• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A mobile robot (1) comprising a movable robot platform (2), a multiaxial robot arm (6)mechanically connected to the movable robot platform (2) and one or more control units (12) configured to control the activity of the robot arm (6). At least one control unit (12) is configured to operate the robot arm (6) in a safe mode when the robot platform (2) is moving or is operated to being moved. The mobile robot (1)comprises a first contact structure (8) attached to the robot arm (6) in a first position (P1) or to a tool (22) attached to the robot arm (6) and a second contact structure (10) arranged in a different second position (P2). At least one control unit (12) is configured to prevent the movable robot platform (2) from moving when the distance (D) between the first contact structure (8) and the second contact structure (10) is above a predefined distance (Dmax).
    公开号:DK202000391A1
    申请号:DKP202000391
    申请日:2020-04-03
    公开日:2021-09-23
    发明作者:Ellekilde Lars-Peter
    申请人:Enabled Robotics Aps；
    IPC主号:
    专利说明:

    DK 2020 00391 A1 1 Mobile Robot and Method for Controlling a Mobile Robot Field of invention The present invention relates to a mobile robot comprising a movable robot platform, a multiaxial robot arm mechanically connected to the movable robot platform and at least one control unit configured to control the activity of the robot arm and/or the movable robot platform. The present invention also relates to a method for controlling a mobile robot comprising a movable robot platform, a multiaxial robot arm mechanically connected to the movable robot platform and at least one control unit configured to control the activity of the robot arm, wherein the control unit is configured to operate the robot platform in a safe mode when the robot arm is moving or is operated.
    Prior art In the prior art it is known to apply collaborative mobile robots that comprise both a movable robot platform and a multiaxial robot arm mechanically connected to the movable robot platform.
    US2008231221A discloses such collaborative mobile robot. In order to safely operate the collaborative robot, it is required to fix the robot arm when the movable robot platform is applied to transport the mobile robot. The arms are kept in servo lock state with specific posture. This procedure is, however, difficult and to carry out and imposes limitations with respect to the subsequent use of the robot arms (the robot arms must be attached in a fixed position and when released it takes time to bring the robot arms to the desired positions).
    Thus, there is a need for a mobile robot that is both safe to use and easier to operate. It is an object of the invention to provide a mobile robot and a method
    DK 2020 00391 A1 2 for controlling a mobile robot which reduces or even eliminates the above-mentioned disadvantages of the prior art. Summary of the invention The object of the present invention can be achieved by a mobile robot as defined in claim 1 and by a method as defined in claim 10. Preferred embodiments are defined in the dependent subclaims, explained in the following description and illustrated in the accompanying drawings.
    The mobile robot according to the invention is a mobile robot comprising: - a movable robot platform, - a multiaxial robot arm mechanically connected to the movable robot platform and - one or more control units configured to control the activity of the moveable robot platform and the robot arm, wherein the control unit is configured to operate the movable robot platform in dependency of the activity or position of the robot arm, wherein the mobile robot comprises: - a first contact structure attached to or integrated in the robot arm in a first position or to a tool or robotics tool changer attached to the robot arm and - a second contact structure arranged in a different second position, wherein at least one of the control units is configured to prevent the movable robot platform from moving when the distance between the first contact structure and the second contact structure is above a predefined distance.
    Hereby, it is possible to provide a mobile robot that is both safe to use and easy to operate.
    The movable robot platform is configured to move the mobile robot by
    DK 2020 00391 A1 3 using driving structures. In one embodiment, the driving structures are a plurality of driving wheels.
    In one embodiment, the movable robot platform comprises two or more wheels. In one embodiment, the driving structures include a number of tracks.
    In one embodiment, the driving structures include a plurality of tracks. In one embodiment, the driving structures include a combination of wheels and tracks.
    In one embodiment, the driving structures include a number of Mecanum wheels. A Mecanum wheel is typically based on a tireless wheel, with a plurality of external rollers obliquely attached to the whole circumference of its rim. These rollers may be rubberized, and will typically each have an axis of rotation at approximately 45° to the wheel plane and at approximately 45° to the axle line. In a preferred embodiment, the movable robot platform is battery driven.
    The multiaxial robot arm is mechanically connected to the movable robot platform. The mechanical connection may be a direct connection. In one embodiment, however, the multiaxial robot arm is mechanically connected to an intermediate structure that is mechanically connected to the movable robot platform. At least one control is connected to a number of actuators arranged and
    DK 2020 00391 A1 4 configured to move the segments of the robot arm. Hereby, the control unit can control the activity of the robot arm. At least one control unit is configured to operate the movable robot platform in dependency of the activity or position of the robot arm. This means that the control unit actively limits the motion of the movable robot platform when the robot arm is arranged, being moved or is operated in a position, in which the distance between the first contact structure and the second contact structure is above a predefined distance. The first contact structure and the second contact structure may be of any suitable type and may be arranged in any suitable position. In one embodiment, the first contact structure is placed on a contact structure connector configured to be connected to the robot arm. In one embodiment, the first contact structure is placed on a tool configured to be connected to the robot arm.
