vertical movement. That is, the mechanical connector is a vertical mechanical connector positioned below the self-propelled carrier trolley and configured to receive a corresponding mechanical connector positioned on the top surface of the guide vehicle. In one embodiment, the mechanical connector includes an actuator for vertically moving the mechanical connector relative to the floor surface and thereby mechanically connecting the guide vehicle to the self-propelled carrier trolley. This actuator may be assisted by or replaced by at least one elastic element configured to apply a force between the guide vehicle and the self-propelled carrier trolley when the guide vehicle is connected to the self-propelled carrier trolley to increase the force between the drive wheels and the floor surface.

[0112] In an alternative embodiment, the active suspension of the guide vehicle's wheels lifts the guide vehicle to create a vertical interconnection between the guide vehicle and the self-propelled carrier trolley.

[0113] exist Figure 3 In the illustrated embodiment, the self-propelled carrier trolley 200 includes a computing unit configured to control the drive unit and thus drive the wheels, process inputs from sensors on the self-propelled carrier trolley 200, and handle communications. Preferably, the computing unit on the self-propelled carrier trolley 200 is a much smaller and simpler computing unit than that of a guided vehicle.

[0114] The self-propelled carrier trolley 200 may further include a wireless transceiver, which may be a wireless communication unit configured to transmit wireless communication and / or receive wireless communication from a guided vehicle and / or a mobile unit operated by a driver and / or a fixed wireless unit as part of a logistics system. The wireless communication may be, for example, information or data related to the driving or navigation of the self-propelled carrier trolley 200, or identification information or information about the load (weight, height, etc.) on the self-propelled carrier trolley 200.

[0115] The self-propelled carrier trolley 200 can be powered by the energy source of the guided vehicle. However, in alternative embodiments, the self-propelled carrier trolley can have its own energy source, which can be used alone or in combination with the energy source of the guided vehicle. The energy source of the self-propelled carrier trolley 200 can be a small battery capable of powering the self-propelled carrier trolley 200 for short-term movement (such as short-term movement directly controlled by the operator). The energy source of the self-propelled carrier trolley 200 can be configured to be charged by and from the guided vehicle via an electrical connector 275.

[0116] In alternative embodiments, it is also conceivable that the self-propelled carrier trolley 200 includes only a single drive wheel, which may be used solely for propulsion or for both steering and propulsion. In embodiments where the single drive wheel is used for both steering and propulsion, the single wheel may be rotated by means of, for example, a power actuator. In embodiments where the single drive wheel is configured solely for propulsion, the self-propelled carrier trolley may be steered by a guided vehicle.

[0117] In a conceivable embodiment, the self-propelled carrier trolley 200 can also be used as part of a warehouse system or as part of a station on an assembly line, which sometimes means that the self-propelled carrier trolley 200 will remain in the same location for extended periods, during which time the battery may run out. Having a sufficiently powerful energy source within the guided vehicle to power the self-propelled carrier trolley 200 eliminates this problem, as the self-propelled carrier trolley 200 can be easily powered by the guided vehicle's battery.

[0118] exist Figures 1 to 3 In the illustrated embodiment, the self-propelled carrying trolley 200 is configured to carry a single European pallet, and therefore the size of the top surface TS of the self-propelled carrying trolley 200 is appropriate for this purpose. However, in alternative embodiments, the size of the self-propelled carrying trolley 200 can be different, for example, for carrying two European pallets or for holding a rack or shelving system. In embodiments where the self-propelled carrying trolley 200 is made larger or for holding a larger load, the number of swivel casters can be increased accordingly.

[0119] In some embodiments, the corner module 271 may further include a contact sensor for generating an emergency stop signal in the event that the self-propelled carrier trolley 200 inadvertently comes into contact with an object or person. The emergency stop signal may be transmitted to a guide vehicle, enabling the guide vehicle to control the propulsion of the self-propelled carrier trolley 200.

[0120] Figure 4The guide vehicle 100 is shown in perspective from the left. The guide vehicle 100 has two drive wheels 103 located at the rear corner of the guide vehicle 100 and a swivel caster 121 located at the center of the front of the guide vehicle 100. The two drive wheels 103 enable control in all directions on a planar surface by changing the rotational speed and / or direction of the drive wheels 103. The drive wheels 103 are suitable for warehouse or factory environments and can be suitable for flat concrete floors. The drive wheels are connected to rotary encoders that sense the rotational speed of a particular drive wheel 103. The information derived from the rotary encoders can be used to compare the rotational speed of a particular drive wheel 103 with the speeds of other drive wheels(s) or the speed of a self-propelled carrier. Information on the movement of the drive wheels 103 is used as navigation information, and it is important to maintain traction between the floor surface and the drive wheels 103.

[0121] The guided vehicle 100 has a lower surface LS configured parallel to the floor surface. The top portion of the guided vehicle 100 includes an upper surface US, parallel to the lower surface LS, configured to house a first front lidar 101a and a second rear lidar 101b. The two lidars 101a and 101b are protected by a protective top plate 105. The two lidars generate images of the environment surrounding the guided vehicle 100, enabling the guided vehicle 100 to navigate and provide navigation information to and control a self-propelled carrier trolley.

[0122] A mechanical connector 170 is located at the front of the guide carrier 100, which is configured to interconnect with a mechanical connector of a self-propelled carrier trolley. The mechanical connector includes two recesses 173 configured to receive two protruding connecting elements of the self-propelled carrier trolley. The openings of the recesses 173 have chamfered surfaces configured to orient the protruding connecting elements for alignment with the mechanical connection.

[0123] exist Figure 4 In the illustrated embodiment, when the guide carrier 100 is connected to the self-propelled carrier trolley, a constant traction between the drive wheel 103 and the floor surface is maintained by the additional wheel 121 lifting it from the floor surface while the drive wheel 103 remains in contact with the floor surface. Alternatively, the additional wheel 121 is suspended by an elastic element, such as a spring or a hydraulic or pneumatic suspension. The suspension for the additional wheel 121 is configured to be substantially unaffected by the weight of the guide carrier 103 alone and to elastically deform under the combined weight of the guide carrier 100 and the self-propelled carrier trolley. This means that if, for example, an uneven surface increases the pressure from the floor on the additional wheel 121, the additional wheel 121 moves in the vertical direction.

