Navigator

Abstract

A guided vehicle (100) for an intralogistics system, the guided vehicle (100) being remotely controlled or self-propelled, is connected to a self-propelled load-bearing cart (200) and is configured to guide and control the propulsion of the self-propelled load-bearing cart (200) so that the self-propelled load-bearing cart (200) can transport loads in the intralogistics system. The guided vehicle (100) comprises a mechanical connector (170) for mechanically connecting the guided vehicle (100) to the self-propelled load-bearing cart (200) and a connector for transferring data. The guided vehicle (100) is configured to receive navigation data from the self-propelled load-bearing cart (200) using the connector for transferring data in the form of information regarding the movement of the drive wheels of the self-propelled load-bearing cart (200) obtained from at least one encoder connected to at least one motor or drive wheel of the self-propelled load-bearing cart (200). The guided vehicle (100) is smaller than the self-propelled load-bearing cart (200).

Description

[Technical Field]

[0001] The present invention relates to a remotely controlled or self-propelled guided vehicle for guiding a self-propelled load-bearing cart in an intralogistics system, an intralogistics system, and a self-propelled load-bearing cart for use within such a system. [Background technology]

[0002] Any form of handling of goods, materials, or manufactured items requires intralogistics, i.e., the movement of goods within a confined area such as a factory, warehouse, or yard. Traditionally, forklifts have been the primary vehicle for transporting both individual pallets of small and large items. However, forklifts have many limitations. They are generally limited to lifting items specifically adapted for forks, such as pallets. They also require a relatively large amount of free space to operate and are the source of many industrial accidents. Therefore, forklifts are not suitable for use in environments with human workers. As a result, forklifts have been replaced in many environments by manual carts pushed by human workers. These carts are less likely to cause accidents and are more suited to the specific use or size of the items being transported. However, manual carts also have disadvantages, such as a limited maximum load that a human operator can handle and a relatively labor-intensive logistics system. DISCLOSURE OF THE INVENTION

[0003] The object is to mitigate, alleviate or eliminate one or more of the above mentioned deficiencies and disadvantages in the art singly or in any combination.

[0004] According to one aspect, a guided vehicle for an intralogistics system is provided. The guided vehicle is remotely controlled or self-propelled and is configured to be connected to a self-propelled load-bearing cart and to guide and control the propulsion of the self-propelled load-bearing cart so that the self-propelled load-bearing cart can transport loads in the intralogistics system. The guided vehicle includes a mechanical connector for mechanically connecting the guided vehicle to the self-propelled load-bearing cart and a connector for transferring data. The guided vehicle is configured to receive navigation data from the self-propelled load-bearing cart using the connector for transferring data in the form of information regarding movement of drive wheels of the self-propelled load-bearing cart obtained from at least one encoder connected to at least one motor or drive wheel of the self-propelled load-bearing cart, and the guided vehicle is smaller than the self-propelled load-bearing cart.

[0005] By receiving information regarding the movement of the drive wheels of the self-propelled load-bearing cart, the guided vehicle can track the precise movement of the self-propelled load-bearing cart, which enables the guided vehicle to guide and navigate the self-propelled load-bearing cart in a safe and autonomous manner.

[0006] According to one embodiment, a mechanical connector is configured to connect between the guided vehicle and the self-propelled load-bearing cart with horizontal movement along a floor surface.

[0007] According to one embodiment, the mechanical connector comprises an actuator that moves the mechanical connector vertically relative to the floor surface, thereby mechanically connecting the guided vehicle to the self-propelled load-bearing cart.

[0008] According to one embodiment, the guided vehicle includes an electrical energy storage, and the guided vehicle is configured to transfer electrical energy from the electrical energy storage to the self-propelled load-bearing cart via an electrical connector for at least one of propelling the self-propelled load-bearing cart and handling a load located on the self-propelled load-bearing cart.

[0009] According to one embodiment, the mechanical connector comprises a recess or protrusion for connection with a corresponding recess or protrusion located on the self-propelled load-bearing cart.

[0010] According to one embodiment, the guided vehicle further comprises at least one of a connector for pressurized fluid so that pressurized fluid can be transferred to or from the guided vehicle, and a connector for transferring visible light from the guided vehicle to the self-propelled load-bearing cart.

[0011] According to one embodiment, at least one of the electrical connector, the connector for pressurized fluid, and the connector for transferring visible light are part of an integrated connector together with the mechanical connector, allowing simultaneous connection of the mechanical connector with at least one of the electrical connector, the connector for pressurized fluid, and the connector for transferring visible light.

[0012] According to one embodiment, the guided vehicle is sized to be able to fit within the footprint of the self-propelled load-bearing cart.

[0013] According to one embodiment, a guided vehicle is configured to be positioned at least partially under a load carried by the self-propelled load-bearing cart.

[0014] According to one embodiment, the overall length of the guided vehicle is less than 50% of the overall length of the self-propelled load-bearing cart.

[0015] According to one embodiment, the weight of the guided vehicle is less than 50% of the weight of the self-propelled load-bearing cart.

[0016] According to one embodiment, the footprint of the guided vehicle is less than 50% of the footprint of the self-propelled load-bearing cart.

[0017] According to one embodiment, the guided vehicle is configured to receive an emergency stop signal generated by an emergency switch on the self-propelled load-bearing cart, the emergency switch being configured to be pressed by an operator, and the guided vehicle is configured to control the propulsion of the self-propelled load-bearing cart based on the received stop signal to stop the self-propelled load-bearing cart.

[0018] According to one embodiment, the guided vehicle is configured to be lifted completely off the floor.

[0019] According to one embodiment, the guided vehicle comprises an actuator for lifting the guided vehicle relative to the self-propelled load-bearing cart.

[0020] There is also provided a self-propelled load-bearing cart for use in an intralogistics system. The self-propelled load-bearing cart is configured to be connected to a guided vehicle according to any one of the embodiments herein and to be guided and controlled by the guided vehicle so that the self-propelled load-bearing cart can transport loads in the intralogistics system. The self-propelled load-bearing cart includes at least one motor connected to drive wheels configured to engage a floor surface to propel the self-propelled load-bearing cart, a mechanical connector for mechanically connecting the self-propelled load-bearing cart to the guided vehicle, and a connector for transferring data. The self-propelled load-bearing cart is configured to transmit navigation data to the guided vehicle using the connector for transferring data in the form of information regarding the movement of drive wheels of the self-propelled load-bearing cart obtained from at least one encoder connected to at least one motor or drive wheel of the self-propelled load-bearing cart. The self-propelled load-bearing cart is larger than the guided vehicle.

[0021] According to one embodiment, a self-propelled load-bearing cart comprises a lighting element configured to be illuminated by visible light transferred from a guided vehicle by means of a connector for transferring visible light.

[0022] According to one embodiment, the self-propelled load-bearing cart includes at least one emergency switch configured to be pushed by an operator, and the self-propelled load-bearing cart is configured to transfer a signal from the at least one emergency switch to a guided vehicle.

[0023] According to one embodiment, the self-propelled load-bearing cart is configured to carry a load in the range of 300-2000 kg.

[0024] According to one embodiment, a self-propelled load-bearing cart comprises a support structure connecting a frame of the self-propelled load-bearing cart to wheels of the self-propelled load-bearing cart, the support structure having a first length along a first axis parallel to the plane when the support structure is mounted to the frame, and the support structure further having a second length along an axis parallel to the first axis, the second length being less than 1 / 3 of the first length.

[0025] According to one embodiment, the mechanical connector comprises a recess or protrusion for connection with a corresponding recess or protrusion located on the self-propelled load-bearing cart.

[0026] According to one embodiment, the self-propelled load-bearing cart further comprises at least one of a connector for pressurized fluid so that pressurized fluid can be transferred to or from the self-propelled load-bearing cart, and a connector for transferring visible light from the guided vehicle to the self-propelled load-bearing cart.

[0027] According to one embodiment, the overall length of the self-propelled load-bearing cart exceeds 200% of the overall length of the guided vehicle.

[0028] According to one embodiment, the weight of the self-propelled load-bearing cart exceeds 200% of the weight of the guided vehicle.

[0029] According to one embodiment, the footprint of the self-propelled load-bearing cart exceeds 200% of the footprint of the guided vehicle.

[0030] According to one embodiment, the guided vehicle is configured to be lifted completely off the floor.

[0031] According to one embodiment, the self-propelled load-bearing cart comprises an actuator for lifting the guided vehicle relative to the self-propelled load-bearing cart.

[0032] According to another aspect, a guided vehicle for an intralogistics system is provided. The guided vehicle is remotely controlled or self-propelled and is configured to be connected to a self-propelled load-bearing cart and to guide and control the propulsion of the self-propelled load-bearing cart so that the self-propelled load-bearing cart can transfer loads in the intralogistics system. The guided vehicle has at least one drive wheel configured to engage a floor surface to propel the guided vehicle, at least one additional wheel, and a mechanical connector for mechanically connecting the guided vehicle to the self-propelled load-bearing cart. The guided vehicle further comprises a transceiver configured to at least one of transmit and receive navigation data from the self-propelled load-bearing cart. The guided vehicle is configured to maintain a constant traction force between the at least one drive wheel and the floor surface when the guided vehicle is connected to the self-propelled load-bearing cart by the mechanical connector, such that a constant traction force is maintained between the at least one drive wheel and the floor surface when the interconnected guided vehicle and self-propelled load-bearing cart travel over an uneven floor surface.