    In one embodiment, the first contact structure is placed on a robotics tool changer. In one embodiment, the first contact structure is detachably attached to a robotics tool changer. In one embodiment, the first contact structure is integrated in a robotics tool changer. In one embodiment, the first contact structure is detachably attached to the tool.
    DK 2020 00391 A1 In one embodiment, the first contact structure is integrated in the tool.
    In one embodiment, the first contact structure is integrated in robot arm.
    5 By the phrase “in dependency of the activity or position of the robot arm” is meant on the basis of information indicating or defining the activity or position of the robot arm. The activity of the robot arm may be the speed of one or more structures of the robot arm. The position of the robot arm may be a position of one or more structures of the robot arm. The position may be the spatial location of one or more structures of the robot arm. The position may be the angular position of one or more structures of the robot arm.
    The control unit is configured to prevent the movable robot platform from moving when the distance between the first contact structure and the second contact structure is above a predefined distance.
    In one embodiment, the control unit is configured to prevent the movable robot platform from moving when the distance between the first contact structure and the second contact structure is above a predefined distance, wherein the predefined distance depends on the direction of the multiaxial robot arm relative to an axis of the movable robot platform.
    In one embodiment, the term “prevent the movable robot platform from moving” means that the control unit stops the movable robot platform. This will be the case if the robot arm is required to be used e.g. for picking up and stacking object or manipulating objects (performing an operation).
    In one embodiment, the predefined distance is below 10 cm.
    DK 2020 00391 A1 6 In one embodiment, the predefined distance is below 8 cm. In one embodiment, the predefined distance is below 6 cm. In one embodiment, the predefined distance is below 4 cm. In one embodiment, the predefined distance is below 2 cm. In one embodiment, the predefined distance is below 1 cm. In one embodiment, the predefined distance is below 0.5 cm. Attachment of the contact structures may be accomplished by using any suitable structure. In one embodiment, attachment of the contact structures is carried out by using screws.
    In one embodiment, the control unit is configured to operate the moveable robot platform in an intermediate mode, when the distance, D, between the first contact structure and the second contact structure is above a predefined distance, Dmax, but below a larger predefined distance Dnigh, wherein the maximum allowable speed of the moveable robot platform is reduced in the intermediate mode compared with the normal mode.
    In one embodiment, the first contact structure is a radio-frequency identification (RFID) tag and the second contact structure is a RFID tag reader.
    In one embodiment, the second contact structure is a RFID tag and the first contact structure is a RFID tag reader.
    In one embodiment, the first contact structure and the second contact structure are corresponding optical contact dectection units.
    In one embodiment, the first contact structure and the second contact structure are corresponding audio contact dectection units.
    DK 2020 00391 A1 7 Hereby, it is possible to carry out a wireless non-contact detection of a situation, in which the distance between the first contact structure and the second contact structure is above a predefined distance. In one embodiment, the first contact structure and the second contact structure constitute a corresponding couple of magnetic contacts configured to detect when the contact structures are or are not within a predefined distance from another. The magnetic contacts may comprise a magnetic sensor comprising a sensing chip provided with a magneto resistive element configured to sense a magnetic field vector. The magnetic contact may in addition comprise a permanent magnet, wherein the sensing chip is configured to sense when the permanent magnet is in proximity of the sensing chip.
    In one embodiment, the first contact structure and the second contact structure form corresponding electric connection structures configured to be electrically connected to one another. In one embodiment, the mobile robot comprises a third contact structure. In one embodiment, the mobile robot comprises a fourth contact structure.
    In one embodiment, the mobile robot comprises a fifth contact structure. In one embodiment, the mobile robot comprises a sixed or more contact structures. In one embodiment, the control structure is a receiver configured to
    DK 2020 00391 A1 8 detect metal within the proximity of the receiver. In one embodiment, one of the first contact structure or the second contact structure comprises a unique identification (ID), wherein the other contact structure is configured to detect if the unique identification (ID) corresponds to a predefined unique identification (ID). In one embodiment, at least on of the control units is configured to prevent the movable robot platform from moving if the detected identification (ID) does not correspond to the predefined unique identification (ID). In one embodiment, the mobile robot comprises a holding structure configured to receive and hold a plurality of objects, wherein a contact structure is attached to or integrated into the holding structure. Hereby, it is possible to bring the robot arm into a position, in which a tool is attached the robot arm can pick up or manipulate objects in the holding structure. In one embodiment, the robot arm comprises two or more segments.