[0124] In embodiments where the additional wheel 121 is lifted from the floor surface, this lifting can be achieved by interconnecting mechanical connectors 170 via protruding connecting elements, which include inclined surfaces to engage elements secured to the additional wheel 121 and thus provide a lifting force to lift the additional wheel 121 from the floor surface. Alternatively, the guide carrier 100 may include a linear electric actuator activated when the guide carrier 100 is connected to a self-propelled carrier trolley for lifting the additional wheel 121. The additional wheel 121 only needs to be lifted a short distance to generate increased pressure on the drive wheel 103 to increase traction between the drive wheel and the floor surface. This distance may be less than 40 mm, less than 30 mm, or less than 20 mm. The mechanical connector 170 may further include a locking member for securely locking the mechanical connector 170 to ensure the mechanical connection is secure. In embodiments where the guide vehicle 100 includes a wired actuator, the mechanical connector 170 can provide the wired actuator with a signal indicating that the mechanical connection is complete and secure so that the additional wheel 121 can be lifted.

[0125] Figure 4 As shown in the embodiments (and corresponding to) Figure 3 The mechanical connector 170 (as shown in the embodiment 270) includes two electrical connectors 174, 175 for electrically connecting the guide carrier 100 to the self-propelled carrier trolley. The first electrical connector 174 is configured to electrically connect the guide carrier 100 to a motor or motor controller of the self-propelled carrier trolley, such that the guide carrier 100 can control the propulsion of the self-propelled carrier trolley. The first electrical connector 174 can also be adapted to power equipment used for handling loads placed on the self-propelled carrier trolley, such as rollers for loading / unloading.

[0126] The second electrical connector 175 is configured to transmit electrical energy for the purpose of charging the battery on the self-propelled carrier trolley from the battery on the guide vehicle 100, or for charging the battery on the guide vehicle 100 from a charger or charging station connected to the power grid, or from the battery on the self-propelled carrier trolley or another guide vehicle 100.

[0127] Figure 3 The mechanical connector 170 shown in the embodiment further includes a connector 176 for pressurized fluid, such that the pressurized fluid can be transferred from the guide carrier 100 to the self-propelled carrier trolley.

[0128] Figure 3The mechanical connector 170 shown in the embodiment further includes a connector 177 for transmitting visible light from the guide carrier 100 to the self-propelled carrier trolley. Visible light travels in optical fibers, and the connector 177 for transmitting visible light is a connector for connecting the optical fibers. The visible light can be used to illuminate lighting elements located on the self-propelled carrier trolley. Lighting elements illuminated by visible light passing through optical fibers are highly reliable, durable, cost-effective, and require no maintenance.

[0129] Figure 4 The mechanical connector 170 shown in the embodiment further includes a connector 178 for transmitting data. The transmitted data may be, for example, navigation data to and from the guided vehicle. The navigation data may be, for example, data from lidar units 101a, 101b. The navigation data may also be information about the surrounding environment received by the guidance unit or information about the movement of the drive wheels of the self-propelled carrier trolley obtained from the motor of the self-propelled carrier trolley or from an encoder connected to the drive wheels. The navigation information may also be the movement of the drive wheels 103 of the guided vehicle 100 obtained from the motor of the guided vehicle or from an encoder connected to the drive wheels 103. The navigation information may also be an emergency stop signal generated by an operator pushing an emergency stop button located on the self-propelled carrier trolley. The emergency stop signal is transmitted via connector 178 for transmitting data from the self-propelled carrier trolley to the guided vehicle 100, allowing the guided vehicle 100 to control the propulsion of the self-propelled carrier trolley to stop it.

[0130] Figure 4 The guided carrier 100 shown is remotely controlled and / or autonomous, and is more capable, faster, and lighter than a self-propelled carrier trolley, but lacks load-bearing capacity. The guided carrier 100 is smaller than a self-propelled carrier trolley and is configured to be placed within the footprint of the self-propelled carrier trolley and below the load carried by the self-propelled carrier trolley. This allows complex, sensitive, and expensive components to be excluded from the self-propelled carrier trolley, making it easier to manufacture, more robust, and reducing maintenance costs. Because the carrier trolley is self-propelled, i.e., not pulled by the guided carrier 100, the guided carrier 100 can be made smaller, lighter, and faster, allowing it to be moved, for example, in a factory environment without posing many risks to human operators inevitably present when moving large and heavy carrier trolleys. The guided carrier 100 can also coordinate a larger number of self-propelled carrier trolleys. It can also enable one type of guided vehicle to guide and control a wide variety of self-propelled load-bearing trolleys. Figure 4 In the illustrated embodiment, the guided vehicle 100 is smaller than the self-propelled carrier trolley ( Figure 1The size of the guided vehicle is 50% of that of a 100-tonnage vehicle. The length of the guided vehicle is less than that of a self-propelled load-bearing trolley. Figure 1 The length of the guide vehicle 100 is 50% of that of the 200, and the width of the guide vehicle 100 is less than that of the self-propelled load-bearing trolley ( Figure 1 The width of the guide vehicle 100 is 50% of that of the self-propelled carrier trolley, the weight of the guide vehicle 100 is less than 50% of the weight of the self-propelled carrier trolley, and the space occupied by the guide vehicle 100 is less than 50% of the space occupied by the self-propelled carrier trolley. In an alternative embodiment, the length and / or width and / or weight and / or space occupied by the guide vehicle 100 may be less than that of the self-propelled carrier trolley (200). Figure 1 (200) 30% of the length and / or width and / or weight and / or space occupied.