[0033] Maintaining a constant tractive force allows the guided vehicle to track the precise movement of the self-propelled load-bearing cart, which allows the guided vehicle to safely and autonomously guide and navigate the self-propelled load-bearing cart.

[0034] According to one embodiment, the guided vehicle is configured such that, when the guided vehicle is connected to the self-propelled load-bearing cart, at least one additional wheel is elevated from the floor surface while the drive wheels are engaged with the floor surface, whereby the elevation of the additional wheel increases traction between the floor surface and the drive wheels, ensuring that the drive wheels have constant traction.

[0035] According to one embodiment, the guided vehicle comprises at least one of a resilient member and an actuator configured to lift the additional wheel off a floor surface when the guided vehicle is connected to the self-propelled load-bearing cart.

[0036] According to one embodiment, the guided vehicle comprises at least one of an elastic member and an actuator configured to function as a suspension for the additional wheel when the guided vehicle is connected to the self-propelled load-bearing cart. The elastic member configured to function as a suspension for the additional wheel may be configured to be substantially unaffected by the weight of the guided vehicle alone and to be elastically deformed by the combined weight of the guided vehicle and the self-propelled load-bearing cart, such that the elastic member functions as a suspension for the additional wheel when the guided vehicle is connected to the self-propelled load-bearing cart.

[0037] According to one embodiment, the mechanical connector is configured to connect between the guided vehicle and the self-propelled load-bearing cart by horizontal movement along the floor surface, which means that the guided vehicle can connect to the self-propelled load-bearing cart by driving into the mechanical connection.

[0038] According to one embodiment, the mechanical connector comprises an actuator that moves the mechanical connector vertically relative to the floor surface, thereby mechanically connecting the guided vehicle to the self-propelled load-bearing cart.

[0039] The guided vehicle may further comprise an electrical connector for electrically connecting the guided vehicle to the self-propelled load-bearing cart.

[0040] The guided vehicle may include an electrical energy storage, and the guided vehicle may be configured, via an electrical connector, to transfer electrical energy from the electrical energy storage to the self-propelled load-bearing cart for at least one of propelling the self-propelled load-bearing cart and handling a load located on the self-propelled load-bearing cart.

[0041] According to one embodiment, the mechanical connector comprises a recess or protrusion for connection with a corresponding recess or protrusion located on the self-propelled load-bearing cart. The recess or protrusion may comprise an inclined surface configured to provide a lifting force to lift the add-on wheel off the floor surface. This allows the add-on wheel to be lifted off the floor surface without the use of an additional actuator.

[0042] The guided vehicle may further comprise at least one of a connector for pressurized fluid so that pressurized fluid can be transferred to or from the guided vehicle, and a connector for transferring visible light from the guided vehicle to the self-propelled load-bearing cart.

[0043] At least one of the electrical connector, the connector for pressurized fluid, and the connector for transferring visible light may be part of an integrated connector together with the mechanical connector, allowing simultaneous connection of the mechanical connector with at least one of the electrical connector, the connector for pressurized fluid, and the connector for transferring visible light.

[0044] According to one embodiment, the guided vehicle is smaller than the self-propelled load-bearing cart and is configured to be positioned within the footprint of the self-propelled load-bearing cart and underneath the load being carried by the self-propelled load-bearing cart.

[0045] A self-propelled load-bearing cart for use in an intralogistics system is also provided. The self-propelled load-bearing cart is configured to be connected to a guided vehicle and guided and controlled by the guided vehicle so that the self-propelled load-bearing cart can transport loads in the intralogistics system. The self-propelled load-bearing cart includes at least one motor connected to a drive wheel configured to engage a floor surface to propel the self-propelled load-bearing cart. The self-propelled load-bearing cart further includes a mechanical connector for mechanically connecting the self-propelled load-bearing cart to the guided vehicle. The self-propelled load-bearing cart provides an unobstructed field of view in a first plane to at least one navigation sensor located on the guided vehicle when the guided vehicle is located within the bookprint of the self-propelled load-bearing cart and connected to the self-propelled load-bearing cart. The unobstructed field of view exceeds 100 degrees in a first direction in the first plane and exceeds 100 degrees in an opposite direction.

[0046] The self-propelled load-bearing cart may further include a lighting element configured to be illuminated by visible light transmitted from the guided vehicle via a connector for transmitting visible light. The lighting element illuminated by visible light is highly reliable, durable, low-cost, and does not require any maintenance.

[0047] The self-propelled load-bearing cart may further include at least one emergency switch configured to be pressed by an operator, and the self-propelled load-bearing cart may be configured to transmit a signal from the at least one emergency switch to the guided vehicle.

[0048] A cleaning nozzle for cleaning a navigation sensor on a self-propelled vehicle is also provided. The cleaning nozzle includes an inlet for receiving a cleaning fluid, a channel fluidly connected to the inlet, and multiple outlets distributed to the channel. The channel has a curved extension, and the multiple outlets are located along the curved extension such that the flow direction of the multiple outlets changes with the curved extension. The cleaning nozzle allows the navigation sensor to be cleaned from multiple directions without moving the cleaning nozzle.

[0049] According to one embodiment, the curved extension extends at least 90 degrees, preferably at least 180 degrees, and most preferably about 270 degrees so that a majority of the navigation sensors can be cleaned simultaneously.

[0050] According to one embodiment, the outlets are located inside the curved extension.

[0051] According to one embodiment, multiple outlet flow directions are configured to direct the cleaning fluid toward the navigation sensor from different angles along the curved extension.

[0052] According to one embodiment, the curved extension of the channel extends primarily in the first plane, and the flow direction of the plurality of outlets is configured to at least partially direct the cleaning fluid out of the first plane.

[0053] According to one embodiment, the flow directions of the multiple outlets have at least two different flow direction angles relative to the first plane such that the liquid flow washes over a majority of the navigation sensor.

[0054] According to one embodiment, the curvature of the extension of the channel is about 10 mm-100 mm, preferably about 20 mm-80 mm.

[0055] The cleaning fluid may be at least one of a pressurized gas, a gas, or a liquid.

[0056] The nozzle may include a reception area for receiving the navigation sensor to be cleaned, the reception area being located inside the curved extension of the channel.

[0057] There is further provided a navigation sensor cleaning system for a charging station of a self-propelled vehicle, the navigation sensor cleaning system comprising: a cleaning nozzle according to any one of the preceding embodiments; a cleaning fluid source providing cleaning fluid to the inlet; and a control unit activating the cleaning system upon detecting the presence of a navigation sensor to be cleaned.

[0058] A method for cleaning a navigation sensor on a self-propelled vehicle is also provided, the method including the steps of detecting the presence of a navigation sensor in a navigation sensor cleaning system, providing a cleaning fluid to an inlet of a cleaning nozzle, directing a flow of the cleaning fluid along a curved extension of a channel in the cleaning nozzle, and discharging the cleaning fluid through a plurality of outlets distributed within the channel, having a plurality of flow directions directed toward the navigation sensor.

[0059] According to one embodiment, at least one of these steps is performed during charging of the self-propelled vehicle, when the self-propelled vehicle is in any case stationary.

[0060] According to one embodiment, a cleaning nozzle is used to direct and discharge the cleaning fluid.

[0061] It should be noted that, unless clearly contradictory, any aspect or part of an aspect, any method or part of a method, any unit, function, or system may be combined in any applicable manner. [Brief explanation of the drawings]

[0062] The invention will now be explained in more detail, by way of example, with reference to the accompanying schematic drawings in which: FIG. [Figure 1A]FIG. 1A shows a guided vehicle and a self-propelled load-bearing cart for an intralogistics system, seen from slightly below and to the left. [Figure 2a] FIG. 2a shows a plan view of a guided vehicle and a self-propelled load-bearing cart for an intralogistics system, seen from the left. [Figure 2b] FIG. 2b shows an elevation view of a guided vehicle and a self-propelled load-bearing cart for an intralogistics system. [Figure 3] FIG. 3 shows a plan view of a self-propelled load-bearing cart for an intralogistics system, seen from the rear. [Figure 4] Figure 4 shows a guided vehicle for an intralogistics system, seen from the left. [Figure 5] FIG. 5 shows a rear elevation view of the cleaning nozzle and navigation sensor. [Figure 6] FIG. 6 shows an elevation view of the cleaning nozzle, seen slightly to the left. [Figure 7] FIG. 7 shows an elevation view of the cleaning nozzle, seen slightly to the left. [Figure 8] FIG. 8 shows the cleaning nozzle as seen from below and slightly to the right. [Figure 9] FIG. 9 illustrates a flow chart of a method for cleaning a navigation sensor. Detailed Description of the Invention

[0063] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of the invention are shown. However, the present 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 purposes of thoroughness and completeness.

[0064] Variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims.

[0065] A logistics system using a guided vehicle to move a self-propelled load-bearing cart, a self-propelled load-bearing cart for carrying a load in such a system, and a guided vehicle for guiding and controlling the self-propelled load-bearing cart in the system are provided. The logistics system may be used in an intralogistics system where materials, goods, or items are to be transported efficiently and / or autonomously.

