KR102046057B1 - Apparatus and method for docking mobile robot - Google Patents

Abstract

The present invention provides a device for docking a mobile robot. The device for docking a mobile robot comprises: a mounting block including an angle joint capable of being coupled with a rotation body; a rotation body rotating in a direction of facing a mobile robot based on the angle joint by a force of a contact plate provided at the mobile robot; a robot contact assembly linearly moving in a first direction which is an approach vector direction of the mobile robot based on the rotation body by the force of the contact plate; and a slide body linearly moving in a second direction vertical to the first direction by a force of a slope-shaped guide provided at the mobile robot.

Description

Apparatus and method for docking a mobile robot {APPARATUS AND METHOD FOR DOCKING MOBILE ROBOT}

The present invention relates to an apparatus and method for docking a mobile robot, and more particularly, to an apparatus and method for aligning and docking a mobile robot to a charging docking station by compensating an angle and offset error of the mobile robot.

Automated robots and robotic devices are becoming more prevalent today and are used to perform simple repetitive tasks, time-consuming tasks, or dangerous tasks. In general, autonomous robotic devices include on-board power units (typically batteries) that are recharged in a base station or ducking station. The methods and types of charging stations robots use in ducking or searching with radio signals, dead reckoning, ultrasonic beams, infrared beams coupled to radio signals, and so on, vary considerably depending on their efficiency and application. Although it is common to embed wires under the ground on which the robot operates, the installation of guide wires on the floor of a building or under the road surface is expensive, and there are limitations in application. When the guide wire is installed on the ground, it may be damaged by the robot itself or other traffic objects, and there is a disadvantage that the guide wire needs to be rearranged when the base station moves.

Therefore, in recent years, devices for docking the robotic device to the base station by emitting a beam or beacon for the base station to attract the robotic device instead of using a wire have been developed, but these devices still have many problems and limitations. .

Patent document 1 discloses the method of docking an autonomous robot. The patent document 1 is characterized in that the base station emits a feedback signal in order to dock the robot device to the base station, the robot device is characterized in that the return to the base station when the feedback signal is detected.

However, even if the robot apparatus using the emission signal, such as patent document 1 approaches the base station based on the position of the base station, if the angle and position offset approaching the base station is not accurate according to the volume or size of the robot apparatus, the charging is performed. This can be difficult to connect. In this case, without the administrator's intervention, the mobile robot may be discharged to stop operation.

Therefore, there is a need in the art for an apparatus for accurately docking a mobile robot.

Patent Document 1: Korean Patent Registration No. 10-1214667

An object of the present invention is to provide an apparatus for aligning and docking a mobile robot to a charging docking station.

Another object of the present invention is to provide an apparatus for compensating the angle and offset error of the mobile robot.

According to one aspect of the invention there is provided an apparatus for docking a mobile robot. The apparatus includes a mounting block including an angular joint that can be coupled to a rotating body, the rotating body rotating in a direction facing the mobile robot about the angular joint by the force of a contact plate provided in the mobile robot, and the contact. It is perpendicular to the first direction by the force of the robot contact assembly and the inclined shape guide provided in the mobile robot in a linear direction in the first direction of the approach vector of the mobile robot by the force of the plate. It is implemented including the sliding body linearly moving in a second direction.

According to another aspect of the invention, the rotating body is implemented to include a hole engageable with the angular joint.

According to another aspect of the invention, the robot contact assembly is implemented to be attached to the lower portion of the rotating body.

According to another aspect of the invention, the sliding body includes a guide pin, the sliding body is implemented such that the sliding body linearly moves in the second direction by the force pushing the guide pin.

According to another aspect of the present invention, the robot contact assembly includes the pair of robot contact bars, and the rotating body is rotated by a force by which the mobile robot pushes at least one of the pair of robot contact bars. Is implemented.

According to another aspect of the invention, the pair of robot contact bar is implemented to have the same size and shape with each other.

According to another aspect of the present invention, the pair of robot contact bars are implemented to be symmetrical with respect to one centerline.