    In one embodiment, the robot arm comprises three segments. In one embodiment, the first control structure is a passive component attached to the distal segment of the robot arm.
    By the term “passive component” is meant a sensor that do not control electricity directly and do not require external power sources to accomplish control of an electrical signal. In one embodiment, the passive component is an electrical resistor. In one embodiment, the passive component is a capacitor.
    DK 2020 00391 A1 9 In one embodiment, the passive component is an inductor (a coil). In one embodiment, the passive component is a permanent magnet. In one embodiment, the passive component is an antenna.
    In one embodiment, the robot arm is a telescopic robot arm. In one embodiment, the mobile robot comprises several robot arms.
    In one embodiment, the mobile robot comprises two robot arms. In one embodiment, the mobile robot comprises several robot arms each provide with a dedicated contact structure.
    In one embodiment, the mobile robot comprises several robot arms mounted next to each other. In one embodiment, the mobile robot comprises several robot arms arranged in extension of each other.
    In one embodiment, the robot arm is mounted on a telescopic base. In one embodiment, one of the contact structures are detachably attached.
    Hereby, it is possible to place the contact structures in different positions. Moreover, it is possible to move the contact structures from one position (that may be advantageable in some applications) to another position (that is more beneficial in other applications).
    In one embodiment, all the contact structures are detachably attached.
    DK 2020 00391 A1 10 It may be an advantage that the mobile robot comprises a support structure arranged on the top of the movable robot platform and being attached thereto, wherein the robot arm is arranged: a) on the support structure or b) on a structure attached to the support structure. Hereby, it is possible to construct a mobile as a sandwich structure, in which the support structure is sandwiched between a movable robot platform and a robot arm.
    In one embodiment, the mobile robot comprises a support structure arranged on the top of the movable robot platform and being attached thereto, wherein the robot arm is arranged on the top of the support structure.
    In one embodiment, the mobile robot comprises a support structure arranged on the top of the movable robot platform and being attached thereto, wherein the robot arm is arranged on the side of the support structure.
    In one embodiment, the mobile robot comprises a support structure arranged on the top of the movable robot platform and being attached thereto, wherein the robot arm is arranged on the top of a structure attached to the support structure.
    In one embodiment, the mobile robot comprises a support structure arranged on the top of the movable robot platform and being attached thereto, wherein the robot arm is arranged on a structure attached to side of the support structure.
    In a preferred embodiment, the support structure comprises a control unit.
    DK 2020 00391 A1 11 In one embodiment, a control unit integrated in the movable robot platform. In one embodiment, a control unit integrated in the robot arm. It may be advantageous that the control unit is configured to: a) determine a current safety zone of the movable robot platform on the basis of one or more predefined criteria; b) carry out a zone-based control of the activity of the robot arm, wherein the activity of the robot arm is controlled in dependency of the current safety zone of the movable robot platform. Hereby a dynamic control of the (movement freedom) robot arm can be accomplished. It is possible to adapt the activity of the robot arm according to the current safety zone of the movable robot platform.
    In one embodiment, the control unit is configured to carry out a zone- based control of the activity of the robot arm, wherein the activity of the robot arm is controlled in dependency of the current safety zone of the movable robot platform.
    In one embodiment, the control unit is configured to determine a current safety zone of the movable robot platform on the basis of one or more predefined criteria. The current safety zone may depend on the activity of the mobile robot.
    In one embodiment, the mobile robot may comprise a unit arranged and configured to determine a current safety zone of the movable robot platform on the basis of one or more predefined criteria.
    A predefined criterion may be the distance between the footprint of the mobile robot and the surrounding.
    DK 2020 00391 A1 12 A predefined criterion may be the distance between the footprint of the mobile robot and a moving object. A predefined criterion may be the distance between the footprint of the mobile robot and a human being.
    In one embodiment, the control unit is configured to control the maximum allowable velocity of the robot arm on the basis of the current safety zone of the movable robot platform.
    In this manner it is possible to reduce the maximum allowable velocity of the robot arm when the area of the safety zone of the movable robot platform is small.
    On the other hand, it is possible to increase the maximum allowable velocity of the robot arm when the area of the safety zone of the movable robot platform is larger.
    In one embodiment, one of the contact structures is slidably moved on a track member.
    Hereby, it is possible to change the position of the contact structure in a fast and easy manner.
    In on embodiment, the control is configured to control the activity of the robot arm in such a manner that the robot arm is only allowed to move within the footprint of the mobile robot.