[0066] FIG. 1 shows a guided vehicle 100 for an intralogistics system when the guided vehicle 100 is connected to and located below a self-propelled load-bearing cart 200. This is a view from slightly below and to the left. The guided vehicle 100 is remotely controlled and / or self-propelled and, when connected to the guided vehicle 100, is configured to guide and control the propulsion of the self-propelled load-bearing cart 200 so that the self-propelled load-bearing cart 200 can transfer loads in the intralogistics system. In the embodiment shown in FIG. 1, the guided vehicle 100 comprises two drive wheels 103 configured to engage a floor surface to propel the guided vehicle 100. The guided vehicle 100 further comprises at least one additional wheel 121 in the form of a swivel caster.

[0067] The guided vehicle 100 further comprises a mechanical connector 170 for connecting the guided vehicle 100 to a mechanical connector 270 of the self-propelled load-bearing cart 200 .

[0068] 1, a mechanical connector 270 is hinged to pivot point 265 so that when guided vehicle 100 is connected to self-propelled load-bearing cart 200, the guided vehicle 100 can pivot relative to the self-propelled load-bearing cart 200. Mechanical connections 170, 270 are further described with reference to FIGS.

[0069] The guided vehicle 100 further comprises a transceiver (further described with reference to FIGS. 3 and 4) configured to transmit and receive navigation data to and from the self-propelled load-bearing cart 200. The navigation data may be, for example, data from a navigation sensor, such as a LIDAR (further shown with reference to FIG. 4) located on the self-propelled load-bearing cart 200 or located on the guided vehicle 100. The navigation data may also be ambient information received by the guidance unit 100 or the self-propelled load-bearing cart 200 from an external source, such as a factory or warehouse layout, or information from an external navigation sensor, fixed or mobile (fixed LIDAR, IR sensor, or LIDAR on another remotely controlled or self-propelled vehicle). The navigation information may also be information regarding the movement of the drive wheels 103, 203 of the guided vehicle 100 and / or the self-propelled load-bearing cart 200. The information regarding the movement of the drive wheels 103, 203 may preferably be obtained by an encoder connected to the drive wheels 103, 203. The navigation information may also be an emergency stop signal.

[0070] The emergency stop signal may be generated, for example, by an operator pressing an emergency stop button 280 located on the self-propelled load-bearing cart 200. The emergency stop signal may then be transferred by an electrical connection between the self-propelled load-bearing cart 200 and the guided vehicle 100 so that the guided vehicle 100 can control the propulsion of the self-propelled load-bearing cart 200 to bring the self-propelled load-bearing cart 200 to a stop.

[0071] The navigation information may also be information about the load of the self-propelled load-bearing cart 200, or information about road conditions or traffic conditions.

[0072] In the embodiment shown in FIG. 1 , the guided vehicle 100 is configured to maintain constant traction between the drive wheels 103 and the floor surface when the guided vehicle 100 is connected to the self-propelled load-bearing cart 200 by mechanical connectors 170, 270.

[0073] In the embodiment shown in FIG. 1 , a constant traction force between the drive wheel 103 and the floor surface is maintained when the guided vehicle 100 is connected to the self-propelled load-bearing cart 200 by lifting the additional wheel 121 off 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 member, such as a spring or a hydraulic or pneumatic suspension. The suspension of the additional wheel 121 is configured to be substantially unaffected by the weight of the guided vehicle 100 alone, but to be elastically deformed by the combined weight of the guided vehicle 100 and the self-propelled load-bearing cart 200. This means that the additional wheel 121 moves vertically when, for example, an uneven road surface increases the pressure from the floor on the additional wheel 121. This means that the additional wheel 121 is spared from the large pressure that would otherwise be exerted on the additional wheel 121 and the mechanical connections 170, 270 by the large weight of the self-propelled load-bearing cart 200.

[0074] In embodiments in which the additional wheels 121 are raised off the floor, such raising can be achieved, for example, by a linear electric actuator that is actuated to raise the additional wheels 121 when the guided vehicle 100 is connected to the self-propelled load-bearing cart 200.

[0075] The self-propelled load-bearing cart 200 has two drive wheels 203 and four swivel casters 221, essentially one swivel caster at each of the four corners of the self-propelled load-bearing cart 200. The swivel casters 221 are fixed to support structures 230a, 230b, and the support structures 230a, 230b are fixed to the frame 210 of the self-propelled load-bearing cart 200 by screws. An emergency stop button 280 is also fixed to the frame 210 of the self-propelled load-bearing cart 200.

[0076] The mechanical connector 270 of the self-propelled load-bearing cart 200 comprises a protrusion for connection with a corresponding recess of the self-propelled load-bearing cart 100 (this will be further explained with reference to Figures 3 and 4). According to one embodiment, the protrusion comprises an inclined surface configured to provide a lifting force to lift the additional wheel 121 off the floor surface.

[0077] 1, the drive wheel 103 is located a distance d from the pivot point 265, so that when the interconnected guided vehicle 100 and self-propelled load-bearing cart 200 move over an uneven surface, the drive wheel 103 can pivot up and down while maintaining a constant traction force between the drive wheel 103 of the guided vehicle 100 and the floor surface. In embodiments in which the additional wheel 121 is elevated off the floor surface, the weight carried by the drive wheel 103 increases by lifting the additional wheel 121, which means that the force generating traction between the drive wheel 103 and the floor surface increases, making it easier to maintain a constant traction force between the floor surface and the drive wheel 103.

[0078] In an alternative embodiment, all wheels of the guided vehicle 100 are lifted off the floor surface so that the entire guided vehicle is lifted off the floor surface. This increases the weight of the self-propelled load-bearing cart, increasing the force generating traction between the drive wheels of the self-propelled load-bearing cart and the floor surface. In an embodiment in which the entire guided vehicle is lifted off the floor surface, the guided vehicle is configured to receive navigation data from the self-propelled load-bearing cart in the form of information regarding the movement of the drive wheels of the self-propelled load-bearing cart obtained from at least one encoder connected to at least one motor of the self-propelled load-bearing cart or to a drive wheel of the self-propelled load-bearing cart. The information regarding the movement of the at least one drive wheel is preferably received from two drive wheels of the self-propelled load-bearing cart so that the turning and driving patterns of the self-propelled load-bearing cart can be evaluated. To lift the guided vehicle, the guided vehicle may be equipped with an actuator, such as a linear actuator. Alternatively, the self-propelled load-bearing cart may be equipped with an actuator, such as a linear actuator.

[0079] Figure 2a shows a guided vehicle 100 for an intralogistics system according to the embodiment shown in Figure 1 when the guided vehicle 100 is located below and connected to a self-propelled load-bearing cart 200. This is a left-hand plan view of the interconnected guided vehicle 100 and self-propelled load-bearing cart 200.

[0080] The self-propelled load-bearing cart 200 has two drive wheels 203 and four swivel casters 221, essentially one swivel caster at each of the four corners of the self-propelled load-bearing cart 200. The swivel casters 221 are fixed to support structures 230a', 230b', which are fixed to the frame 210 of the self-propelled load-bearing cart 200 by screws. An emergency stop button 280 is also fixed to the frame 210 of the self-propelled load-bearing cart 200 and is electrically connected to a mechanical connector connecting the self-propelled load-bearing cart 200 to the guided vehicle 100 for transmitting an emergency stop signal from the emergency stop button 280 on the frame of the self-propelled load-bearing cart 200 to the guided vehicle 100 so that the guided vehicle 100 can control the propulsion of the self-propelled load-bearing cart 200 in response to the emergency stop signal.

[0081] The two support structures 230a′, 230b′ are configured to provide an unobstructed sector of view for the self-propelled load-bearing cart 200 in a first plane P1 of the navigation sensor 101 in the form of a LIDAR located on the guided vehicle 100. This unobstructed sector of view enables the two LIDARs (front and rear) of the guided vehicle 100 to function as navigation sensors 101 for the interconnected guided vehicle 100 and self-propelled load-bearing cart 200 when the guided vehicle 100 is located within the footprint of the self-propelled load-bearing cart 200 and connected to the self-propelled load-bearing cart 200. As further shown in FIG. 2b, the unobstructed field of view exceeds 100 degrees in a first forward direction of the first plane P1 and exceeds 100 degrees in an opposite rearward direction of the first plane P1. In the embodiment shown in Figures 2a and 2b, the self-propelled load-bearing cart 200 provides an unobstructed field of view of over 120 degrees in a first forward direction and over 120 degrees in an opposite rearward direction.

[0082] The unobstructed field of view sector is made possible by the support structures 230a, 230b being centrally secured to the frame 210 of the self-propelled load-bearing cart 200 such that the front, rear, and corners of the plane P1 are substantially free of obstructing structures. In the embodiment shown in FIG. 2a, the support structures 230a', 230b' obstruct the LIDAR's field of view in the first plane P1 along a distance of approximately one-third of the length L of the self-propelled load-bearing cart 200. A preferred configuration is for the support structures 230a', 230b' to obstruct the LIDAR's field of view in the first plane P1 along a distance of less than one-half the length L of the self-propelled load-bearing cart 200. That is, the support structures 230a', 230b' are configured to have a first length SL1 along a first axis parallel to the plane P1 when the support structures 230a, 230b are mounted to the frame 210. The support structures 230a', 230b' further have a second length SL2 along an axis parallel to the first axis, which is less than one-third the length of the first length SL1.