According to another aspect of the invention, the mobile robot docking device further comprises a frame body, the mounting block is implemented to be fixed to a portion of the frame body.

According to another aspect of the invention, the angular joint is implemented in a cylindrical shape.

According to another aspect of the invention, a mobile robot is provided. The mobile robot may be configured to compensate for an angular error between the mobile robot and the docking station by a force pushing a portion of the docking station, and the mobile robot and the guide pin by a force pushing the guide pin of the docking station. And an inclined shape guide to compensate for offset errors between docking stations.

According to another aspect of the invention, a docking method of a mobile robot docking apparatus for docking a mobile robot is provided. The method for docking the mobile robot may include rotating a robot contact bar of the robot docking device in a direction facing the mobile robot to compensate for an angular error between the mobile robot and the docking station, and moving the guide pin of the robot docking device to the moving pin. Compensating for the offset error between the mobile robot and the docking station by moving in the direction of the center of the inclined shape guide of the robot and connecting to the mobile robot.

According to another aspect of the invention, the step of compensating the angular error rotates the rotating body in a direction facing the mobile robot around the angular joint by the force of the contact plate provided on the mobile robot to push the robot contact bar. Is implemented.

According to another aspect of the invention, the step of compensating the offset error is implemented to move the guide pin in a linear motion in the direction of the center of the inclined guide by the force of the inclined guide to push the guide pin. .

According to the present invention, a docking station capable of accurately docking a mobile robot by correcting an angle and a position error of the mobile robot is provided.

1 illustrates a mobile robot docking system according to an embodiment of the present invention.
2 is a conceptual diagram illustrating a concept of a docking error according to the present invention.
3 shows examples in which a mobile robot is normally connected to a docking station.
4 shows examples where the mobile robot is not normally connected to the docking station.
5 is a conceptual diagram illustrating the concept of degrees of freedom used in the present invention.
6 illustrates a mobile robot docking system according to another embodiment of the present invention.
FIG. 7 illustrates a process in which movement is compensated by the inclined shape guide and the guide pin in the mobile robot docking system according to FIG. 6.
FIG. 8 illustrates a process in which movement is compensated by an inclined shape guide and a guide pin in the mobile robot docking system according to FIG. 6.
9 is an exploded perspective view of a docking station according to an embodiment of the present invention.
10 and 11 illustrate the principle that the docking station according to the embodiment of FIG. 9 compensates for the angle error.
FIG. 12 illustrates the principle that a docking station according to the embodiment of FIG. 9 compensates for offset errors.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In addition, in order to clearly disclose the present invention, parts not related to the present invention are omitted, and the same or similar reference numerals denote the same or similar elements in the drawings.

The objects and effects of the present invention may be naturally understood or more apparent from the following description, and the objects and effects of the present invention are not limited only by the following description.

The objects, features and advantages of the present invention will become more apparent from the following detailed description. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 illustrates a mobile robot docking system 100 according to one embodiment of the invention.

Referring to FIG. 1, the mobile robot docking system 100 according to the present invention includes a mobile robot 110 and a docking station 130.

The mobile robot 110 may be docked in the docking station 130 after moving to the docking station 130 autonomously or in accordance with a user's instruction, when movement is unnecessary or charging is necessary. The mobile robot 110 includes a robot side connector 115, and the robot side connector 115 engages and contacts the docking connector 135 of the docking station 130 so that the mobile robot 110 contacts the docking station 130. Docked. In this case, the robot side connector 115 and the docking connector 135 may be electrically connected to the mobile robot 110 from the docking station 130.

Docking station 130 includes a docking mechanism 133 and a docking connector 135. The docking mechanism 133 of the docking connector 135 allows the robot side connector 115 to be accurately engaged with the docking connector 135 so that the docking mechanism 135 can be docked even when the mobile robot 110 and the docking station 130 are not in line. And to correct for angular and offset errors. The docking connector 135 may be accurately connected to the robot side connector when the robot side connector 115 approaches by the docking error correction of the docking mechanism 133. Hereinafter, the concept of the docking error used in the present invention.

2 is a conceptual diagram illustrating a concept of a docking error according to the present invention.

