SE2051470A1

SE2051470A1 - Nozzle

Info

Publication number: SE2051470A1
Application number: SE2051470A
Authority: SE
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2022-06-16

Abstract

A cleaning nozzle for cleaning a navigation sensor on an autonomous vehicle. The cleaning nozzle comprising, an inlet for receiving a cleaning fluid, a channel, fluidly connected to the inlet, and a plurality of outlets distributed in the channel, wherein the channel has a curved extension and the plurality of outlets are positioned along the curved extension such that the flow directions of the plurality of outlets vary with the curved extension.

Description

NOZZLE Field of the inventionThis invention relates to a nozzle for cleaning a navigation sensor on an autonomous vehicle, as well as a method of performing the cleaning. Theinvention further relates to remote controlled or autonomous guiding vehiclesfor guiding self-propelled load bearing carts in an intra-logistic system as wellas intra-logistic systems and self-propelled load bearing carts for use in such systems.

Background art All forms of handling of goods, material or items of manufacturingrequires intralogistics, i.e. logistics within some confined area such as afactory, warehouse or yard. Traditionally, forklifts have been the dominatingvehicle both for transporting pallets of smaller items and larger itemsindividually. Forklifts however have many limitations. They are generallylimited to lifting items specifically adapted for the forks, such as pallets. Theyalso require a relatively large clearance to operate and they are the root ofmany work place accidents. The forklifts are thus not suitable for use inenvironments populated with human workers. As a consequence, forklifts arebeing replaced in many environments by manual carts pushed by humanworkers. The carts are less likely to cause accidents and are much moreadaptable to specific uses or sizes of the transported items. However, themanual carts also have drawbacks, such as limitations of the maximum loadcapacity that a human operator can handle, and in that the logistic systembecomes relatively labor intensive.

Summarylt is an object to mitigate, alleviate or eliminate one or more of the above-identified deficiencies in the art and disadvantages singly or in anycombination.

According to one aspect, a cleaning nozzle for cleaning a navigationsensor on an autonomous vehicle is provided. The cleaning nozzlecomprising an in|et for receiving a cleaning fluid, a channel, fluidly connectedto the in|et, and a plurality of outlets distributed in the channel. The channelhas a curved extension and the plurality of outlets are positioned along thecurved extension such that the flow directions of the plurality of outlets varywith the curved extension. The cleaning nozzle enables the navigation sensorto be cleaned from multiple directions without the need for moving thecleaning nozzle.

According to one embodiment, the curved extension extends at least90°, preferably at least 180° and most preferably about 270°, such that a largeportion of the navigation sensor can be cleaned simultaneously.

According to one embodiment, the plurality of outlets are positioned onan inside of the curved extension.

According to one embodiment, the flow directions of the plurality ofoutlets are configured for directing the cleaning fluid towards the navigationsensor from different angels along the curved extension.

According to one embodiment, the curved extension of the channelextends mainly in a first plane and the flow direction of the plurality of outletsare configured for directing the cleaning fluid at least partly out of the firstplane.

According to one embodiment, the flow directions of the plurality ofoutlets have at least two different flow direction angles relative the first plane,such that the flow ofﬂuid cleans a larger portion of the navigation sensor.

According to one embodiment, the curvature of the extension of thechannel is about 10mm-100mm, preferably about 20mm-80mm.

The cleaning fluid may be at least one of: pressurized air, a gas, and aliquid.

The nozzle may comprise a receiving area for receiving a navigationalsensor to be cleaned, and the receiving area is arranged on an inner side ofthe curved extension of the channel.

A Navigation sensor cleaning system for a charging station for anautonomous vehicle is further provided. The navigation sensor cleaningsystem comprises a cleaning nozzle according to any one of the precedingembodiments, a cleaning f|uid source for providing cleaning f|uid into the inlet,and a control unit for activating the cleaning system upon detection of thepresence of a navigation sensor to be cleaned.

A method for cleaning a navigation sensor on an autonomous vehicle isfurther provided. The method comprises the steps of detecting the presenceof a navigation sensor in a navigation sensor cleaning system, providing acleaning f|uid to an inlet of a cleaning nozzle, directing the flow of cleaningf|uid along a curved extension of a channel in the cleaning nozzle, andejecting a cleaning f|uid through a plurality of outlets distributed in the channeland having a plurality of flow directions directed towards the navigationsensor.

According to one embodiment, at least one of the steps are performedduring a charging of the autonomous vehicle, when the autonomous vehicle isat a standstill anyway, According to one embodiment, the cleaning nozzle is used for carryingout the steps of directing and ejecting the cleaning f|uid.

According to one aspect, a guiding vehicle for an intralogistics system isprovided. The guiding vehicle is remote controlled or autonomous andconfigured to be connected to a self-propelled load bearing cart and guideand control the propulsion of the self-propelled load bearing cart such that theself-propelled load bearing cart can transport a load in the intralogisticssystem. The guiding vehicle comprising at least one drive wheel configured toengage a floor surface for propelling the guiding vehicle, at least oneadditional wheel and a mechanical connector for mechanically connecting theguiding vehicle to the self-propelled load bearing cart. The guiding vehiclefurther comprises a transceiver configured to at least one of: send andreceive navigation data to or from the self-propelled load bearing cart. The guiding vehicle is configured to maintain constant traction between the atleast one drive wheel and the floor surface when the guiding vehicle isconnected to the self-propelled load bearing cart by means of the mechanicalconnector, such that constant traction between the at least one drive wheeland the floor surface can be maintained when the interconnected guidingvehicle and self-propelled load bearing cart travels over an uneven floorsurface.

By maintain constant traction, the guiding vehicle can keep track of theexact movements of the self-propelled load bearing cart which enables theguiding vehicle to securely and autonomously guide and navigate the self-propelled load bearing cart.

According to one embodiment, the guiding vehicle is configured suchthat the at least one additional wheel is lifted from the floor surface while thedrive wheel remains in contact with the floor surface when the guiding vehicleis connected to the self-propelled load bearing cart. Lifting the additionalwheel increases the traction between the floor surface and the drive wheelswhich helps ensure that the drive wheels have constant traction.

According to one embodiment, the guiding vehicle comprises at leastone of an actuator and an elastic element configured to lift the additionalwheel from the floor surface when the guiding vehicle is connected to the self-propelled load bearing cart.

According to one embodiment, the guiding vehicle comprises at leastone of an actuator and an elastic element configured to act as suspension forthe additional wheel when the guiding vehicle is connected to the self-propelled load bearing cart. The elastic element configured to act assuspension for the additional wheel may be configured to be substantiallyunaffected by the weight of guiding vehicle alone, and be elastically deformedby the combined weight of the guiding vehicle and the self-propelled loadbearing cart, such that the elastic element acts as suspension for theadditional wheel when the guiding vehicle is connected to the self-propelledload bearing cart.

According to one embodiment, the mechanical connector is configuredto be connected by means of a horizontal movement, along the floor surface, between the guiding vehicle and the self-propelled load bearing cart, whichmeans that the guiding vehicle can be connected to the self-propelled loadbearing cart by driving into the mechanical connection.

According to one embodiment, the mechanical connector comprises anactuator for moving the mechanical connector vertically in relation to the floorsurface and thereby mechanically connect the guiding vehicle to the self-propelled load bearing cart.

The guiding vehicle may further comprise an electrical connector forelectrically connecting the guiding vehicle to the self-propelled load bearingcart.

The guiding vehicle may further comprise an electrical energy storage,and the guiding vehicle may be configured to transfer electrical energy fromthe electrical energy storage to the self-propelled load bearing cart by meansof the electrical connector, for at least one of: propelling the self-propelledload bearing cart and handling the load placed on the self-propelled loadbearing cart.