[0083] 2a, the corners of the self-propelled load-bearing cart 200 are provided with support elements 271 that support the Euro-pallet so that the Euro-pallet remains fixed on the self-propelled load-bearing cart 200 even when the self-propelled load-bearing cart 200 moves. In alternative embodiments, the support elements 271 at the corners may be omitted or replaced by elements that secure further structure on the self-propelled load-bearing cart 200, such as a shelf or rack system, or any element suitable for fixing or supporting goods to be transported by the self-propelled load-bearing cart 200.

[0084] In the embodiment shown in FIG. 2, the corners of the self-propelled load-bearing cart 200 are provided with lighting elements 272 configured to be illuminated by visible light transferred from the guided vehicle 100 by a connector for transferring visible light (further described with reference to FIG. 3).

[0085] FIG. 2b illustrates the interconnected guided vehicle 100 and self-propelled load-bearing cart 200 when the guided vehicle 100 is located within the footprint of and connected to the self-propelled load-bearing cart 200. In FIG. 2b, the rear portion and top surface of the frame 210 have been removed to show the unobstructed field of view sectors S1, S2. The unobstructed field of view sectors S1, S2 exceed 100 degrees in a first forward direction and exceed 100 degrees in an opposite rearward direction in a first plane (P1 in FIG. 2a). In the embodiment shown in FIG. 2b, the self-propelled load-bearing cart 200 provides a first unobstructed field of view sector S1 that exceeds 120 degrees in a first forward direction and a second unobstructed field of view sector S2 that exceeds 120 degrees in an opposite rearward direction.

[0086] The unobstructed field of view sectors S1, S2 is made possible by the support structures 230a', 230a'', 230b', 230b'' being fixed to the frame 210 of the self-propelled load-bearing cart 200 so that the front portion, rear portion, and corners of the plane are substantially free of obstructing structures.

[0087] 3 shows a rear plan view of the self-propelled load-bearing cart 200. The mechanical connector 270 of the self-propelled load-bearing cart 200 is located below the center of the frame 210 of the self-propelled load-bearing cart 200. The mechanical connector 270 is configured to allow a guided vehicle to be connected to the self-propelled load-bearing cart 200. The mechanical connector 270 is located rearwardly on the front portion and front half of the self-propelled load-bearing cart 200 such that when the guided vehicle 100 is connected to the self-propelled load-bearing cart 200, the guided vehicle is located substantially below the center within the footprint of the self-propelled load-bearing cart 200.

[0088] The mechanical connector 270 is pivotally mounted to a linkage support 231 that is connected to the support structures 230a', 230a''. The pivotally mounted mechanical connector 270 allows the guided vehicle to pivot relative to the self-propelled load-bearing cart 200 when the guided vehicle is connected to the self-propelled load-bearing cart 200.

[0089] Mechanical connector 270 includes two protruding connection elements 273 configured to connect to connection recesses on the guided vehicle. In the embodiment shown in FIG. 3, protruding connection elements 273 are used to guide mechanical connector 270 so that the interfaces of mechanical connector 270 are aligned and can be securely connected. In embodiments in which the add-on wheels of the guided vehicle are elevated off the floor surface, such elevation is achieved by interconnection of mechanical connector 270 with protruding connection elements 273 having angled surfaces on their upper distal surfaces for engaging elements secured to the add-on wheels, providing a lifting force to lift the add-on wheels off the floor surface.

[0090] 3 includes two electrical connectors 274, 275 for electrically connecting the guided vehicle to the self-propelled load-bearing cart. The first electrical connector 274 is configured to electrically connect the guided vehicle to the motor 205 or motor controller of the self-propelled load-bearing cart 200 so that the guided vehicle can control the propulsion of the self-propelled load-bearing cart 200. The first electrical connector may be adapted to a power supply for handling a load located on the self-propelled load-bearing cart 200, such as rollers for loading or unloading.

[0091] The second electrical connector 275 is configured to transfer electrical energy for the purpose of charging a battery on the self-propelled load-bearing cart 200 from a battery on the guided vehicle, or for the purpose of charging a battery on the self-propelled load-bearing cart 200 from a battery on the self-propelled load-bearing cart 200 to a battery on the guided vehicle.

[0092] The mechanical connector 270 shown in the embodiment of FIG. 3 further comprises a connector 276 for pressurized fluid so that pressurized fluid can be transferred from the guided vehicle to the self-propelled load-bearing cart 200 .

[0093] The mechanical connector 270 shown in the embodiment of Figure 3 further comprises a connector 277 for transferring visible light from the guided vehicle to the self-propelled load-bearing cart 200. The visible light is transferred within an optical fiber, and the connector 277 for transferring the visible light is a connector for connecting the optical fiber. The visible light shown in the embodiment of Figure 3 is used to illuminate lighting elements 272 located at the corners of the self-propelled load-bearing cart 200. The lighting elements 272 illuminated by visible light through optical fiber are very reliable, durable, low-cost, and do not require any maintenance.

[0094] The mechanical connector 270 shown in the embodiment of FIG. 3 further comprises a connector 278 for transferring data. The transferred data may be, for example, navigation data to and from the guided vehicle. The navigation data may be, for example, data from a navigation sensor (shown as 101 in FIG. 2a) of the guided vehicle. The navigation data may also be information about the surroundings received by the guidance unit or information about the movement of the drive wheels 203 of the self-propelled load-bearing cart 200 obtained from an encoder connected to the motor 205 or drive wheels 203 of the self-propelled load-bearing cart 200. The navigation information may also be an emergency stop signal generated by an operator pressing an emergency stop button 280 located on the self-propelled load-bearing cart 200. The emergency stop signal is transferred from the self-propelled load-bearing cart 200 to the guided vehicle by the connector 278 for transferring data so that the guided vehicle can control the propulsion of the self-propelled load-bearing cart 200 to stop it.

[0095] 3, electrical connectors 274, 275, connector 276 for pressurized fluid, connector 277 for transferring visible light, and connector 278 for transferring data are part of an integrated connector along with mechanical connector 270, allowing simultaneous connection of mechanical connector 270 with other connectors. However, it is equally contemplated that in other embodiments, some of the additional connectors may be separate from mechanical connector 270.

[0096] The mechanical connector 270 further comprises a resilient member (not shown) configured to lift the mechanical connector 270 when the mechanical connector 270 is disconnected from the guided vehicle so that the mechanical connector 270 is not dragged on the floor surface.

[0097] The elastic member may be further configured to generate an elastic downward force on the guided vehicle such that pressure on the wheels of the guided vehicle is increased by the connection with the self-propelled load-bearing cart 200. By way of example, the elastic member may be a torsion spring configured to elastically bias the mechanical connector 270 in a direction of minus 5 degrees relative to the horizontal. Such a torsion spring may increase the force on the wheels of the guided vehicle by 10 N or more or 30 N or more, thereby increasing the traction force between the wheels of the guided vehicle and the floor surface when the interconnected guided vehicle and self-propelled load-bearing cart 200 travel over an uneven floor surface and facilitating maintaining the traction force between the guided vehicle and the floor surface.

[0098] 1-3 are configured to be interconnected by a mechanical connector 270 between the guided vehicle and the self-propelled load-bearing cart 200 by horizontal movement along the floor surface. This essentially means that the guided vehicle passes under the self-propelled load-bearing cart 200 and drives up to the mechanical connector 270 at an appropriate vertical distance from the floor surface. If the floor surface is somewhat uneven, the pivot function of the hinged mechanical connector 270 allows the mechanical connector 270 to compensate for the uneven surface, and the rounded or chamfered edges of the convex element 273 allow the mechanical connector 270 to steer to the correct position.

[0099] When the guided vehicle and the self-propelled load-bearing cart 200 are interconnected by the mechanical connector 270, the mechanical connector 270, the guided vehicle, and the self-propelled load-bearing cart 200 are aligned horizontally so 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 load-bearing cart 200 is parallel to the floor surface, and the upper and lower surfaces of the guided vehicle are parallel to the floor surface.

[0100] In an alternative embodiment (not shown), the guided vehicle and the self-propelled load-bearing cart are configured to be interconnected by a mechanical connector with vertical movement. That is, the mechanical connector is located below the self-propelled load-bearing cart and is configured to receive a corresponding mechanical connector located on an upper surface of the guided vehicle. In one embodiment, the mechanical connector comprises an actuator that moves the mechanical connector vertically relative to the floor surface, thereby mechanically connecting the guided vehicle to the self-propelled load-bearing cart. The actuator may be supplemented or replaced by at least one elastic member configured to apply a force between the guided vehicle and the self-propelled load-bearing cart to increase the force between the drive wheels and the floor surface when the guided vehicle is connected to the self-propelled load-bearing cart.

[0101] In an alternative embodiment, active suspension of the wheels of the guided vehicle lifts the guided vehicle to create a vertical interconnection between the guided vehicle and the self-propelled load-bearing cart.

[0102] 3, the self-propelled load-bearing cart 200 comprises a drive unit and a computing unit configured to control the drive wheels, process input from sensors on the self-propelled load-bearing cart 200, and handle communications. Preferably, the computing unit on the self-propelled load-bearing cart 200 is a much smaller and simpler computing unit than the computing unit of the guided vehicle.

[0103] The self-propelled load-bearing cart 200 may further comprise a wireless transceiver, which may be a wireless communication unit configured to send and receive wireless communications to and from a guided vehicle and / or a mobile unit operated by a driver and / or a fixed wireless unit that is part of a logistics system. The wireless communications may be, for example, information or data related to the operation or navigation of the self-propelled load-bearing cart 200, or identity information or information related to the load on the self-propelled load-bearing cart 200 (weight, height, etc.).