Referring to FIG. 2, when the mobile robot 110 approaches the docking station 130 and the robot-side connector 115 approaches and docks precisely from the front toward the center in the direction of the docking connector 135, the mobile robot 110 is docked. ) And the docking station 130 are aligned or aligned with each other. The docked state may be referred to as an error-free docking. On the other hand, when the mobile robot 110 approaches the docking station 130, when the robot side connector 115 does not approach the center from the front in the docking connector 135, the mobile robot 110 and the docking station ( 130 may not be aligned or aligned with each other, in which case a docking error occurs.

The docking error may include an angle difference between the robot side connector 115 and the docking connector 135 in the front direction, and a distance difference between the robot side connector 115 and the docking connector 135 in the left and right directions.

In the present specification, the angle difference between the robot side connector 115 and the front direction of the docking connector 135 is defined as an angular error, and the distance between the robot side connector 115 and the docking connector 135 in the left and right directions. The difference is defined as an offset error. That is, the angle error and the offset error correspond to the docking error.

3 and 4 show examples in which a mobile robot is connected to a docking station.

3 shows examples in which a mobile robot is normally connected to a docking station. Referring to FIG. 3 (a), when the mobile robot approaches the docking station in a precisely aligned state without an angular error or an offset error, it may be confirmed that the mobile robot is normally connected to the docking station as shown in FIG. 3 (b). .

On the other hand, Figure 4 shows an example in which the mobile robot is connected unaligned with a docking error in the docking station. 4 (a) shows an example in which an offset error exists between the mobile robot and the docking station so that the mobile robot is not aligned to the docking station, and FIG. 4 (b) shows the gap between the mobile robot and the docking station. The example shows that there is an angular error such that the mobile robot is not aligned to the docking station. Meanwhile, FIG. 4 (c) shows an example in which both the angular error and the offset error exist between the mobile robot and the docking station so that the mobile robot is not aligned to the docking station. 4 (a) to 4 (c), it can be seen that in order to correctly connect the mobile robot to the docking station, the connection pairs of connectors between the mobile robot and the docking station must be aligned correctly.

5 is a conceptual diagram illustrating the concept of docking degree of freedom used in the present invention.

Referring to FIG. 5, an angle error Ea and an offset error Eo may exist between the mobile robot and the docking station, and a compensation pair thereof may align connection pairs of connectors between the mobile robot and the docking station. . The present invention proposes a solution capable of compensating the angular error and offset error. As a solution to this, the mobile robot and / or the docking station may have at least Active DOFs and / or Passive DOFs. Active degrees of freedom means that the mobile robot side connector and / or docking station is actively moved by the access vector of the mobile robot. In other words, the active degree of freedom is a method of generating a motion compensating error by the actuator's driving force by separately installing an actuator for error compensating motion, and accurate measurement of the approach error must be preceded. Passive degrees of freedom is a method that implements error-compensated motion by using the driving force approached by the mobile robot to dock without the need for a separate power source, such as installing a separate actuator.

6 illustrates a mobile robot docking system 600 according to another embodiment of the present invention.

Referring to FIG. 6, the mobile robot docking system 600 according to the present invention includes a mobile robot 610 and a docking station 630.

The mobile robot 610 may be docked in the docking station 630 when movement is not necessary or charging is necessary. The mobile robot 610 includes a robot side connector 615 and an inclined guide 617, and the docking station 630 includes a guide pin 635.

The robot side connector 615 engages and contacts the guide pin 635 of the docking station 630 to dock the mobile robot 610 to the docking station 630. At this time, the robot side connector 615 and the guide pin 635 is electrically connected to the mobile robot 610 from the docking station 630 may be supplied.

The inclined guide 617, on the other hand, provides an inclined surface such that the guide pin 635 of the docking station 630 can be directed to the robot side connector 615 of the mobile robot 610. When the guide pin 635 of the docking station 630 contacts the inclined shape guide 617 of the mobile robot 610 as the mobile robot 610 approaches the docking station 630, the docking station 630 The guide pin 635 rotates in a direction in which the inclined guide 617 can contact the robot side connector 615 by the force pushing the guide pin 635.

