System for intralogistics including a self-propelled adapter unit and an adapter

Abstract

A self-propelled adapter unit for use in an intralogistics system. The self-propelled adapter unit includes a motor and at least one drive wheel connected to the motor for propelling the self-propelled adapter unit. The self-propelled adapter unit may further include a first mechanical connection configured to connect to a mechanical connection of the load-bearing unit, thereby forming a first mechanical interconnection between the self-propelled adapter unit and the load-bearing unit. The self-propelled adapter unit may further include a computer connected to the motor and the at least one drive wheel, the computer including a receiver for receiving commands from the self-propelled autonomous or remote-operated guide unit to control the motor. The self-propelled adapter unit is configured to push or pull the load-bearing unit in a substantially horizontal direction and / or lift or lower the load-bearing unit.

Description

[Technical Field]

[0001] The present invention relates to an adapter unit for a self-propelled autonomous or remotely controlled guide unit in an intralogistics system, and to an intralogistics system utilizing such an adapter unit. [Background technology]

[0002] The handling of all forms of goods, materials, or manufactured goods requires intralogistics, i.e., logistics within a confined area such as a factory, warehouse, or workshop. Traditionally, forklifts have been the primary means of transport for moving individual pallets of small or large items. However, forklifts have several limitations, and in many environments, hand trucks pushed by human operators are used instead. Hand trucks are less prone to accidents and are more easily adapted to specific uses and sizes of items being transported. However, hand trucks also have drawbacks, such as a limited maximum load that a human operator can handle, making logistics systems relatively labor-intensive. Hand trucks can also be incompatible with logistics systems based on pallets and forklifts. Summary of the Invention

[0003] SUMMARY OF THE INVENTION The object of the present invention is to mitigate, alleviate or eliminate one or more of the above-identified deficiencies and drawbacks in the art singly or in any combination.

[0004] According to one aspect, a system for intralogistics is provided. The system includes a load-bearing unit, a self-propelled adapter unit, and a self-propelled autonomous or remotely operated guide unit. The load-bearing unit includes a mechanical connection, at least one support element configured to be positioned at least partially in contact with a load, and at least one wheel that allows the load-bearing unit to travel on a floor surface and / or the mechanical connection allows the load-bearing unit to be lifted off the floor surface by the self-propelled adapter unit. The self-propelled adapter unit includes a motor and at least one drive wheel connected to the motor for propelling the self-propelled adapter unit. The self-propelled adapter unit further includes a first mechanical connection configured to connect to the mechanical connection of the load-bearing unit, thereby forming a first mechanical interconnection between the self-propelled adapter unit and the load-bearing unit. The self-propelled adapter unit further includes a computer connected to the motor. The computer includes a receiver for receiving commands from the self-propelled autonomous or remotely operated guide unit to control the motor. The self-propelled adapter unit is configured to at least one of push or pull the load-bearing unit in a substantially horizontal direction and lift or lower the load-bearing unit. The self-propelled autonomous or remotely operated guide unit includes a motor and at least one drive wheel connected to the motor for propelling the self-propelled autonomous or remotely operated guide unit. The self-propelled autonomous or remotely operated guide unit further includes a computer, the computer including a transmitter for communicating with a receiver of the self-propelled adapter unit, a navigation system for navigating within an environment, and at least one sensor for sensing objects within the environment. The self-propelled autonomous or remotely operated guide unit has a lower load-bearing / towing capacity than the self-propelled adapter unit, and the motor of the self-propelled adapter unit is configured to generate a greater torque than the motor of the self-propelled autonomous or remotely operated guide unit.The computer of the self-propelled autonomous or remotely operated guide unit is configured to generate control signals based on inputs from the navigation system and the at least one sensor to control the motor of the self-propelled adapter unit, and to transmit the control signals to the self-propelled adapter unit using the transmitter.

[0005] The present invention provides a flexible autonomous or remotely controlled system that can meet various payload challenges in intralogistics environments, increase safety for human operators in those environments, and reduce unit costs.

[0006] According to one embodiment, the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit are propelled solely by the motor of the self-propelled adapter unit when the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit are coupled together.

[0007] In one embodiment, the computer of the self-propelled autonomous or remotely operated guide unit includes a faster processing unit than the computer of the self-propelled adapter unit, allowing the computer of the self-propelled adapter unit to be simpler.

[0008] The maximum speed of the self-propelled autonomous or remotely operated guide unit may be at least 200% of the maximum speed of the self-propelled adapter unit.

[0009] According to one embodiment, the self-propelled autonomous or remotely operated guide unit has substantially no load-bearing capacity.

[0010] According to one embodiment, the self-propelled autonomous or remotely operated guide unit has a weight in the range of 10 to 200 kg, and the self-propelled autonomous or remotely operated guide unit may include at least one motor and at least one brake configured to accommodate a weight in the range of 10 to 200 kg.

[0011] According to one embodiment, the self-propelled adapter unit is configured to carry or tow a load in excess of 1000 kg, and the self-propelled adapter unit may include at least one motor and at least one brake configured to accommodate a weight in excess of 1000 kg.

[0012] In one embodiment, the computer of the self-propelled adapter unit includes a transceiver, the receiver being part of the transceiver, and the computer of the self-propelled autonomous or remotely operated guide unit includes a transceiver, the transmitter being part of the transceiver, allowing the computer of the self-propelled adapter unit and the computer of the self-propelled autonomous or remotely operated guide unit to communicate with each other via two-way communication.

[0013] According to one embodiment, the self-propelled adapter unit may include a second mechanical connection, and the self-propelled autonomous or remotely operated guide unit may include a mechanical connection configured to connect to the second mechanical connection of the self-propelled adapter unit, thereby forming a second mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

[0014] According to one embodiment, the self-propelled autonomous or remotely operated guide unit and the self-propelled adapter unit each include an electrical connection, by which the self-propelled autonomous or remotely operated guide unit can be electrically connected to the self-propelled adapter unit.

[0015] According to one embodiment, the electrical connection between the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit is configured to transmit electrical energy to power the motor of the self-propelled adapter unit.

[0016] According to one embodiment, the self-propelled autonomous or remotely operated guide unit includes an energy storage device to power the self-propelled adapter unit.

[0017] According to one embodiment, the electrical connection between the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit is configured for transferring data.

[0018] According to one embodiment, the transceivers of the self-propelled autonomous or remotely operated guide unit and the self-propelled adapter unit are wireless transceivers, allowing the self-propelled autonomous or remotely operated guide unit and the self-propelled adapter unit to communicate with each other even when they are not connected (e.g., before or after connection).

[0019] According to one embodiment, the first mechanical connection portion of the self-propelled adapter unit includes at least one of a recess and a protrusion, and the mechanical connection portion of the load-bearing unit includes at least one of a corresponding recess or a protrusion for mechanical interconnection between the self-propelled adapter unit and the load-bearing unit.

[0020] According to one embodiment, the second mechanical connection portion of the self-propelled adapter unit includes at least one of a recess and a protrusion, and the mechanical connection portion of the self-propelled autonomous or remotely operated guide unit includes at least one of a corresponding recess or a protrusion for mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

[0021] According to one embodiment, the self-propelled adapter unit further includes at least one sensor, and the transceiver of the self-propelled adapter unit is configured to transmit sensor data to the transceiver of the self-propelled autonomous or remotely operated guide unit. The sensor data may be, for example, data related to the load-bearing unit, the payload, or the current state of the self-propelled adapter unit. The self-propelled autonomous or remotely operated guide unit may be configured to generate a control signal based on the received sensor data. The sensor may be at least one sensor selected from the list consisting of a pressure sensor, a motion sensor, and a lidar.

[0022] According to one embodiment, the self-propelled autonomous or remotely operated guide unit is configured to be positioned at least partially below the self-propelled adapter unit.

[0023] According to one embodiment, at least one support element of the load-bearing unit is configured to support a Euro pallet.

[0024] According to one embodiment, the first mechanical connection of the self-propelled adapter unit is configured to support a Euro pallet.

[0025] According to one embodiment, the self-propelled adapter unit further includes an actuator for raising and lowering the load-bearing unit.

[0026] In one embodiment, the actuator includes a forklift mast assembly, and the first mechanical connection of the self-propelled adapter unit is configured as part of the forklift mast assembly.

[0027] According to one embodiment, the actuator includes a crane mast assembly, and the first mechanical connection of the self-propelled adapter unit is configured as part of the crane mast assembly.

[0028] According to one embodiment, the first mechanical interconnection is configured to secure the self-propelled adapter unit to the load-bearing unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0029] According to one embodiment, the second mechanical interconnection is configured to secure the self-propelled adapter unit to the self-propelled autonomous or remotely operated guide unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0030] The self-propelled adapter unit may further include an optical sensor configured to sense a mobile optical marker within the sensor area.

[0031] The self-propelled adapter unit may be configured to move loads in excess of at least one of 100 kg, 1000 kg, and 5000 kg.