[0131] The guided vehicle 100 has a maximum speed of at least 200% of the maximum speed of the self-propelled carrier trolley, which means that when not connected to the self-propelled carrier trolley, the guided vehicle 100 can move around more quickly in environments such as factories.

[0132] However, the guided vehicle 100 lacks load-bearing capacity and has a weight in the range of 10 kg to 100 kg, which means that the motor of the guided vehicle 100 only needs to generate enough torque to accelerate the guided vehicle 100 with a weight in the range of 10 kg to 100 kg, and the brake only needs to be able to decelerate the guided vehicle 100 with a weight in the range of 10 kg to 100 kg.

[0133] In comparison, reference Figures 1 to 3 The self-propelled load carrier described is configured to carry loads in the range of 300 kg to 2000 kg. This means that the motor of the self-propelled load carrier needs to generate enough torque to accelerate the self-propelled load carrier with a weight in the range of 300 kg to 2000 kg, and the brake of the self-propelled load carrier needs to be able to decelerate the self-propelled load carrier with a weight in the range of 300 kg to 2000 kg.

[0134] In one exemplary embodiment, the combined motor for propulsion of the self-propelled carrier trolley is configured to generate a maximum torque three times the maximum torque of the combined motor for propulsion of the guide vehicle 100.

[0135] In another exemplary embodiment, the combined motor for propulsion of the self-propelled carrier trolley is configured to generate a maximum torque six times the maximum torque of the combined motor for propulsion of the guide vehicle 100.

[0136] The guided vehicle 100 also reduces the complexity of the safety system requirements for the self-propelled carrier trolley because it can guide, navigate, sense the environment, and control the movement of the self-propelled carrier trolley.

[0137] exist Figure 4 In the illustrated embodiment, electrical connectors 174 and 175, connector 176 for pressurized fluid, connector 177 for transmitting visible light, and connector 178 for transmitting data are part of an integrated connector that includes mechanical connector 170, thereby enabling simultaneous connection of mechanical connector 170 and the remaining connectors. However, in alternative embodiments, it is equally conceivable that some additional connectors are separate from mechanical connector 170.

[0138] The guided vehicle 100 further includes a wireless communication unit configured to transmit and / or receive wireless communication from at least one of the following: a self-propelled carrier trolley, other guided vehicles, or a fixed wireless unit as part of a logistics system. The wireless communication unit may be based on the IEEE 802.11 standard (WLAN or Wi-Fi) or UHF radio communication, such as the IEEE 802.15.1 standard (Bluetooth), or it may be a wireless communication unit based on the 3GPP NR standard (5G) for implementing Ultra-Reliable Low-Latency Communication (URLLC). The wireless communication may be, for example, information or data related to the identification of the guided vehicle or the self-propelled carrier trolley. The wireless communication between the self-propelled carrier trolley and the guided vehicle 100 may be bidirectional, allowing the guided vehicle 100 to transmit and / or receive information from the self-propelled carrier trolley, which may include details of the load (weight, height, etc.) on the self-propelled carrier trolley in addition to identification information. Furthermore, it can send more complex data to and / or receive more complex data from the guiding vehicle 100, such as navigation information (e.g., driving instructions) or information about the surrounding environment.

[0139] The guided vehicle 100 further includes a computing unit that is significantly more complex than that of the self-propelled carrier trolley. This more complex computing unit of the guided vehicle 100 features a faster processing unit, greater storage capacity, and faster connectivity with other guiding units, logistics systems, or the self-propelled carrier trolley. The computing unit of the guided vehicle 100 further includes more I / O units than the self-propelled carrier trolley, enabling the guided vehicle 100 to receive input from more sensors. The computing unit receives input from lidar units 101a and 101b and generates control signals based on this. These control signals can then be transmitted via connection 178 or wirelessly to the self-propelled carrier trolley for controlling its drive unit. Alternative sensors on the guided vehicle 101 may be radar units, acoustic sensor units and / or optical sensor units, or IR cameras using image recognition.

[0140] Figures 5 to 8A close-up of the navigation sensor 101 and, more specifically, the cleaning nozzle 400 used for cleaning the navigation sensor is shown. The cleaning sensor works well with the guided vehicle for an internal logistics system as described above, and the following examples will primarily focus on this vehicle. However, the cleaning nozzle can be used for any navigation sensor on any autonomous vehicle.

[0141] When a vehicle is navigating, navigation sensors may be subject to various forms of contamination. This could be, for example, dust or other particles from the production unit, or vegetation contamination (such as grass, small leaves, or pollen) when the autonomous vehicle is traveling outdoors.

[0142] The nozzle is preferably attached with attachment devices 404a, 404b (in Figure 5 (As shown in the image, a screw) is attached to the autonomous vehicle. Other attachment methods can be used, such as glue, mating parts, or other devices.

[0143] Nozzle 400 is designed to receive fluid from, for example, a high-pressure air device. The fluid can also be another gas or liquid, such as water (with or without cleaning additives) or any other liquid. For receiving cleaning fluid, nozzle 400 is configured with… Figure 6 and Figure 7 The inlet 401 is shown. Inlet 401 is shown positioned within the end portion of the nozzle. In other embodiments, the inlet may have other placements on the nozzle. Preferably, the inlet is positioned in a location accessible during charging of the autonomous vehicle. This allows cleaning fluid to be injected during charging operations.

[0144] The nozzle further includes a channel 420 fluidly connected to an inlet. This channel includes a plurality of outlets 403a, 403b, 403c for discharging cleaning fluid injected into the inlet 401. The outlets are preferably distributed within the channel and spaced apart from each other to disperse the cleaning fluid along an extension of the channel. The channel 420 further has a curved extension that bends around the area where the navigation sensor 101 is located. Furthermore, the plurality of outlets are positioned along the curved extension such that the flow directions 408a, 408b of the plurality of outlets change with the curved extension. Thus, the flow of the cleaning fluid can surround the cleaning nozzle, causing it to clean along the curved extension.