In the present exemplary embodiment, the inclined guide 617 is provided in the mobile robot 610 and the guide pin 635 is provided in the docking station 630. According to another embodiment, the inclined guide 617 is provided. The docking station 630 may be provided and a guide pin 635 may be provided to the mobile robot 610. The structure, function, and operation of the inclined shape guide 617 and the guide pin 635 according to another exemplary embodiment are the same as those of the inclined shape guide 617 and the guide pin 635 according to the present embodiment. Do.

FIG. 7 illustrates a process in which a docking error is compensated for in the mobile robot docking system according to FIG. 6 so that the mobile robot is connected to the docking station.

7 (a) to 7 (e), (a) the inclined guide 617 of the mobile robot 610 approaches the guide pin 635 of the docking station 630, and (b) inclines The shape guide 617 and the guide pin 635 contact each other. When the mobile robot 610 further moves in the direction of the docking station 630 in this state, (c) the docking station 630 is rotated by the force of the inclined guide 617 pushing the guide pin 635. The guide pin 635 contacts the robot side connector 615. (d) When the mobile robot 610 continues to move toward the docking station 630 while the guide pin 635 is in contact with the robot side connector 615, the guide pin 635 is connected to the robot side connector 615. (E) the mobile robot 610 is docked to the docking station 330, and the robot side connector 615 and the guide pin 635 are electrically connected to the mobile robot 610 from the docking station 630. Power can be supplied.

FIG. 8 illustrates a process in which a docking error is not completely compensated in the mobile robot docking system according to FIG. 6, and the mobile robot is unaligned to the docking station.

8 (a) to 8 (c), (a) the inclined guide 617 of the mobile robot 610 approaches the guide pin 635 of the docking station 630, and the inclined guide ( 617 and the guide pin 635 is in contact. When the mobile robot 610 further moves in the direction of the docking station 630 in this state, (b) the docking station 630 is rotated by the force of the inclined guide 617 pushing the guide pin 635. The guide pin 635 contacts the robot side connector 615. (c) However, in some cases, the guide pin 635 may be pinched by the robot side connector 615 so that the mobile robot 610 may not be docked to the docking station 330.

9 is an exploded perspective view of a docking station according to an embodiment of the present invention. Referring to FIG. 9, the docking station 900 includes a frame body 910, a mounting block 930, a robot contact assembly 950, a rotating body 970, and a sliding body 990.

The frame body 910 is a body for supporting the docking station 900, may be fixed on the ground, or may be made to move the plane on the ground. A mounting block 930, a robot contact assembly 950, a rotating body 970, and a sliding body 990 may be attached to a portion of the frame body 910.

The mounting block 930 is fixed to one surface of the frame body 910. The mounting block 930 is fixed to the frame body 910 through fixing means such as at least one screw. The mounting block 930 includes an angular joint 935 provided to be rotatable. In FIG. 9, the angular joint 935 is illustrated to form a cylindrical shape, but is not limited thereto and may have various shapes.

 The angular joint 935 is connected to the rotating body 970 to enable a rotational movement between the mounting block 930 and the rotating body 970.

The rotating body 970 and the sliding body 990 are sequentially stacked on the mounting block 930.

The robot contact assembly 950 is attached to the bottom surface of the rotating body 970 and includes a contact roller 951 and a first linear joint 955. The contact roller 951 is configured such that a pair of robot contact bars having the same length and size protrude from the frame body 910 to the same length. The pair of robot contact bars may be configured to be symmetrical with respect to one center line. The first linear joint 955 is connected to the contact roller 951 and linearly moves in a first direction with respect to the rotating body 970 in the predetermined range, that is, in the approach vector direction of the mobile robot with respect to the frame body 910. Provide flexibility where possible. Meanwhile, although not shown in the drawings, the robot contact assembly 950 may further include a spring connected to the rotating body 970. The spring provides a restoring force that allows the contact roller 951 to be pushed back by the force from the front surface and then returned to the origin when the force is dissipated.

