EP3494855A1 - Method and device for exchange of functional modules of a domestic robot - Google Patents

Abstract

The present invention relates to a method and a device for exchanging functional modules of a modular household robot (1), in which a functional module (3) with a basic module (2) is used for driving and navigating on a predetermined surface of a plane (E0) Space is used, secured and connected, and the function module (3) is released for replacement by unlocking and disconnecting at a base station (4). In order to improve a method and a corresponding device for the more efficient exchange of functional modules of a modular robot while adapting and reducing the space required for an exchange and storage of functional modules, it is proposed that the exchange after the functional module (3) is released after the household robot has been added (1) in the base station (4) and release of the function module (3) on the base module (2) is carried out automatically by unlocking the function module (3) and by the modular household robot (1) in the z direction in a manner of High-bay warehouse (5) is moved and temporarily stored at a certain height in one level (E1, E2, E3) by the function module (3) in another spatial direction, which is essentially orthogonal to the z direction, on one of the levels ( E1, E2, E3) is moved to a respectively predetermined location and, upon request, a specific function module by moving vo n is inserted, secured and connected in a predetermined location and after removal in the z direction from the high-bay warehouse (5) on the base module (2).

Description

FIELD OF THE INVENTION

The present invention relates to a method and apparatus for exchanging functional modules of a modular household robot.

STATE OF THE ART

There are various autonomously acting robot of the type mentioned are known, which are designed as assistants or for independent completion of cleaning tasks in a household. In order to be able to fulfill different tasks and functions at low costs, the EP 1 759 965 A1 a mobile robot system with a variety of interchangeable work modules with an operating and control system before.

The currently not previously published patent application DE 10 2016 213 920.7 , the disclosure of which is hereby fully referenced, discloses a constructed according to a modular system household robot with multiple functional modules, each associated with a cleaning task and are changed according to a pending task. A respective functional module is secured and connected to a base module used to travel and navigate a predetermined surface of a space. The function module is released to replace another function module by unlocking and disconnecting and can then be changed quickly.

The present invention will be described with reference to a household floor care and cleaning apparatus as a modular home robot. But this is basically no limitation of the invention only to this use and Purpose given because other applications such. B. for assistance systems within and outside a home environment and / or beyond cleaning tasks are conceivable.

OBJECT OF THE INVENTION

The present invention has for its object to improve a method and a corresponding device for more efficient replacement of functional modules of a modular robot while adapting and reducing space requirements for exchange and storage of functional modules. According to the invention this object is achieved with the features of the independent claims.

INVENTION SOLUTION

The solution of the object is achieved by a method having the features of claim 1 and a device having the features of claim 5.

The inventive method solves this problem in that the replacement of a functional module after receiving the household robot in a base station and the release of the functional module is carried out automatically at the base station by the function module unlocked and released after the release of the modular household robot in z direction a kind of high-bay warehouse spent and stored at a predetermined height on a plane. For this purpose, the function module is moved in a different spatial direction, which is substantially orthogonal to the z-direction, on one of the planes to a respective predetermined location. Subsequently, in response to a specific request, a specific functional module is inserted, secured and connected by shifting from a predetermined location and after removal in the z-direction from the high-bay warehouse to the base module. In this case, the term "connecting" means connecting the functional module with all electrical, mechanical or other connections to the base module, so that the household robot can be used directly from the base station with new functionality. Thus, an automatic change of a functional module with change of a functional property of the household robot has been described by the one Modification of a functionality of the household robot, as well as a change of wearing parts o. Ä. Is feasible. A space stress in an operating level of the base module is reduced by using a kind of high-bay warehouse in the z direction to the space of the base station and thus falls as low as possible. In the course of the described change of functional modules in particular no shift of the base module is required, but it can remain unmoved in the base station throughout the process, which in addition to space in the working level of the home robot and electrical energy and process time can be saved on the base module.