[0104] The self-propelled load-bearing cart 200 may be powered by the guided vehicle's energy source. However, in alternative embodiments, the self-propelled load-bearing cart may be equipped with its own energy source that is used alone or in combination with the guided vehicle's energy source. The self-propelled load-bearing cart 200's energy source may be a small battery that can power the self-propelled load-bearing cart 200 for short trips (such as short trips directly controlled by an operator). The self-propelled load-bearing cart 200's energy source may be configured to be charged by and from the guided vehicle via electrical connection 275.

[0105] In alternative embodiments, it is contemplated that the self-propelled load-bearing cart 200 may include only a single drive wheel suitable for propulsion only, or for steering and propulsion. In embodiments in which a single drive wheel is suitable for steering and propulsion, the single drive wheel may be rotatable, for example, by an electric actuator. In embodiments in which a single drive wheel is configured for propulsion only, the self-propelled load-bearing cart may be steered by a guided vehicle.

[0106] In a contemplated embodiment, the self-propelled load-bearing cart 200 may be used as part of a warehouse system or as part of a station on an assembly line, which may mean that the self-propelled load-bearing cart 200 remains in the same position for long periods of time, during which time the battery may become discharged. Providing an energy source with sufficient energy in the guided vehicle to power the self-propelled load-bearing cart 200 can eliminate this problem, as the self-propelled load-bearing cart 200 can be easily energized by the guided vehicle's battery.

[0107] 1-3, the self-propelled load-bearing cart 200 is configured to carry a single Euro pallet, and the size of the top surface TS of the self-propelled load-bearing cart 200 is accordingly sized accordingly. However, in alternative embodiments, the size of the self-propelled load-bearing cart 200 may be different, for example, to carry two Euro pallets, to have a rack or shelving system, etc. If the self-propelled load-bearing cart 200 is made larger or to withstand a greater load, the number of swivel casters may be increased accordingly.

[0108] In some embodiments, the corner modules 271 may further comprise contact sensors that generate an emergency stop signal if the self-propelled load-bearing cart 200 inadvertently comes into contact with an object or person. The emergency stop signal may be transmitted to a guided vehicle so that the guided vehicle can control the propulsion of the self-propelled load-bearing cart 200.

[0109] FIG. 4 shows a perspective view of the guided vehicle 100 from the left. The guided vehicle 100 has two drive wheels 103 located at the rear corners of the guided vehicle 100 and one swivel caster 121 located at the front center of the guided vehicle 100. The two drive wheels 103 allow control in all directions on a flat surface by changing the rotational speed and / or direction of the drive wheels 103. The drive wheels 103 may be drive wheels 103 suitable for use in a warehouse or factory environment, or drive wheels 103 suitable for use on flat concrete floors. The drive wheels are connected to rotary encoders to sense the rotational speed of a particular drive wheel 103. Information derived by the rotary encoder may be used to compare the rotational speed of a particular drive wheel 103 with the speed of other drive wheels(s) or the speed of a self-propelled load-bearing cart. Information about the movement of the drive wheels 103 may be used as navigation information, and it is important that traction is maintained between the floor surface and the drive wheels 103.

[0110] The guided vehicle 100 has a lower surface LS configured to be parallel to the floor surface. The top of the guided vehicle 100 includes an upper surface US that is parallel to the lower surface LS and configured to house a first, forward LIDAR 101a and a second, rearward LIDAR 101b. The two LIDARs 101a, 101b are protected by a protective roof 105. The two LIDARs generate images of the surroundings of the guided vehicle 100 so that the guided vehicle 100 can navigate, provide navigation information to, and control the self-propelled load-bearing cart.

[0111] At the front of the guided vehicle 100 is a mechanical connector 170 configured to interconnect with a mechanical connector on a self-propelled load-bearing cart. The mechanical connector includes two recesses 173 configured to receive two protruding connection elements on the self-propelled load-bearing cart. The opening of the recess 173 has a chamfered surface configured to steer the protruding connection elements to align the mechanical connector.

[0112] 4, when the guided vehicle 100 is connected to the self-propelled load-bearing cart, a constant traction force between the drive wheel 103 and the floor surface is maintained by lifting the additional wheel 121 off the floor surface while the drive wheel 103 is in contact with the floor surface. Alternatively, the additional wheel 121 is suspended by an elastic member such as a spring or a hydraulic or pneumatic suspension. The suspension of the additional wheel 121 is configured to be substantially unaffected by the weight of the guided vehicle 100 alone, but to be elastically deformed by the combined weight of the guided vehicle 100 and the self-propelled load-bearing cart 200. This means that the additional wheel 121 will move vertically even if, for example, an uneven surface increases the pressure from the floor surface on the additional wheel 121.

[0113] In embodiments in which the additional wheel 121 is elevated from the floor surface, such elevation may be achieved by interconnection of the mechanical connection 170 with a protruding connection element that includes an inclined surface that engages with an element fixed to the additional wheel 121, thereby providing a lifting force to lift the additional wheel 121 off the floor surface. Alternatively, the guided vehicle 100 may include a linear electric actuator that is activated to lift the additional wheel 121 when the guided vehicle 100 is connected to a self-propelled load-bearing cart. The additional wheel 211 need only be elevated a short distance to generate increased pressure on the drive wheel 103 to increase traction between the drive wheel and the floor surface. The distance may be less than 40 mm, less than 30 mm, or less than 20 mm. The mechanical connection 170 may further include a locking member that safely locks the mechanical connection 170 to ensure that the mechanical connection is secure. In embodiments in which the guided vehicle 100 includes an electric linear actuator, the mechanical connection 170 may provide a signal to the electric linear actuator indicating that the mechanical connection is complete and secured so that the additional wheel 121 can be lifted.

[0114] The mechanical connector 170 shown in the embodiment of Figure 4 (corresponding to the mechanical connector 270 shown in the embodiment of Figure 3) comprises two electrical connectors 174, 175 that electrically connect the guided vehicle 100 to the self-propelled load-bearing cart. The first electrical connector 174 is configured to electrically connect the guided vehicle 100 to a motor or motor controller of the self-propelled load-bearing cart so that the guided vehicle 100 can control the propulsion of the self-propelled load-bearing cart. The first electrical connector 174 may be adapted to provide power to a power supply for handling a load located on the self-propelled load-bearing cart 200, such as rollers for loading / unloading.

[0115] The second electrical connector 175 may be configured to transfer electrical energy for the purpose of charging a battery on the self-propelled load-bearing cart from a battery on the guided vehicle 100, or for the purpose of charging a battery on the guided vehicle 100 from a charger or charging station connected to the power grid, or from a battery on the self-propelled load-bearing cart or another guided vehicle 100.

[0116] The mechanical connector 170 shown in the embodiment of FIG. 3 further comprises a connector 176 for pressurized fluid so that pressurized fluid can be transferred from the guided vehicle 100 to the self-propelled load-bearing cart.

[0117] The mechanical connector 170 shown in the embodiment of Figure 3 further comprises a connector 177 for transferring visible light from the guided vehicle 100 to the self-propelled load-bearing cart. The visible light is transferred within an optical fiber, and the connector 177 for transferring visible light is a connector for connecting the optical fiber. The visible light is used to illuminate lighting elements located on the self-propelled load-bearing cart. The lighting elements illuminated by visible light through optical fiber are very reliable, durable, low-cost, and do not require any maintenance.

[0118] The mechanical connector 170 shown in the embodiment of FIG. 4 further comprises a connector 178 for transferring data. The transferred data may be, for example, navigation data to or from the guided vehicle. The navigation data may be, for example, data from the LIDARs 101a, 101b. The navigation data may be information about the surroundings received by the guidance unit or information about the movement of the drive wheels of the self-propelled load-bearing cart obtained from an encoder connected to the motor or drive wheels of the self-propelled load-bearing cart. The navigation information may also be the movement of the drive wheels 103 of the guided vehicle 100 obtained from an encoder connected to the motor or drive wheels 103 of the guided vehicle. The navigation information may also be an emergency stop signal generated by an operator pressing an emergency stop button located on the self-propelled load-bearing cart. The emergency stop signal is transferred from the self-propelled load-bearing cart to the guided vehicle 100 by the connector 178 for transferring data so that the guided vehicle 100 can control the propulsion of the self-propelled load-bearing cart to stop it.