According to one embodiment, the mechanical connector comprises arecess or a protrusion for connection with a corresponding recess orprotrusion positioned on the self-propelled load bearing cart. The recess orprotrusion may comprise a slanted surface configured to provide a lifting forcethat lifts the additional wheel from the floor surface. This enables theadditional wheel to be lifted from the floor surface without the use of anadditional actuator.

The guiding vehicle may further comprise at least one of a connector fora pressurized fluid, such that a pressurized fluid can be transferred to or fromthe guiding vehicle, and a connector for transferring visible light from theguiding vehicle to the self-propelled load bearing cart.

The electrical connector, the connector for a pressurized fluid and theconnector for transferring visible light may be part of an integrated connectortogether with the mechanical connector enabling simultaneous connection ofthe mechanical connector and at least one of the electrical connector, theconnector for a pressurized fluid and the connector for transferring visible light According to one embodiment, the guiding vehicle is smaller than theself-propelled load bearing cart and configured to be placed within thefootprint of the self-propelled load bearing cart and underneath the loadcarried by the self-propelled load bearing cart.

A self-propelled load bearing cart for use in an intralogistics system isfurther provided. The self-propelled load bearing cart being configured to beconnected to a guiding vehicle and be guided and controlled by the guidingvehicle, such that the self-propelled load bearing cart can transport a load inthe intralogistics system. The self-propelled load bearing cart comprising atleast one motor connected to a drive wheel configured to engage a floorsurface for propelling the self-propelled load bearing cart. The self-propelledload bearing cart further comprises a mechanical connector for mechanicallyconnecting the self-propelled load bearing cart to the guiding vehicle. Theself-propelled load bearing cart provides sectors of unobstructed visibility in afirst plane for at least one navigation sensor placed on the guiding vehicle,when the guiding vehicle is placed within the footprint of the self-propelledload bearing cart and connected to the self-propelled load bearing cart. Theunobstructed visibility is more than 100 degrees in a first direction and morethan 100 degrees in the opposite direction in the first plane.

The self-propelled load bearing cart may further comprises lightingelements configured to be illuminated by visible light transferred from theguiding vehicle by means of the connector for transferring visible light.Lighting elements illuminated by visible light are very reliable, durable, lowcost and does not require any maintenance.

The self-propelled load bearing cart may further comprise at least oneemergency switch configured to be pressed by an operator. The self-propelled load bearing cart may then be configured to transfer a signal fromthe at least one emergency switch to the guiding vehicle.

Please note that any aspect or part of an aspect as well as any methodor part of method or any unit, feature or system could be combined in anyapplicable way if not clearly contradictory.

Brief descriotions of the drawinqsThe invention will by way of example be described in more detail with reference to the appended schematic drawings, on which: Figure 1A shows a guiding vehicle and a self-propelled load bearingcart for an intralogistics system slightly from underneath and from the left.

Figure 2a shows a guiding vehicle and a self-propelled load bearingcart for an intralogistics system in a plain view from the left.

Figure 2b shows a guiding vehicle and a self-propelled load bearingcart for an intralogistics system in an elevated view.

Figure 3 shows a self-propelled load bearing cart for an intralogisticssystem in a plain view from the rear.

Figure 4 shows a guiding vehicle for an intralogistics system in a viewfrom the left.

Figure 5 shows a cleaning nozzle and a navigation sensor in anelevated rear view.

Figure 6 shows a cleaning nozzle in an elevated view slightly from theleft.

Figure 7 shows a cleaning nozzle in an elevated view slightly from theleft.

Figure 8 shows a cleaning nozzle from underneath and slightly fromthe right.

Figure 9 shows a flowchart of a method of cleaning a navigation SenSOF.

Detailed descriptionThe present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which embodiments of theinvention are shown. This invention may, however, be embodied in manydifferent forms and should not be construed as limited to the embodiments setforth herein; rather, these embodiments are provided for thoroughness and completeness.

Variations to the disclosed embodiments can be understood andeffected by the skilled person in practicing the claimed invention, from a studyof the drawings, the disclosure, and the appended claims.

A logistic system using guiding vehicles for moving self-propelled loadbearing carts is provided, as well as self-propelled load bearing carts formoving loads in such a system and guiding vehicle guiding and controlling theself-propelled load bearing carts in the system. The logistics system may beused in an intralogistics system in which material, goods or items need to betransported in an efficient and/or autonomous way.

Fig. 1 shows a guiding vehicle 100 for an intralogistics system when theguiding vehicle 100 is placed underneath and connected to a self-propelledload bearing cart 200. The view is slightly from underneath and from the left.The guiding vehicle 100 is remote controlled and/or autonomous and isconfigured to guide and control the propulsion of the self-propelled loadbearing cart 200, such that the self-propelled load bearing cart 200 cantransport a load in the intralogistics system, when connected to the guidingvehicle 100. ln the embodiment shown in fig. 1, the guiding vehicle 100comprises two drive wheels 103 configured to engage a floor surface forpropelling the guiding vehicle 100. The guiding vehicle 100 further comprisesat least one additional wheel 121, in the form of a swiveling castor.

The guiding vehicle 100 further comprises a mechanical connector 170for mechanically connecting the guiding vehicle 100 to the mechanicalconnector 270 of the self-propelled load bearing cart 200. ln the embodiment shown in fig. 1, the mechanical connector 270 ishinged at a point of pivot 265, such that the guiding vehicle 100 can pivot inrelation to the self-propelled load bearing cart 200, when the guiding vehicle 100 is connected to the self-propelled load bearing cart 200. The mechanicalconnection 170,270 is further described with reference to figs. 3 and 4.

The guiding vehicle 100 further comprising a transceiver (furtherdescribed with reference to figs. 3 and 4) configured to send and receivenavigation data to and from the self-propelled load bearing cart 200.Navigation data could e.g. be data from a navigational sensor, such as aLIDAR located on the guiding vehicle 100 (further shown with reference to fig.4), or located on the self-propelled load bearing cart 200. Navigation datacould also be information about the surroundings received by the guiding unit100 or self-propelled load bearing cart 200 from external sources, such as afactory or ware house layout, or information from an external navigationsensor being stationary or mobile (such as a stationary LIDAR, IR-sensor or aLIDAR on another remote controlled or autonomous vehicle). Navigationinformation could also be information concerning the movement of the drivewheels 103,203 of the guiding vehicle 100 and/or the self-propelled loadbearing cart 200. The information on the movement of the drive wheels103,203 could preferably be obtained by an encoder connected to the drivewheels 103, 203. Navigation information could also be an emergency stopsignal.

An emergency stop signal could for example be generated by anoperator pushing an emergency stop button 280 located on the self-propelledload bearing cart 200. The emergency stop signal may then be transferred bymeans of an electrical connection between the self-propelled load bearingcart 200 and the guiding vehicle 100 such that the guiding vehicle 100 cancontrol the propulsion of the self-propelled load bearing cart 200 for stoppingthe self-propelled load bearing cart 200.