    The method according to the invention is a method for controlling a mobile robot comprising: - a movable robot platform, - a multiaxial robot arm mechanically connected to the movable robot platform and
    DK 2020 00391 A1 13 - one or more control units configured to control the activity of the movable robot platform and the robot arm, wherein the control unit is configured to operate the movable robot platform in dependency of the activity or position of the robot arm, wherein the method comprises the step of preventing the movable robot platform from moving when the distance between a first contact structure and the second contact structure is above a predefined distance, wherein the first contact structure is attached to or integrated in the robot arm in a first position or to a tool or robotics tool changer attached to the robot arm and the second contact structure is arranged in a different second position. Hereby, it is possible to provide a method that is both safe to use and easy to operate.
    In one embodiment, the control unit is configured to control the activity of the robot arm by controlling a number of actuators arranged and configured to move the segments of the robot arm.
    The method comprises the step of prevent the movable robot platform from moving when the distance between a first contact structure and the second contact structure is above a predefined distance. The predefined distance may be detected by using contact structures having a known distance specific detection limit. By way of example, the Hall Effect Sensor may be capable of detecting that a permanent magnet is in proximity of the Hall Effect sensor, when distance between the Hall Effect sensor and the permanent magnet is less than a predefined level. In one embodiment, the method comprises the step of applying a first contact structure being a RFID tag and a second contact structure being a RFID tag reader.
    In one embodiment, the method comprises the step of applying a
    DK 2020 00391 A1 14 second contact structure being a RFID tag and a first contact structure being a RFID tag reader. In one embodiment, the method comprises the step of applying a first contact structure and a second contact structure shaped as corresponding optical contact dectection units.
    In one embodiment, the method comprises the step of applying a first contact structure and a second contact structure shaped as corresponding audio contact dectection units.
    Hereby, the method makes it possible to carry out a wireless non- contact detection of a situation, in which the distance between the first contact structure and the second contact structure is above or below a predefined distance.
    In one embodiment, the method comprises the step of applying a first contact structure and a second contact structure constituting a corresponding couple of magnetic contacts configured to detect when the contact structures are or are not within a predefined distance from another. In one embodiment, the method comprises the step of applying a third contact structure.
    In one embodiment, the method comprises the step of applying a fourth contact structure. In one embodiment, the method comprises the step of applying a fifth contact structure.
    In one embodiment, the method comprises the step of applying a sixed or more contact structures.
    DK 2020 00391 A1 15 In one embodiment, the method comprises the step of applying a holding structure configured to receive and hold a plurality of objects, wherein a contact structure is attached to or integrated into the holding structure.
    In one embodiment, the method comprises the step of applying a robot arm that comprises two or more segments.
    In one embodiment, the method comprises the step of applying a first control structure being a passive component attached to the distal segment of the robot arm.
    In one embodiment, the method comprises the step of applying several robot arms.
    In one embodiment, the method comprises the step of applying a mobile robot comprising several robot arms each provide with a dedicated contact structure.
    In one embodiment, the method comprises the step of applying a mobile robot that comprises several robot arms mounted next to each other.
    In one embodiment, the mobile robot comprises several robot arms arranged in extension of each other.
    In one embodiment, the method comprises the step of applying a robot arm that is mounted on a telescopic base. Hereby, it is possible to extend the range of motion of the robot arm.
    In one embodiment, the method comprises the step of applying a control structure formed as a receiver configured to detect metal being
    DK 2020 00391 A1 16 in proximity of the control structure. It may be an advantage that the method comprises the step of applying one of the contact structures that are detachably attached.
    Hereby, it is possible to place the contact structures in different positions. Moreover, it is possible to move the contact structures from one position (that may be advantageable in some applications) to another position (that is more beneficial in other applications).
    In one embodiment, the method comprises the step of applying a support structure arranged on the movable robot platform and being attached thereto, wherein the robot arm is arranged: a) on the top of the support structure or b) on the top of a structure attached to the support structure or c) on a side of the support structure or d) on a structure attached to a side of the support structure.
    In one embodiment, the method comprises the step of applying a support structure connected to the movable robot platform.
    It may be advantageous that the method comprises the step of: a) determining a current safety zone of the movable robot platform on the basis of one or more predefined criteria; b) carrying out a zone-based control of the activity of the robot arm, wherein the activity of the robot arm is controlled in dependency of the current safety zone of the movable robot platform.
    Hereby a dynamic control of the (movement freedom) robot arm can be accomplished.
    Step a) and b) may preferably be carried out by using the control unit.
    DK 2020 00391 A1 17 A predefined criterion may be the distance between the footprint of the mobile robot and the surrounding. A predefined criterion may be the distance between the footprint of the mobile robot and a moving object. A predefined criterion may be the distance between the footprint of the mobile robot and a human being.