[0119] The guided vehicle 100 shown in FIG. 4 is remotely controlled and / or self-propelled and is competitive, faster, and lighter than a self-propelled load-bearing cart, but lacks load-bearing capability. The guided vehicle 100 is smaller than a self-propelled load-bearing cart and is configured to position itself below the load carried by the self-propelled load-bearing cart and within the footprint of the self-propelled load-bearing cart. This allows for the elimination of delicate, sensitive, and expensive components from the self-propelled load-bearing cart, making the self-propelled load-bearing cart easier to manufacture and more robust, thereby reducing the maintenance costs of the self-propelled load-bearing cart. Because the self-propelled load-bearing cart is self-propelled, i.e., not pulled by the guided vehicle 100, the guided vehicle 100 can be made small, light, and fast, allowing the guided vehicle 100 to move, for example, within a factory environment, without many of the risks to a human operator that are unavoidable when moving a large, heavy load-bearing cart. It also allows the guided vehicle 100 to coordinate with many more self-propelled load-bearing carts. It is also possible for one guided vehicle to guide and control multiple types of self-propelled load-bearing carts. In the embodiment shown in FIG. 4, the guided vehicle 100 is less than 50% of the size of the self-propelled load-bearing cart (100 in FIG. 1). The length of the guided vehicle is less than 50% of the length of the self-propelled load-bearing cart (200 in FIG. 1), the width of the guided vehicle 100 is less than 50% of the width of the self-propelled load-bearing cart (200 in FIG. 1), the weight of the guided vehicle 100 is less than 50% of the weight of the self-propelled load-bearing cart, and the footprint of the guided vehicle 100 is less than 50% of the footprint of the self-propelled load-bearing cart. In an alternative embodiment, the length and / or width and / or weight and / or footprint of the guided vehicle 100 are less than 30% of the length and / or width and / or weight and / or footprint of the self-propelled load-bearing cart (200 in FIG. 1).

[0120] The guided vehicle 100 has a maximum speed that is at least 200% of the maximum speed of the self-propelled load-bearing cart, which means that the guided vehicle 100 can move more quickly within an environment such as a factory when not connected to the self-propelled load-bearing cart.

[0121] However, the guided vehicle 100 lacks load-bearing capability and has a weight in the 10-100 kg range, which means that the motor of the guided vehicle 100 only needs to generate enough torque to accelerate the guided vehicle 100 having a weight in the 10-100 kg range, and the brake only needs to decelerate the guided vehicle 100 in the 10-100 kg range.

[0122] In contrast, the self-propelled load-bearing cart described with reference to Figures 1-3 is configured to carry a load in the range of 300-2000 kg, which means that the motor of the self-propelled load-bearing cart should generate sufficient torque to accelerate the self-propelled load-bearing cart having a weight in the range of 300-2000 kg, and the brake of the self-propelled load-bearing cart should slow down the self-propelled load-bearing cart in the range of 300-2000 kg.

[0123] In one exemplary embodiment, the motors combined to propel the self-propelled load-bearing cart are configured to generate a maximum torque that is three times the maximum torque of the motors combined to propel the guided vehicle 100.

[0124] In another exemplary embodiment, the motors combined to propel the self-propelled load-bearing cart are configured to generate a maximum torque six times the maximum torque of the motors combined to propel the guided vehicle 100.

[0125] Additionally, the guided vehicle 100 reduces the level of sophistication required for the safety system of the self-propelled load-bearing cart because the guided vehicle 100 can guide, navigate, sense the environment, and control the movement of the self-propelled load-bearing cart.

[0126] 4, electrical connectors 174, 175, connector 176 for pressurized fluid, connector 177 for transferring visible light, and connector 178 for transferring data are part of an integrated connector along with mechanical connector 170, allowing simultaneous connection of mechanical connector 170 with the remaining connectors. However, in other embodiments, it is equally conceivable that some of the additional connectors are separate from mechanical connector 170.

[0127] The guided vehicle 100 further includes a wireless communication unit configured to transmit and receive wireless communications with at least one of the self-propelled load-bearing carts, other guided vehicles, or fixed wireless units that are part of the logistics system. The wireless communication unit may be a wireless communication unit based on UHF radio communications, such as the IEEE 802.11 standard (WLAN or Wi-Fi) or the IEEE 802.15.1 standard (Bluetooth), or the 3GPP NR (5G) standard that enables Ultra-Reliable Low-Latency Communications (URLLC). The wireless communication may be, for example, information or data related to the identity of the guided vehicle or the identity of the self-propelled load-bearing cart. The wireless communication between the self-propelled load-bearing cart and the guided vehicle 100 may be bidirectional, such that the guided vehicle 100 transmits and receives information to and from the self-propelled load-bearing cart, which may include load details (weight, height, etc.) of the self-propelled load-bearing cart in addition to identity information. Additionally, more complex data may be sent and / or received to or from the guided vehicle 100, such as navigation information, such as driving instructions and information about the surroundings.

[0128] The guided vehicle 100 further comprises a computing unit that is much more complex than the computing unit of the self-propelled load-bearing cart. The more complex computing unit of the guided vehicle 100 has a faster processing unit, greater storage capacity, and faster connections to other guidance units or logistics systems or self-propelled load-bearing carts. The computing unit of the guided vehicle 100 further comprises more I / O units than the computing unit of the self-propelled load-bearing cart, which allows the guided vehicle 100 to receive inputs from more sensors. The computing unit receives inputs from the LIDARs 101a, 101b and generates control signals therefrom, which can then be transferred to the self-propelled load-bearing cart via connection 178 or wireless communication to control the drive units of the self-propelled load-bearing cart. Alternative sensors on the guided vehicle 101 could be radar units, acoustic sensor units, and / or optical sensor units using image recognition, IR, or cameras.

[0129] 5-8 show an enlarged view of the navigation sensor 101 and, more particularly, a cleaning nozzle 400 for cleaning the navigation sensor. As mentioned above, the cleaning sensor is well suited to guided vehicles for intralogistics systems and will be described primarily in relation to this vehicle in the following examples. However, the cleaning nozzle may be used with any navigation sensor on any autonomous vehicle.

[0130] The navigation sensors may be exposed to different contaminations during the navigation of the vehicle, which may be, for example, dust or other particles in manufacturing units, or vegetation contamination (grass, small leaves, pollen, etc.) if the self-propelled vehicle is driven outdoors.

[0131] The nozzle is preferably attached to the motor vehicle by attachment means 404a, 404b, shown as screws in Figure 5. Other attachment means such as glue or mating parts may also be used.

[0132] Nozzle 400 is configured to receive a fluid, for example, from a high-pressure air system. The fluid may be another gas or a liquid, such as water (with or without a cleaning additive) or any other liquid. To receive the cleaning fluid, nozzle 400 is provided with an inlet 401, shown in FIGS. 6 and 7. Inlet 401 is shown to be located at the end of the nozzle. In other embodiments, the inlet may be located in other parts of the nozzle. Preferably, the inlet is located in a position that is accessible during charging of the self-propelled vehicle. This allows the cleaning fluid to be injected during the charging operation.

[0133] The nozzle further comprises a channel 420 fluidly connected to the inlet. The channel comprises a plurality of outlets 403 a, 403 b, 403 c for discharging the cleaning fluid injected into the inlet 401. The outlets are preferably distributed in the channel and spaced apart from one another so that the cleaning fluid spreads along the extension of the channel. The channel 420 also has a curved extension that bends around the area where the navigation sensor 101 is located. Furthermore, the plurality of outlets are located along the curved extension such that the flow directions 408 a, 408 b of the plurality of outlets change along the curved extension. This allows the flow of the cleaning fluid to surround the cleaning nozzle so as to be cleaned along the curved extension.

[0134] In the figures, the cleaning nozzle 400 has a curved extension that extends in a horseshoe shape so that the outlet 403 is located around a central location of a reception area 410 for receiving the navigation sensor 101. The horseshoe-shaped nozzle configuration shown means that the outlet points from 270 degrees around the central area. In other embodiments, the cleaning nozzle extension may be shorter, such that the outlet points from about 180 degrees, about 120 degrees, or about 90 degrees around the central area. In each of these embodiments, the flow direction 408b is directed toward the navigation sensor from a different angle along the curved extension.

[0135] The channel 420 of the cleaning nozzle 400 has an interior 424 and an exterior 426. The interior 424 has an outlet 403 that faces the reception area 410. The channel 420 has a bottom that may be closed by itself, or may be open as shown, or may be closed by placement on an autonomous vehicle. However, the channel is preferably hermetically sealed except for the inlet and outlet to control the evacuation of cleaning fluid from the nozzle.

[0136] In the illustrated exemplary embodiment, the inner side 424 is formed at an angle α with respect to a plane in which the nozzle and reception area generally extend. As shown herein, the plane may be a horizontal plane, for example, if the navigation sensor is located on a self-propelled vehicle. The plane will hereinafter generally be referred to as the nozzle's plane of extension. Of course, the nozzle may also have a height extension that deviates from the plane.

[0137] The inner side may extend at an angle α relative to the nozzle extension plane, and the angle may be adjusted so that the outlet faces upward and inward toward the navigation sensor, as shown. The angle α may be, for example, between 10°-80°, or about 20°-70°, or about 30°-60°. In the example shown, α is about 45°. This angle depends on the inner radius r and the height of the navigation sensor to direct the cleaning fluid toward the navigation sensor.

[0138] Instead of having an oblique inner side, a guiding means 412 such as a deflector as shown in Figure 7 may be used to achieve the flow directions 408a, 408b of the cleaning fluid, so that the flow direction can be directed towards the navigation sensor even when the outlet is positioned parallel to the extension plane of the nozzle.

[0139] 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 may be adapted depending on the size of the navigation sensor used. For example, the radius of curvature r of the extension of the channel may be approximately 10 mm-100 mm, preferably approximately 20 mm-80 mm.

[0140] In some embodiments, the interior angle, outlet bore angle, or any directing means may have different angles for different outlets, which may allow the flow 408 to have a wider spread towards the navigation sensor.