Navigation information could also be information related to the load ofthe self-propelled load bearing cart 200 or related to surface conditions ortraffic conditions. ln the embodiment shown in fig. 1, the guiding vehicle 100 is configuredto maintain constant traction between the drive wheels 103 and the floorsurface when the guiding vehicle 100 is connected to the self-propelled loadbearing cart 200 by means of the mechanical connector 170,270. ln the embodiment shown in fig. 1, the constant traction between thedrive wheels 103 and the floor surface is maintained by the additional wheel121 being lifted from the floor surface while the drive wheels 103 remains incontact with the floor surface when the guiding vehicle 100 is connected tothe self-propelled load bearing cart 200. Alternatively, the additional wheel121 is suspended by an elastic element, such as a spring or a hydraulic orpneumatic suspension. The suspension for the additional wheel 121 isconfigured to be substantially unaffected by the weight ofguiding vehicle 103alone, and be elastically deformed by the combined weight of the guidingvehicle 100 and the self-propelled load bearing cart 200. This means that theadditional wheel 121 is moves in a vertical direction if e.g. an uneven surfaceincreases the pressure from the floor on the additional wheel 121. This meansthat the additional wheel 121 is spared from the large strain that wouldotherwise affect the additional wheel 121 and the mechanical connection170,270 by the large weight of the self-propelled load bearing cart 200. ln embodiments in which the additional wheel 121 is lifted from the floorsurface, such lifting could be made e.g. by a linear electrical actuator which isactivated for lifting the additional wheel 121 when the guiding vehicle 100 isconnected to the self-propelled load bearing cart 200.

The self-propelled load bearing cart 200 has two drive wheels 203 andfour swiveling castors 221, one swiveling castor substantially in each one ofthe four corners of the self-propelled load bearing cart 200. The swivelingcastors 221 are fixated to support structures 230a, 230b which in turn arefixated to the frame 210 of the self-propelled load bearing cart 200 by meansof screws. The emergency stop button 280 is also fixated to the frame 210 ofthe self-propelled load bearing cart 200.

The mechanical connector 270 of the self-propelled load bearing cart200 comprises a protrusion for connection with a corresponding recess of theself-propelled load bearing cart 100 (this is further described with reference tofigs. 3 and 4). ln one embodiment, the protrusion comprises a slanted surfaceconfigured to provide a lifting force that lifts the additional wheel 121 from thefloor surface. 11 ln the embodiment shown in fig. 1 the drive wheels 103 are positioned ata distance d from the point of pivot 265, as such, the drive wheels 103 canpivot up and down as the interconnected guiding vehicle 100 and self-propelled load bearing cart 200 travels over an uneven surface whilemaintaining constant traction between the drive wheels 103 of the guidingvehicle 100 and the floor surface. ln embodiment in which the additionalwheel 121 is lifted from the floor surface, the weight carried by the drivewheels 103 is increased by the lifting of the additional wheel 121, whichmeans that the force creating the traction between the drive wheels 103 andfloor surface is increased, which facilitates the maintain of the constanttraction between the floor surface and the drive wheels 103.

Fig. 2a shows the guiding vehicle 100 for an intralogistics systemaccording to the embodiment shown in fig. 1, when the guiding vehicle 100 isplaced underneath and connected to a self-propelled load bearing cart 200.The view is a plain view from the left hand side of the interconnected guidingvehicle 100 and self-propelled load bearing cart 200.

The self-propelled load bearing cart 200 has two drive wheels 203 andfour swiveling castors 221, one swiveling castor substantially in each one ofthe four corners of the self-propelled load bearing cart 200. The swivelingcastors 221 are fixated to support structures 230a', 230b' which in turn arefixated to the frame 210 of the self-propelled load bearing cart 200 by meansof screws. The emergency stop button 280 is also fixated to the frame 210 ofthe self-propelled load bearing cart 200 and electrically connected to themechanical connector connecting the self-propelled load bearing cart 200 tothe guiding vehicle 100 for transmitting an emergency stop signal from theemergency stop button 280 on the frame of the self-propelled load bearingcart 200 to the guiding vehicle 100 such that the guiding vehicle 100 can acton the emergency stop signal and control the propulsion of the self-propelledload bearing cart 200 accordingly.

The to support structures 230a', 230b' are configured such that the self-propelled load bearing cart 200 provides sectors of unobstructed visibility in afirst plane P1 for a navigation sensor 101 in the form ofa LIDAR placed onthe guiding vehicle 100. This sectors of unobstructed visibility enable the two 12 LlDARs (front and rear) of the guiding vehicle 100 to function as thenavigation sensor 101 for the interconnected guiding vehicle 100 and self-propelled load bearing cart 200, when the guiding vehicle 100 is placed withinthe footprint of the self-propelled load bearing cart 200 and connected to theself-propelled load bearing cart 200. As further shown in fig. 2b, theunobstructed visibility is more than 100 degrees in a first, frontal, directionand more than 100 degrees in the opposite, rear, direction in the first planeP1. ln the embodiment shown in figs. 2a and 2b, the self-propelled loadbearing cart 200 provides unobstructed visibility of more than 120 degrees ina first, frontal, direction and more than 120 degrees in the opposite, rear,direction.

The sectors of unobstructed visibility are enabled by the supportstructures 230a, 230b being fixated to the frame 210 of the self-propelled loadbearing cart 200 centrally such that the front and rear portions, as well as thecorners of the plane P1 is substantially without obstructing structures. ln theembodiment shown in fig. 2a, the support structures 230a',230b' obstructs thevisibility of the LIDARS in the first plane P1 along a distance being about 1/3of the length L of the self-propelled load bearing cart 200. A preferredconfiguration is that the support structures 230a',230b' obstructs the visibilityof the LIDARS in the first plane P1 along a distance being less than 1/2 of thelength L of the self-propelled load bearing cart 200. ln other words, thesupport structures 230a', 230b' are configured such that they have a firstlength SL1, along a first axis parallel to the plane P1, when the supportstructures 230a, 230b are mounted to the frame 210. The support structures230a', 230b' further have a second length SL2, along an axis parallel to thefirst axis, which is less than 1/3 of the length of the first length SL1. ln the embodiment shown in fig. 2a, the corners of the self-propelledload bearing cart 200 comprises support elements 271 for supporting a Euro-pallet, such that the Euro-pallet remains fixated on the self-propelled loadbearing cart 200 when the self-propelled load bearing cart 200 moves. lnalternative embodiments, the support elements 271 in the corners may beomitted or replaced by elements for the fixation of further structures on theself-propelled load bearing cart 200, such as a shelf or rack system, or any 13 elements suitable for the fixation or support of goods being transported by theself-propelled load bearing cart 200. ln the embodiment shown in fig. 2, the corners of the self-propelled loadbearing cart 200 comprises lighting elements 272 configured to be illuminatedby visible light transferred from the guiding vehicle 100 by means of aconnector for transferring visible light (further described with reference to fig.3.).

Fig. 2b shows the interconnected guiding vehicle 100 and self-propelledload bearing cart 200, when the guiding vehicle 100 is placed within thefootprint of the self-propelled load bearing cart 200 and connected to the self-propelled load bearing cart 200. ln the view of fig. 2b. the top surface and therear part of the frame 210 has been removed to show the sectors ofunobstructed visibility S1 and S2. The sectors of the unobstructed visibility S1and S2 are more than 100 degrees in a first, frontal, direction and more than100 degrees in the opposite, rear, direction in the first plane (P1 of fig. 2a). lnthe embodiment shown in 2b, the self-propelled load bearing cart 200provides a first sector S1 of unobstructed visibility of more than 120 degreesin a first, frontal, direction and a second sector S2 of unobstructed visibilitymore than 120 degrees in the opposite, rear, direction.

The sectors of unobstructed visibility S1, S2 are enabled by the supportstructures 230a',230a",230b',230b" being fixated to the frame 210 of the self-propelled load bearing cart 200 centrally such that the front and rear portions,as well as the corners of the plane is substantially without obstructingstructures.

Fig. 3 shows the self-propelled load bearing cart 200 in a rear plain view.