    In one embodiment, the method comprises the step of applying a control unit that is configured to control the maximum allowable velocity of the robot arm on the basis of the current safety zone of the movable robot platform.
    In this manner it is possible to reduce the maximum allowable velocity of the robot arm when the area of the safety zone of the movable robot platform is small.
    On the other hand, it is possible to increase the maximum allowable velocity of the robot arm when the area of the safety zone of the movable robot platform is larger.
    In one embodiment, the method comprises the step of applying a one or more contact structures being slidably moved on a track member.
    In on embodiment, the method comprises the step of applying a control unit that is configured to control the activity of the robot arm in such a manner that the robot arm is only allowed to move within the footprint of the mobile robot.
    Description of the Drawings The invention will become more fully understood from the detailed
    DK 2020 00391 A1 18 description given herein below. The accompanying drawings are given by way of illustration only, and thus, they are not limitative of the present invention. In the accompanying drawings: Fig. 1A shows a schematic view of a mobile robot according to the invention; Fig. 1B shows a schematic view of another mobile robot according to the invention; Fig. 1C shows a schematic view of a contact structure slidably mounted in a track; Fig. 2A shows a schematic top view of a mobile robot in a configuration in which the safety zone of the movable robot platform is relative small; Fig. 2B shows a schematic top view of the mobile robot shown in Fig. 2A in a configuration in which the safety zone of the movable robot platform has been increased; Fig. 2C shows a schematic view of another mobile robot according to the invention; Fig. 3A shows a view of a first contact structure and a second contact structure of a mobile robot according to the invention; Fig. 3B shows another view of the first contact structure and the second contact structure shown in Fig. 3A; Fig. 4A shows a mobile robot according to the invention comprising two robot arms and Fig. 4B shows a view of a mobile robot according to the invention.
    Detailed description of the invention Referring now in detail to the drawings for the purpose of illustrating preferred embodiments of the present invention, a mobile robot of the present invention is illustrated in Fig. 1A.
    DK 2020 00391 A1 19 Fig. 1 is a schematic view of a mobile robot 1 according to the invention. The mobile robot 1 comprises a movable robot platform 2 and a multiaxial robot arm 6 mechanically connected to the movable robot platform 2. The movable robot platform 2 comprises a plurality of wheels being driven by a motor (not shown). In one embodiment, the motor is an electric motor powered by a battery (not shown). The mobile robot 1 comprises a support structure 4 arranged on the top of the movable robot platform 2. The multiaxial robot arm 6 is arranged on a mounting structure attached to the top portion of the support structure 4. The robot arm 6 comprises a first segment Si, a second segment S> and a third segment S3. A gripping tool 22 is attached to the distal end of the third segment Ss.
    A first contact structure 8 is attached to the robot arm 6 in a first position Pi. The first contact structure 8 is attached to the distal portion of the third segment Ss.
    In another embodiment, the first contact structure 8 is attached to or integrated into the tool 22. The first may be a permanent magnet.
    A second contact structure 10 is attached to or integrated in the mounting structure arranged on the top of the support structure 4. In one embodiment, the contact structure 10 is a Hall Effect sensor configured to detect when a permanent magnet (e.g. a permanent magnet comprised in the first contact structure 8) comes in proximity of the Hall Effect sensor of the second contact structure 10. In one embodiment, the movable robot platform 2 is allowed to move only when the distance between the Hall Effect sensor of the second contact structure 10 and the permanent magnet of the first contact structure 8 is less than a predefined level.
    DK 2020 00391 A1 20 This means that the movable robot platform 2 will not move when the robot arm 6 is used to move objects. When activation of the robot arm 6 is no long needed, however, the movable robot platform 2 can move the mobile robot 1 as soon as the distance between the first contact structure 8 and the second contact structure 10 is less than a predefined level. The mobile robot 1 comprises a control unit (not shown) configured to control the activity of the robot arm 6. In one embodiment, the control unit is configured set and change the predefined level defining when movable robot platform 2 is allowed to move. In one embodiment, the control unit is configured set and change the predefined level in dependency of the safety zone of the movable robot.
    Fig. 1B illustrates a schematic view of another mobile robot 1 according to the invention. The mobile robot 1 comprises a movable robot platform 2 and a robot arm 6 mechanically connected to the movable robot platform 2. The mobile robot 1 comprises a support structure 4 arranged on the top of the movable robot platform 2. The multiaxial robot arm 6 is arranged on a mounting structure attached to the top portion of the support structure 4. The robot arm 6 corresponds to the one shown in Fig. 1A and thus comprises three segments and a gripping tool 22 is attached to the distal end of the distal segment.