[0032] According to one embodiment, the self-propelled autonomous or remotely operated guide unit is positioned at a distance from the load-bearing unit and controls the self-propelled adapter unit such that the self-propelled adapter unit is located between the self-propelled autonomous or remotely operated guide unit and the load-bearing unit.

[0033] According to one embodiment, the self-propelled autonomous or remotely operated guide unit has at least twice the computing power of the self-propelled adapter unit, where the computing power is defined by one of RAM, instructions per second, clock speed (Ghz), and bits.

[0034] According to one embodiment, the motor of the self-propelled adapter unit has at least twice the motor power as the motor of the self-propelled autonomous or remotely operated guide unit.

[0035] According to one embodiment, the system may include at least two self-propelled adapter units, the at least two self-propelled adapter units including a first self-propelled adapter unit configured to serve a first purpose and a second self-propelled adapter unit configured to serve a second purpose, the first purpose and the second purpose being different.

[0036] The first purpose may be to connect to a load-bearing unit for lifting, and the second purpose may be to connect to a wheeled dolly for movement.

[0037] According to one embodiment, the system may include at least two self-propelled adapter units, including a first self-propelled adapter unit configured to connect to a mechanical connection of a first type of load-bearing unit and a second self-propelled adapter unit configured to connect to a mechanical connection of a second type of load-bearing unit.

[0038] The first type of load-bearing unit and / or the second type of load-bearing unit may be a pallet, a euro pallet, a wheeled dolly, a roller cage, or the like.

[0039] According to one embodiment, the self-propelled adapter unit includes a body, with the motor configured within the body.

[0040] According to one embodiment, the first mechanical connection portion is disposed on a first side of the body and is at least one of protruding outward laterally relative to the first side of the body and recessed inward laterally relative to the first side of the body.

[0041] According to one embodiment, the first side of the body has an angle of between 5 and 90 degrees measured from a perfectly horizontal plane.

[0042] According to one embodiment, the first mechanical connection of the self-propelled adapter unit is connected to the actuator and is configured to engage and lift the roller cage.

[0043] According to one embodiment, the first mechanical connection includes at least one horizontally protruding element configured to engage with the underside of the roller cage to lift the roller cage.

[0044] According to one embodiment, the first mechanical connection includes at least two pawls configured to engage the sides of the roller cage to grip the sides and lift the roller cage.

[0045] According to one embodiment, the first mechanical connection includes at least one horizontally protruding element configured to engage an underside of the roller cage and at least one claw configured to engage a side of the roller cage, the at least one horizontally protruding element and the at least one claw configured to grip the roller cage so that the roller cage can be lifted and / or moved.

[0046] There is also provided a self-propelled adapter unit for use in an intralogistics system according to any of the embodiments. The self-propelled adapter unit includes a motor and at least one drive wheel connected to the motor for propelling both the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit. The self-propelled adapter unit further includes a first mechanical connection configured to connect to the mechanical connection of the load-bearing unit to form a first mechanical interconnection between the self-propelled adapter unit and the load-bearing unit, and a second mechanical connection configured to connect to the self-propelled autonomous or remotely operated guide unit to form a second mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit. The self-propelled adapter unit further includes a sensor configured to generate sensor data related to operation of the at least one drive wheel of the self-propelled adapter unit and a computer connected to the motor. The computer includes a transceiver for transmitting sensor data related to operation of the at least one drive wheel of the self-propelled adapter unit to the self-propelled autonomous or remotely operated guide unit and for receiving instructions for controlling the motor from the self-propelled autonomous or remotely operated guide unit. The self-propelled adapter unit is configured to at least one of push or pull the load-bearing unit in a substantially horizontal direction and lift or lower the load-bearing unit.

[0047] According to one embodiment, the computer includes a transceiver, the receiver forms part of the transceiver, and the computer is configured to communicate with a computer of a self-propelled autonomous or remotely operated guide unit.

[0048] According to one embodiment, the self-propelled adapter unit may further include a second mechanical connection configured to connect to the mechanical connection of the self-propelled autonomous or remotely operated guide unit, thereby forming a second mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

[0049] The self-propelled adapter unit further includes an electrical connection such that the self-propelled adapter unit can be electrically connected to the self-propelled autonomous or remotely operated guide unit. The electrical connection is configured to transfer electrical energy between the self-propelled autonomous or remotely operated guide unit and the self-propelled adapter unit to power the motor of the self-propelled adapter unit. This eliminates the need for the self-propelled adapter unit to have its own power source, reducing the risk of the self-propelled adapter unit not functioning when needed as a result of a depleted battery.

[0050] The transceiver may be a wireless transceiver that allows communication between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit even when the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit are not physically connected.

[0051] According to one embodiment, the first mechanical connection portion includes at least one of a recess and a protrusion corresponding to at least one of a recess and a protrusion of the load-bearing unit for mechanical interconnection between the self-propelled adapter unit and the load-bearing unit.

[0052] According to one embodiment, the second mechanical connection portion includes at least one of a recess and a protrusion corresponding to at least one of a recess and a protrusion of the self-propelled autonomous or remotely operated guide unit for mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

[0053] The self-propelled adapter unit may further include at least one sensor, and the transceiver may be configured to transmit sensor data to the transceiver of the self-propelled autonomous or remotely operated guide unit. The at least one sensor may be selected from a list of sensors consisting of a pressure sensor, a motion sensor, and a lidar.

[0054] The self-propelled adapter unit may further include an actuator for raising and lowering the load-bearing unit. According to one embodiment, the actuator includes a forklift mast assembly and the at least one support element is configured as part of the forklift mast assembly, and according to another embodiment, the actuator includes a crane mast assembly and the at least one support element of the self-propelled adapter unit is configured as part of the crane mast assembly.

[0055] The first mechanical interconnection may be configured to secure the self-propelled adapter unit to the load-bearing unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0056] The second mechanical interconnection may be configured to secure the self-propelled autonomous or remotely operated guide unit to the self-propelled adapter unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0057] According to one embodiment, the self-propelled adapter unit further includes an optical sensor configured to sense a mobile optical marker within the sensor area.

[0058] In one embodiment, the self-propelled adapter unit is configured to move loads in excess of one of 100 kg, 1000 kg, and 5000 kg.

[0059] According to a second aspect, there is provided a connection system for connecting a self-propelled autonomous or remotely operated guide unit and a self-propelled adapter unit, the self-propelled autonomous or remotely operated guide unit being configured to guide the self-propelled adapter unit through movement across a floor surface when the self-propelled autonomous or remotely operated guide unit and the self-propelled adapter unit are connected, the connection system comprising: a first recess or protrusion constituting a load-bearing portion provided on the self-propelled autonomous or remotely controlled guide unit; a second recess or protrusion provided on the self-propelled adapter unit; a first electrical connector of the self-propelled autonomous or remotely controlled guide unit; and a second electrical connector of the self-propelled adapter unit; the first recess or protrusion is configured to engage the second recess or protrusion to mechanically connect the self-propelled autonomous or remotely operated guide unit to the self-propelled adapter unit, and the first and second electrical connectors are configured to be connected to electrically connect the self-propelled autonomous or remotely operated guide unit to the self-propelled adapter unit, the connection system comprising: an actuator configured to move at least one of the first recess or protrusion and the second recess or protrusion to engage the first recess or protrusion with the second recess or protrusion, wherein at least one of the first and second electrical connectors is configured to be actuated to connect the first electrical connector to the second electrical connector; and further comprising a control unit for controlling the operation of at least one of the first recess or protrusion and the second recess or protrusion, and at least one of the first and second electrical connectors; The control unit is configured to control the actuation such that the first recess or protrusion engages with the second recess or protrusion before the first electrical connector engages with the second electrical connector, thereby aligning the first electrical connector and the second electrical connector by actuation of at least one of the first recess or protrusion and the second recess or protrusion before the first electrical connector engages with the second electrical connector.

[0060] According to one embodiment, actuation of at least one of the first and second electrical connectors is actuated by an actuator configured by the connection system.

[0061] According to one embodiment, actuation of at least one of the first and second electrical connectors is actuated by a second actuator configured by the connection system.

[0062] According to one embodiment, the first recess or protrusion of the self-propelled autonomous or remotely controlled guiding unit consists of a protrusion.

[0063] According to one embodiment, the second recess or protrusion of the self-propelled adapter unit comprises a recess.

[0064] According to one embodiment, the first recess or protrusion of the self-propelled autonomous or remotely controlled guiding unit consists of a set of protrusions and one recess.

[0065] According to one embodiment, the second recess or protrusion of the self-propelled adapter unit consists of a set of recesses and one protrusion.

[0066] In one embodiment, the first recess or protrusion is configured to engage with the second recess or protrusion in a two-step process by first horizontally abutting the first recess or protrusion with the second recess or protrusion, and then vertically moving the first recess or protrusion to engage with the second recess or protrusion.

[0067] According to one embodiment, the vertical direction is the movement of the first recess or protrusion in a direction towards the floor surface.

[0068] It should be noted that any aspect or part of an aspect, as well as any method or part of a method, or any unit, feature or system, may be combined in any applicable manner, unless clearly inconsistent.