The mechanical connector 270 of the self-propelled load bearing cart 200 ispositioned centrally underneath the frame 210 of the self-propelled loadbearing cart 200. The mechanical connector 270 is configured to enable theguiding vehicle to be connected to the self-propelled load bearing cart 200.The mechanical connector 270 is pivotally mounted to a linking support 231which in turn is connected to the support structures 230a',230a". Themechanical connector 270 being pivotally mounted enables the guiding 14 vehicle to pivot in relation to the self-propelled load bearing cart 200, whenthe guiding vehicle is connected to the self-propelled load bearing cart 200.

The mechanical connector 270 comprises two protruding connectionelement 273 which are adapted to be connected to connection recesses ofthe guiding vehicle. ln the embodiment shown in fig. 3, the protrusions 273are used for guiding the mechanical connector 270 such that the interface ofthe mechanical connector 270 is aligned and can be safely connected.

The mechanical connector 270 shown in the embodiment of fig. 3comprises two electrical connectors 274, 275 for electrically connecting theguiding vehicle to the self-propelled load bearing cart. The first electricalconnector 274 is configured for electrically connecting the guiding vehicle tothe motors 205 or motor controllers of the self-propelled load bearing cart 200such that the guiding vehicle can control the propulsion of the self-propelledload bearing cart 200. The first electrical connector may also be adapted forpowering equipment for handling the load placed on the self-propelled loadbearing cart 200, such as rollers for loading/unloading The second electrical connector 275 is configured for transferringelectrical energy for the purpose of charging a battery on the self-propelledload bearing cart 200, from a battery on the guiding vehicle, or for thepurpose of charging a battery on the guiding vehicle from a battery on theself-propelled load bearing cart 200.

The mechanical connector 270 shown in the embodiment of fig. 3 furthercomprises a connector for a pressurized fluid 276, such that a pressurizedfluid can be transferred from the guiding vehicle to the self-propelled loadbearing cart 200.

The mechanical connector 270 shown in the embodiment of fig. 3 furthercomprises a connector for transferring visible light 277 from the guidingvehicle to the self-propelled load bearing cart 200. The visible light istransferred in an optical fiber and the connector for transferring visible light277 is a connector for connecting optical fibers. The visible light is in theembodiment shown in fig. 3 used for illuminating the lighting elements 272positioned in the corners of the self-propelled load bearing cart 200. Lighting elements 272 illuminated by visible light through an optical fiber are veryreliable, durable, low cost and does not require any maintenance.

The mechanical connector 270 shown in the embodiment of fig. 3 furthercomprises a connector for transferring data 278. The transferred data couldfor example be navigation data to and from the guiding vehicle. Navigationdata could e.g. be data from the navigation sensors (shown as 101 in fig. 2a)of the guiding vehicle. Navigation data could be information about thesurroundings received by the guiding unit or information concerning themovement of the drive wheels 203 of the self-propelled load bearing cart 200obtained from the motors 205 of the self-propelled load bearing cart 200 orfrom encoders connected to the drive wheels 203. Navigation informationcould also be an emergency stop signal generated by an operator pushing anemergency stop button 280 located on the self-propelled load bearing cart200. The emergency stop signal is transferred by means of the connector fortransferring data 278 from the self-propelled load bearing cart 200 to theguiding vehicle, such that the guiding vehicle can control the propulsion of theself-propelled load bearing cart 200 for stopping the self-propelled loadbearing cart 200. ln the embodiment shown in fig. 3, the electrical connectors 274,275, theconnector for a pressurized fluid 276 and the connector for transferring visiblelight 277, as well as the connector for transferring data 278, is part of anintegrated connector together with the mechanical connector 270 enablingsimultaneous connection of the mechanical connector 270 and the rest of theconnectors. However, in alternative embodiments, it is equally conceivablethat the some of the additional connectors are separate from the mechanicalconnector 270.

The mechanical connector 270 further comprises an elastic element (notshown) configured to lift the mechanical connector 270 when the mechanicalconnector 270 is disconnected from the guiding vehicle, such that themechanical connector 270 is not dragged in the floor surface.

The elastic element may further be configured to create an elasticdownward force on the guiding vehicle, such that the pressure on the wheelsof the guiding vehicle is increased by the connection with the self-propelled 16 load bearing cart 200. As an example, the elastic element may be a torsionspring configured to elastically bias the mechanical connector 270 in adirection 5 degrees negative in relation to the horizontal plane. Such a torsionspring could increase the force on the wheels of the guiding vehicle with 10Nor more or with 30N or more, which with increase the traction between thewheels of the guiding vehicle and the floor surface which facilitates themaintenance of the traction between the guiding vehicle and the floor surfaceas the interconnected guiding vehicle and self-propelled load bearing cart 200travels over an uneven floor surface.

The guiding vehicle and the self-propelled load bearing cart 200 in theembodiment of figs. 1 - 3 are configured to be interconnected by means ofthe mechanical connector 270 by means of a horizontal movement, along thefloor surface, between the guiding vehicle and the self-propelled load bearingcart 200. This essentially means that the guiding vehicle drives in under theself-propelled load bearing cart 200 and to the mechanical connector 270which then is vertically at the correct distance from the floor surface. lninstances in which the floor surface as somewhat uneven, the pivotal functionof the hinged mechanical connector 270 enables the mechanical connector270 to compensate for an uneven floor and steer the mechanical connector270 to the correct position by means of rounded or chamfered edges of theprotruding elements 273.

When the guiding vehicle and the self-propelled load bearing cart 200are interconnected by means of the mechanical connector 270, both themechanical connector 270, the guiding vehicle and the self-propelled loadbearing cart 200 are horizontally aligned such that the upper and lowersurfaces 279a, 279b of the mechanical connector 270 are parallel with thefloor surface, the frame 210 of the self-propelled load bearing cart 200 isparallel with the floor surface, and the upper and lower surface of the guidingvehicle is parallel to the floor surface. ln an alternative embodiment (not shown) the guiding vehicle and theself-propelled load bearing cart are configured to be interconnected by meansof a mechanical connector by means of a vertical movement. l.e. themechanical connector is a vertical mechanical connector placed underneath 17 self-propelled load bearing cart and configured to receive a correspondingmechanical connector placed at the top surface of the guiding vehicle. ln oneembodiment, the mechanical connector comprises an actuator for moving themechanical connector vertically in relation to the floor surface and therebymechanically connect the guiding vehicle to the self-propelled load bearingcart. The actuator may be assisted or replaced by at least one elastic elementconfigured to exert a force between the guiding vehicle and the self-propelledload bearing cart for increasing the force between the drive wheel and thefloor surface when the guiding vehicle is connected to the self-propelled loadbearing cart.ln alternative embodiments, active suspension of the wheels of the guiding vehicle lifts the guiding vehicle for creating the vertical interconnectionbetween the guiding vehicle and the self-propelled load bearing cart. ln the embodiment shown in fig. 3, the self-propelled load bearing cart200 comprises a computing unit configured to control the drive unit and thusthe drive wheels, handle input from sensors on the self-propelled load bearingcart 200 and for handling communication. Preferably, the computing unit onthe self-propelled load bearing cart 200 is a much smaller and simplercomputing unit than the computing unit of the guiding vehicle.

The self-propelled load bearing cart 200 may further comprise awireless transceiver, which may be a wireless communication unit, configuredto transmit and receive wireless communication to and/or from a guidingvehicle and/or a mobile unit operated by a driver and/or a stationary wirelessunit being part of a logistic system. The wireless communication could beinformation or data e.g. relating to driving or navigation of the self-propelledload bearing cart 200, or identity information or information with regards to theload on the self-propelled load bearing cart 200 (weight, height etc.).