    The mobile robot 1 comprises a holding structure 14 arranged on the top of the support structure 4 next to the mounting structure. The holding structure 14 comprises a plurality of receiving structures each configured to receive objects 16 picked up by the gripping tool 22 attached to the robot arm 6.
    A first contact structure 8 is attached to the robot arm 6 in a first position Pi. A second contact structure 10 is attached to the upper portion of the holding structure 14. The second contact structure 10 is
    DK 2020 00391 A1 21 arranged in a second position P». It is, however, possible to place the second contact structure 10 elsewhere at the holding structure 14. The mobile robot 1 comprises a third contact structure 10’ slidably mounted in a track 26 arranged on the top of the support structure 4 next to the mounting structure. Accordingly, the third contact structure 10’ is arranged in a third position Ps. Even though not illustrated the first contact structure 8 may be placed elsewhere.
    In one embodiment, the first contact structure 8 is placed on the tool
    22. In one embodiment, the first contact structure 8 is detachably attached to the tool 22.
    In one embodiment, the first contact structure 8 is integrated in the tool
    22.
    In one embodiment, the first contact structure 8 is integrated in robot arm 6.
    Fig. 1C illustrates a schematic perspective view of the contact structure 10’ shown in Fig. 1B being slidably mounted in the track 26 also illustrated in Fig. 1B.
    Fig. 2A illustrates a schematic top view of a mobile robot 1 in a configuration in which the safety zone Z; of the movable robot platform 2 of the mobile robot 1 is relative small. This may be the case if the movable robot platform 2 is positioned close to a structure that is fragile or close to an area in which moving objects are expected to be present. In one embodiment, the control unit is adapted to take this information into account when defining the predefined distance used when the control unit prevents the movable robot platform from moving (when the distance between the first contact structure and the second
    DK 2020 00391 A1 22 contact structure is above said predefined distance). Fig. 2B illustrates a schematic top view of the mobile robot 1 shown in Fig. 2A in a configuration in which the area of the safety zone Z; of the movable robot platform 2 has been increased. If the movable robot platform 2 is positioned in a greater distance from fragile structures or areas in which moving objects are expected to be present, it would be reasonable to increase the area of the safety zone Z> as shown in Fig. 2B.
    Fig. 2C illustrates a schematic view of another mobile robot 1 according to the invention. The mobile robot 1 comprises a movable robot platform 2, a support structure 4, a mounting structure and a robot arm 6 corresponding to the ones shown in Fig. 1A. The robot arm 6 comprises three segments and a gripping tool 22 is attached to the distal end of the distal segment. The mobile robot 1 comprises a first contact structure 8 that is attached to the robot arm 6 in a first position Pi. The mobile robot 1 moreover comprises a second contact structure 10 being attached to a side wall of the mounting structure. The third contact structure 10’ is arranged in a third position at the top of the support structure 4, wherein a fourth contact structure 10” is arranged in a fourth position at a side wall of the support structure 4.
    Fig. 3A illustrates a view of a first contact structure 8 and a second contact structure 10 of a mobile robot according to the invention. The first contact structure 8 is shown in a first position, in which the distance D between the first contact structure 8 (drawn with a solid line) and a second contact structure 10 is indicated. The first contact structure 8 is also shown in another position, in which
    DK 2020 00391 A1 23 the distance Dmax between the first contact structure 8 (drawn with a dotted line) and a second contact structure 10 is indicated. It can be seen that the distance D is smaller than the distance Dmax. The second contact structure 10 comprises a cable 18 provided with an electric plug 20 configured to be electrically connected to a control unit 12 arranged next to the contact structure 10. When the contact structure 10 detects that the distance D between the first contact structure 8 (drawn with the solid line) and a second contact structure 10 is above the predefined distance Dmax the second contact structure 10 will communicate this information to the control unit 12. Accordingly, the control unit 12 will prevent the movable robot platform of the mobile robot according to the invention from moving.
    Fig. 3B illustrates another view of the first contact structure 8 and the second contact structure 10 shown in Fig. 3A. In Fig. 3B the electric plug 20 of the cable 18 has been electrically connected to the control unit 12 by inserting the electric plug 20 into a corresponding electrical socket (not shown) of the control unit 12. The first contact structure 8 is also shown in a further position, in which the distance Dnigh between the first contact structure 8 (drawn with a dotted line) and a second contact structure 10 is indicated. It can be seen that the distance D and the distance Dmax is smaller than the distance Dnigh. A control unit of the mobile robot is configured to operate the moveable robot platform (see Fig. 1A, 1B, 2C, 4A and 4B) in an intermediate mode, when the distance between the first contact structure 8 and the second contact structure 10 is above a predefined distance, Dmax, but below a larger predefined distance Dnigh. In a preferred embodiment, the maximum allowable speed of the moveable robot platform is reduced in the intermediate mode compared with the normal mode.