[0145] In the figure, the cleaning nozzle 400 has a horseshoe-shaped curved extension such that the outlet 403 is positioned around the center of the receiving area 410 for receiving the navigation sensor 101. The horseshoe-shaped nozzle shape, as shown, means that the outlet points towards the central area from approximately 270° around it. In other embodiments, the extension of the cleaning nozzle may be shorter, such that the outlet points towards the central area from approximately 180°, approximately 120°, or approximately 90°. In each of these embodiments, the flow direction 408b is guided towards the navigation sensor from different angles along the curved extension.

[0146] The channel 420 of the cleaning nozzle 400 includes an inner side 424 and an outer side 426. The inner side 424 includes the outlet 403, which then faces the receiving area 410. The channel 420 also has a bottom side that can be closed itself, or the channel can be opened (as shown) and closed by means of being arranged on an autonomous vehicle. However, the channel is preferably hermetically sealed except for the inlet and outlet, in order to control the jetting of cleaning fluid from the nozzle.

[0147] In the exemplary embodiment shown, the inner side 424 is formed at an angle α relative to a plane in which the nozzle and receiving area generally extend. If the navigation sensor will be placed on top of the autonomous vehicle, this plane can be, for example, a horizontal plane, as shown in this application. This plane is generally referred to below as the extension plane of the nozzle. Of course, the nozzle also extends in height, i.e., away from said plane.

[0148] The inner side can extend at an angle α relative to the extension plane of the nozzle, and this angle can be adjusted so that the outlet faces inward and upward toward the navigation sensor, as shown in the figure. Angle α can be, for example, between 10° and 80°, or between approximately 20° and 70°, or between approximately 30° and 60°. In the example shown, angle α is approximately 45°. This angle will depend on the radius r of the inner side and the height of the navigation sensor to guide the cleaning fluid toward the navigation sensor.

[0149] A guide device 412 can be used, for example, Figure 7 The deflector shown is used to achieve the clean fluid flow direction 408a, 408b, instead of the angled inner side. Therefore, even if the outlet is arranged parallel to the extension plane of the nozzle, the flow direction can be guided towards the navigation sensor.

[0150] The radius r of the curved channel is adapted to the size of the navigation sensor. In the example shown, this radius is approximately 50 mm, but it can be adapted to the size of the navigation sensor to be used. For example, the radius of curvature of the extension of the channel can be from approximately 10 mm to 100 mm, preferably from approximately 20 mm to 80 mm.

[0151] In some embodiments, the angle of the inner side, the drilling angle of the outlet, or any guiding device may have different angles for different outlets. With this embodiment, the flow 408 can have a greater spread toward the navigation sensor.

[0152] As further understood from the above embodiments, the nozzle can be used in a navigation sensor cleaning system in a charging station for autonomous vehicles. Such a navigation sensor cleaning system would include, for example, the cleaning nozzle described above and preferably fastened to the autonomous vehicle. Furthermore, such a system would require a cleaning fluid source for supplying cleaning fluid to inlet 401, and a control unit for activating the cleaning system upon detection of the presence of a navigation sensor to be cleaned.

[0153] The control unit may be the same control unit used to control the charging operation of the autonomous vehicle.

[0154] exist Figure 9 The paper further illustrates a method for cleaning navigation sensors on autonomous vehicles. This method includes the step of detecting the presence of navigation sensors in a navigation sensor cleaning system. This detection can be achieved, for example, by a motion sensor or an electrical sensor, or simply by detecting that a charging operation has been initiated.

[0155] Next, the step of supplying cleaning fluid to the inlet 401 of the cleaning nozzle 400 is performed. As explained above, this can be, for example, pressurized air, gas, or liquid fed to the inlet 401. In the third step, the injected cleaning fluid is guided along a curved extension of the channel 420 in the cleaning nozzle 400, as explained above in conjunction with the nozzle. And finally, the step of spraying the cleaning fluid through a plurality of outlets 403 distributed in the channel and guiding the plurality of flow directions toward the navigation sensor 101 is performed. The method explained above can preferably be performed during the charging operation of the autonomous vehicle. This means that the sensor can be cleaned while the autonomous vehicle is charging.

[0156] It should be noted that, unless there is an obvious contradiction, any aspect or part of an aspect, as well as any method or part of a method, or any unit, feature, or system, may be combined in any applicable manner.

[0157] Numbered Examples

[0158] In the following text, illustrative examples with numbered designations are provided. These numbered examples should not be construed as limiting the scope of the invention as defined by the appended claims. Reference numerals in the various numbered examples should be considered merely as examples of elements in the drawings corresponding to those described in the numbered examples.

[0159] 1A. A cleaning nozzle for cleaning navigation sensors on an autonomous vehicle, the cleaning nozzle comprising:

[0160] - Inlet, which is used to receive clean fluid from a stationary pressurized fluid source.

[0161] -A channel, which is fluidly connected to the inlet, and

[0162] - At least one outlet, distributed in the channel, for distributing the cleaning fluid to clean the navigation sensor.

[0163] 2A. The cleaning nozzle according to Example 1A, wherein the inlet is configured to receive pressurized air from a fixed pressurized air source.

[0164] 3A. The cleaning nozzle according to any one of embodiments 1A and 2A, wherein the channel has a curved extension.

[0165] 4A. The cleaning nozzle according to any one of Examples 1A to 3A, wherein the channel includes a plurality of outlets.

[0166] 5A. The cleaning nozzle according to embodiment 4A, wherein the plurality of outlets are positioned along the curved extension such that the flow direction of the plurality of outlets changes with the curved extension.

[0167] 6A. The cleaning nozzle according to any one of Examples 3A to 5A, wherein the curved extension extends at least 90°, preferably at least 180° and most preferably about 270°.

[0168] 6A. A cleaning nozzle according to any one of embodiments 3A to 5A, wherein the plurality of outlets are positioned on the inside of the curved extension.