[0069] The invention will now be explained in more detail, by way of example, with reference to the accompanying schematic drawings in which: [Brief explanation of the drawings]

[0070] [Figure 1A] FIG. 1A shows an elevated perspective view of a self-propelled adapter unit for an intralogistics system. [Figure 1B] FIG. 1B shows a top view of a self-propelled adapter unit for an intralogistics system. [Figure 2A] FIG. 2A shows an elevated perspective view of a self-propelled autonomous or remotely controlled guide unit, a self-propelled adapter unit, and a load-bearing unit for an intralogistics system according to a first embodiment. [Figure 2B] FIG. 2B shows an elevated side view of the mechanical connection of a self-propelled autonomous or remotely operated guide unit and the corresponding mechanical connection of a self-propelled adapter unit. [Figure 3] FIG. 3 shows in an elevated perspective view a self-propelled autonomous or remotely controlled guide unit, a self-propelled adapter unit and a load-bearing unit for an intralogistics system according to a second embodiment. [Figure 4] FIG. 4 shows in an elevated perspective view a self-propelled autonomous or remotely controlled guide unit, a self-propelled adapter unit and a load-bearing unit for an intralogistics system according to a third embodiment. [Figure 5]FIG. 5 shows in an elevated perspective view a self-propelled autonomous or remotely controlled guide unit, a self-propelled adapter unit and a load-bearing unit for an intralogistics system according to a fourth embodiment. [Figure 6] FIG. 6 shows in an elevated perspective view a self-propelled autonomous or remotely controlled guide unit, a self-propelled adapter unit and a load-bearing unit for an intralogistics system according to a fifth embodiment. [Figure 7] FIG. 7 shows in an elevated perspective view a self-propelled autonomous or remotely controlled guide unit, a self-propelled adapter unit and a load-bearing unit for an intralogistics system according to a sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0071] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, which show embodiments of the invention, however, the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather these embodiments are provided for the purposes of exhaustiveness and completeness.

[0072] 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.

[0073] In many intralogistics environments, payload sizes and travel distances vary widely. In a typical warehouse environment, intralogistics consists of a single area dedicated to receiving incoming goods for warehouse storage. Incoming goods typically arrive in bulk from suppliers around the world in the form of truckloads or containers. Depending on the size of the goods and the packaging standards of their country of origin, goods may arrive in a variety of forms. As an example, goods may arrive on pallets. Pallets typically range in size from approximately 400 x 300 mm to 2400 x 800 mm, necessitating a variety of pallet handling methods. Goods may need to be stored on the pallet, transferred from the pallet to a wheeled dolly, or moved from the pallet to specialized shelving. Entire pallets may also need to be loaded onto dollies for further transport and / or warehouse storage. Goods may arrive simply as stacked boxes, such as containers. In these cases, the boxes must be placed on pallets or on dollies for further transport and / or warehouse storage. Additionally, when it comes to wheeled trolleys, there is a wide range of sizes and possible payloads depending on the size of the product and the layout of the warehouse.

[0074] A typical warehouse also has an area for outgoing goods, which are usually more mixed in size and content. In one example, the warehouse is a fulfillment house for consumer goods. Filled orders, i.e., outgoing goods, include boxes of various sizes with various contents for shipping to various locations. To handle the final part of the logistics, dollies of various sizes and / or with various attachments may be used to handle the various box sizes. These dollies may be pulled as a train or may be pushed or pulled individually.

[0075] As can be seen from the description of the warehouse environment above, the variability in intralogistics requires a highly flexible system, as does the intralogistics of a production facility.

[0076] Most intralogistics environments are seeing an increase in the use of AGVs (automated guided vehicles) or AMRs (autonomous mobile robots). The use of AGVs and AMRs not only reduces the number of staff in an intralogistics environment but also enables increased speed and precision. AGVs and AMRs are expensive, sophisticated pieces of equipment equipped with numerous sensors and high computing power, allowing them to safely navigate intralogistics environments where human operators and autonomous vehicles may coexist. Increasing the load-bearing capacity of AGVs and AMRs to efficiently handle all types of loads that may be encountered in an intralogistics environment makes the units more expensive. Increasing the strength and battery capacity of AGVs and AMRs also increases their weight, making them dangerous to human operators when moving around in an intralogistics environment without carrying a load.

[0077] The present invention provides a flexible autonomous or remote-controlled system that can address various payload challenges in intralogistics environments, increase the safety of human operators in the environment, and reduce unit costs. The invention is based on the idea of ​​using sophisticated, high-performance self-propelled autonomous or remote-controlled units as the primary guide units. The self-propelled autonomous or remote-controlled guide units then connect to self-propelled adapter units, which provide both the force and propulsion for handling the payload and an interface appropriate for handling the specific payload. This creates a system in which a small number of sophisticated guide units can connect to less sophisticated self-propelled adapter units, which can then connect to a wider range of less sophisticated payloads (e.g., wheeled dollies or pallets).

[0078] This provides a logistics system that uses a guide unit for controlling a self-propelled adapter unit for moving a load-bearing unit, and a self-propelled adapter unit for moving a load-bearing unit in such a system, which may be used in intralogistics systems where materials, goods or items need to be transported in an efficient and / or autonomous manner.

[0079] 1A and 1B show a self-propelled adapter unit 200 for use in an intralogistics system according to a first embodiment of the present invention. The self-propelled adapter unit 200 includes a motor (not shown) and two drive wheels (not shown) centrally positioned relative to the longitudinal axis (LA) of the self-propelled adapter unit 200. The drive wheels are coupled to the motor to propel the self-propelled adapter unit 200. The drive wheels are surrounded by four swivel casters 210, each positioned at a corner of the self-propelled adapter unit 200. The drive wheels enable movement control in any direction on a flat surface by varying the rotational speed and / or direction of the drive wheels. The drive wheels may be suitable for use in warehouses or factories, or may be suitable for use on flat concrete floors. The drive wheels are connected to rotary encoders that sense the rotational speed of a particular drive wheel. Information obtained by the rotary encoder can be used to compare the rotational speed of a particular drive wheel with the speed of other drive wheels or the speed of the self-propelled adapter unit 200. Information on the movement of the drive wheels may be used as navigation information, and it is important that traction is maintained between the floor surface and the drive wheels.

[0080] The self-propelled adapter unit 200 may include a first mechanical connection 280, shown in FIG. 1B, configured to connect to a mechanical connection of the load-bearing unit 300, as shown in FIG. 2A, to form a first mechanical interconnection between the self-propelled adapter unit 200 and the load-bearing unit 300.

[0081] The first mechanical interconnection may be configured to secure the self-propelled adapter 200 to the load-bearing unit 300 both in the direction of the length axis (LA) of the self-propelled adapter unit 200 and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit 200.

[0082] The self-propelled adapter unit 200 may further include a second mechanical connection 270 configured to connect to the mechanical connection of the self-propelled autonomous or remotely operated guide unit 100 as shown in FIG. 2A to form a second mechanical interconnection between the self-propelled adapter unit 200 and the self-propelled autonomous or remotely operated guide unit 100.

[0083] The second mechanical interconnection may be configured to secure the self-propelled adapter unit 200 to the self-propelled autonomous or remotely operated guide unit 100 both in the direction of the length axis (LA) of the self-propelled adapter unit 200 and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit 200.

[0084] The self-propelled adapter unit 200 includes a computer (not shown) configured to control the operation of the motors and therefore the drive wheels, as well as steering inputs and communications.

[0085] Preferably, the computer includes a transceiver configured to communicate with the computer of the self-propelled autonomous or remotely operated guide unit 100 to control the motor and thereby the rotational speed and / or direction of the drive wheels. Preferably, the transceiver is configured to send and receive wireless communications to and from the self-propelled autonomous or remotely operated guide unit 100 and / or a mobile unit operated by a driver and / or a stationary wireless unit that is part of a logistics system. The wireless communications can be, for example, information or data related to the operation or navigation of the self-propelled adapter unit 200, or information related to the identity or load (weight, height, etc.) of the load-bearing unit 300.

[0086] Alternatively, the computer may include a receiver that receives commands from the self-propelled autonomous or remotely operated guide unit 100 to control the motor and thereby the rotational speed and / or direction of the drive wheels.

[0087] The self-propelled adapter unit 200 may further include sensors, such as optical or contact sensors (not shown). One function of such sensors may be to generate an emergency stop signal if the self-propelled adapter unit 200 unintentionally comes into contact with an object or person. A computer processes all input from the sensors of the self-propelled adapter unit 200. The emergency stop signal may be forwarded to the self-propelled autonomous or remotely operated guide unit 100 so that the self-propelled autonomous or remotely operated guide unit 100 can control the propulsion of the self-propelled adapter unit 200.

[0088] FIG. 2A shows an embodiment of a system for intralogistics including a load-bearing unit 300 and a self-propelled adapter unit 200 according to the embodiment shown in FIGS. 1A and 1B, and a self-propelled autonomous or remotely operated guide unit 100.

[0089] The load-bearing unit 300 according to the embodiment of FIG. 2A includes a mechanical connection 380, a support element 310 on which a load can be placed, and six wheels 320 that allow the load-bearing unit 300 to roll on a floor surface.