The rotating body 970 is formed with a hole that can be combined with the angular joint 935, when the mobile robot approaches, receives the rotational force from the contact roller 951 of the robot contact assembly 950, the angular joint 935 Rotate the robot to face the robot. The rotary body 970 has a second linear joint 975 that provides flexibility so that the sliding body 990 can linearly move within a predetermined range in a second direction perpendicular to the first direction with respect to the rotary body 970. ). Although not shown in the drawing, the rotating body 970 further includes a spring connected to the frame body 910 and has a restoring force that can return to the origin when the rotating body 970 is not subjected to rotational force. Can provide.

The sliding body 990 is fixed on the rotating body 970, and when the rotating body 970 rotates, the sliding body 970 rotates together in the direction in which the rotating body 970 rotates. The sliding body 990 includes a guide pin 991, a charging connector 993. When the guide pin 991 is in contact with the inclined guide on the mobile robot side, the inclined guide on the mobile robot side is within a range allowed by the second linear joint 975 by the force pushing the guide pin 991. Moving in the second direction, whereby the offset error is compensated. The charging connector 993 is electrically connected to the mobile robot by engaging with the connector on the mobile robot side when the docking station is aligned with the mobile robot when both the angular error and the offset error are compensated for. Thus, power may be supplied to the mobile robot from the docking station 900.

10 and 11 illustrate the principle that the docking station according to the embodiment of FIG. 9 compensates for the angle error. 10 illustrates a state in which the mobile robot and the docking station are separated from each other, and FIG. 11 illustrates a state in which the mobile robot and the docking station are in close contact with each other so that the contact roller of the docking station is rotated in the direction of the mobile robot.

10 and 11, the docking station 900 includes all of the docking station 900 and components of FIG. 9, and the mobile robot 1010 includes a contact plate 1015. Meanwhile, the direction in which the mobile robot 1010 approaches the docking station 900 may be defined as an access vector. At this time, when the direction of the approach vector exactly matches the direction in which the docking station 900 faces, no angular error occurs and the pair of contact rollers 951 are in contact with the contact plate 1015 at the same time. Thus, the robot contact assembly 950 is pushed back a certain distance in the direction of the approach vector, ie in the first direction, without rotating. On the other hand, when the direction of the approach vector does not coincide with the direction in which the docking station 900 faces, an angle error occurs and the contact roller 951 close to the direction in which the mobile robot approaches one of the pair of contact rollers 951. First comes into contact with the robot contact assembly 950. At this time, the robot contact assembly 950, the rotating body 970, and the sliding body 990 rotate about the angular joint 935 by the force of the contact plate 1015 pushing the contact roller 951. Thus, the angle error between the mobile robot 1010 and the docking station 900 is compensated for. The compensated angle is fixed by two contact rollers 951.

On the other hand, in the state where the contact plate 1015 and the contact roller 951 are in contact with each other as shown in FIG. 11, when the mobile robot 1010 further pushes the contact roller 951 in the direction of the docking station 900, the contact roller 951 is moved back by the forward and backward flexibility provided by the first linear joint 955 to maintain the access vector. At this time, the two rollers move together at the same time while the contact roller 951 maintains the compensated angle. Meanwhile, after the angle error compensation by the contact roller 951 is performed, the offset error is compensated by the guide pin 991. Accordingly, the mobile robots 1010 can be docked with each other even in an unaligned state in which the docking station 900 has a docking error.

FIG. 12 illustrates the principle that a docking station according to the embodiment of FIG. 9 compensates for offset errors. The compensation of the offset error may be performed after the compensation of the angular error described in FIGS. 10 to 11 and the related description above. Referring to FIG. 12, the mobile robot 1210 includes an inclined guide 1215, and the docking station 900 includes all of the docking station 900 and components of FIG. 9.