Accordingly, an inventive device according to claim 5 as a solution to this problem, a base station, which is designed to accommodate the modular household robot such that at the base station, a kind of high-bay warehouse for receiving and removal and intermediate storage of functional modules in the z-direction is connected , While in known devices so far only a storage of various functional modules in a horizontally arranged line is known, which lie essentially in a working plane, according to the invention now requires a space in the working plane of the household robot by the base station essentially on the much smaller external dimensions of autonomously acting Household robot limited. The type of high-bay warehouse outlined above can be flexibly adapted to the respective spatial circumstances using levels beyond the working level as well as a number of functional modules of the modular household robot to be stored, without requiring additional space in the working level.

PREFERRED EMBODIMENT OF THE INVENTION

Advantageous embodiments and developments, which can be used individually or in combination with each other, are the subject of the dependent claims.

In a preferred embodiment of the invention, the functional module taken from the modular household robot for storage in another spatial direction, which is substantially orthogonal to the z-direction, is displaced on a plane to a respectively predetermined location, wherein a plurality of on one level predetermined locations are used for temporary storage of functional modules. Thus, in each level, an intermediate storage of more than one function module is possible. A significant reduction in space requirements is thus achieved not only by several provided at intervals to a working or zero level of the household robot interim storage levels, but also by their multiple use. These levels can also be at an angle to the working or zero level.

In addition, according to an essential further development of the invention, separate drives are used for positioning the functional modules in the z-direction and a subsequent displacement of the functional modules is substantially orthogonal to the z-direction. These drives operate in a simple structure very precise and reliable together for the targeted storage and removal of a respective functional module. Accordingly, a device in a development of the invention in the high-bay warehouse on several levels, each having a vertical transport unit.

Appropriately, a gripper is provided in the high-bay warehouse, which is designed to engage or in a release element of each functional module for locking and unlocking of the functional module to the base module. A release element of a function module is z. B. in the DE 10 2016 213 920.7 disclosed.

The release element is formed in a preferred embodiment of the invention with the gripper in the manner of a bayonet closure. Fixed to a correspondingly designed vertical transport unit thereby a secure displacement of the functional module in the z-direction in the high-bay warehouse for loading and unloading and intermediate storage is guaranteed.

In a significant development of the gripper is formed with the release element of a functional module to unlocked after a release unlocking and solution of connections from data and / or media lines of the functional module to the base module and in the opposite direction only a lock and only then a solution of Establish fixation of the respective functional module with the inclusion in the base module or transfer to a vertical transport unit. When putting a function module in or on a base module of the Extend process after locking and before releasing the fixation of the recording to the respective functional module to a production of compounds of data and / or media lines.

In an advantageous embodiment of the invention, the gripper is rotatable in coordination with the release element of a functional module to a certain extent, wherein the functional module itself is mounted or held against rotation about the z-axis, in particular by guides on the base module and / or the high-level bearing or the respective vertical transport unit.

It has basically proven to form a base station of an autonomously operating household robot as a cargo bay. Using known techniques can thus in the base station, a charging of the household robot u.a. done with electrical energy. Due to the generally desired high availability and correspondingly long service or working hours of the household robot, the predetermined storage locations are formed at the predetermined locations of the respective functional modules themselves for supply and disposal of the respective functional modules according to an essential embodiment of the invention. The function modules are disposed of and / or disposed of when an intermediate storage position is reached using an interface. Thus, the function modules themselves can be supplied during an intermediate storage with consumables, worn or used up elements and waste, dust and / or wastewater removed and / or charged its own power supply of the function module. The latter variant has the advantage that a function module has its own supply of electrical energy which can be used to cover its own energy requirement and / or as additional energy storage for the base module. In any case, thus loading times of the base module can be shortened in the base station, which increases a general availability and a readiness of the autonomously operating household robot in an advantageous manner.