[0090] The self-propelled adapter unit 200 is configured to either push or pull the load-bearing unit 300 in a substantially horizontal direction and must therefore have sufficient motor power to accomplish the desired task.

[0091] The self-propelled autonomous or remotely operated guide unit 100 is remotely operated and / or autonomous and has higher performance but lower load-bearing / towing capabilities than the self-propelled adapter unit 200.

[0092] The self-propelled autonomous or remote-controlled guide unit 100 includes a motor (not shown), two drive wheels 120 located at the front corners of the self-propelled autonomous or remote-controlled guide unit 100, and one swivel caster (not shown) located at the center of the rear of the self-propelled autonomous or remote-controlled guide unit 100. The two drive wheels 120 enable control in any direction on a flat surface by changing the rotational speed and / or rotational direction of the drive wheels 120. The drive wheels 120 may be drive wheels 120 suitable for use in warehouses or factories, or drive wheels 120 suitable for use on flat concrete floors. The drive wheels are connected to rotary encoders that sense the rotational speed of a particular drive wheel 120. Information obtained by the rotary encoder can be used to compare the rotational speed of a particular drive wheel 120 with the speed of other drive wheels, or the speed of the self-propelled autonomous or remotely operated guide unit 100, or the speed of the drive wheels of the self-propelled adapter unit 200, or the speed of the self-propelled adapter unit 200. Information on the movement of the drive wheels 120 can be used as navigation information. It is important that traction is maintained between the floor surface and the drive wheels 120.

[0093] The self-propelled autonomous or remotely operated guiding unit 100 further includes a computer (not shown). The computer includes a transmitter, possibly constituted by a transceiver, for communicating with the transceiver or receiver of the self-propelled adapter unit 200, a navigation system for navigating within an environment (not shown), and at least one sensor (not shown) for sensing objects within the environment. The at least one sensor of the self-propelled autonomous or remotely operated guiding unit 100 may be selected from the list consisting of a pressure sensor, a motion sensor, and a lidar. Alternative sensors of the self-propelled autonomous or remotely operated guiding unit 100 may be a radar unit, an acoustic and / or optical sensor unit, a camera using IR or image recognition.

[0094] The computer of the self-propelled autonomous or remotely operated guide unit 100 is configured to generate control signals based on inputs from the navigation system and the at least one sensor to control the motor of the self-propelled adapter unit 200, and to transmit the control signals to the self-propelled adapter unit 200 using a transmitter.

[0095] The computer of the self-propelled autonomous or remotely operated guide unit 100 is much more powerful than the computer of the self-propelled adapter unit 200. A more powerful computer of the self-propelled autonomous or remotely operated guide unit 100 has faster processing units, more memory capacity, and faster connections to other self-propelled autonomous or remotely operated guide units 100 or logistics systems or self-propelled adapter units 200. The computer of the self-propelled autonomous or remotely operated guide unit 100 also includes more I / O units than the computer of the self-propelled adapter unit 200, allowing the self-propelled autonomous or remotely operated guide unit 100 to receive input from more sensors.

[0096] In addition to the above-described features, the self-propelled autonomous or remotely operated guide unit 100 may include a wireless communication unit. The wireless communication unit is configured to transmit and receive wireless communications with at least one of the self-propelled adapter unit 200, other self-propelled autonomous or remotely operated guide units 100, or stationary wireless units that are part of the logistics system. The wireless communication unit may be a wireless communication unit based on UHF wireless communication such as the IEEE 802.11 standard (WLAN or Wi-Fi), the IEEE 802.15.1 standard (Bluetooth), or the 3GPP NR standard (5G) that enables ultra-reliable, low-latency communications (URLLC). The wireless communication may be, for example, information or data related to the identity of the self-propelled autonomous or remotely operated guide unit 100, the identity of the self-propelled adapter unit 200, or the identity of the load-bearing unit 300.

[0097] The wireless communication between the self-propelled adapter unit 200 and the self-propelled autonomous or remotely operated guide unit 100 may be bidirectional, allowing the self-propelled adapter unit 200 to send and receive information to and from the self-propelled adapter unit 200, which may include, apart from identification information, specifications of the load on the load-bearing unit (weight, height, etc.). Additionally, more complex data, such as navigation information like driving instructions or information about the surrounding environment, may also be sent and received from the self-propelled autonomous or remotely operated guide unit 100.

[0098] The self-propelled autonomous or remotely operated guide unit 100 may further include an energy storage device for powering the self-propelled adapter unit 200.

[0099] 2A utilizes a work distribution between different units, with the self-propelled autonomous or teleoperated guide unit 100 having more advanced computing capabilities and lower load-bearing / traction capabilities that enable it to better sense, steer, and navigate its environment compared to the self-propelled adapter unit 200. The self-propelled adapter unit 200 also has more advanced computing capabilities and higher load-bearing / traction capabilities that enable it to better sense, steer, and navigate its environment compared to the load-bearing unit 300, which has no capabilities other than being able to hold a load and be mobile.

[0100] This allows the self-propelled adapter unit 200 and the load-bearing unit 300 to be free of more sophisticated, delicate, and expensive parts, making the self-propelled adapter unit 200 and the load-bearing unit 300 easier to manufacture and more robust, and reducing the maintenance costs of the self-propelled adapter unit 200 and the load-bearing unit 300. Furthermore, because the self-propelled adapter unit 200 is self-propelled, i.e., not towed by the self-propelled autonomous or remotely operated guide unit 100, the self-propelled autonomous or remotely operated guide unit 100 can be made smaller, lighter, and faster, allowing the self-propelled autonomous or remotely operated guide unit 100 to be moved, for example, within a factory, while avoiding many of the risks to human workers that are unavoidable when moving large, heavy loads. Furthermore, the self-propelled autonomous or remotely operated guide unit 100 can also adjust a larger number of self-propelled adapter units 200. It is also possible for one type of self-propelled autonomous or remotely controlled guide unit 100 to control a wide variety of self-propelled adapter units 200.

[0101] The load-bearing units 300 are not self-propelled and must be moved by self-propelled adapter units 200, which in turn are controlled by self-propelled autonomous or remotely operated guide units 100. The self-propelled adapter units 200 may be provided in different forms to suit different types of load-bearing units 300. In this way, it is possible for a large number of load-bearing units 300 to be moved by a smaller number of adapter units 200, which in turn can be controlled by a smaller number of self-propelled autonomous or remotely operated guide units 100.

[0102] The maximum speed of the self-propelled autonomous or remotely controlled guide unit 100 is at least 200% of the maximum speed of the self-propelled adapter unit 200, which means that the self-propelled autonomous or remotely controlled guide unit 100 can move more quickly within an environment such as a factory when not connected to the self-propelled adapter unit 200.

[0103] However, the self-propelled autonomous or remotely operated guide unit 100 lacks load-bearing capacity and has a weight in the range of 10 to 100 kg or 10 to 200 kg. This means that the motor of the self-propelled autonomous or remotely operated guide unit 100 only needs to generate enough torque to accelerate the self-propelled autonomous or remotely operated guide unit 100 having a weight in the range of 10 to 100 kg or 10 to 200 kg, and the brake only needs to be able to decelerate the self-propelled autonomous or remotely operated guide unit 100 having a weight in the range of 10 to 100 kg or 10 to 200 kg.

[0104] 1A, 1B, and 2A are configured to carry loads in the range of 100 to 5000 kg or in the range of 300 to 5000 kg. This means that the motor of the self-propelled adapter unit 200 must generate sufficient torque to accelerate a self-propelled adapter unit 200 weighing in the range of 100 to 5000 kg or in the range of 300 to 5000 kg, and the brake of the self-propelled adapter unit 200 must be able to decelerate a self-propelled adapter unit 200 weighing in the range of 100 to 5000 kg or in the range of 300 to 5000 kg.

[0105] When coupled to each other, the propulsion of the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200 can be achieved by using a combination of the motor power and drive wheels of the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200. Alternatively, when coupled to each other, the propulsion of the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200 can be achieved by using only the motor power and drive wheels of the self-propelled adapter unit 200.

[0106] The propulsion power (motor and / or motor controller) of the self-propelled autonomous or remotely operated guide unit 100 may be configured to be disabled when the self-propelled autonomous or remotely operated guide unit 100 is connected to the self-propelled adapter unit 200.

[0107] The self-propelled autonomous or remotely operated guide unit 100, in some embodiments, may include an actuator configured to lift the self-propelled autonomous or remotely operated guide unit 100 off the floor surface when the self-propelled autonomous or remotely operated guide unit 100 is connected to the self-propelled adapter unit 200, such that only the wheels of the self-propelled adapter unit 200 contact the floor surface to propel the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200.

[0108] In one exemplary embodiment, the self-propelled adapter unit's 200 compound propulsion motor is configured to generate a maximum torque three times that of the self-propelled autonomous or remotely operated guide unit's 100 compound propulsion motor.