[0141] It will be further appreciated from the above embodiments that the nozzle may be used in a navigation sensor cleaning system at a charging station for a self-propelled vehicle. Such a navigation sensor cleaning system would comprise a cleaning nozzle, e.g., as described above, and preferably fixed to the self-propelled vehicle. Furthermore, such a system would require a cleaning fluid source that provides cleaning fluid to inlet 401, and a control unit that activates the cleaning system upon detecting the presence of a navigation sensor to be cleaned.

[0142] The control unit may be the same control unit used to control the charging operation of the self-propelled vehicle.

[0143] 9, a method for cleaning a navigation sensor on a self-propelled vehicle is further shown. The method includes detecting the presence of a navigation sensor in a navigation sensor cleaning system. Detection can be achieved, for example, using a motion sensor, an electrical sensor, or simply by detecting that a charging operation has begun.

[0144] Thereafter, a step of providing a cleaning fluid to the inlet 401 of the cleaning nozzle 400 is performed. This may be, for example, a pressurized gas, a gas, or a liquid applied to the inlet 401, as described above. In a third step, the injected cleaning fluid is guided along the curved extension of the channel 420 in the cleaning nozzle 400, as described above with the nozzle. And finally, a step of discharging the cleaning fluid through a plurality of outlets 403 distributed in the channel and having a plurality of flow directions directed towards the navigation sensor 101 is performed. The method as described above may preferably be performed during a charging operation of the autonomous vehicle. This means that the sensor can be cleaned when the autonomous vehicle is being charged.

[0145] It should be noted that, unless clearly contradictory, any aspect or part of an aspect, and any method or part of a method, or any unit, function, or system, may be combined in any applicable manner.

[0146] Below, numbered exemplary embodiments are provided. The numbered embodiments should not be considered as limiting the scope of the present invention, which is defined by the appended claims. Reference numerals in different numbered embodiments should be understood only as examples of elements in the accompanying drawings that correspond to elements described in the numbered embodiments.

[0147] 1A. A cleaning nozzle for cleaning a navigation sensor on a self-propelled vehicle, comprising: an inlet for receiving flushing fluid from a fixed pressurized fluid source; a channel fluidly connected to said inlet; - at least one outlet distributed in the channel for distributing the cleaning fluid to clean the navigation sensor; A cleaning nozzle comprising:

[0148] 2A. The cleaning nozzle of embodiment 1A, wherein the inlet is configured to receive pressurized fluid from a stationary pressurized fluid source.

[0149] 3A. The cleaning nozzle of embodiment 1A or 2A, wherein the channel has a curved extension.

[0150] 4A. The cleaning nozzle of any one of embodiments 1A-3A, wherein the channel has multiple outlets.

[0151] 5A. The cleaning nozzle of embodiment 4A, wherein the plurality of outlets are located along the curved extension such that the flow direction of the plurality of outlets changes with the curved extension.

[0152] 6A. The cleaning nozzle of any one of embodiments 3A-5A, wherein the curved extension extends at least 90 degrees, preferably at least 180 degrees, and most preferably about 270 degrees.

[0153] 6A. The cleaning nozzle of any one of embodiments 3A-5A, wherein the multiple outlets are located inside the curved extension.

[0154] 7A. A cleaning nozzle as described in any one of embodiments 3A-6A, wherein the flow directions of the multiple outlets are configured to direct the cleaning fluid toward the navigation sensor from different angles along the curved extension.

[0155] 8A. A cleaning nozzle described in any one of embodiments 3A-7A, wherein the curved extension of the channel extends primarily along a first plane and the flow direction of the multiple outlets is configured to at least partially direct the cleaning fluid outside the first plane.

[0156] 9A. The cleaning nozzle of any one of embodiments 3A-8A, wherein the flow direction of the plurality of outlets has at least two different flow direction angles with respect to the first plane.

[0157] 10A. The cleaning nozzle of any one of embodiments 3A-9A, wherein the radius of curvature of the extension of the channel is about 10 mm-100 mm, preferably about 20 mm-80 mm.

[0158] 11A. A cleaning nozzle as described in any one of embodiments 1A-10A, wherein the nozzle has a reception area for receiving a navigation sensor to be cleaned, the reception area being located inside the curved extension of the channel.

[0159] 12A. A navigation sensor cleaning system for a charging station of a self-propelled vehicle, comprising: a cleaning nozzle according to any one of embodiments 1A-11A; a stationary cleaning fluid source for providing cleaning fluid to said inlet; a control unit that activates the cleaning system upon detecting the presence of a cleaning navigation sensor; A navigation sensor cleaning system comprising:

[0160] 13A. The navigation sensor cleaning system of embodiment 12A, wherein the stationary cleaning fluid source is a stationary pressurized fluid source.

[0161] 14A. A method for cleaning a navigation sensor on a self-propelled vehicle, comprising: - detecting the presence of a navigation sensor in a navigation sensor cleaning system; - providing cleaning fluid from a stationary cleaning fluid source to an inlet of a cleaning nozzle; directing a flow of the cleaning fluid through the cleaning nozzle; - ejecting a cleaning fluid from at least one of the cleaning nozzles towards the navigation sensor; A method comprising:

[0162] 15A. The method of embodiment 14A, wherein at least one of the steps occurs while the self-propelled vehicle is charging.

[0163] 16A. The method of embodiment 14A, wherein the cleaning nozzle of any one of embodiments 1A-11A is used to perform the directing and discharging steps of the cleaning fluid.

[0164] 1B. A guided vehicle (100) for an intralogistics system, said guided vehicle (100) being remotely controlled or self-propelled; Connected to a self-propelled load-bearing cart (200), The guided vehicle (100) is configured to guide and control the propulsion of the self-propelled load-bearing cart (200) so that the self-propelled load-bearing cart (200) can transport loads in the intralogistics system, and the guided vehicle (100) at least one drive wheel (103) configured to engage a floor surface to propel the guided vehicle (100); At least one additional wheel (121); a mechanical connector (170) for mechanically connecting the guided vehicle (100) to the self-propelled load-bearing cart (200); Equipped with the guided vehicle (100) is configured to at least one of transmit navigation data to the self-propelled load-bearing cart (200) and receive navigation data from the self-propelled load-bearing cart (200); the guided vehicle (100) is configured to maintain a constant traction force between the at least one drive wheel (103) and a floor surface when the guided vehicle (100) is connected to the self-propelled load-bearing cart (200) by the mechanical connector (170), such that a constant traction force is maintained between the at least one drive wheel (103) and the floor surface when the interconnected guided vehicle (100) and the self-propelled load-bearing cart (200) move over an uneven floor surface; Guided vehicle (100).

[0165] 2B. The guided vehicle (100) of embodiment 1B, wherein the guided vehicle (100) is configured such that, when the guided vehicle (100) is connected to the self-propelled load-bearing cart (200), the at least one additional wheel (121) is lifted off the floor surface while the drive wheel (103) engages the floor surface.

[0166] 3B. The guided vehicle (100) of any one of embodiments 1B and 2B, further comprising at least one of an actuator and a resilient member; The actuator or the elastic member is When the guided vehicle (100) is connected to the self-propelled load-bearing cart (200), lifting the additional wheel (121) off the floor surface; When the guided vehicle (100) is connected to the self-propelled load-bearing cart (200), it acts as a suspension for the additional wheels (103); The guided vehicle (100) of any one of embodiments 1B and 2B, configured to perform at least one of the following:

[0167] 4B. A guided vehicle as described in any one of embodiments 1B-3B, wherein the mechanical connector (170) is configured to connect between the guided vehicle (100) and the self-propelled load-bearing cart (200) by horizontal movement along the floor surface.

[0168] 5B. A guided vehicle (100) as described in any one of embodiments 1B-4B, wherein the mechanical connector comprises an actuator that moves the mechanical connector vertically relative to the floor surface, thereby mechanically connecting the guided vehicle (100) to the self-propelled load-bearing cart (200).

[0169] 6B. The elastic member configured to act as a suspension for the additional wheel (121) is is substantially unaffected solely by the weight of the guided vehicle (100); A guided vehicle (100) described in any one of embodiments 3B-5B, wherein when the guided vehicle (100) is connected to the self-propelled load-bearing cart (200), the elastic member is configured to be elastically deformed by the total weight of the guided vehicle (100) and the self-propelled load-bearing cart (200) so as to function as a suspension for the additional wheel (121).

[0170] 7B. The guided vehicle (100) of any one of embodiments 1B-6B, further comprising electrical connectors (174, 175) that electrically connect the guided vehicle (100) to the self-propelled load-bearing cart (200).

[0171] 8B. The guided vehicle (100) of embodiment 6B, wherein the guided vehicle (100) comprises an electrical energy storage and is configured to transfer electrical energy from the electrical energy storage to the self-propelled load-bearing cart (200) via the electrical connectors (174, 175) for at least one of propelling the self-propelled load-bearing cart (200) and handling the load located on the self-propelled load-bearing cart (200).

[0172] 9B. The mechanical connector (170) comprises a recess (173) or protrusion for connection with a corresponding recess or protrusion (273) located on the self-propelled load-bearing cart (200); The guided vehicle of any one of embodiments 1B-8B, wherein the recess or protrusion comprises an inclined surface configured to provide a lifting force to lift the additional wheel (121) off the floor surface.