• Energie, z. B.. Laden mindestens eines Akkumulators,
• Informationen, z. B.. welches Funktionsmodul aktuell verwendet worden ist bzw. wie und wo das Funktionsmodul einzulagern ist, und
• Stoffen, z. B.. Abreinigen von Funktionsmodulen, Nachfüllen von Reinigungsmittel und/oder Austausch von Verschleißteilen

stattfinden.A major advantage of a modular cleaning robot is that this robot can perform many different functions depending on the particular function module used or the respective functional unit. Thus, the customer has next to a so-called. Mobile base platform only for the respective desired Task appropriate function modules, and not for each new task a new robot. However, the advantages of such a versatile modular cleaning robot only come into full effect when the replacement of functional modules of the cleaning robot and thus the task change is automated and independent. The present invention now provides a system with an operating method that allows automated replacement of functional modules of a modular home robot. A storage of functional modules is realized in a extended by a kind of high-bay warehouse as a temporary storage base station with simple constructive and inexpensive means. In this case, in embodiments of the invention between the base station and the functional modules of the modular robot and the interposed in the high-bay warehouse functional modules exchange and flow of

• Energy, z. B .. loading at least one accumulator,
• Information, eg. B .. Which functional module has been used currently or how and where the functional module is to be stored, and
• Fabrics, e.g. B .. Cleaning of functional modules, refilling of cleaning agents and / or replacement of wearing parts

occur.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1

eine Einlagerung von Funktionsmodulen eines modularen Reinigungsroboters in Ebenen parallel zur Nullebene;

Figuren 2a - 2d

Arbeitsabläufe bei einer Entnahme eines Funktionsmoduls bis zu einer Zwischenlagerung;

Fig. 3

eine alternative Ausführungsform eines an eine Basisstation 4 angeschlossenen Hochregallagers 5 mit einer Funktionsstruktur eines Greif- und Einlagerungsmechanismus innerhalb des Hochregal-Zwischenlagers;

Fig. 4

eine Übergabe eines Funktionsmoduls von dem Greifmechanismus an den Einlagerungsmechanismus in einer weiteren Ausführungsform eines an eine Basisstation 4 angeschlossenen Hochregallagers 5 und

Fig. 5

eine Funktionsstruktur eines Lagerungssystems für Funktionsmodule eines modularen Reinigungsroboters.

Further advantageous embodiments of the invention are described below with reference to an embodiment shown in the drawing, to which the invention is not limited. They show schematically:

Fig. 1

an incorporation of functional modules of a modular cleaning robot in planes parallel to the zero plane;

FIGS. 2a-2d

Workflows with a removal of a function module to a temporary storage;

Fig. 3

an alternative embodiment of a high-bay warehouse 5 connected to a base station 4 with a functional structure of a gripping and storage mechanism within the high-bay storage facility;

Fig. 4

a transfer of a functional module from the gripping mechanism to the storage mechanism in a further embodiment of a high-bay warehouse 5 and 5 connected to a base station 4

Fig. 5

a functional structure of a storage system for functional modules of a modular cleaning robot.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

In the following description of an embodiment of the present invention always the same reference numerals designate the same or similar components and method steps.

Fig. 1 shows a modular cleaning robot 1. The cleaning robot 1 comprises a base module 2 with units not shown in detail for drive, control, positioning and power supply, in particular in the DE 10 2016 213 920.7 disclosed. On the base module 2, a functional module 3 is placed and locked, being connected via interfaces data and / or media lines of the functional module 3 with those of the base module 2. Extended to a respective functionality of the functional module 3, the cleaning robot 1 moves autonomously in a working plane, which is referred to below as zero level E0.

A major advantage of a modular cleaning robot 1 is that this cleaning robot 1 can perform many different functions as a functional unit depending on the function module 3 used in each case. Thus, in addition to a so-called mobile base platform or basic module 2, the customer only has to obtain the functional modules 3 suitable for the respective desired task, and not a new robot for each new task. but these advantages of such a versatile modular cleaning robot 1 are only fully when an exchange of a respective functional module of the cleaning robot 1 and thus the task change is automated and independent. A speaking method and various forms of apparatuses will now be described:
In the in Fig. 1 illustrated situation, the cleaning robot 1 is retracted on the zero level E0 in a base station 4. The base station 4 is thereby formed into more than one parking position for "cleaning up" the cleaning robot 1, that at the base station 4, a type of high-bay warehouse 5 is connected for loading and unloading and intermediate storage of functional modules 3. In this case, loading and unloading and intermediate storage of the functional modules 3 in the z-direction with displacement of the functional modules in the x-direction take place on different planes E1 to E3, which are provided here substantially equidistantly and parallel to the zero plane E0.