[0109] In another exemplary embodiment, the self-propelled adapter unit's 200 compound propulsion motor is configured to generate a maximum torque six times the maximum torque of the self-propelled autonomous or remotely operated guide unit's 100 compound propulsion motor.

[0110] The self-propelled autonomous or remotely operated guide unit 100 also reduces the sophistication level requirements for the safety system of the self-propelled adapter unit 200, as the self-propelled autonomous or remotely operated guide unit 100 can guide, navigate, sense the environment, and control the movement of the self-propelled adapter unit 200.

[0111] FIG. 2B shows a close-up view of the connection between the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200 from the embodiment highlighted in FIGS. 1A and 1B and 2A.

[0112] The self-propelled autonomous or remotely operated guide unit 100 includes a mechanical connection portion 170 configured to interconnect with a second mechanical connection portion 270 of the self-propelled adapter unit 200. The mechanical connection portion 170 includes a recess 172 and a protrusion 171. The recess 172 and the protrusion 171 are complementary to the recess 271 and the protrusion 272 of the mechanical connection portion 270 of the self-propelled adapter unit 200, thereby enabling mechanical interconnection between the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200.

[0113] The mechanical connection 170 of the self-propelled autonomous or remotely operated guide unit 100 may further include a locking member for securely locking the mechanical interconnection between the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200 to ensure the mechanical interconnection.

[0114] Shown in the embodiment of Figure 2B is an electrical connection for the self-propelled autonomous or remotely operated guide unit 100, including two electrical connections 174, 175 for electrically connecting the self-propelled autonomous or remotely operated guide unit 100 to the self-propelled adapter unit 200. The first electrical connection 174 is configured to electrically connect the self-propelled autonomous or remotely operated guide unit 100 to the motor of the self-propelled adapter unit 200 so that the self-propelled autonomous or remotely operated guide unit 100 can control the propulsion of the self-propelled adapter unit 200.

[0115] The second electrical connection 175 is configured to transmit electrical energy for the purpose of charging the battery of the self-propelled autonomous or remotely controlled guiding unit 100 from the battery of the self-propelled adapter unit 200, or for the purpose of charging the battery of the self-propelled autonomous or remotely controlled guiding unit 100 from a charger or charging station connected to the power grid or from the battery of the self-propelled adapter unit 200 or the battery of another self-propelled autonomous or remotely controlled guiding unit 100.

[0116] The electrical connections of the self-propelled autonomous or remotely operated guide unit 100 shown in the embodiment of FIG. 2B further include connections for transferring data 178. The transferred data may be, for example, navigation data to or from the self-propelled autonomous or remotely operated guide unit 100. The navigation data may be, for example, data from sensors or information about the surroundings received by the self-propelled autonomous or remotely operated guide unit 100, or information about the operation of the drive wheels of the self-propelled adapter unit 200 obtained from the motor of the self-propelled autonomous or remotely operated guide unit 100 or from an encoder connected to the drive wheels. The navigation information may also be the operation of the drive wheels of the self-propelled autonomous or remotely operated guide unit 100 obtained from the motor of the self-propelled autonomous or remotely operated guide unit 100 or from an encoder connected to the drive wheels. The navigation information may also be an emergency stop signal generated by an operator pressing an emergency stop button installed on the self-propelled adapter unit 200 or an emergency stop button installed on the self-propelled autonomous or remotely operated guide unit 100. The emergency stop signal is transferred by the data transfer connection 178, allowing the self-propelled autonomous or remotely controlled guide unit 100 to control the propulsion of the self-propelled adapter unit 200 in order to stop the self-propelled adapter unit 200.

[0117] 2B, electrical connections 174, 175 and data transfer connection 178 are separate connections from mechanical connection 170. However, it is also contemplated that in other embodiments, electrical connections 174, 175 and data transfer connection 178 may form part of an integral connection with mechanical connection 170, thereby allowing simultaneous connection of mechanical connection 170 with the remaining connections.

[0118] The second mechanical connection portion 270 of the self-propelled adapter unit 200 includes a recess 271 and a protrusion 272 that correspond to the recess 172 and protrusion 171 of the mechanical connection portion 170 of the self-propelled autonomous or remotely operated guide unit 100. In this manner, the complementary recess and protrusion facilitate the mechanical interconnection between the self-propelled adapter unit 200 and the self-propelled autonomous or remotely operated guide unit 100.

[0119] In the embodiment shown in FIG. 2B, the self-propelled adapter unit 200 further includes an electrical connection including two electrical connections 274, 275 corresponding to the two electrical connections 174, 175 of the self-propelled autonomous or remotely operated guide unit 100, thereby allowing the self-propelled adapter unit 200 to be electrically connected to the self-propelled autonomous or remotely operated guide unit 100.

[0120] The self-propelled adapter unit 200 further additionally includes a data transfer connection 278 that corresponds to the data transfer connection 178 of the self-propelled autonomous or remotely controlled guide unit 100 so as to enable the transfer of data between the self-propelled adapter unit 200 and the self-propelled autonomous or remotely controlled guide unit 100.

[0121] 2B, electrical connections 274, 275 and data transfer connection 278 are separate connections from mechanical connection 270. However, it is also contemplated that in other embodiments, electrical connections 274, 275 and data transfer connection 278 may form part of an integral connection with mechanical connection 270, thereby allowing simultaneous connection of mechanical connection 270 with the remaining connections.

[0122] In the embodiment shown in Figures 2A and 2B, the mechanical interconnections associated with connecting the mechanical connection 170, electrical connections 174, 175, and data transfer connection 178 of the self-propelled autonomous or remotely operated guide unit 100 to the mechanical connection 270, electrical connections 274, 275, and data transfer connection 278 of the self-propelled adapter unit are part of a two-step interconnection process.

[0123] The mechanical connection between the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200 is brought into close proximity by bringing the self-propelled autonomous or remotely operated guide unit 100 closer to the self-propelled adapter unit 200 in a direction along the longitudinal axis (LA) of the self-propelled adapter unit 200. Then, in a first stage, by lowering the mechanical connection portion 170 onto the mechanical connection portion 270, the mechanical connection portion 170 of the self-propelled autonomous or remotely operated guide unit 100 is connected to the mechanical connection portion 270 of the self-propelled adapter unit 200 such that the protrusion 171 of the mechanical connection portion 170 of the self-propelled autonomous or remotely operated guide unit 100 surrounds the protrusion 272 of the mechanical connection portion 270 of the self-propelled adapter unit 200. As a result, the recess 172 of the mechanical connection 170 of the self-propelled autonomous or remotely operated guide unit 100 contacts the protrusion 272 of the mechanical connection 270 of the self-propelled adapter unit 200, and the recess 271 of the mechanical connection 270 of the self-propelled adapter unit 200 contacts the protrusion 171 of the mechanical connection 170 of the self-propelled autonomous or remotely operated guide unit 100, locking the mechanical connections together. In the second stage of the two-stage interconnection process, the electrical and data transfer connections 174, 175, 178 of the self-propelled autonomous or remotely operated guide unit 100 are lifted upward to connect to the electrical and data transfer connections 274, 275, 278 of the self-propelled adapter unit 200. This allows the interconnection between the self-propelled adapter unit 200 and the self-propelled autonomous or remotely operated guide unit 100 to connect the mechanical connections 170, 270 with the remaining connections 174, 175, 178, 274, 275, 278.

[0124] The self-propelled autonomous or remotely operated guide unit 100 may include two linear electric actuators to enable the interconnection process.

[0125] In an alternative embodiment, it is also contemplated that all connections of the self-propelled autonomous or remotely operated guide unit 100 and the self-propelled adapter unit 200 may be integrated into a single connection that includes both mechanical, electrical, and data transfer connections, thereby allowing for a one-step interconnection process rather than the two-step interconnection process described above.

[0126] The self-propelled adapter unit 200 may be powered by the energy source of the self-propelled autonomous or remotely operated guide unit 100. However, in alternative embodiments, the self-propelled adapter unit 200 may have its own energy source, used by itself or in combination with the energy source of the self-propelled autonomous or remotely operated guide unit 100. The energy source of the self-propelled adapter unit 200 may be a smaller battery capable of powering the self-propelled adapter unit 200 for short-term operation (such as short-term operation under direct operator control). The energy source of the self-propelled adapter unit 200 may be configured to be charged by and from the self-propelled autonomous or remotely operated guide unit 100 via electrical connections 174, 175, 274, 275.

[0127] FIG. 3 shows an alternative embodiment of a system for intralogistics including a self-propelled autonomous or remotely controlled guide unit 100 according to the previous embodiment, as well as a load-bearing unit 300 and a self-propelled adapter unit 200, where the load-bearing unit 300 is a Europallet and the self-propelled adapter unit 200 is configured to support, move and / or lift the Europallet.

[0128] The self-propelled adapter unit 200 includes an actuator for controlling a forklift mast assembly for raising and lowering the load-bearing unit 300. The forklift mast assembly includes forks, which in this particular embodiment form the first mechanical connection 280' of the self-propelled adapter unit 200.