[0169] 7A. A cleaning nozzle according to any one of embodiments 3A to 6A, wherein the flow direction of the plurality of outlets is configured to guide the cleaning fluid toward the navigation sensor from different angles along the curved extension.

[0170] 8A. The cleaning nozzle according to any one of embodiments 3A to 7A, wherein the curved extension of the channel extends primarily in a first plane, and the flow direction of the plurality of outlets is configured to guide the cleaning fluid at least partially out of the first plane.

[0171] 9A. The cleaning nozzle according to any one of embodiments 3A to 8A, wherein the flow direction of the plurality of outlets has at least two different flow direction angles relative to the first plane.

[0172] 10A. The cleaning nozzle according to any one of Examples 3A to 9A, wherein the radius of curvature of the extension of the channel is about 10 mm to 100 mm, preferably about 20 mm to 80 mm.

[0173] 11A. The cleaning nozzle according to any one of the foregoing embodiments, wherein the nozzle includes a receiving area for receiving a navigation sensor to be cleaned, and wherein the receiving area is disposed on the inside of the curved extension of the channel.

[0174] 12A. A navigation sensor cleaning system for a charging station of an autonomous vehicle, the navigation sensor cleaning system comprising:

[0175] -The cleaning nozzle according to any one of the foregoing embodiments

[0176] - A fixed cleaning fluid source, which provides cleaning fluid to the inlet, and

[0177] A control unit is used to activate the cleaning system when the presence of a navigation sensor to be cleaned is detected.

[0178] 13A. The navigation sensor cleaning system according to Example 12A, wherein the fixed cleaning fluid source is a fixed pressurized fluid source.

[0179] 14A. A method for cleaning navigation sensors on an autonomous vehicle, comprising the following steps:

[0180] - Detect the presence of navigation sensors in the navigation sensor cleaning system.

[0181] - Provide cleaning fluid from a fixed cleaning fluid source to the inlet of the cleaning nozzle.

[0182] - The cleaning nozzle guides the flow of the cleaning fluid, and

[0183] Cleaning fluid is sprayed toward the navigation sensor through at least one outlet of the cleaning nozzle.

[0184] 15A. The method according to embodiment 14A, wherein at least one of these steps is performed during the charging of the autonomous vehicle.

[0185] 16A. The method according to Example 14A, wherein the cleaning nozzle according to any one of Examples 1A to 11A is used to perform the steps of guiding and spraying the cleaning fluid.

[0186] 1B. A guided vehicle (100) for an internal logistics system, wherein the guided vehicle (100) is remotely controlled or autonomous and is configured to:

[0187] Connected to a self-propelled carrier trolley (200), and

[0188] The self-propelled carrier (200) is guided and controlled to advance, enabling it to transport loads within the internal logistics system. The guided carrier (100) includes:

[0189] At least one drive wheel (103) is configured to engage the floor surface in order to propel the guided vehicle (100).

[0190] At least one additional wheel (121).

[0191] A mechanical connector (170) for mechanically connecting the guided carrier (100) to the self-propelled carrier trolley (200), characterized in that...

[0192] The guided vehicle (100) is configured to perform at least one of the following: sending navigation data to the self-propelled carrier trolley (200) and receiving navigation data from the self-propelled carrier trolley, and is characterized in that,

[0193] The guide vehicle (100) is configured to maintain constant traction between the at least one drive wheel (103) and the floor surface when the guide vehicle (100) is connected to the self-propelled carrier trolley (200) by means of the mechanical connector (170), such that constant traction between the at least one drive wheel (103) and the floor surface can be maintained when the interconnected guide vehicle (100) and the self-propelled carrier trolley (200) travel over an uneven floor surface.

[0194] 2B. The guide vehicle (100) according to embodiment 1B, wherein the guide vehicle (100) is configured such that when the guide vehicle (100) is connected to the self-propelled carrier (200), the at least one additional wheel (121) is lifted from the floor surface while the drive wheel (103) remains in contact with the floor surface.

[0195] 3B. The guiding vehicle (100) according to any one of embodiments 1B and 2B further includes at least one of an actuator and an elastic element configured to perform at least one of the following:

[0196] When the guided vehicle (100) is connected to the self-propelled carrier trolley (200), the additional wheel (121) is lifted off the floor surface, and

[0197] When the guide vehicle (100) is connected to the self-propelled carrier trolley (200), it acts as a suspension for the additional wheel (103).

[0198] 4B. The guide vehicle (100) according to any one of the foregoing embodiments, wherein the mechanical connector (170) is configured to connect with the self-propelled carrier trolley (200) by means of horizontal movement along the floor plane between the guide vehicle (100) and the self-propelled carrier trolley (200).

[0199] 5B. The guide vehicle (100) according to any one of the foregoing embodiments, wherein the mechanical connector includes an actuator for vertically moving the mechanical connector relative to the floor surface and thereby mechanically connecting the guide vehicle (100) to the self-propelled carrier trolley (200).

[0200] 6B. The guiding vehicle according to any one of embodiments 3B to 5B, wherein the elastic element configured to act as a suspension for the additional wheel (121) is configured as follows:

[0201] It is largely unaffected by the weight of the individual guided vehicle (100), and

[0202] The elastic element deforms elastically by the combined weight of the guide vehicle (100) and the self-propelled carrier (200) such that when the guide vehicle (100) is connected to the self-propelled carrier (200), the elastic element acts as a suspension for the additional wheel (121).

[0203] 7B. The guide vehicle (100) according to any one of the foregoing embodiments further includes an electrical connector (174, 175) for electrically connecting the guide vehicle (100) to the self-propelled carrier trolley (200).

[0204] 8B. The guide vehicle (100) according to embodiment 6B, wherein the guide vehicle (100) includes an energy storage device, and wherein the guide vehicle (100) is configured to transmit electrical energy from the energy storage device to the self-propelled carrier trolley (200) by means of the electrical connector (174, 175) for at least one of: propelling the self-propelled carrier trolley (200), and handling a load placed on the self-propelled carrier trolley (200).