Individual workflows from a removal of a functional module to a temporary storage are based on the sequence of the FIGS. 2a to 2d shown to an embodiment. In FIG. 2a the modular cleaning robot 1 moves with the functional module 3 on the base module 2 in the base station 4 a. A gripper 6 with lifting device is in a ready position. to FIG. 2b towards the cleaning robot 1 is parked in the base station 4 and the gripper 6 is lowered to the functional module 3. There, the gripper is locked by a rotation only at the function module 3, solves the further rotation fixations of the functional module 3 to the base module 2 and thus finally also separates contacts at interfaces. Material, energy and information flows between the base module 2 and the functional module 3 thus no longer take place.

Thus, the function module 3 is closed Figure 2c towards freely removable from the base module 2. The functional module 3 is moved or raised in the z direction into the high-bay warehouse 5. at Figure 2d has the functional module 3 in the z-direction in the high-bay warehouse 5 reaches a predetermined level with a free space in which the functional module 3 is to be stored. Now a force and / or positive connection of the gripper 6 is resolved to the functional module 3, after the functional module 3 has been transferred to a vertical transport unit 7.

1. 1.) Festlegung, welches eingelagerte Funktionsmodul 3 auf den mobilen Reinigungsroboter 1 verwendet werden soll
2. 2.) Mechanismus stellt temporär mittels Kraft- oder Formschluss Kontakt zu dem eingelagerten Funktionsmodul 3 in dem Hochregallager 5 her
3. 3.) Mechanismus verschiebt das Funktionsmodul 3 in die Nullebene E0 und setzt das Funktionsmodul 3 auf das mobile Basismodul 2 des modularen Reinigungsroboters 1 auf.
4. 4.) Ein Mechanismus in dem Greifer 6 löst den temporären Kraft- und/oder Formschluss zum Funktionsmodul 3.

Thus, the gripper 6 is now free to transport a certain other functional module 3 out of the high-bay warehouse 5 on the base module 2 in the base station 4, to fix there and connect via interfaces. For this purpose, the following steps are performed without further graphical representation:

1. 1.) Determining which stored functional module 3 is to be used on the mobile cleaning robot 1
2. 2.) Mechanism is temporarily by force or positive contact with the embedded functional module 3 in the high-bay warehouse 5 ago
3. 3) mechanism shifts the functional module 3 in the zero level E0 and sets the functional module 3 on the mobile base module 2 of the modular cleaning robot 1.
4. 4.) A mechanism in the gripper 6 solves the temporary force and / or positive connection to the functional module. 3

Thus, from sub-step 4 required material, energy and information flows between the base module 2 and the functional module 3 by a control unit of the base module 2 of the modular cleaning robot 1 are made. So the full operational readiness of the modular cleaning robot 1 is given with new functionality.

Fig. 3 shows an alternative embodiment of a connected to a base station 4 high-bay warehouse 5. Here are each storage level E1, E2, E3 now created two intermediate storage that each left and right function modules 3 stored and taken independently of the respective storage locations in the z direction can. For a positioning of a respective functional module 3 in the z-direction and a subsequent displacement substantially orthogonal to the z-direction separate drives for horizontal transport units 7 are used. Each of these drives positions very precisely with a simple structure.