[0129] Self-propelled adapter unit 200 further includes a second mechanical connection 270, a motor, two drive wheels, and a computer according to the previously described embodiments of FIGS. 1A / 1B and 2A / 2B.

[0130] FIG. 4 shows an alternative embodiment of a system for intralogistics including a self-propelled autonomous or remotely controlled guide unit 100 according to the previous embodiment, as well as two load-bearing units 300 and a self-propelled adapter unit 200.

[0131] Each load-bearing unit 100 comprises four swivel caster wheels 320 that allow the load-bearing unit to move on the floor surface, and a support element 310 on which a load can be placed. The load-bearing unit 300 in this embodiment is designed as a daughter unit that fits into an opening 250 provided in the frame of the self-propelled adapter unit 200, which in this embodiment constitutes the mother unit of the load-bearing unit 300.

[0132] The self-propelled adapter unit 200 includes two openings 250 on the sides of its frame, and the openings 250 in this embodiment form two first mechanical connections that can be interconnected with the load-bearing unit 300 by placing the load-bearing unit 300 in the openings 250 of the self-propelled adapter unit 200.

[0133] The self-propelled adapter unit 200 further includes a second mechanical connection 270, a motor, two drive wheels 220, and a computer according to the previously described embodiment of FIGS. 1A / 1B and 2A / 2B.

[0134] Figures 5-7 show an alternative embodiment of a system for intralogistics including a self-propelled autonomous or remotely controlled guide unit 100 according to the previous embodiment, as well as a load-bearing unit 300 and a self-propelled adapter unit 200, where the load-bearing unit 300 is a roller cage 300' and the self-propelled adapter unit 200 is configured to support, move and / or lift the roller cage.

[0135] Self-propelled adapter unit 200 includes an actuator for controlling horizontally protruding element 280'' and / or one or more pawls 280'''. Horizontally protruding element 280'' is configured to engage the underside of the roller cage to lift the roller cage. Pawls 280''' are configured to engage the sides of the roller cage and grip the sides to lift the roller cage.

[0136] Furthermore, one or more claws 280''' can be combined with horizontally protruding elements 280''' to provide gripping and bottom support functions, thereby increasing the stability of the system when moving and / or lifting the roller cage.

[0137] Self-propelled adapter unit 200 further includes a second mechanical connection 270, a motor, two drive wheels, and a computer according to the previously described embodiments of FIGS. 1A / 1B and 2A / 2B.

[0138] It should be noted that any aspect or part of an aspect, as well as any method or part of a method, or any unit, feature or system, may be combined in any applicable manner, unless clearly inconsistent.

[0139] Numbered Embodiments Below, exemplary numbered embodiments are provided. The numbered embodiments are not to be considered as limiting the scope of the present invention, which is defined by the appended embodiments. The reference numerals in the different numbered embodiments are to be considered only as examples of elements in the accompanying drawings that correspond to the elements described in the numbered embodiments.

[0140] 1. Load-bearing unit, a self-propelled adapter unit; and A system for intralogistics comprising a self-propelled autonomous or remotely controlled guide unit, The load-bearing unit is mechanical connections, at least one support element configured to be positioned in at least partial contact with the load; and at least one of at least one wheel that allows the load-bearing unit to roll on a floor surface and at least one mechanical connection that allows the load-bearing unit to be lifted off the floor surface by the self-propelled adapter unit; The self-propelled adapter unit is a motor, and at least one drive wheel connected to a motor for propelling the self-propelled adapter unit; a first mechanical connection configured to connect to a mechanical connection of the load-bearing unit, the first mechanical connection being capable of forming a first mechanical interconnection between the self-propelled adapter unit and the load-bearing unit; a computer connected to the motor, the computer including a receiver for receiving commands from the self-propelled autonomous or remotely operated guide unit to control the motor, the self-propelled adapter unit configured to at least one of push or pull the load-bearing unit in a substantially horizontal direction and lift or lower the load-bearing unit; Self-propelled autonomous or remotely controlled guide units are a motor, and At least one drive wheel connected to a motor for propelling the self-propelled autonomous or remotely controlled guide unit; and A computer, a transmitter for communicating with a receiver of the self-propelled adapter unit; a navigation system for navigating the environment; and a computer including at least one sensor for sensing objects in an environment; A system for intralogistics, wherein the computer of the self-propelled autonomous or remotely operated guide unit is configured to generate control signals based on inputs from the navigation system and the at least one sensor, and to send the control signals to the self-propelled adapter unit using a transmitter to control a motor of the self-propelled adapter unit.

[0141] 2. The computer of the self-propelled adapter unit includes a transceiver, and the receiver is part of the transceiver; the computer of the self-propelled autonomous or remotely operated guide unit includes a transceiver, the transmitter being part of the transceiver; 2. The system of embodiment 1, wherein the computer of the self-propelled adapter unit and the computer of the self-propelled autonomous or remotely operated guide unit are configured to be able to communicate with each other.

[0142] 3. The system of embodiment 1 or 2, wherein the self-propelled adapter unit includes a second mechanical connection and the self-propelled autonomous or remotely operated guide unit includes a mechanical connection configured to connect to the second mechanical connection of the self-propelled adapter unit, thereby forming a second mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

[0143] 4. A system according to any one of embodiments 1 to 3, wherein the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit each include an electrical connection, thereby allowing the self-propelled autonomous or remotely controlled guide unit to be electrically connected to the self-propelled adapter unit.

[0144] 5. The system of embodiment 4, wherein the electrical connection between the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit is configured to transmit electrical energy to power a motor of the self-propelled adapter unit.

[0145] 6. The system of embodiment 5, wherein the self-propelled autonomous or remotely operated guide unit includes an energy storage device for powering the self-propelled adapter unit.

[0146] 7. A system according to any one of embodiments 4 to 6, wherein the electrical connection between the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit is configured to transfer data.

[0147] 8. A system according to any one of embodiments 2 to 7, wherein the transceivers of the self-propelled autonomous or remotely controlled guide unit and the self-propelled adapter unit are wireless transceivers.

[0148] 9. A system described in any one of embodiments 1 to 8, wherein the first mechanical connection portion of the self-propelled adapter unit includes at least one of a recess and a protrusion, and the mechanical connection portion of the load-bearing unit includes at least one of a corresponding recess or protrusion for mechanical interconnection between the self-propelled adapter unit and the load-bearing unit.

[0149] 10. A system described in any one of embodiments 3 to 9, wherein the second mechanical connection portion of the self-propelled adapter unit includes at least one of a recess and a protrusion, and the mechanical connection portion of the self-propelled autonomous or remotely operated guide unit includes at least one of a corresponding recess or protrusion for mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

[0150] 11. A system described in any one of embodiments 2 to 10, wherein the self-propelled adapter unit further includes at least one sensor, and the transceiver of the self-propelled adapter unit is configured to transmit sensor data to the transceiver of the self-propelled autonomous or remotely operated guide unit.

[0151] 12. The system of embodiment 11, wherein the self-propelled autonomous or remotely operated guide unit is configured to generate a control signal based on the received sensor data.

[0152] 13. A system as described in embodiment 11 or 12, wherein the self-propelled adapter unit includes at least one sensor selected from the list consisting of a pressure sensor, a motion sensor, and a lidar.

[0153] 14. A system described in any one of embodiments 1 to 13, wherein the self-propelled autonomous or remotely controlled guide unit is configured to be positioned at least partially below the self-propelled adapter unit.

[0154] 15. A system according to any one of embodiments 1 to 14, wherein at least one support element of the load-bearing unit is configured to support a Euro pallet.

[0155] 16. A system according to any one of embodiments 1 to 15, wherein the first mechanical connection of the self-propelled adapter unit is configured to support a Euro pallet.

[0156] 17. A system according to any one of embodiments 1 to 16, wherein the self-propelled adapter unit further includes an actuator for lifting and lowering the load-bearing unit.

[0157] 18. The system of embodiment 17, wherein the actuator includes a forklift mast assembly, and the first mechanical connection of the self-propelled adapter unit is configured as part of the forklift mast assembly.

[0158] 19. The system of embodiment 17, wherein the actuator includes a crane mast assembly, and the first mechanical connection of the self-propelled adapter unit is configured as part of the crane mast assembly.

[0159] 20. A system described in any one of embodiments 1 to 19, wherein the first mechanical interconnection is configured to secure the self-propelled adapter unit to the load-bearing unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0160] 21. A system described in any one of embodiments 1 to 20, wherein the second mechanical interconnection is configured to secure the self-propelled autonomous or remotely operated guide unit to the self-propelled adapter unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0161] 22. A system described in any one of embodiments 1 to 21, wherein the self-propelled adapter unit further includes an optical sensor configured to sense a mobile optical marker within the sensor area.

[0162] 23. A system according to any one of embodiments 1 to 22, wherein the self-propelled adapter unit is configured to move at least one of a load of 100 kg, 1000 kg, and 5000 kg.

[0163] 24. A system described in any one of embodiments 1 to 23, wherein the self-propelled autonomous or remotely controlled guide unit is positioned at a distance from the load-bearing unit such that the self-propelled adapter unit is located between the self-propelled autonomous or remotely controlled guide unit and the load-bearing unit, and controls the self-propelled adapter unit.

