Mobile robot system having a plurality of exchangeable work modules and method of controlling the same

• US 8,918,950 B2
• Filed: 02/27/2006
• Issued: 12/30/2014
• Est. Priority Date: 09/05/2005
• Status: Expired due to Fees

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Song, Jeong-gon, Jeung, Sam-jong, Lee, Ju-sang, Ko, Jang-youn, Lim, Kwang-soo
• Primary Examiner(s): Carter, Monica
• Assistant Examiner(s): BERRY, STEPHANIE R
• Application Number:
  US11/362,145
• Publication Number:
  US 20070050937A1
• Time in Patent Office: 3,228 Days
• Field of Search: 153/19, 700/245, 700/200, 700/207, 701/23, 701/213, 701/2, 701/25, 701/24, 701/28
• US Class Current: 15/319
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/02 Docking stations; Docking operations
• CPC Class Codes: A47L 5/225 Convertible suction cleaners, i.e. convertible between different types thereof, e.g. from upright suction cleaners to sledge-type suction cleaners
• CPC Class Codes: A47L 9/0009 Storing devices winding devices for electric cables A47L9/26; Supports, stands or holders
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: G05D 1/2446 the passive navigation aids having encoded information, e.g. QR codes or ground control points
• CPC Class Codes: G05D 1/661 Docking at a base station delivering or retrieving payloads G05D1/667
• CPC Class Codes: G05D 2105/10 for cleaning, vacuuming or polishing
• CPC Class Codes: G05D 2109/10 Land vehicles
• CPC Class Codes: G05D 2111/10 Optical signals

Abstract

Disclosed is a mobile robot system having a plurality of exchangeable work modules, thereby providing a mobile robot capable of performing various functions at a low cost. The mobile robot system comprises a plurality of work modules, which perform different works, respectively; a module station for connecting the plurality of work modules; and a mobile robot, which selects and connects to one of the plurality of work modules from the module station according to a work task to be performed. The mobile robot autonomously operates to perform the work task.

Claims

1. A mobile robot system having a plurality of exchangeable work modules comprising:

a plurality of work modules, each of which is adapted to performing a different work task;

a module station comprising a plurality of module connecting parts for fixing the plurality of work modules to the module station, and a station control unit for controlling the plurality of module connecting parts, wherein each of the module connecting parts are aligned in the same plane; and

a mobile robot which is adapted for selecting, moving and connecting to one of the plurality of work modules of the module station according to the work task to be performed and communicating with the station control unit of the module station to cause the module connecting part of the selected work module to release the work module, wherein a direction in which the mobile robot moves to connect to one of the plurality of work modules is different from directions in which the mobile robot moves to connect to each of the other work modules and the mobile robot autonomously runs to perform the work task.

2. The mobile robot system as claimed in claim 1, wherein the mobile robot comprises:

a body;

a driving part provided in the body;

a module docking part provided on one side of the body adapted to connecting to one of the plurality of work module;

an electric connection part located proximate the module docking part on the one side of the body adapted to supplying electric power to the work module when it is connected to the mobile robot;

a signal connection part located proximate the electric connection part adapted to exchanging signals with the work module when it is connected to the mobile robot; and

a robot controller provided in the body adapted to controlling the driving part, such that when the module docking part, the electric connection part, and the signal connection part are connected to the one of the plurality of work modules, the mobile robot performs the work task.

3. The mobile robot system as claimed in claim 2, wherein the robot controller stores a plurality of moving paths, each of which corresponds to at least one of the plurality of work modules and wherein the robot controller selects one of the plurality of moving paths corresponding to the work module connected to the module docking part from the plurality of moving paths and thereby causes the mobile robot to operate along the selected moving path and perform the work task.

4. The mobile robot system as claimed in claim 2, wherein each of the plurality of work modules comprises:

a module body;

a work part provided in the module body adapted to performing the work task;

a mating connection part provided on one side of the module body to be connected to a corresponding module connecting part of the module station;

a mating docking part provided on a different side of the module body to be connected to the module docking part of the mobile robot;

a mating signal connection part and a mating electric connection part provided on the different side of the module body, the mating signal connection part and the mating electric connection part being connected to the signal connection part and the electric connection part of the mobile robot, respectively.