When there is an offset error as shown in FIG. 12 while the angular error between the mobile robot 1210 and the docking station 900 is compensated for, the inclined shape guide 1215 moves to the guide pin 991 in the direction of the approach vector. Exert force. At this time, the sliding body 990 connected to the guide pin 991 is fixed by the rotating body 970 in the front and rear direction, but has flexibility to be movable in the left and right directions. Therefore, when the mobile robot 1210 has an offset error toward the left side of the docking station 900 as shown in FIG. 12, the inclined guide 1215 of the mobile robot pushes the guide pin 991 to the right direction, thereby sliding the slide. The body moves to the right. On the contrary, when the mobile robot 1210 has an offset error to the right of the docking station 900, the inclined guide 1215 of the mobile robot pushes the guide pin 991 to the left, and the sliding body moves to the left. do. Thus, the offset error is compensated so that the mobile robot is normally connected to the docking station.

13 illustrates a mobile robot docking method of the docking station 900 according to an embodiment of the present invention.

Referring to FIG. 13, the docking station 900 compensates for an angle error with the mobile robot (S1310). When the mobile robot approaches the docking station, the contact roller 951 of the docking station first contacts the contact plate of the mobile robot. At this time, when there is an angular error between the mobile robot and the docking station 900, one of the contact rollers of the pair of contact rollers first contacts the contact plate, and the contact roller is driven by the pushing force of the contact plate. Rotates in a direction facing the mobile robot, to compensate for the angle error.

Next, the docking station 900 compensates for the offset error with the mobile robot (S1350). When the angular error between the docking station 900 and the mobile robot is compensated and there is an offset error between the mobile robot and the docking station, the guide pin 991 of the docking station contacts the inclined shape guide 1215 of the mobile robot. do. At this time, when the mobile robot 1210 has an offset error to the left of the docking station 900, the inclined guide 1215 of the mobile robot pushes the guide pin 991 to the right direction, thereby guiding the guide pin 991. Is moved to the center of the inclined shape guide 1215. Thus, the offset error between the mobile robot and the docking station is compensated. Similarly, when the mobile robot 1210 has an offset error to the right of the docking station 900, the inclined guide 1215 of the mobile robot pushes the guide pin 991 to the left to incline the guide pin 991. By moving to the center of the shape guide 1215, the offset error between the mobile robot and the docking station is compensated.

As described above, when the angular error and the offset error with the mobile robot are compensated for, the docking station 900 is connected with the mobile robot (S1350). At this time, the robot-side connector of the mobile robot and the docking connector 135 of the docking station 900 are electrically connected to each other so that power may be supplied from the docking station 130 to the mobile robot 110. According to the present invention, A docking station is provided which can accurately dock the mobile robot by correcting the angle and position error of the mobile robot.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments of the present invention described above may be implemented separately or in combination with each other.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

Claims (13)

An apparatus for docking a mobile robot,
A mounting block comprising an angular joint engageable with the rotating body;
The rotating body to rotate in the direction facing the mobile robot around the angular joint by the force of the contact plate provided in the mobile robot;
A robot contact assembly which linearly moves in a first direction, which is a direction of approach of the mobile robot, with respect to the rotating body by the force of the contact plate; And
A sliding body linearly moving in a second direction perpendicular to the first direction by the force of the inclined guide provided in the mobile robot
Including,
And the robot contact assembly includes a pair of robot contact bars, wherein the rotating body is rotated by a force by which the mobile robot pushes at least one of the pair of robot contact bars.
The mobile robot docking apparatus of claim 1, wherein the rotating body includes a hole that is engageable with the angular joint.
The mobile robot docking apparatus of claim 1, wherein the robot contact assembly is attached to a lower portion of the rotating body.
The mobile robot docking apparatus of claim 1, wherein the sliding body includes a guide pin, and the sliding body linearly moves in the second direction by a force for the mobile robot to push the guide pin.
delete The mobile robot docking apparatus of claim 1, wherein the pair of robot contact bars have the same size and shape.
The mobile robot docking apparatus of claim 1, wherein the pair of robot contact bars are symmetrical with respect to one center line.
The mobile robot docking apparatus of claim 1, further comprising a frame body, wherein the mounting block is fixed to a portion of the frame body.
The mobile robot docking apparatus of claim 1, wherein the angular joint has a cylindrical shape.
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