Robot system

• US 20040093650A1
• Filed: 11/10/2003
• Published: 05/13/2004
• Est. Priority Date: 12/04/2000
• Status: Active Grant

• Current Assignee: Unibap AB
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Hallgren, Mats, Pettinaro, Giovanni C, Bergmark, J?ouml;rgen, Martins, G?ouml;sta
• Granted Patent: US 7,066,291 B2
• Time in Patent Office: Days
• US Class Current: 180/167
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles

Abstract

A mobile robot system for performing a plurality of separate operations comprising at least one autonomous wheeled mobile robot (1) having at least one wheel-driving motor, an on-board computer; means for navigation, orientation, and maneuvering in an environment with moving obstacles; a sensor system; and a wireless communication system for receiving and sending signals.

Claims

1. Mobile robot system for performing a plurality of separate operations comprising at least one autonomous wheeled mobile robot (1) having at least one wheel-driving motor;

an on-board computer;

means for navigation, orientation, and maneuvering in an environment with moving obstacles;

a sensor system; and

a wireless communication system for receiving and sending signals, characterized in that said system also comprises a plurality of dockable operation modules (3a-f), which are selectively couplable with the autonomous mobile robot to form an operation unit.

2. Mobile robot system according to claim 1, characterized in that said operation modules are wheeled modules (3a-g).

3. Mobile robot system according to claim 1 or 2, characterized in that at least one of said operation modules (3c, 3d, 3f, 3g) comprises its own power means.

4. Mobile robot system according to any of the preceding claims, characterized in that the autonomous robot has a pair of freely swivelable wheels (11) which are selectively lockable in longitudinal orientation when the autonomous mobile robot is not coupled to an operation module (3a-g).

5. Mobile robot system according to any of claims 1-3, characterized in that the autonomous mobile robot is provided with a raisable and lowerable longitudinally oriented tracking wheel (11b) which is lowerable to floor contact when the autonomous mobile robot is not coupled to an operation module.

6. Mobile robot system according to any of the preceding claims, characterized in that the driven wheel or wheels (2) of the autonomous mobile robot is or are mounted on an axle (24) which is pivotally mounted about a vertical axis (a) passing through the midpoint of the axle (24).

7. Mobile robot system according to any of claims 1-6, characterized in that the autonomous mobile robot comprises a coupling hitch frame (12).

8. Mobile robot system according to claim 7, characterized in that the coupling hitch frame is swivelable around an axis (a) parallel to the longitudinal axis through the robot.

9. Mobile robot system according to claim 7 or 8, characterized in that said hitch is provided with a horizontal bar (8) comprising at least two upwardly directed hooks (14), said bar being automatically lowerable to disengage from, and automatically raisable to engage receiving means on each operation module.

10. Mobile robot system according to any of the preceding claims, characterized in that the autonomous mobile robot comprises at least a pair of rearwardly directed sensors (18), laterally mounted on either side of the autonomous mobile robot or its coupling hitch, whereby the orientation, length and position of an operation module and surrounding obstacles are sensed and processed by the on-board central processing unit.

11. Mobile robot system according to claim 10, characterized in that said rearwardly directed sensors (18) are laterally telescopically mounted to be extended beyond the width of the operation module which is coupled to the autonomous mobile robot.

12. Mobile robot system according to claim 10 or 11, characterized in that said rearwardly directed sensors (18) are ultrasonic sensors.

13. Mobile robot system according to any of the preceding claims, characterized in that said system includes a plurality of coordinated wheeled autonomous mobile robots.

20. Autonomous robot according to any of the preceding claims, characterized in that the autonomous mobile robot is provided with at least a pair of rearwardly directed sensors (18), laterally mounted on either side of the autonomous mobile robot or its coupling hitch frame, whereby the orientation, length and position of an operation module and surrounding obstacles can be sensed and processed by the on-board central processing unit.

21. Autonomous robot according to claim 20, characterized in that said rearwardly directed sensors (18) are laterally telescopically mounted to be extended beyond the width of the operation module which is coupled to the autonomous mobile robot.

22. Autonomous mobile robot according to claim 20 or 21, characterized in that said rearwardly directed sensors (18) are ultrasonic sensors.

27. The use of a mobile robot system as defined in any of claims 1-13 or a method according to claim 23 in a peopled environment.

14. Autonomous robot comprising at least one wheel-driving motor;

an on-board computer;

means for navigation, orientation, and maneuvering in an environment with moving obstacles;

a sensor system; and

a wireless communication system for receiving and sending, characterized in that said robot also comprises a coupling hitch frame (12) for autonomous selective mechanical and/or electrical coupling to and uncoupling from one of a plurality of different interchangeable wheeled operation modules.

15. Autonomous robot according to claim 14, characterized in that the autonomous robot has a pair of non-driven, freely swivelable wheels (11) which are selectively lockable in a longitudinal orientation when the autonomous mobile robot is not coupled to an operation module.

16. Autonomous robot according to claim 14, characterized in that the autonomous mobile robot is provided with a non-driven raisable and lowerable longitudinally oriented tracking wheel (11′

) which is lowerable to floor contact when the autonomous mobile robot is not coupled to an operation module.

17. Autonomous robot according to any of claims 14-16, characterized in that the driven wheel or wheels of the autonomous mobile robot is or are mounted on an axle (24) which is pivotally mounted about a vertical axis (a) passing through the midpoint of the axle.

18. Autonomous robot according to claim 17, characterized in that the coupling hitch frame (12) is pivoted about said vertical axis (a).

19. Autonomous robot according to any of claims 14-18, characterized in that said hitch frame (12) is provided with a horizontal bar (8) provided with at least two upwardly directed hooks (14), said bar being automatically lowerable to disengage from, and automatically raisable to engage receiving means on each operation module.

23. Method of robotic performance including a plurality of separate operations by means of a mobile robot system comprising at least one autonomous wheeled mobile robot (1) having at least one wheel-driving motor;

an on-board computer;

means for navigation, orientation, and maneuvering in an environment with moving obstacles;

a sensor system; and

a wireless communication system for receiving and sending signals, characterized in that

an operation module (3) in a docking station is chosen for a predetermined operation,

the robot docks with the operation module and forms an operation unit,

the operation unit transports itself to an ordered location by the intelligence of the robot,

the operation is carried out by the operation module at the location, and that

the operation unit returns to the docking station where the robot and the operating module are undocked.

24. Computer program product including a software program comprising instructions for a computer to perform a method according to claim 23.

25. Computer program product according to claim 24 supplied at least in part over a network such as the Internet.

26. Computer readable medium containing a computer program product according to claim 23.