[0205] 9B. The guide vehicle according to any one of the foregoing embodiments, wherein the mechanical connector (170) includes a recess (173) or a protrusion for connection with a corresponding recess or protrusion (273) located on the self-propelled carrier (200), and wherein the recess or protrusion includes an inclined surface configured to provide a lifting force for lifting the additional wheel (121) from the floor surface.

[0206] 10B. The guided vehicle (100) according to any one of the foregoing embodiments further includes at least one of the following:

[0207] A connector (176) for pressurized fluid, enabling the pressurized fluid to be transferred to or from the guide vehicle (100), and

[0208] A connector (177) for transmitting visible light from the guide vehicle (100) to the self-propelled carrier trolley (200).

[0209] 11B. The guiding vehicle according to any one of embodiments 6B to 10B, wherein at least one of the electrical connector (174, 175), the connector for pressurizing fluid (176), and the connector for transmitting visible light (177) is part of an integrated connector together with the mechanical connector, thereby enabling simultaneous connection of the mechanical connector and at least one of the electrical connector, the connector for pressurizing fluid, and the connector for transmitting visible light.

[0210] 12B. The guiding vehicle according to any one of the foregoing embodiments, wherein the guiding vehicle (100) is smaller than the self-propelled carrier trolley (200) and is configured to be placed within the space occupied by the self-propelled carrier trolley (200) and below the load carried by the self-propelled carrier trolley (200).

[0211] 13B. A self-propelled carrier trolley (200) for use in an internal logistics system, the self-propelled carrier trolley (200) being configured to:

[0212] Connected to the guide vehicle (100) according to any one of embodiments 1 to 12, and

[0213] Guided and controlled by the guide vehicle (100), the self-propelled load-carrying trolley (200) is able to transport loads within the internal logistics system. The self-propelled load-carrying trolley (200) includes:

[0214] At least one motor (205) is connected to a drive wheel (203) which is configured to engage the floor surface in order to propel the self-propelled carrier trolley (200).

[0215] A mechanical connector (270) is used to mechanically connect the self-propelled carrier trolley (200) to the guide vehicle (100), wherein, when the guide vehicle (100) is placed in the space occupied by the self-propelled carrier trolley (200) and connected to the self-propelled carrier trolley (200), the self-propelled carrier trolley (100) provides an unobstructed visibility sector (S1, S2) in a first plane (P1) for at least one navigation sensor (101a, 101b) placed on the guide vehicle (100), wherein the unobstructed visibility in the first plane exceeds 100 degrees in a first direction and exceeds 100 degrees in the opposite direction.

[0216] 14B. The self-propelled carrier trolley (100) according to embodiment 13B, wherein the self-propelled carrier trolley (200) includes lighting elements (272) configured to be illuminated by visible light transmitted from the guide carrier (100) by means of the connector (277) for transmitting visible light.

[0217] 15B. The self-propelled carrier trolley (200) according to any one of embodiments 13B and 14B, wherein the self-propelled carrier trolley (200) includes at least one emergency switch (280) configured to be pressed by an operator, and wherein the self-propelled carrier trolley (280) is configured to transmit a signal of the at least one emergency switch to the guide vehicle (100).

[0218] Different aspects or any part of an embodiment, or any part of an embodiment, may be combined in any possible manner. Any method embodiment or any step of any method embodiment may also be considered a device description, and any device embodiment, aspect, or part of an aspect or embodiment may be considered a method description and may be combined in any possible manner, down to the smallest detail. Any detailed description should be interpreted in its broadest framework as a general overview description.

Claims

1. A guided vehicle (100) used in an internal logistics system, wherein, The guided vehicle (100) is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley (200), and guides and controls the propulsion of the self-propelled carrier trolley (200) so that the self-propelled carrier trolley (200) can transport loads in the internal logistics system. The guided vehicle (100) includes: Mechanical connector (170), the mechanical connector being used to mechanically connect the guided vehicle (100) to the self-propelled carrier trolley (200); and Connector for transmitting data The guided vehicle (100) is configured as follows: Navigation data is received from the self-propelled carrier trolley (200) using the connector for data transmission. This navigation data is in the form of information about the movement of the drive wheels obtained from at least one motor of the self-propelled carrier trolley (200) or from at least one encoder connected to the drive wheels of the self-propelled carrier trolley (200). The self-propelled load-bearing trolley (200) is guided and controlled, characterized in that the guide vehicle (100) is configured to be fully lifted from the floor surface when the guide vehicle (100) is connected to the self-propelled load-bearing trolley (200), such that the load of the guide vehicle (100) is carried by the self-propelled load-bearing trolley (200).

2. A self-propelled carrier trolley (200) for use in an internal logistics system, said self-propelled carrier trolley (200) being configured to: Connected to the guided vehicle (100); and Guided and controlled by the guide vehicle (100), the self-propelled load-bearing trolley (200) is able to transport loads within the internal logistics system. The self-propelled carrying trolley (200) includes: At least one motor (205) is connected to a drive wheel (203) which is configured to engage a floor surface to propel the self-propelled load-bearing trolley (200). Mechanical connector (270) for mechanically connecting the self-propelled carrier trolley (200) to the guide vehicle (100). A connector for transmitting data, wherein the self-propelled carrier trolley (200) is configured to transmit navigation data to the guide vehicle (100) using the connector for transmitting data, the navigation data being in the form of information about the movement of the drive wheels obtained from at least one motor of the self-propelled carrier trolley (200) or from at least one encoder connected to the drive wheels of the self-propelled carrier trolley (200), characterized in that the self-propelled carrier trolley (200) is configured to completely lift the guide vehicle (100) from the floor surface such that the load of the guide vehicle (100) is carried by the self-propelled carrier trolley (200).