Fig. 4 represents a transfer of a functional module 3 of the gripping mechanism 6 to the storage mechanism in the form of a horizontal transport unit 7 in another embodiment of a high-bay warehouse 5 connected to a base station 4. From the domestic robot 1 remains only the base module 2 in this state of a replacement of a functional module in the base station. In this Embodiment are provided for each level E1 to E3 in the high-bay warehouse 5 three intermediate storage spaces L1_1 to L3_3, the horizontal transport units 7 in the form of electric motor-driven slide or short trains have. By dividing into a coupled double carriage for receiving two functional modules 3 and a single module 3 receiving single carriage while reducing a horizontal width of the high-bay warehouse 5 all three intermediate storage bins of each of the levels E1 to E3 freely and independently by the vertical transport unit 6 with functional modules 3 loaded or loaded and unloaded.

Furthermore, the functional modules 3 in the embodiment of Fig. 4 with the attainment of a respective position L1_1, L1_3, L2_1, L2_3, L3_1 and L3_3 for interim storage using an interface 8 and / or disposed of. In this sense, it is provided here that z. B. a cleaning fluid in a functional module 3 "wet cleaner" refilled and used wiper water is removed. And in a functional module 3 "vacuum cleaner" a dust bag is automatically emptied, while a functional module 3 "dry wiper" a used wipe is replaced with a new one. Additional contained in the respective functional modules 3 and not shown here own energy storage are also controlled via the interface 8 and possibly electrical energy is recharged.

Fig. 5 Finally, a functional structure of a storage system for functional modules 3 of the modular cleaning robot 1 in a high-bay warehouse 5. For the realization of the specifics and movements described above, a base station is proposed whose functional structure is shown in this figure: The base station 4 thus has a defined "parking position" on which the modular cleaning robot 1 moves in the case of a change of a respective functional module 3. Ideally, this parking position itself is also used as a charging station, ie the energy reservoirs of the base module 2 of the modular cleaning robot 1 are loaded in this parking position. Thus, the parking position according to the above terminology represents the zero level E0.

Is now manually by the customer or automated due to, for example, sensor signals, the exchange of a functional module 3 of the modular cleaning robot 1 initializes, the cleaning robot 1 ends its current activity and goes to the base station 4 on the zero level E0 in a parking position. As soon as the cleaning robot 1 has reached the parking position in the base station 4, a control unit in the base module 2 interrupts the flow of information, energy and substances which are exchanged between the base module 2 and the functional module 3 still currently fixed thereto.

In addition, the control unit of the base station 4 is prepared for the imminent replacement of the functional module by the initiated replacement of the functional module 3. In the parking position, this control unit takes over the coordination of the processes described in the previous section for the removal, storage and assembly of a function module. For this purpose, the functional module 3 is first removed in a next step by a mechanism in the vertical direction, the gripper with lifting device as a mechanism of a vertical transport unit. This mechanism is in the present example a spindle drive together with corresponding lateral guides, which according to Fig. 4 can be moved in positive and negative z-direction. By means of the gripper 6, a force, material, positive connection or combination thereof is established as a temporary contact to the functional module 3. As an alternative to a bayonet closure described above, this can be done by means of finger grippers and corresponding hollows in the functional module 3 by form-fit or magnetic gripper and corresponding magnetic metals in the functional module 3 by adhesion.

After successful removal of the gripping mechanism 6 moves the functional module 3 on a plane parallel to the zero plane E0 but at a different distance in the z direction. The control unit specifies the free storage spaces within the high-bay warehouse 5 connected to the base station 4 for the storage of the function module 3 that has just been removed. If the corresponding height of a predetermined level is reached, a second mechanism takes over the storage, as in level E3 of FIG. 4 indicated, hereinafter called storage mechanism. The storage mechanism is in accordance with FIG. 3 also from a spindle drive together with appropriate guidance, which can be moved in the positive and negative y-direction. In the embodiment of FIG. 4 However, sliding carriage or short trains are each provided with its own electric drive.