5. The mobile robot system as claimed in claim 4, wherein the work parts of the plurality of work modules comprise one of a vacuum-cleaning device, a scrubbing device, a sterilizing device, and an air-cleaning device.

6. The mobile robot system as claimed in claim 4, wherein the module docking part is an electromagnet.

7. A method of controlling a mobile robot system comprising the steps of:

a) causing a mobile robot to select a work module to be used in performing a given work task;

b) causing the mobile robot to move toward the selected work module which is fixed to a module station;

c) causing the mobile robot to connect to the selected work module which is fixed to the module station via a module connecting part, and to communicate with the station control unit of the module station to cause the module connecting part to release the selected work module; and

d) causing the mobile robot to perform the given work task using the work module after it is connected to the mobile robot,

wherein a direction in which the mobile robot moves to connect to one of the plurality of work modules is different from directions in which the mobile robot moves to connect to each of the other work modules, and wherein the module station comprises a plurality of module connecting parts for fixing a plurality of work modules to the module station, the module connecting parts being aligned in the same plane.

8. The method as claimed in claim 7, further comprising the steps of:

e) determining whether a work module connected to the mobile robot is the work module to be used in performing the given work task;

f) causing the mobile robot to remove the work module connected to the mobile robot if the work module is not the work module to be used in performing the given work task, and connecting the removed work module to the module station.

9. The method as claimed in claim 8, wherein step f) comprises the steps of:

causing the mobile robot to confirm a position in the module station to be used for removing and connecting the work module, which is connected to the mobile robot, to the module station;

causing the mobile robot to connect the work module, which is connected to the mobile robot, to the confirmed position in the module station; and

causing the mobile robot to remove the work module and then move away from the module station.

10. The method as claimed in claim 7, wherein step c) comprises the steps of:

confirming the position of the work module to be used in performing the given work task by the mobile robot;

causing the mobile robot to move and connect to the work module to be used in performing the given work task;

causing the mobile robot to transmit a docking completion signal; and

causing the module station to release the work module to be used by the mobile robot, when the docking completion signal is received.

11. A mobile robot system comprising:

a mobile robot adapted to autonomously operating in an environment; and

a module station for positioning a plurality of work modules,

wherein each of the plurality of work modules is adapted to performing a different work task,

wherein the mobile robot comprises;

a module docking part adapted to connecting to one of the plurality of work modules, an electric connection part located proximate the module docking part adapted to supplying electric power to the one of the plurality of work modules;

a signal connection part located proximate the electric connection part adapted to communicating with the one of the plurality of work modules; and

a robot controller for causing the mobile robot to performing a sequence of instructions,

wherein the module station comprises a plurality of module connecting parts for fixing the plurality of work modules to the module station, and a station control unit for controlling the plurality of module connecting parts, wherein each of the module connecting parts are aligned in the same plane, and

wherein the mobile robot selects one of the plurality of work modules of the module station according to the work task to be performed, moves toward the selected work module, connects to the selected work module through the module docking part, communicates with the-station control unit of the module station to cause the module connecting part of the selected work module to release the work module, and autonomously runs to perform the work task,

wherein a direction in which the mobile robot moves to connect to one of the plurality of work modules is different from directions in which the mobile robot moves to connect to each of the other work modules.

12. The mobile robot system as claimed in claim 11, wherein the robot controller stores a path corresponding to at least one of the plurality of work modules, and wherein the robot controller is adapted to automatically selecting one of the plurality of paths corresponding to the work module connected to the module docking part that causes the mobile robot to operate along the selected path and perform the work task.

13. The mobile robot system as claimed in claim 11, wherein each of the plurality of work modules comprises a mating signal connection part and a mating electric connection part, wherein the mating signal connection part and the mating electric connection part are adapted to being connected to the signal connection part and the electric connection part of the mobile robot, respectively.

14. The mobile robot system as claimed in claim 11, wherein at least one of the plurality of work modules comprises a vacuum-cleaning device.