The self-propelled load bearing cart 200 may be powered by theenergy source of the guiding vehicle. However, in alternative embodimentsthe self-propelled load bearing cart may have an energy source of its ownwhich is used on its own or in combination with the energy source of theguiding vehicle. The energy source of the self-propelled load bearing cart 200may be a smaller battery capable of powering the self-propelled load bearing 18 cart 200 for short movements (such as short directly controlled movements byan operator). The energy source of the self-propelled load bearing cart 200may be configured to be charged by and from the guiding vehicle by means ofthe electrical connection 275. ln alternative embodiments it is also conceivable that the self-propelledload bearing cart 200 comprises only a single drive wheel which could beadapted for propulsion only, or for steering and propulsion. ln embodiments inwhich a single drive wheel is adapted for steering and propulsion, the singlewheel is turnable by means of for example a powered actuator. lnembodiments in which the single drive wheel is configured for propulsion only,the self-propelled load bearing cart may be steered by the guiding vehicle. ln conceivable embodiments, the self-propelled load bearing cart 200may also be used as part of a warehouse system, or as part of a station on anassembly line, which sometimes means that the self-propelled load bearingcart 200 will remain on the same spot for a long time, during which thebatteries may be depleted. Having an energy source with sufficient energy inthe guiding vehicle for powering the self-propelled load bearing cart 200removes this problem as the self-propelled load bearing cart 200 can beeasily energized by the batteries of the guiding vehicle. ln the embodiment shown in figs. 1 - 3, the self-propelled load bearingcart 200 is configured to carry a single Euro-pallet and the size of the topsurface TS of the self-propelled load bearing cart 200 thus has a size adaptedtherefor. However, in alternative embodiments, the size of the self-propelledload bearing cart 200 may be different, e.g. for carrying two Euro-pallets or forholding a rack or shelf system. ln embodiments in which the self-propelledload bearing cart 200 is made larger, or made for sustaining a larger load, thenumber of swiveling castors may be increased accordingly. ln some embodiments, the corner modules 271 may further comprisecontact sensors for creating an emergency stop signal in case the self-propelled load bearing cart 200 inadvertently makes contact with an object orperson. The emergency stop signal may be transferred to the guiding vehiclesuch that the guiding vehicle can control the propulsion of the self-propelledload bearing cart 200. 19 Fig. 4 shows the guiding vehicle in a perspective view from the left.

The guiding vehicle 100 has two drive wheels 103 located at the rear cornersof the guiding vehicle 100 and one swiveling castor 121 located centrally inthe front of the guiding vehicle 100. The two drive wheels 103 enables controlin all directions on a planar surface by altering the rotational speed and/ordirection of the drive wheels 103. The drive wheels 103 are drive wheels 103suitable for use in a warehouse or factory setting and may be drive wheels103 suitable for use on a flat concrete floor. The drive wheels are connectedto rotary encoders, sensing the rotational speed of a particular drive wheel103. The information derived by the rotary encoder may be used to comparethe rotational speed of a particular drive wheel 103 to the speed of other drivewheel(s) or the speed of the self-propelled load bearing cart. The informationof the movement of the drive wheels 103 is used as navigation information, itis important that traction is maintained between the floor surface and the drivewheels 103.

The guiding vehicle 100 has a lower surface LS configured to be parallelto the floor surface. The top portion of the guiding vehicle 100 comprises anupper surface US parallel to the lower surface LS and configured to house afirst frontal LIDAR 101a and a second, rear LIDAR 101b. The two LIDARS101a,101 b are protected by a protective roof 105. The two LIDARS createsan image of the surroundings of the guiding vehicle 100 such that the guidingvehicle 100 can navigate and provide navigational information to, and control,a self-propelled load bearing cart. ln the front of the guiding vehicle 100 is a mechanical connector 170configured to be interconnected with the mechanical connector of the self-propelled load bearing cart. The mechanical connector comprises tworecesses 173 configured to receive the two protruding connection elements ofthe self-propelled load bearing cart. The openings of the recesses 173 havechamfered surfaces configured to steer the protruding connection elementsfor aligning the mechanical connection. ln the embodiment shown in fig. 4, constant traction between the drivewheels 103 and the floor surface is maintained by the additional wheel 121being lifted from the floor surface while the drive wheels 103 remains in contact with the floor surface when the guiding vehicle 100 is connected tothe self-propelled load bearing cart. Alternatively, the additional wheel 121 issuspended by an elastic element, such as a spring or a hydraulic orpneumatic suspension. The suspension for the additional wheel 121 isconfigured to be substantially unaffected by the weight of guiding vehicle 103alone and be elastically deformed by the combined weight of the guidingvehicle 100 and the self-propelled load bearing cart. This means that theadditional wheel 121 is moves in a vertical direction if e.g. an uneven surfaceincreases the pressure from the floor on the additional wheel 121. ln embodiments in which the additional wheel 121 is lifted from the floorsurface, such lifting could be made either by the interconnection of themechanical connection 170 by the protruding connection elements comprisinga slanted surface engaging an element fixated to the additional wheel 121and thus providing the lifting force that lifts the additional wheel 121 from thefloor surface. ln the alternative, the guiding vehicle 100 may comprise a linearelectrical actuator which is activated for lifting the additional wheel 121 whenthe guiding vehicle 100 is connected to the self-propelled load bearing cart.The additional wheel 121 need only be lifted a short distance for creating theincreased pressure on the drive wheels 103 for increasing the tractionbetween the drive wheels and the floor surface. The distance may be shorterthan 40 mm, or shorter than 30mm or shorter than 20mm. The mechanicalconnection 170 may further comprise a locking member for securely lockingthe mechanical connection 170 for ensuring that the mechanical connection issecure. ln the embodiment in which the guiding vehicle 100 comprises anelectrical linear actuator, the mechanical connection 170 may provide a signalto the electrical linear actuator indicating that the mechanical connection iscompleted and secure such that the additional wheel 121 can be lifted.

The mechanical connector 170 shown in the embodiment of fig. 4 (andcorresponding to the mechanical connector 270 shown in the embodiment offig. 3) comprises two electrical connectors 174, 175 for electrically connectingthe guiding vehicle 100 to the self-propelled load bearing cart. The firstelectrical connector 174 is configured for electrically connecting the guidingvehicle 100 to the motors / motor controllers of the self-propelled load bearing 21 cart such that the guiding vehicle 100 can control the propulsion of the self-propelled load bearing cart. The first electrical connector 174 may also beadapted for powering equipment for handling the load placed on the self-propelled load bearing cart, such as rollers for loading/unloading The second electrical connector 175 is configured for transferringelectrical energy for the purpose of charging a battery on the self-propelledload bearing cart, from a battery on the guiding vehicle 100, or for thepurpose of charging a battery on the guiding vehicle 100 from a charger orcharging station connected to the electrical grid, or from a battery on the self-propelled load bearing cart or on another guiding vehicle 100.

The mechanical connector 170 shown in the embodiment of fig. 3 furthercomprises a connector for a pressurized fluid 176, such that a pressurizedfluid can be transferred from the guiding vehicle 100 to the self-propelled loadbearing cart.

The mechanical connector 170 shown in the embodiment of fig. 3 furthercomprises a connector for transferring visible light 177 from the guidingvehicle 100 to the self-propelled load bearing cart. The visible light istransferred in an optical fiber and the connector for transferring visible light177 is a connector for connecting optical fibers. The visible light may be usedfor illuminating lighting elements positioned on the self-propelled load bearingcart. Lighting elements illuminated by visible light through an optical fiber arevery reliable, durable, low cost and does not require any maintenance.