If the storage mechanism is now located below the functional module held by the gripping mechanism, the gripping mechanism releases the temporary connection to the functional module. The functional module is now located on the storage mechanism. By moving this mechanism in the y-direction, the functional module is brought into the final storage position. After reaching the corresponding end position sensors report that the current storage space is occupied by a function module 3 with a one-unique identifier xy. If the identifier of a function module 3 z. B. on "L3_1" and would be for simplicity with the intermediate storage position in FIG. 4 identical, the loaded functional module 3 would be placed in the storage level E3 on the corresponding sliding carriage and finally moved to the intermediate storage position L3_1. Here, a rigid assignment makes sense, because so special functional modules such. B., Staubsauge modules are stored only at certain predetermined positions, for example, to allow their cleaning, maintenance and re-supply of consumables within the high-bay warehouse 5 through a respective adapted interface 8.

For a placement with a function module, the above-described sequence is run in reverse order. Due to the analogy, a repetition of the description is therefore omitted.

• Eindimensional verfahrbare Antriebe sind heutzutage Standard und günstig in der Herstellung und einfach anzusteuern.
• Infolge der Unterteilung in Greifmechanismus und Einlagerungsmechanismus ist das an die Basisstation 4 anzuschließende Hochregallager 5 einfach skalierbar, um eine variable Anzahl von Funktionsmodulen 3 gemäß Kundenwunsch einzulagern.

So können beispielsweise Basisstationen 4 mit Hochregallagern 5 mit 4 Lagerplätzen 6, 8 oder mehr Einlagerplätze kostengünstig gefertigt werden. Das Ausführungsbeispiel von Fig. 4 zeigt eine Realisierung ungeradzahliger Lagerplätze je Lagerebene. Denn es werden gemäß Figur 3 lediglich zusätzliche Einlagerplätze mit Einlagerungsmechanismus benötigt sowie z. B. eine längere Spindel für den Greifmechanismus, so dass dieser auch die neu hinzugekommenen Ebenen erreicht, oder anpasste Schiebe-Züge nach Figur 4.The distinction in gripping mechanism or a vertical transport unit 6 and storage mechanism or horizontal transport unit 7 is justified as follows:

• One-dimensionally movable drives are today standard and inexpensive to manufacture and easy to control.
• As a result of the subdivision into the gripping mechanism and the storage mechanism, the high-bay warehouse 5 to be connected to the base station 4 is easily scalable in order to store a variable number of functional modules 3 according to the customer's wishes.

For example, base stations 4 with high-bay warehouses 5 with 4 storage bins 6, 8 or more storage bins can be manufactured inexpensively. The embodiment of Fig. 4 shows a realization odd number of storage bins per storage level. Because it will be according to FIG. 3 only additional storage bins with storage mechanism needed and z. B. a longer spindle for the gripping mechanism, so that it also reaches the newly added levels, or adapted to sliding trains FIG. 4 ,

With regard to an attractive appearance, the entire base station is ideally provided with a translucent outer shell, which may well have the appearance of a piece of furniture, eg. B. a dresser or a cabinet. Thus, the base station of a modular cleaning robot can be homogeneously integrated into existing living concepts. It is advisable to offer different materials and colors for the outer shell to meet the individual taste of the customer.

• Das vorstehend beschriebene Lagerungssystem der Basisstation ist gemäß Kundenwunsch in Abhängigkeit der gewünschten Anzahl eingelagerter Funktionsmodule erweiterbar;
• Innerhalb des vorstehend beschriebenen Lagerungssystems werden die Funktionsmodule eines modularen Roboters platzsparend aufbewahrt.
• Die vorstehend beschriebene Basisstation lässt sich innenraumfreundlich als Möbel tarnen und/oder in eine Möbelwand integrieren.
• Die beschriebene Basisstation ermöglicht eine für den Kunden komfortable automatische Abreinigung der verschiedenen Reinigungsmodule oder Ver- und Entsorgung von Verbrauchsstoffen, z. B. die Abreinigung eines Staubsauge- eines Nasswisch- oder eines Luftreinigungsmoduls.

By the realization of the present invention, there are, therefore, the following advantages in particular:

• The above-described storage system of the base station can be extended according to customer requirements depending on the desired number of stored functional modules;
• Within the storage system described above, the functional modules of a modular robot are stored space-saving.
• The base station described above can be camouflaged inside the room as furniture and / or integrated into a furniture wall.
• The base station described allows a comfortable for the customer automatic cleaning of various cleaning modules or supply and disposal of consumables, eg. As the cleaning of a Staubsauge- a wet mop or air cleaning module.