    DK 2020 00391 A1 24 In the intermediate mode it is possible to apply information applied by using a laser scanner of the movable robot platform to at least partly control the activity robot arm.
    In one embodiment, the second contact structure 10 shown in Fig. 3A and Fig. 3B comprises a wireless communication module configured to allow the second contact structure 10 to communicate wirelessly with the control unit 12. In this embodiment, no electric cable is needed.
    Fig. 4A illustrates a mobile robot 1 according to the invention comprising two robot arms 6, 6’. The mobile robot 1 comprises a movable robot platform 2, a support structure 4 and a first robot arm 6 corresponding to the ones shown in Fig. 1A. The robot arm 6 comprises three segments and a gripping tool 22 is attached to the distal end of the distal segment.
    The mobile robot 1 comprises a telescopic base 24 arranged on the top of the support structure 4. A second robot arm 6’ corresponding to the ones shown in Fig. 1A is arranged at the distal end of the telescopic base 24. Accordingly, the second robot arm 6’ has a larger range of motion. The robot arm 6’ has three segments and a gripping tool 22 provided in the distal end of the distal segment.
    A first contact structure 8 is attached to the first robot arm 6. A corresponding second contact structure 10 is attached to a side wall of the mounting structure onto which the first robot arm 6 is mounted. Likewise, a first contact structure 8’ is attached to the second robot arm 6’. A corresponding second contact structure 10’ is attached to a side wall of the proximal portion of the telescopic base 24. In order to allow the movable robot platform 2 to move, the distance between the first contact structure 8 of the first robot arm 6 and the corresponding
    DK 2020 00391 A1 25 second contact structure 10 as well as the distance between the first contact structure 8' of the second robot arm 6’ and the corresponding second contact structure 10’ is required to be below a predefined distance. Accordingly, when both robot arms 6, 6” are positioned in safe positions (in which the distance between the first contact structure 8 of the first robot arm 6 and the corresponding second contact structure 10 as well as the distance between the first contact structure 8’ of the second robot arm 6’ and the corresponding second contact structure 10’ is required to be below a predefined distance), the control unit (not shown) of the mobile robot 1 will allow the movable robot platform 2 to move.
    Fig. 4B illustrates a view of a mobile robot 1 according to the invention. The mobile robot 1 comprises a movable robot platform 2, a support structure 4 and a first robot arm 6 corresponding to the ones shown in Fig. 1A. The robot arm 6 comprises three segments and a gripping tool 22 is attached to the distal end of the distal segment. The robot arm 6 is mounted on the top of a four-segment telescopic base 24.
    The mobile robot 1 comprises a first contact structure 8 provided at the distal end of the robot arm 6. The mobile robot 1 comprises three additional contact structures 10, 10', 10” arranged at the proximal portion of the telescopic base 24, at the top portion of the support structure 4 and at a side wall of the support structure 4.
    DK 2020 00391 A1 26 List of reference numerals 1 Mobile robot 2 Movable robot platform 4 Support structure 6, 6 Robot arm 8, 8' Contact structure 10, 10', 10” Contact structure 12 Control unit 14 Holding structure 16 Object 18 Cable 20 Plug 22 Tool 24 Telescopic base 26 Track 28 Rod 30 Groove Si, S2, S3 Segment D Distance Dhigh, Dmax Predefined distance P1 First position P2 Second position P3 third position
    权利要求:
    Claims (14)
    [1] 1. A mobile robot (1) comprising: - a movable robot platform (2), - a multiaxial robot arm (6) mechanically connected to the movable robot platform (2) and - one or more control units (12) configured to control the activity of the movable robot platform (2) and the robot arm (6), wherein at least one of the control units (12) is configured to operate the movable robot platform (2) in dependency of the activity or position of the robot arm (6), characterised in that the mobile robot (1) comprises: - a first contact structure (8) attached to or integrated in the robot arm (6) in a first position (Pi) or to a tool (22) or robotics tool changer attached to the robot arm (6) and - a second contact structure (10) arranged in a different second position (P2), wherein at least one of the control units (12) is configured to prevent the movable robot platform (2) from moving when the distance (D) between the first contact structure (8) and the second contact structure (10) is above a predefined distance (Dmax).
    [2] 2. A mobile robot (1) according to claim 1, characterised in that at least one of the control units (12) is configured to operate the moveable robot platform (2) in an intermediate mode, when the distance (D) between the first contact structure (8) and the second contact structure (10) is above a predefined distance (Dmax) and below a larger predefined distance (Dnign), wherein the maximum allowable speed of the moveable robot platform (2) is reduced in the intermediate mode compared with the normal mode.