[0164] 25. A system described in any one of embodiments 1 to 24, wherein the self-propelled autonomous or remotely operated guide unit has at least twice the computing power of the self-propelled adapter unit, the computing power being defined by one of RAM, instructions per second, clock speed (Ghz), and bits.

[0165] 26. A system according to any one of embodiments 1 to 25, wherein the motor of the self-propelled adapter unit has at least twice the motor power of the motor of the self-propelled autonomous or remotely controlled guide unit.

[0166] 27. The system of any one of embodiments 1 to 26, wherein the system includes at least two self-propelled adapter units, the at least two self-propelled adapter units including a first self-propelled adapter unit configured to serve a first purpose and a second self-propelled adapter unit configured to serve a second purpose, the first purpose and the second purpose being different.

[0167] 28. The system of embodiment 27, wherein the first purpose is to connect to a load-bearing unit for lifting, and the second purpose is to connect to a wheeled dolly for movement.

[0168] 29. The system of any one of embodiments 1-26, including at least two self-propelled adapter units, the at least two self-propelled adapter units including a first self-propelled adapter unit configured to connect to a mechanical connection of a first type of load-bearing unit and a second self-propelled adapter unit configured to connect to a mechanical connection of a second type of load-bearing unit.

[0169] 30. The system of embodiment 29, wherein the first type of load-bearing unit is a pallet and the second type of load-bearing unit is a wheeled dolly.

[0170] 31. The system of any one of embodiments 1-30, wherein the self-propelled adapter unit includes a body, and the motor is configured within the body.

[0171] 32. The first mechanical connection is disposed on a first side of the body; protruding laterally outwardly relative to the first side of the body; and 32. The system of embodiment 31, wherein the at least one of the first and second sides of the body is recessed inward laterally relative to the first side of the body.

[0172] 33. The system of embodiment 31 or 32, wherein the first side of the body has an angle of between 5 and 90 degrees measured from a perfectly horizontal plane.

[0173] 34. A system described in any one of embodiments 1 to 16 and 20 to 33, wherein the first mechanical connection of the self-propelled adapter unit is connected to an actuator and configured to engage and lift the roller cage.

[0174] 35. The system of embodiment 34, wherein the first mechanical connection includes at least one horizontally protruding element configured to engage with the underside of the roller cage to lift the roller cage.

[0175] 36. A system as described in embodiment 34 or 35, wherein the first mechanical connection includes at least two claws configured to engage the sides of the roller cage to grip the sides and lift the roller cage.

[0176] 37. The system of embodiment 34, wherein the first mechanical connection includes at least one horizontally protruding element configured to engage the underside of the roller cage and at least one claw configured to engage the side of the roller cage, and the at least one horizontally protruding element and the at least one claw are configured to grip the roller cage so that the roller cage can be lifted and / or moved.

[0177] 38. A self-propelled adapter unit for use in the intralogistics system according to any one of embodiments 1 to 37, comprising: a motor, and at least one drive wheel connected to a motor for propelling the self-propelled adapter unit; a first mechanical connection configured to connect to a mechanical connection of the load-bearing unit, the first mechanical connection being capable of forming a first mechanical interconnection between the self-propelled adapter unit and the load-bearing unit; and a computer connected to the motor and at least one drive wheel, the computer including a receiver for receiving commands from the self-propelled autonomous or remotely operated guide unit to control the motor, the self-propelled adapter unit pushing or pulling the load-bearing unit in a substantially horizontal direction; A self-propelled adapter unit including a computer configured to at least one of lift and lower the load-bearing unit.

[0178] 39. A self-propelled adapter unit as described in embodiment 38, wherein the computer includes a transceiver, the receiver forms part of the transceiver, and the computer is configured to communicate with a computer of a self-propelled autonomous or remotely operated guide unit.

[0179] 40. A self-propelled adapter unit as described in embodiment 38 or 39, further comprising a second mechanical connection configured to connect to the mechanical connection of the self-propelled autonomous or remotely operated guide unit, thereby forming a second mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

[0180] 41. The self-propelled adapter unit of any one of embodiments 38-40, further comprising an electrical connection, by which the self-propelled adapter unit can be electrically connected to a self-propelled autonomous or remotely controlled guide unit.

[0181] 42. The self-propelled adapter unit of embodiment 41, wherein the electrical connection is configured to transmit electrical energy to power the motor.

[0182] 43. The self-propelled adapter unit of embodiment 41 or 42, wherein the electrical connection is configured to transfer data.

[0183] 44. A self-propelled adapter unit according to any one of embodiments 39 to 43, wherein the transceiver is a wireless transceiver.

[0184] 45. A self-propelled adapter unit as described in any one of embodiments 38 to 44, wherein the first mechanical connection portion includes at least one of a recess and a protrusion corresponding to at least one of a recess and a protrusion of the load-bearing unit for mechanical interconnection between the self-propelled adapter unit and the load-bearing unit.

[0185] 46. ​​A self-propelled adapter unit described in any one of embodiments 40 to 45, wherein the second mechanical connection portion includes at least one of a recess and a protrusion corresponding to at least one of a recess and a protrusion of the self-propelled autonomous or remotely controlled guide unit for mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely controlled guide unit.

[0186] 47. A self-propelled adapter unit described in any one of embodiments 39 to 46, further including at least one sensor, wherein the transceiver may be configured to transmit sensor data to a transceiver of a self-propelled autonomous or remotely operated guide unit.

[0187] 48. A self-propelled adapter unit as described in embodiment 47, wherein the sensor is at least one sensor selected from the list consisting of a pressure sensor, a motion sensor, and a lidar.

[0188] 49. The self-propelled adapter unit of any one of embodiments 38-48, further comprising an actuator for raising and lowering the load-bearing unit.

[0189] 50. A self-propelled adapter unit as described in embodiment 49, wherein the actuator includes a forklift mast assembly and the first mechanical connection is configured as part of the forklift mast assembly.

[0190] 51. A self-propelled adapter unit as described in embodiment 49, wherein the actuator includes a crane mast assembly and the first mechanical connection is configured as part of the crane mast assembly.

[0191] 52. A self-propelled adapter unit as described in any one of embodiments 38 to 51, wherein the first mechanical interconnection is configured to secure the self-propelled adapter unit to the load-bearing unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0192] 53. A self-propelled adapter unit described in any one of embodiments 38 to 52, wherein the second mechanical interconnection is configured to secure the self-propelled autonomous or remotely operated guide unit to the self-propelled adapter unit both in the direction of the length axis (LA) of the self-propelled adapter unit and in a direction perpendicular to the length axis (LA) of the self-propelled adapter unit.

[0193] 54. A self-propelled adapter unit described in any one of embodiments 38 to 53, including an optical sensor configured to sense a mobile optical marker within a sensor area.

[0194] 55. The self-propelled adapter unit of any one of embodiments 38-54, wherein the self-propelled adapter unit is configured to move at least one of a load of 100 kg, 1000 kg, and 5000 kg.

[0195] 56. A connection system for connecting a self-propelled autonomous or remotely operated guide unit and a self-propelled adapter unit, the self-propelled autonomous or remotely operated guide unit being configured to guide the self-propelled adapter unit through movement on a floor surface when the self-propelled autonomous or remotely operated guide unit and the self-propelled adapter unit are connected, the connection system comprising: a first recess or protrusion constituting a load-bearing portion provided on the self-propelled autonomous or remotely controlled guide unit; a second recess or protrusion provided on the self-propelled adapter unit; a first electrical connector of the self-propelled autonomous or remotely controlled guide unit; and a second electrical connector of the self-propelled adapter unit; the first recess or protrusion is configured to engage the second recess or protrusion to mechanically connect the self-propelled autonomous or remotely operated guide unit to the self-propelled adapter unit, and the first and second electrical connectors are configured to be connected to electrically connect the self-propelled autonomous or remotely operated guide unit to the self-propelled adapter unit, the connection system comprising: an actuator configured to move at least one of the first recess or protrusion and the second recess or protrusion to engage the first recess or protrusion with the second recess or protrusion, wherein at least one of the first and second electrical connectors is configured to be actuated to connect the first electrical connector to the second electrical connector; and At least one of a first recess or protrusion and a second recess or protrusion, and a control unit for controlling the operation of at least one of the first and second electrical connectors; The control unit is configured to control the actuation such that the first recess or protrusion engages with the second recess or protrusion before the first electrical connector engages with the second electrical connector, thereby aligning the first electrical connector and the second electrical connector by actuation of at least one of the first recess or protrusion and the second recess or protrusion before the first electrical connector engages with the second electrical connector, a connection system.

[0196] 57. The connection system of claim 56, wherein actuation of at least one of the first and second electrical connectors is actuated by an actuator configured by the connection system.

[0197] 58. The connection system of claim 56, wherein actuation of at least one of the first and second electrical connectors is actuated by a second actuator configured by the connection system.

[0198] 59. A connection system according to any one of claims 56 to 58, wherein the first recess or protrusion of the self-propelled autonomous or remotely controlled guide unit comprises a protrusion.