The features disclosed in the foregoing description, the claims and the drawings may be of importance both individually and in any combination for the realization of the invention in its various forms.

LIST OF REFERENCE NUMBERS

1

household robots

2

base module

3

function module

4

base station

5

High-bay warehouse

6

rotatable gripper with lifting device as vertical transport unit

7

Horizontal transport unit

8th

Interface for supply / disposal at a respective intermediate storage location

E0

zero level

E1

level 1

E2

Level 2

E3

Level 3

E1_1

Level 1 left

E1_2

Level 1 right

E2_1

Level 2 left

E2_2

Level 2 right

E3_1

Level 3 left

E3_2

Level 3 right

L1_1

Intermediate storage yard 1 on level E1

L1_2

Intermediate storage space 2 on level E1

L1_3

Intermediate storage space 3 on level E1

L2_1

Zwischenlagerplatz 4 on level E2 ...

Claims (10)

Method for exchanging a functional module (3) of a modular household robot (1),
wherein a functional module (3) is secured and connected to a base module (2) used for traveling and navigating on a predetermined surface of a plane (E0) of a room, and the functional module (3) for replacement by unlocking and disconnecting a release takes place at a base station (4),
characterized in that
the exchange after the release of the functional module (3), after receiving the household robot (1) in the base station (4) and release of the functional module (3) on the base module (2) is carried out automatically by the function module (3) unlocked and from the modular household robot (1) in the z-direction in a kind of high-bay warehouse (5) and stored at a certain height on a plane (E1, E2, E3) by the function module (3) in a different spatial direction, the is substantially orthogonal to the z-direction, is displaced on one of the planes (E1, E2, E3) to a respective predetermined location (L1, L2, L3, L4) and
Upon request, a specific functional module is inserted, secured and connected by shifting from a predetermined location (L1, L2, L3, L4) and after removal in the z-direction from the high bay warehouse (5) to the base module (2). Method according to Claim 1, characterized in that a plurality of predetermined locations (L1_1, L1_2, L1_3, L2_1, ...) are used for interim storage of functional modules (3) on one level (E1, E2, E3). Method according to one of the preceding claims, characterized in that separate drives are used for a positioning of the functional modules (3) in the z-direction and a subsequent displacement of the functional modules (3) substantially orthogonal to the z-direction. Method according to one of the preceding claims, characterized in that the function modules (3) with reaching a position for intermediate storage using an interface (8) are disposed of and / or disposed of. Device for exchanging a functional module (3) of a modular household robot (1) fixed to a base module (2), in which a base station (4) is designed for receiving the household robot (1),
characterized in that
the apparatus for implementing a method according to any one of the preceding claims is particularly formed in that at the base station (4) is connected a type of high-bay warehouse (5) for loading and unloading and intermediate storage of functional modules (3) in the z-direction. Device according to the preceding claim, characterized in that in the high-bay warehouse (5) a plurality of levels (E1, E2, E3) are provided, each having a horizontal transport unit (7). Device according to the preceding claim, characterized in that the horizontal transport units (7) are designed as slidable car or short trains, each with their own electric drives. Device according to one of the three preceding claims, characterized in that in the high-bay warehouse (5) a gripper (6) is provided, which for engaging in and / or in a release element of each functional module (3) for locking and unlocking the functional module ( 3) is formed on the base module (2). Device according to one of the four preceding claims, characterized in that the release element of a functional module (3) with the gripper (6) is designed in the manner of a bayonet closure. Device according to one of the five preceding claims, characterized in that the gripper (6) is formed with the release element of a functional module (3) in order after a captive fixation a Unlocking and solution of connections of data and / or media lines of the functional module (3) to the base module (2) and in the opposite direction first a lock and then subsequently a solution of the fixation of the respective functional module (3) with the inclusion in the base module ( 2) or transfer to a vertical transport unit.

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