[0173] 10B. A connector (176) for pressurized fluid so that pressurized fluid can be transferred to or from said guided vehicle (100); a connector (177) for transferring visible light from the guided vehicle (100) to the self-propelled load-bearing cart (200); The guided vehicle (100) of any one of embodiments 1B-9B, further comprising at least one of:

[0174] 11B. A guided vehicle as described in any one of embodiments 6B-10B, wherein at least one of the electrical connectors (174, 175), the connector for pressurized fluid (176), and the connector for transferring visible light (177) is part of an integrated connector together with the mechanical connector, allowing simultaneous connection of the mechanical connector with at least one of the electrical connector, the connector for pressurized fluid, and the connector for transferring visible light.

[0175] 12B. The guided vehicle of any one of embodiments 1B-11B, wherein the guided vehicle (100) is smaller than the self-propelled load-bearing cart (200) and is configured to be positioned within the footprint of the self-propelled load-bearing cart (200) and below the load carried by the self-propelled load-bearing cart (200).

[0176] 13B. A self-propelled load-bearing cart (200) for use in an intralogistics system, the self-propelled load-bearing cart (200) comprising: Connected to the guided vehicle (100) according to any one of embodiments 1-12, the self-propelled load-bearing cart (200) is configured to be guided and controlled by the guided vehicle (100) so as to transport loads in the intralogistics system; The self-propelled load-bearing cart (200) at least one motor (205) connected to drive wheels (203) configured to engage a floor surface to propel the self-propelled load-bearing cart (200); a mechanical connector (270) for mechanically connecting the self-propelled load-bearing cart (200) to the guided vehicle (100); Equipped with A self-propelled load-bearing cart (200), wherein when the guided vehicle (100) is located within the footprint of the self-propelled load-bearing cart (200) and connected to the self-propelled load-bearing cart (200), the self-propelled load-bearing cart (100) provides a sector (S1, S2) of unobstructed field of view in a first plane (P1) of at least one navigation sensor (101a, 101b) located on the guided vehicle (100), the unobstructed field of view exceeding 100 degrees in a first direction of the first plane and exceeding 100 degrees in an opposite direction.

[0177] 14B. A self-propelled load-bearing cart (100) as described in embodiment 13B, wherein the self-propelled load-bearing cart (200) is provided with a lighting element (272) configured to be illuminated by visible light transferred from the guided vehicle (100) by a connector (277) for transferring the visible light.

[0178] 15B. A self-propelled load-bearing cart (200) as described in any one of embodiments 13B-14B, wherein the self-propelled load-bearing cart (200) comprises at least one emergency switch (280) configured to be pressed by an operator, and the self-propelled load-bearing cart (280) is configured to transfer a signal from the at least one emergency switch to the guided vehicle (100).

[0179] Different numbered aspects of the embodiments, or any part of an aspect, or any part of an embodiment, may all be combined in any possible way. Any method embodiment or any step of any method embodiment may also be considered as an apparatus description, and any apparatus embodiment, aspect, or part of an aspect, or part of an embodiment may also be considered as a method description, and all may be combined in any way possible down to the finest details. Any detailed description should be interpreted in the broadest overview as a general overview description.

Claims

1. A self-propelled guided vehicle for an intralogistics system, the self-propelled guided vehicle being remotely controlled or autonomous and connected to a self-propelled load-bearing cart and configured to guide and control the propulsion of the self-propelled load-bearing cart so that the self-propelled load-bearing cart can transport loads in the intralogistics system, the self-propelled guided vehicle comprising: a mechanical connector for mechanically connecting the self-propelled guided vehicle to the self-propelled load-bearing cart; Connectors for transferring data; Equipped with the self-propelled guided vehicle is configured to receive, using the connector for transferring the data, navigation data from the self-propelled load-bearing cart in the form of information relating to movement of the drive wheels of the self-propelled load-bearing cart obtained from at least one encoder connected to at least one motor or drive wheel of the self-propelled load-bearing cart; the self-propelled guided vehicle is configured to be lifted completely off a floor surface using the mechanical connector when connected to the self-propelled load-bearing cart by the mechanical connector; Self-propelled guided vehicle.

2. The self-propelled guided vehicle of claim 1 , wherein the self-propelled guided vehicle comprises an actuator that lifts the self-propelled guided vehicle relative to the self-propelled load-bearing cart.

3. The self-propelled guided vehicle of claim 1 , wherein the self-propelled guided vehicle is configured to be lifted completely off the floor surface by an actuator provided on the self-propelled load-bearing cart.

4. A self-propelled guided vehicle as described in any one of claims 1 to 3, wherein the self-propelled guided vehicle comprises an electrical energy storage, and the self-propelled guided vehicle is configured to transfer electrical energy from the electrical energy storage to the self-propelled load-bearing cart via an electrical connector for at least one of propelling the self-propelled load-bearing cart and handling the load located on the self-propelled load-bearing cart.

5. A self-propelled guided vehicle according to any one of claims 1 to 4, wherein the mechanical connector comprises a recess or protrusion for connection with a corresponding recess or protrusion located on the self-propelled load-bearing cart.

6. the self-propelled guided vehicle is configured to receive an emergency stop signal from the self-propelled load-bearing cart; The self-propelled guided vehicle according to any one of claims 1 to 5, wherein the self-propelled guided vehicle is configured to control the propulsion of the self-propelled load-bearing cart based on the received emergency stop signal.

7. The self-propelled guided vehicle of claim 6 , wherein the self-propelled guided vehicle is configured to receive the emergency stop signal from at least one contact sensor on the self-propelled load-bearing cart.

8. 7. The self-propelled guided vehicle of claim 6, wherein the self-propelled guided vehicle is configured to receive the emergency stop signal from at least one emergency switch on the self-propelled load-bearing cart, the emergency switch being configured to be pressed by an operator.

9. A self-propelled guided vehicle as described in any one of claims 1 to 8, wherein the mechanical connector is configured to be connected between the self-propelled guided vehicle and the self-propelled load-bearing cart by horizontal movement along the floor surface.

10. a connector for pressurized fluid so that pressurized fluid can be transferred to and from the self-propelled guided vehicle; a connector for transferring visible light from the self-propelled guided vehicle to the self-propelled load-bearing cart; 10. The self-propelled guided vehicle according to claim 1, further comprising at least one of:

11. 1. A self-propelled load-bearing cart for use in an intralogistics system, the self-propelled load-bearing cart comprising: A vehicle connected to the self-propelled guided vehicle according to claim 1, The self-propelled load-bearing cart is configured to be guided and controlled by the self-propelled guided vehicle so as to be able to transport loads in the intralogistics system, and the self-propelled load-bearing cart comprises: at least one motor connected to drive wheels configured to engage a floor surface to propel the self-propelled load-bearing cart; a mechanical connector for mechanically connecting the self-propelled load-bearing cart to the self-propelled guided vehicle; Connectors for transferring data; Equipped with the self-propelled load-bearing cart is configured to transmit navigation data to the self-propelled guided vehicle using the connector for transferring the data, the navigation data being in the form of information relating to the movement of the drive wheels of the self-propelled load-bearing cart obtained from at least one encoder connected to at least one motor or drive wheel of the self-propelled load-bearing cart; the self-propelled guided vehicle is configured to be lifted completely off the floor surface using the mechanical connector such that the load of the self-propelled guided vehicle is carried by the self-propelled load-bearing cart; Self-propelled load-bearing cart.

12. 12. The self-propelled load-bearing cart of claim 11, wherein the self-propelled load-bearing cart comprises an actuator for lifting the self-propelled guided vehicle relative to the self-propelled load-bearing cart.

13. 12. The self-propelled load-bearing cart of claim 11, wherein the self-propelled guided vehicle is configured to be lifted completely off the floor surface by an actuator included on the self-propelled guided vehicle.

14. 14. The self-propelled load-bearing cart of claim 11, wherein the self-propelled load-bearing cart is configured to receive electrical energy from an electrical energy storage of the self-propelled guided vehicle via an electrical connector for at least one of propelling the self-propelled load-bearing cart and handling the load located on the self-propelled load-bearing cart.

15. The self-propelled load-bearing cart of any one of claims 11 to 14, wherein the self-propelled load-bearing cart is configured to transmit an emergency stop signal to the self-propelled guided vehicle, and the propulsion of the self-propelled load-bearing cart is configured to be controlled by the self-propelled guided vehicle based on the transmitted emergency stop signal.

16. 16. The self-propelled load-bearing cart of claim 15, wherein the self-propelled load-bearing cart comprises at least one contact sensor, and the emergency stop signal is generated by the at least one contact sensor.

17. 16. The self-propelled load-bearing cart of claim 15, wherein the self-propelled load-bearing cart comprises at least one emergency switch, and the emergency stop signal is generated by the at least one emergency switch.

18. A self-propelled load-bearing cart according to any one of claims 11 to 17, wherein the mechanical connector comprises a recess or protrusion for connection with a corresponding recess or protrusion located on the self-propelled guided vehicle.

19. a connector for pressurized fluid so that pressurized fluid can be transferred to and from the self-propelled load-bearing cart; a connector for transferring visible light from the self-propelled guided vehicle to the self-propelled load-bearing cart; The self-propelled load-bearing cart of any one of claims 11-18, further comprising at least one of:

20. 20. The self-propelled load-bearing cart of claim 19, wherein the self-propelled load-bearing cart comprises a lighting element configured to be illuminated by visible light transferred from the self-propelled guided vehicle by a connector for transferring the visible light.

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