The mechanical connector 170 shown in the embodiment of fig. 4 furthercomprises a connector for transferring data 178. The transferred data couldfor example be navigation data to and from the guiding vehicle. Navigationdata could e.g. be data from the LIDARS 101a,101 b. Navigation data couldalso be information about the surroundings received by the guiding unit orinformation concerning the movement of the drive wheels of the self-propelledload bearing cart obtained from the motors of the self-propelled load bearingcart or from encoders connected to the drive wheels. Navigation informationcould also be the movement of the drive wheels 103 of the guiding vehicle100 obtained from the motors of the guiding vehicle or from encodersconnected to the drive wheels 103. Navigation information could also be an 22 emergency stop signal generated by an operator pushing an emergency stopbutton located on the self-propelled load bearing cart. The emergency stopsignal is transferred by means of the connector for transferring data 178 fromthe self-propelled load bearing cart to the guiding vehicle 100, such that theguiding vehicle 100 can control the propulsion of the self-propelled loadbearing cart for stopping the self-propelled load bearing cart.

The guiding vehicle 100 shown in fig. 4 is remote controlled and/orautonomous and is more competent, faster and lighter than the self-propelledload bearing cart, but lack the load bearing capabilities. The guiding vehicle100 is smaller than the self-propelled load bearing cart and configured to beplaced within the footprint of the self-propelled load bearing cart andunderneath the load carried by the self-propelled load bearing cart. Thismakes it possible to exclude sophisticated, sensitive and expensivecomponents from the self-propelled load bearing cart, making the self-propelled load bearing cart easier to manufacture, more robust and reducesthe maintenance cost of the self-propelled load bearing cart. As the loadbearing cart is self-propelled, i.e. not pulled by the guiding vehicle 100, theguiding vehicle 100 can be made small, light and fast, making it possible tohave the guiding vehicle 100 move about for example a factory setting withoutmany of the risks to human operators that unavoidably are present whenmoving a large and heavy load bearing cart. lt is also possible to have guidingvehicles 100 coordinating a larger amount of self-propelled load bearing carts.lt is also possible to have one type of guiding vehicle guiding and controlling alarge variety of self-propelled load bearing carts. ln the embodiment shown infig. 4, the guiding vehicle 100 is less than 50% of the size of the self-propelledload bearing cart (100 of fig. 1). The length of the guiding vehicle is less than50% of the length of the self-propelled load bearing cart (200 of fig. 1), thewidth of the guiding vehicle 100 is less than 50% of the width of the self-propelled load bearing cart (200 of fig. 1), the weight of the guiding vehicle100 is less than 50% of the weight of the self-propelled load bearing cart, andthe footprint of the guiding vehicle 100 is less than 50% of the footprint of theself-propelled load bearing cart. ln alternative embodiments, the length and/orwidth and/or weight and/or footprint of the guiding vehicle 100 may be less 23 than 30% of the length and/or width and/or weight and/or footprint of the self-propelled load bearing cart (200 of fig. 1).

The guiding vehicle 100 has a top speed which is at least 200% of thetop speed of the self-propelled load bearing cart, which means that theguiding vehicle 100 can move around in an environment, such as a factory,much quickerwhen not being connected to a self-propelled load bearing cart.

However, the guiding vehicle 100 lacks load bearing capabilities andhave a weight in the range 10 -100 kg, which means that that the motors ofthe guiding vehicle 100 only need to create a torque sufficient for acceleratingthe guiding vehicle 100 with a weight in the range 10 -100 kg and the breaksonly need to be capable of deaccelerating the guiding vehicle 100 with aweight in the range 10 -100 kg. ln contrast, the self-propelled load bearing cart described with referenceto figs. 1 - 3 are configured to carry a load in the range 300 - 2000 kg, whichmeans that the motors of the self-propelled load bearing cart need to create atorque sufficient for accelerating the self-propelled load bearing cart with aweight in the range 300 - 2000 kg and the breaks of the self-propelled loadbearing cart need to be capable of deaccelerating the self-propelled loadbearing cart with a weight in the range 300 - 2000 kg. ln one exemplifying embodiment, the combined motors for thepropulsion of the self-propelled load bearing cart is configured for generatinga maximum torque being 3 times the maximum torque of the combinedmotors for the propulsion of the guiding vehicle 100. ln another exemplifying embodiment, the combined motors for thepropulsion of the self-propelled load bearing cart is configured for generatinga maximum torque being 6 times the maximum torque of the combinedmotors for the propulsion of the guiding vehicle 100.

The guiding vehicle 100 also reduces the requirements of the level ofsophistication of the safety systems of the self-propelled load bearing cart, asthe guiding vehicle 100 can guide, navigate and sense the environment andcontrol the movement of the self-propelled load bearing cart. ln the embodiment shown in fig. 4, the electrical connectors 174,175, theconnector for a pressurized fluid 176 and the connector for transferring visible 24 light 177, as well as the connector for transferring data 178, is part of anintegrated connector together with the mechanical connector 170 enablingsimultaneous connection of the mechanical connector 170 and the rest of theconnectors. However, in alternative embodiments, it is equally conceivablethat the some of the additional connectors are separate from the mechanicalconnector 170.

The guiding vehicle 100 further comprises a wireless communicationunit configured to transmit and receive wireless communication to and/or fromat least one of: a self-propelled load bearing cart, other guiding vehicles orstationary wireless units being part of the logistic system. The wirelesscommunication unit could be based on the IEEE 802.11 standard (WLAN orWi-Fi) or UHF radio communication such as the IEEE 802.15.1 standard(Bluetooth) or a wireless communication unit based on the 3GPP NRstandards (5G) enabling Ultra-Reliable Low-Latency Communications(URLLC). The wireless communication could be information or data e.g.relating to the identity of the guiding vehicles or the identity of the self-propelled load bearing carts. The wireless communication between the self-propelled load bearing cart and the guiding vehicle 100 may be bidirectional,such that the guiding vehicle 100 may transmit and/or receive informationfrom/to the self-propelled load bearing cart, which information could comprise,apart from identity information, specifics of the load on the self-propelled loadbearing cart (weight, height etc.). lt is further possible to transmit and/orreceive more complex data such as navigation information such as drivinginstructions or information about the surroundings to or from the guidingvehicle 100.

The guiding vehicle 100 further comprises a computing unit which ismuch more sophisticated than the computing unit of the self-propelled loadbearing cart. The more sophisticated computing unit of the guiding vehicle100 has a faster processing unit, a larger storage capacity, faster connectionto other guiding units or to the logistics systems or to the self-propelled loadbearing carts. The computing unit of the guiding vehicle 100 further comprisesmore I/O-units than the computing unit of the self-propelled load bearing cart,enabling the guiding vehicle 100 to receive input from more sensors. The computing unit receives input from the LIDARS 101a,101b and generatescontrol signals on the basis thereof, which then can be transferred via theconnection 178 or via wireless connection, to the self-propelled load bearingcart for contro||ing the drive unit of the self-propelled load bearing cart.Alternative sensors on the guiding vehicle 101 could be radar units, sonicsensor units and/or optical sensor units, IR or cameras using imagerecognition.

Figs. 5-8 illustrates a close up on the navigational sensor 101and more specifically on a cleaning nozzle 400 for cleaning said navigationalsensor. The cleaning sensor works very well with the guiding vehicle forintralogistics system as is described above and will in the following examplemainly be described in relation to this vehicle. However, the cleaning nozzlemay be used for any navigational sensor on any autonomous vehicle.

The navigation sensor may be subject to different contaminations whenthe vehicle is navigating. lt could for example be dust or other particles inproduction unit, or vegetational contamination (such as grass, small leaves, orpollen) if the autonomous vehicle is driven outside.

The nozzle is preferably attached to the autonomous vehicle withattachment means 404a, 404b, in fig. 5 being illustrated as screws. Otherattachment means may be used, such as glue, mating parts or other.