3. A guided vehicle (100) used in an internal logistics system, wherein, The guided vehicle (100) is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley (200), and guides and controls the propulsion of the self-propelled carrier trolley (200) so that the self-propelled carrier trolley (200) can transport loads in the internal logistics system. The guided vehicle (100) includes: Mechanical connector (170), the mechanical connector being used to mechanically connect the guided vehicle (100) to the self-propelled carrier trolley (200); and Connector for transmitting data The guiding vehicle (100) is configured to receive navigation data in the form of an emergency stop signal from the self-propelled carrier trolley (200) using the connector for data transmission, and The guided vehicle (100) is configured to control the propulsion of the self-propelled carrier trolley (200) based on a received emergency stop signal.

4. A self-propelled carrier trolley (200) for use in an internal logistics system, said self-propelled carrier trolley (200) being configured to: Connected to the self-propelled guided vehicle (100); and Guided and controlled by the self-propelled guided vehicle (100), the self-propelled load-carrying trolley (200) is able to transport loads within the internal logistics system. The self-propelled load-carrying trolley (200) includes: At least one motor (205) is connected to a drive wheel (203) which is configured to engage a floor surface to propel the self-propelled load-bearing trolley (200). Mechanical connector (270) for mechanically connecting the self-propelled carrier trolley (200) to the self-propelled guided vehicle (100). A connector for transmitting data, wherein the self-propelled carrier trolley (200) is configured to receive control signals from the self-propelled guided vehicle (100) for controlling the at least one motor. The self-propelled carrier trolley (200) is characterized in that it further includes an emergency switch (280) or a contact sensor, the emergency switch (280) being configured to be pressed by an operator. The emergency switch (280) or the contact sensor is configured to generate an emergency stop signal, and The self-propelled carrier trolley (200) is configured to transmit the emergency stop signal to the self-propelled guided vehicle (100).

5. A guided vehicle (100) used in an internal logistics system, wherein, The guided vehicle (100) is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley (200), and guides and controls the propulsion of the self-propelled carrier trolley (200) so that the self-propelled carrier trolley (200) can transport loads in the internal logistics system. The guided vehicle (100) includes: Mechanical connector (170), the mechanical connector being used to mechanically connect the guided vehicle (100) to the self-propelled carrier trolley (200); and Connector for transmitting data The guiding vehicle (100) is configured to transmit control signals to the self-propelled carrier trolley (200) using the connector for data transmission, in order to guide and control the propulsion of the self-propelled carrier trolley (200). The characteristic feature is that the guide carrier (100) is configured to be completely lifted from the floor surface when the guide carrier (100) is connected to the self-propelled load-bearing trolley (200), such that the load of the guide carrier (100) is carried by the self-propelled load-bearing trolley (200).

6. A self-propelled carrying trolley (200) for use in an internal logistics system, said self-propelled carrying trolley (200) being configured to: Connected to the self-propelled guided vehicle (100); and Guided and controlled by the self-propelled guided vehicle (100), the self-propelled load-carrying trolley (200) is able to transport loads within the internal logistics system. The self-propelled load-carrying trolley (200) includes: At least one motor (205) is connected to a drive wheel (203) which is configured to engage a floor surface to propel the self-propelled load-bearing trolley (200). Mechanical connector (270) for mechanically connecting the self-propelled carrier trolley (200) to the self-propelled guided vehicle (100). A connector for transmitting data, wherein the self-propelled carrier trolley (200) is configured to receive control signals from the self-propelled guided vehicle for controlling the at least one motor. The characteristic feature is that the guide carrier (100) is configured to be completely lifted from the floor surface, such that the load of the guide carrier (100) is carried by the self-propelled load-bearing trolley (200).

7. A guided vehicle (100) used in an internal logistics system, wherein, The guided vehicle (100) is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley (200), and guides and controls the propulsion of the self-propelled carrier trolley (200) so that the self-propelled carrier trolley (200) can transport loads in the internal logistics system. The guided vehicle (100) includes: Mechanical connector (170), the mechanical connector being used to mechanically connect the guided vehicle (100) to the self-propelled carrier trolley (200); and Connector for transmitting data The guiding vehicle (100) is configured to transmit control signals to the self-propelled carrier trolley (200) using the connector for data transmission, in order to guide and control the propulsion of the self-propelled carrier trolley (200). The guide vehicle (100) is characterized in that it includes an actuator for vertically moving the mechanical connector relative to the floor surface and thereby mechanically connecting the guide vehicle to the self-propelled carrier trolley.

8. A guided vehicle (100) used in an internal logistics system, wherein, The guided vehicle (100) is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley (200), and guides and controls the propulsion of the self-propelled carrier trolley (200) so that the self-propelled carrier trolley (200) can transport loads in the internal logistics system. The guided vehicle (100) includes: Mechanical connector (170), the mechanical connector being used to mechanically connect the guided vehicle (100) to the self-propelled carrier trolley (200); and Connector for transmitting data The guiding vehicle (100) is configured to transmit control signals to the self-propelled carrier trolley (200) using the connector for data transmission, in order to guide and control the propulsion of the self-propelled carrier trolley (200). The characteristic feature is that all wheels of the guide vehicle are configured to be fully lifted from the floor surface when the guide vehicle (100) is connected to the self-propelled load-bearing trolley (200), such that the load of the guide vehicle (100) is carried by the self-propelled load-bearing trolley (200).

9. A guided vehicle (100) used in an internal logistics system, wherein, The guided vehicle (100) is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley (200), and guides and controls the propulsion of the self-propelled carrier trolley (200) so that the self-propelled carrier trolley (200) can transport loads in the internal logistics system. The guided vehicle (100) includes: Mechanical connector (170), the mechanical connector being used to mechanically connect the guided vehicle (100) to the self-propelled carrier trolley (200); and Connector for transmitting data The guiding vehicle (100) is configured to transmit control signals to the self-propelled carrier trolley (200) using the connector for data transmission, in order to guide and control the propulsion of the self-propelled carrier trolley (200). The guided vehicle (100) is characterized in that it further includes a first electrical connector for transmitting electrical energy from the guided vehicle (100) to the self-propelled carrier trolley (200) to power equipment for handling loads placed on the self-propelled carrier trolley (200).