[0199] 60. A connection system according to any one of claims 56 to 59, wherein the second recess or protrusion of the self-propelled adapter unit comprises a recess.

[0200] 61. A connection system according to any one of claims 1 to 60, wherein the first recess or protrusion of the self-propelled autonomous or remotely controlled guide unit consists of a set of protrusions and one recess.

[0201] 62. A connection system according to any one of claims 56 to 61, wherein the second recess or protrusion of the self-propelled adapter unit consists of a set of recesses and one protrusion.

[0202] 63. A connection system as described in any one of claims 56 to 62, wherein the first recess or protrusion is configured to engage with the second recess or protrusion in a two-step process by first bringing the first recess or protrusion and the second recess or protrusion into approximate contact in the horizontal direction, and then moving the first recess or protrusion vertically to engage with the second recess or protrusion.

[0203] 64. The connection system of claim 63, wherein the vertical direction is movement of the first recess or protrusion toward the floor surface.

[0204] Different aspects or any part of aspects of differently numbered embodiments or any part of embodiments can all be combined in any possible way. Any method embodiment or any step of any method embodiment can also be interpreted as a description of an apparatus, and similarly, any apparatus embodiment, aspect or part of an aspect, or part of an embodiment can also be interpreted as a description of a method, and all can be combined in any possible way, down to the smallest details. Any detailed description, even its broadest outline, should be interpreted as a general overview.

Claims

1. a load-bearing unit (300); A self-propelled adapter unit (200), and A system for intralogistics comprising a self-propelled autonomous or remotely controlled guide unit (100), The load-bearing unit (300) comprises: a mechanical connection (380); At least one support element (310) configured to be positioned in at least partial contact with the load; and at least one wheel (320) that allows the load-bearing unit (300) to travel on a floor surface, and at least one of the mechanical connections (380) that allows the load-bearing unit (300) to be moved or lifted off the floor surface by the self-propelled adapter unit (200); The self-propelled adapter unit (200) a motor capable of propelling the self-propelled autonomous or remotely controlled guide unit (100) and the self-propelled adapter unit (200); and at least one drive wheel (220) connected to said motor for propelling said self-propelled adapter unit (200); a first mechanical connection (280) configured to connect to the mechanical connection (380) of the load-bearing unit (300); and a computer connected to the motor, the computer including a receiver for receiving commands from the self-propelled autonomous or remotely operated guide unit (100) to control the motor, the self-propelled adapter unit (200) being configured to at least one of push, pull or move the load-bearing unit (300) in a substantially horizontal direction and lift and lower the load-bearing unit (300); The self-propelled autonomous or remotely controlled guide unit (100) comprises: a motor, and At least one drive wheel (120) connected to the motor for propelling the self-propelled autonomous or remotely controlled guide unit (100); and A computer, a transmitter for communicating with said receiver of the self-propelled adapter unit (200); a navigation system for navigating the environment; and at least one sensor for sensing objects in the environment; the computer of the self-propelled autonomous or remotely operated guide unit (100) is configured to generate control signals based on inputs from the navigation system and the at least one sensor, and to transmit the control signals to the self-propelled adapter unit (200) using the transmitter to control the motor of the self-propelled adapter unit (200); The self-propelled autonomous or remotely operated guide unit (100) and the self-propelled adapter unit (200) each include an electrical connection (174, 274) whereby the self-propelled autonomous or remotely operated guide unit (100) can be electrically connected to the self-propelled adapter unit (200), and the electrical connection (174, 274) is configured to transmit electrical energy between the self-propelled autonomous or remotely operated guide unit (100) and the self-propelled adapter unit (200) to supply power to the motor of the self-propelled adapter unit (200).

2. 2. The system for intralogistics of claim 1, wherein the self-propelled autonomous or remotely operated guide unit (100) and the self-propelled adapter unit (200) are propelled solely by the motor of the self-propelled adapter unit (200) when the self-propelled autonomous or remotely operated guide unit (100) and the self-propelled adapter unit (200) are coupled together.

3. The computer of the self-propelled autonomous or remotely controlled guide unit (100) 2. The system for intralogistics of claim 1, including a processing unit that is faster than the computer of the self-propelled adapter unit (200).

4. 2. The system for intralogistics according to claim 1, wherein the maximum speed of the self-propelled autonomous or remotely controlled guide unit (100) is at least 200% of the maximum speed of the self-propelled adapter unit (200).

5. 2. The system for intralogistics according to claim 1, wherein the self-propelled autonomous or remotely operated guide unit (100) has substantially no load-bearing capacity.

6. The system for intralogistics according to claim 1, wherein the self-propelled autonomous or remotely controlled guide unit (100) has a weight in the range of 10 to 200 kg.

7. 10. The system for intralogistics of claim 1, wherein the self-propelled adapter unit (200) is configured to carry or tow a load in excess of 1000 kg.

8. The computer of the self-propelled adapter unit (200) includes a transceiver, and the receiver is part of the transceiver; The computer of the self-propelled autonomous or remotely operated guide unit (100) includes a transceiver, and the transmitter is part of the transceiver; The system of any one of claims 1 to 7, wherein the computer of the self-propelled adapter unit (200) and the computer of the self-propelled autonomous or remotely operated guide unit (100) are configured to be able to communicate with each other.

9. 9. The system of claim 8, wherein the self-propelled adapter unit further includes at least one sensor, the transceiver of the self-propelled adapter unit configured to transmit sensor data to the transceiver of the self-propelled autonomous or remotely operated guide unit, and the self-propelled autonomous or remotely operated guide unit configured to generate a control signal further based on the sensor data received from the self-propelled adapter unit.

10. 8. The system of claim 1, wherein the self-propelled adapter unit includes a second mechanical connection, and the self-propelled autonomous or remotely operated guide unit includes a mechanical connection configured to connect to the second mechanical connection of the self-propelled adapter unit, forming a second mechanical interconnection between the self-propelled adapter unit and the self-propelled autonomous or remotely operated guide unit.

11. The system according to any one of claims 1 to 7, wherein the self-propelled autonomous or remotely operated guide unit (100) includes an energy storage device for powering the self-propelled adapter unit.

12. The system of any one of claims 1 to 7, wherein the self-propelled adapter unit (200) further comprises an actuator for raising and lowering the load-bearing unit (300).

13. 8. The system of claim 1, wherein the propulsion force of the self-propelled autonomous or remotely operated guide unit (100) is configured to be disabled when the self-propelled autonomous or remotely operated guide unit (100) is connected to the self-propelled adapter unit (200).

14. 14. The system of claim 13, wherein the self-propelled autonomous or remotely operated guide unit (100) includes an actuator configured to lift the self-propelled autonomous or remotely operated guide unit (100) off the floor surface when the self-propelled autonomous or remotely operated guide unit (100) is connected to the self-propelled adapter unit (200).

15. A system for intralogistics according to any one of claims 1 to 7, wherein the self-propelled adapter unit (200) is configured to carry or push a load in the range of 100 to 5000 kg.

16. A self-propelled adapter unit (200) for use in an intralogistics system according to any one of claims 1 to 7, comprising: a motor, and at least one drive wheel (220) connected to said motor for propelling said self-propelled adapter unit (200); a first mechanical connection (280) configured to connect to a mechanical connection (380) of the load-bearing unit (300); a second mechanical connection (270) configured to connect to the self-propelled autonomous or remotely controlled guide unit (100); a sensor configured to generate sensor data related to operation of the at least one drive wheel (220) of the self-propelled adapter unit (200); and a computer connected to the motor, the computer transmitting the sensor data related to the operation of the at least one drive wheel (220) of the self-propelled adapter unit (200) to the self-propelled autonomous or remotely operated guide unit (100); a transceiver for receiving commands for controlling the motor from the self-propelled autonomous or remotely operated guide unit (100), and the self-propelled adapter unit (200) Pushing, pulling or moving said load-bearing unit (300) in a substantially horizontal direction; and a computer configured to at least one of lift and lower the load-bearing unit (300); The self-propelled adapter unit (200) further includes an electrical connection (274) whereby the self-propelled adapter unit (200) is electrically connectable to the self-propelled autonomous or remotely operated guide unit (100), the electrical connection (174, 274) being configured to transmit electrical energy between the self-propelled autonomous or remotely operated guide unit (100) and the self-propelled adapter unit (200) to provide power to the motor of the self-propelled adapter unit (200) to propel the self-propelled adapter unit (200).

17. 17. The self-propelled adapter unit of claim 16, wherein the self-propelled adapter unit further includes an actuator for raising and lowering the load-bearing unit.

18. 17. The system for intralogistics of claim 16, wherein the self-propelled adapter unit (200) is configured to carry or tow a load in excess of 1000 kg.

19. 17. The system for intralogistics of claim 16, wherein the self-propelled adapter unit (200) includes at least one motor and at least one brake configured to accommodate a weight of more than 1000 kg.

20. 17. The self-propelled adapter unit of claim 16, wherein the self-propelled adapter unit includes a forklift mast assembly.

Images