The nozzle 400 is designed to receive a fluid from e.g. a pressure highpressure air device. The fluid may also be another gas or a liquid such aswater (with or without cleaning additions) or any other liquid. On order toreceive the cleaning fluid, the nozzle 400 is provided with an inlet 401illustrated in figure 6 and 7. The inlet 401 is illustrated to be placed in an endportion of the nozzle. ln other embodiments the inlet may have otherplacements on the nozzle. Preferably, the inlet is placed at a position wherethe inlet is accessible during charging of the autonomous vehicle. Hereby, thecleaning fluid may be injected during the charging operations.

The nozzle further comprises a channel 420 fluidly connected to theinlet. The channel comprises a plurality of outlets 403a, 403b, 403c for lettingout the cleaning fluid injected into the inlet 401. The outlets are preferabledistributed in the channel and at a distance from each other to spread the 26 cleaning fluid along the extension of the channel. The channel 420 further hasa curved extension which bends around an area where the navigationalsensor 101 is positioned. Moreover, the plurality of outlets are positionedalong the curved extension such that the flow directions 408a, 408b of theplurality of outlets vary with the curved extension. Hereby, the flow of cleaningfluid may surround the cleaning nozzle so that it is cleaned along the curvedextension. ln the figures, the cleaning nozzle 400 has a curved extensionextending in a horse-shoe shape so that the outlets 403 are positionedaround a central position of a receiving area 410 for receiving saidnavigational sensor 101. The form of the horse-shoe shaped nozzle asillustrated means that the outlets are pointing towards the central area fromabout 270° around it. ln other embodiments, the cleaning nozzle's extensionmay be shorter, so that the outlets are pointing towards the central area fromabout 180° or about 120° or about 90°. ln each of these embodiments the flowdirection 408b is directed towards the navigation sensor from different angelsalong the curved extension.

The cleaning nozzle 400 channel 420 comprises an inner side 424 andan outer side 426. The inner side 424 comprises said outlets 403, as theoutlets then are facing towards the receiving area 410. The channel 420 alsohas a bottom side which may be closed in itself, or it may be open, asillustrated and closed by means of the arrangement onto the autonomousvehicle. The channel is however preferably hermetically sealed except for theinlet and the outlets, so as to control the ejection of the cleaning fluid fromsaid nozzle. ln the illustrated example embodiment, the inner side 424 is formed inan angle d relative the plane in which the nozzle and receiving area isgenerally extended in. The plane may for example be a horizontal plane if thenavigational sensor is to be placed on top of an autonomous vehicle, as isillustrated in this application. This plane is generally called the nozzel'sextention plane below. lt is of course so that the nozzle also has an extensionin height, that is out of said plane. 27 The inner side may extent in an angle oi relative the nozzel's extentionplane, and the angle may be adjusted so that the outlets are facing inwardsand upwards towards the navigational sensor, as illustrated. The angle oi mayfor example be between 10° - 80° or about 20° - 70° or about 30° - 60°. ln theillustrated example the angle oi is about 45°. This angle will be dependent ona radius r of the inner side and the height of the navigational sensor, in orderto direct the cleaning fluid towards the navigational sensor. lnstead of having angled inner sides to achieve the cleaning fluid flowdirection 408a, 408b, a directing means 412 such as a deflecting member asillustrated in fig. 7 may be used. Thereby, even if the outlets are arrangedparallel to the nozzel's extention plane, the flow direction may be directedtowards the navigational sensor.

The radius r of the curved channel is adapted to the size of thenavigational sensor. ln the illustrated example the radius is about 50 mm, butcan be adapted dependent on the size of the navigational sensor that is to beused. E.g. the radius r of curvature of the extension of the channel may beabout 10mm-100mm, preferably about 20mm-80mm. ln some embodiments, the angle of the inner side, the bore angle ofthe outlet or any directing means, may have different angles for differentoutlets. By such an embodiment, the flow 408 may have a larger spreadtowards the navigational sensor. lt is further understood from the embodiments described above that thenozzel may be used in a navigation sensor cleaning system in a chargingstation for an autonomous vehicle. Such a navigation sensor cleaning systemcomprising would for example comprise the cleaning nozzle as described andpreferably being fastened onto an autonomous vehicle. Moreover, such asystem would need the cleaning fluid source for providing cleaning fluid intothe inlet 401, and a control unit for activating the cleaning system upondetection of the presence of a navigation sensor to be cleaned.

The control unit may be the same control unit that is used forcontrolling the charging operation of the autonomous vehicle. ln Fig. 9 a method for cleaning a navigation sensor on an autonomousvehicle, is further illustrated. The method comprises the steps of detecting the 28 presence of a navigation sensor in a navigation sensor cleaning system. Thedetection can be acheved with e.g. motions sensor or electrical sensors orsimply by detecting that a charging operation has been initiated.

Thereafter, the step of providing a cleaning fluid to the inlet 401 of thecleaning nozzle 400 is carried out. This may, as have been explained abovee.g. be pressuries air, gas or a liquid that is fed to the inlet 401. ln a third step,the injected cleaning fluid it directed along a curved extension of the channel420 in the cleaning nozzle 400, as explained in conjuction with the nozzelabove. And finally, the step of ejecting the cleaning fluid through a plurality ofoutlets 403 distributed in the channel and having a plurality of flow directionsdirected towards the navigation sensor 101 is carried out. The method asexplained above may preferably be performed during charging operations ofthe autonomous vehicle. This will mean that the sensor may be cleaned whenthe autonomous vehicle is charged.

Please note that any aspect or part of an aspect as well as any methodor part of method or any unit, feature or system could be combined in anyapplicable way if not clearly contradictory. 29 NUMBERED EMBODIMENTS ln the following, exemplifying numbered embodiments are provided.The numbered embodiments are not to be seen as limiting the scope of theinvention, which is defined by the appended claims. The reference numeralsin the different numbered embodiments are to be seen only as examples ofelements in the appended drawings which correspond to elements describedin the numbered embodiments. 1. A guiding vehicle for an intralogistics system, wherein the guiding vehicle is remote controlled or autonomous and configured to: be connected to a self-propelled load bearing cart, and guide and control the propulsion of the self-propelled loadbearing cart such that the self-propelled load bearing cart can transporta load in the intralogistics system, the guiding vehicle comprising: at least one drive wheel configured to engage a floor surface forpropelling the guiding vehicle, at least one additional wheel, a mechanical connector for mechanically connecting the guidingvehicle to the self-propelled load bearing cart, characterized in that the guiding vehicle further comprising a transceiver configuredto at least one of: send and receive navigation data to or from the self-propelled load bearing cart, and in that the guiding vehicle is configured to maintain constant tractionbetween the at least one drive wheel and the floor surface when theguiding vehicle is connected to the self-propelled load bearing cart bymeans of the mechanical connector, such that constant tractionbetween the at least one drive wheel and the floor surface can bemaintained when the interconnected guiding vehicle and self-propelledload bearing cart travels over an uneven floor surface. 2. The guiding vehicle according to embodiment 1, wherein the guidingvehicle is configured such that the at least one additional wheel is lifted from the floor surface while the drive wheel remains in contact with thefloor surface when the guiding vehicle is connected to the self-propelled load bearing cart. _ The guiding vehicle according to any one of embodiment 1 and 2, further comprising at least one of an actuator and an elastic elementconfigured to at least one of:- lift the additional wheel from the floor surface when the guidingvehicle is connected to the self-propelled load bearing cart, and- act as suspension for the additional wheel when the guidingvehicle is connected to the self-propelled load bearing cart. _ The guiding vehicle according to any one of the preceding embodiments, wherein the mechanical connector is configured to beconnected by means of a horizontal movement, along the floor surface,between the guiding vehicle and the self-propelled load bearing cart. _ The guiding vehicle according to any one of the preceding embodiments, wherein the mechanical connector comprises anactuator for moving the mechanical connector vertically in relation tothe floor surface and thereby mechanically connect the guiding vehicleto the self-propelled load bearing cart. _ The guiding vehicle according to any one of embodiments 3 - 5, wherein the elastic element configured to act as suspension for theadditional wheel is configured to:- be substantially unaffected by the weight of guiding vehiclealone, and- be elastically deformed by the combined weight of the guidingvehicle and the self-propelled load bearing cart, such that theelastic element acts as suspension for the additional wheelwhen the guiding vehicle is connected to the self-propelled loadbearing cart. 31 The guiding vehicle according to any one of the precedingembodiments, further comprising an electrical connector for electricallyconnecting the guiding vehicle to the self-propelled load bearing cart. _ The guiding vehicle according to embodiment 6, wherein the guiding vehicle comprises an electrical energy storage, and wherein theguiding vehicle is configured to transfer electrical energy from theelectrical energy storage to the self-propelled load bearing cart bymeans of the electrical connector, for at least one of: propelling theself-propelled load bearing cart and handling the load placed on theself-propelled load bearing cart.