10. A self-propelled carrier trolley (200) for use in an internal logistics system, said self-propelled carrier trolley (200) being configured to: Connected to the self-propelled guided vehicle (100); and Guided and controlled by the self-propelled guided vehicle (100), the self-propelled load-carrying trolley (200) is able to transport loads within the internal logistics system. The self-propelled load-carrying trolley (200) includes: At least one motor (205) is connected to a drive wheel (203) which is configured to engage a floor surface to propel the self-propelled load-bearing trolley (200). Mechanical connector (270) for mechanically connecting the self-propelled carrier trolley (200) to the self-propelled guided vehicle (100). A connector for transmitting data, wherein the self-propelled carrier trolley (200) is configured to receive control signals from the self-propelled guided vehicle for controlling the at least one motor. The self-propelled carrying trolley (200) is characterized in that it further includes: Equipment for handling loads placed on the self-propelled load-bearing trolley (200); and A first electrical connector is used to receive electrical energy from the guide vehicle (100) to power the device for handling loads placed on the self-propelled carrier trolley (200).

11. The self-propelled load-bearing trolley (200) according to claim 10, wherein, The device for handling loads placed on the self-propelled load-bearing trolley (200) includes rollers for loading and / or unloading the loads.

12. A self-propelled carrier trolley (200) for use in an internal logistics system, said self-propelled carrier trolley (200) being configured to: Connected to the self-propelled guided vehicle (100); and Guided and controlled by the self-propelled guided vehicle (100), the self-propelled load-carrying trolley (200) is able to transport loads within the internal logistics system. The self-propelled load-carrying trolley (200) includes: At least one motor (205) is connected to a drive wheel (203) which is configured to engage a floor surface to propel the self-propelled load-bearing trolley (200). Mechanical connector (270) for mechanically connecting the self-propelled carrier trolley (200) to the self-propelled guided vehicle (100). A connector for transmitting data, wherein the self-propelled carrier trolley (200) is configured to receive control signals from the self-propelled guided vehicle for controlling the at least one motor. The self-propelled carrying trolley (200) is characterized in that it is configured to carry a load in the range of 300 kg to 2000 kg.

13. An internal logistics system comprising a self-propelled carrier trolley (200) and a self-propelled guided vehicle (100), said self-propelled carrier trolley (200) being configured to: Connected to the self-propelled guided vehicle (100); and Guided and controlled by the self-propelled guided vehicle (100), the self-propelled load-carrying trolley (200) is able to transport loads within the internal logistics system. The self-propelled load-carrying trolley (200) includes: At least one motor (205) is connected to a drive wheel (203) which is configured to engage a floor surface to propel the self-propelled load-bearing trolley (200). Mechanical connector (270) for mechanically connecting the self-propelled carrier trolley (200) to the self-propelled guided vehicle (100). A connector for transmitting data, wherein the self-propelled carrier trolley (200) is configured to receive control signals from the self-propelled guided vehicle for controlling the at least one motor. The feature is that the combined motor for propulsion of the self-propelled carrier trolley (200) is configured to generate a maximum torque that is three times the maximum torque of the combined motor for propulsion of the guided vehicle (100).

14. A cleaning nozzle for cleaning navigation sensors on an autonomous vehicle, the cleaning nozzle comprising: An inlet is provided for receiving clean fluid from a stationary pressurized fluid source; Channel, which is fluidly connected to the inlet; as well as At least one outlet, distributed in the channel, is provided for distributing the cleaning fluid to clean the navigation sensor.

15. A navigation sensor cleaning system for a charging station for an autonomous vehicle, the navigation sensor cleaning system comprising: A cleaning nozzle, the cleaning nozzle being on the autonomous vehicle and including an inlet; A cleaning fluid source, located in the charging station and used to supply cleaning fluid to the inlet; as well as A control unit is configured to activate the cleaning system when the presence of a navigation sensor to be cleaned is detected.

16. A self-propelled guided vehicle used in an internal logistics system, wherein, The self-propelled guided vehicle is remotely controlled or autonomous and configured to connect to a self-propelled carrier trolley, guiding and controlling the propulsion of the self-propelled carrier trolley so that the self-propelled carrier trolley can transport loads within the internal logistics system. The self-propelled guided vehicle includes: A mechanical connector for mechanically connecting the self-propelled guided vehicle to the self-propelled carrier trolley; and Connector for transmitting data The self-propelled guided vehicle is configured to transmit control signals to the self-propelled carrier trolley using the connector for data transmission to control the propulsion of the self-propelled carrier trolley. The self-propelled guided vehicle further includes an actuator for lifting the self-propelled guided vehicle relative to the self-propelled carrier when the self-propelled guided vehicle is mechanically connected to the self-propelled carrier trolley.

17. A self-propelled carrying trolley for use in an internal logistics system, the self-propelled carrying trolley being configured to: Connected to the self-propelled guided vehicle according to claim 1; and Guided and controlled by the self-propelled guided vehicle, the self-propelled load-carrying trolley (200) is able to transport loads within the internal logistics system, the self-propelled load-carrying trolley comprising: At least one motor connected to a drive wheel configured to engage a floor surface in order to propel the self-propelled load-bearing trolley; A mechanical connector for mechanically connecting the self-propelled carrier trolley to the self-propelled guided vehicle; A connector for transmitting data, wherein the self-propelled carrier trolley is configured to receive control signals from the self-propelled guided vehicle using the connector for transmitting data to control the propulsion of the self-propelled carrier trolley. The self-propelled carrier trolley further includes an actuator for lifting the self-propelled guided vehicle relative to the self-propelled carrier trolley when the self-propelled guided vehicle is mechanically connected to the self-propelled carrier trolley.

Images