    [3] 3. A mobile robot (1) according to claim 1 or 2, characterised in that: a) the first contact structure (8) is a radio-frequency identification (RFID) tag and the second contact structure (10) is a RFID tag reader
    DK 2020 00391 A1 28 or b) the second contact structure (10) is a RFID tag and the first contact structure (8) is a RFID tag reader or c) the first contact structure (8) and the second contact structure (10) are corresponding optical contact dectection units or d) the first contact structure (8) and the second contact structure (10) are corresponding audio contact dectection units or.
    [4] 4. A mobile robot (1) according to claim 1 or 2, characterised in that: a) the first contact structure (8) and the second contact structure (10) constitutes a corresponding couple of magnetic contacts configured to detect when the contact structures (8, 10) are or are not within a predefined distance (Dmax) from another.
    [5] 5. A mobile robot (1) according to one of the proceeding claims, characterised in that the mobile robot (1) comprises a holding structure (14) configured to receive and hold a plurality of objects (16), wherein a contact structure (10) is attached to or integrated into the holding structure (14).
    [6] 6. A mobile robot (1) according to one of the proceeding claims, characterised in that the mobile robot (1) comprises several robot arms (8).
    [7] 7. A mobile robot (1) according to one of the proceeding claims, characterised in that one of the contact structures (8, 10, 10’, 10”) are detachably attached.
    [8] 8. A mobile robot (1) according to one of the proceeding claims, characterised in that the mobile robot (1) comprises a support structure (4) arranged on the top of the movable robot platform (2) and being attached thereto, wherein the robot arm (6) is arranged:
    DK 2020 00391 A1 29 a) on the top of the support structure (4) or b) on the top of a structure (24) attached to the support structure (4).
    [9] 9. A mobile robot (1) according to one of the proceeding claims, characterised in that the control unit (12) is configured to: a) determine a current safety zone (Zi, Zz) of the movable robot platform (2) on the basis of one or more predefined criteria; b) carry out a zone-based control of the activity of the robot arm (6), wherein the activity of the robot arm (6) is controlled in dependency of the current safety zone (Zi, Z2) of the movable robot platform (2).
    [10] 10. A method for controlling a mobile robot (1) comprising: - a movable robot platform (2), - a multiaxial robot arm (6) mechanically connected to the movable robot platform (2) and - one or more control units (12) configured to control the activity of the movable robot platform (2) and the robot arm (6), wherein at least one of the control units (12) is configured to operate the movable robot platform (2) in dependency of the activity or position of the robot arm (6), characterised in that the method comprises the step of preventing the movable robot platform (2) from moving when the distance (D) between a first contact structure (8) and the second contact structure (10) is above a predefined distance (Dmax), wherein the first contact structure (8) is attached to or integrated in the robot arm (6) in a first position (Pi) or to a tool (22) or robotics tool changer attached to the robot arm (6) and the second contact structure (10) is arranged in a different second position (Pz).
    [11] 11. A method according to claim 10, wherein the method comprises the step of applying: a) a first contact structure (8) being a radio-frequency identification (RFID) tag and a second contact structure (10) being a RFID tag reader
    DK 2020 00391 A1 30 or b) a second contact structure (10) being a RFID tag and a first contact structure (8) being a RFID tag reader.
    [12] 12. A method according to claim 10, wherein the method comprises the step of applying: a) a first contact structure (8) and a second contact structure (10) constituting a corresponding couple of magnetic contacts configured to detect when the contact structures (8, 10) are or are not within a predefined distance (Dmax) from another.
    [13] 13. A method according to one of the claims 10-12, wherein the method comprises the step of applying: one of the contact structures (8, 10, 10’, 10”) are detachably attached.
    [14] 14. A method according to one of the claims 10-13, wherein the method comprises the step of: a) determining a current safety zone (Zi, Zz) of the movable robot platform (2) on the basis of one or more predefined criteria; b) carrying out a zone-based control of the activity of the robot arm (6), wherein the activity of the robot arm (6) is controlled in dependency of the current safety zone (Zi, Z2) of the movable robot platform (2).
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    同族专利:
    公开号 | 公开日
    DK180590B1|2021-09-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2021-09-23| PAT| Application published|Effective date: 20210923 |
    2021-09-23| PME| Patent granted|Effective date: 20210923 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA202000391A|DK180590B1|2020-04-03|2020-04-03|Mobile Robot and Method for Controlling a Mobile Robot|DKPA202000391A| DK180590B1|2020-04-03|2020-04-03|Mobile Robot and Method for Controlling a Mobile Robot|
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