The guiding vehicle according to any one of the precedingembodiments, wherein the mechanical connector comprises a recessor a protrusion for connection with a corresponding recess orprotrusion positioned on the self-propelled load bearing cart, andwherein the recess or protrusion comprises a slanted surfaceconfigured to provide a lifting force that lifts the additional wheel fromthe floor surface.

.The guiding vehicle according to any one of the preceding 11 embodiments, further comprising at least one of: a connector for a pressurized fluid, such that a pressurized fluidcan be transferred to or from the guiding vehicle, and a connector for transferring visible light from the guiding vehicleto the self-propelled load bearing cart.

.The guiding vehicle according to any one of embodiments 6 - 10, wherein at least one of the electrical connector, the connector for apressurized fluid and the connector for transferring visible light is partof an integrated connector together with the mechanical connectorenabling simultaneous connection of the mechanical connector and at 32 least one of the electrical connector, the connector for a pressurizedfluid and the connector for transferring visible light 12.The guiding vehicle according to any one of the precedingembodiments, wherein the guiding vehicle is smaller than the self-propelled load bearing cart and configured to be placed within thefootprint of the self-propelled load bearing cart and underneath theload carried by the self-propelled load bearing cart. 13.A self-propelled load bearing cart for use in an intralogistics system,the self-propelled load bearing cart being configured to:be connected to the guiding vehicle according to any one ofembodiments 1 - 12, andbe guided and controlled by the guiding vehicle such that theself-propelled load bearing cart can transport a load in the intralogisticssystem, the self-propelled load bearing cart comprising:at least one motor connected to a drive wheel configuredto engage a floor surface for propelling the self-propelled loadbearing cart,a mechanical connector for mechanically connecting theself-propelled load bearing cart to the guiding vehicle, whereinthe self-propelled load bearing cart provides sectors of unobstructedvisibility in a first plane for at least one navigation sensor placed on theguiding vehicle, when the guiding vehicle is placed within the footprintof the self-propelled load bearing cart and connected to the self-propelled load bearing cart, the unobstructed visibility being more than100 degrees in a first direction and more than 100 degrees in theopposite direction in the first plane. 14.The self-propelled load bearing cart according to embodiment 13,wherein the self-propelled load bearing cart comprises lightingelements configured to be illuminated by visible light transferred from 33 the guiding vehicle by means of the connector for transferring visiblelight.

.The self-propelled load bearing cart according to any one of embodiments 13 and 14, wherein the self-propelled load bearing cartcomprises at least one emergency switch configured to be pressed byan operator, and wherein the self-propelled load bearing cart isconfigured to transfer a signal from the at least one emergency switchto the guiding vehicle.

The different aspects or any part of an aspect of the differentnumbered embodiments or any part of an embodiment may all be combinedin any possible way. Any method embodiment or any step of any methodembodiment may be seen also as an apparatus description, as well as, anyapparatus embodiment, aspect or part of aspect or part of embodiment maybe seen as a method description and all may be combined in any possibleway down to the smallest detail. Any detailed description should beinterpreted in its broadest outline as a general summary description.

Claims

1. A cleaning nozzle (400) for cleaning a navigation sensor (101) on an autonomous vehicle, the cleaning nozzle comprising, - an inlet (401) for receiving a cleaning fluid, - a channel (420), fluidly connected to the inlet (401), and - a plurality of outlets (403a, 403b, 403c) distributed in the channel(420),wherein - the channel (420) has a curved extension and the plurality ofoutlets (403a, 403b, 403c) are positioned along the curvedextension such that the flow directions (408a, 408b) of the pluralityof outlets (403a, 403b, 403c) vary with the curved extension.

2. _ The cleaning nozzle (400) according to claim 1, wherein the curved extension extends at least 90°, preferably at least 180° and mostpreferably about 270°.

3. _ The cleaning nozzle (400) according to any one of the preceding claims, wherein the plurality of outlets (403a, 403b, 403c) arepositioned on an inside of the curved extension.

4. _ The cleaning nozzle (400) according to any one of the preceding claims, wherein the flow directions (408a, 408b) of the plurality ofoutlets (403a, 403b, 403c) are configured for directing the cleaningfluid towards the navigation sensor (101) from different angels along the curved extension.

5. _ The cleaning nozzle (400) according to any one of the preceding claims, wherein the curved extension of the channel (420) extendsmainly in a first plane and the flow direction of the plurality of outlets (403a, 403b, 403c) are configured for directing the cleaning fluid atleast partly out of the first plane.

6. The cleaning nozzle (400) according to claim 5, wherein the flowdirections (408a, 408b) of the plurality of outlets (403a, 403b, 403c)have at least two different flow direction angles relative the first plane.

7. The cleaning nozzle (400) according to any one of the precedingclaims, wherein a radius (r) of curvature of the extension of the channel(420) is about 10mm-100mm, preferably about 20mm-80mm.

8. The cleaning nozzle (400) according to any one of the precedingclaims, wherein the cleaning fluid is at least one of: pressurized air, a gas, and a liquid.

9. The cleaning nozzle (400) according to any one of the precedingclaims, wherein the cleaning nozzle (400) comprises a receiving area(410) for receiving a navigational sensor (101) to be cleaned andwherein the receiving area (410) is arranged on an inner side of thecurved extension of the channel (420).

10.A navigation sensor cleaning system for a charging station for anautonomous vehicle, the navigation sensor cleaning systemcomprising: - a cleaning nozzle (400) according to any one of the precedingclaims, - a cleaning fluid source for providing cleaning fluid into the inlet(401), and - a control unit for activating the cleaning system upon detection ofthe presence of a navigation sensor to be cleaned.

11.Method for cleaning a navigation sensor on an autonomous vehicle, comprising the steps:- detecting the presence of a navigation sensor (101) in a navigationsensor cleaning system, - providing a cleaning fluid to an in|et of a cleaning nozzle (400), - directing the flow of cleaning fluid along a curved extension of a 5 channel (420) in the cleaning nozzle (400), - ejecting a cleaning fluid through a plurality of outlets (403a, 403b,403c) distributed in the channel (420) and having a plurality of flowdirections directed towards the navigation sensor (101). 10

12.The method according to claims 11, wherein at least one of the stepsare performed during a charging of the autonomous vehicle.

13.The method according to claims 11, wherein the cleaning nozzle (400) according to any one of claims 1-9, is used for carrying out the steps of15 directing and ejecting the cleaning fluid.