EP3494855B1 - Method and device for exchange of functional modules of a domestic robot - Google Patents

Description

FIELD OF THE INVENTION

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

STATE OF THE ART

Various autonomously acting robots of the type mentioned are known, which are designed as assistants or to independently carry out cleaning tasks in a household. In order to be able to fulfill different tasks and functions at low cost, the EP 1 759 965 A1 a mobile robot system with a large number of interchangeable work modules with an operating and control system. The document US 6 338 013 B1 describes a method for replacing a functional module of a modular household robot according to the preamble of claim 1.

A household robot constructed according to a modular system is known with a plurality of functional modules which are each assigned to a cleaning task and which are changed according to an upcoming task. A respective functional module is secured and connected to a base module which is used for driving and navigating on a predetermined surface of a room or level. The function module is released for replacement with another function module by unlocking and separating and can then be changed quickly.

The present invention is presented in relation to a floor care and cleaning device for a household as a modular household robot. In principle, however, this does not limit the invention to these uses and uses only Purpose given, since other types of application such. B. for assistance systems inside and outside a domestic environment and / or beyond cleaning tasks are conceivable.

OBJECT OF THE INVENTION

The present invention is based on the object of improving 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. According to the invention, this object is achieved with the features of the independent claims.

SOLUTION ACCORDING TO THE INVENTION

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

The method according to the invention solves this problem in that the replacement of a functional module is carried out automatically after the household robot has been accommodated in a base station and the functional module has been released at the base station, in that the functional module is unlocked and, after being released by the modular household robot, in the z-direction a kind of high-bay warehouse and is temporarily stored at a predetermined height on one level. For this purpose, the functional module is shifted in a different spatial direction, which is essentially orthogonal to the z-direction, on one of the planes to a respectively predetermined location. Then, in response to a specific request, a specific functional module is inserted, secured and connected to the base module by moving it from a predetermined location and after removal in the z-direction from the high-bay warehouse. The term “connect” is understood to mean a connection of 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 a change in a functional property of the household robot has been described, through which a Change of functionality of the household robot, as well as a change of wear parts or the like can be realized. A space requirement in an operating level of the base module is reduced by using a type of high-bay warehouse in the z-direction on the space of the base station and is therefore as low as possible. In the course of the described change of functional modules, in particular, the base module does not need to be moved; it can rather remain unmoved in the base station throughout the entire process, which saves electrical energy and process time on the base module in addition to space on the work level of the household robot.

Accordingly, a device according to the invention as a solution to this object has a base station which is designed to accommodate the modular household robot in such a way that a type of high-bay warehouse is connected to the base station for picking up, removing and temporarily storing functional modules in the z-direction . While in the known devices mentioned so far only storage of various functional modules in a horizontally arranged row is known, which are essentially in a working level, according to the invention, a space requirement in the working level of the household robot by the base station is essentially due to the significantly smaller external dimensions of the autonomously acting Household robot limited. The type of high-bay warehouse outlined above can be flexibly adapted to the respective spatial conditions using levels beyond the working level and a number of functional modules of the modular household robot to be stored without taking up additional space on the working level.

PREFERRED EMBODIMENT OF THE INVENTION

Advantageous training and further developments which can be used individually or in combination with one another are the subject matter of the dependent claims.

In a preferred embodiment of the invention, the functional module removed from the modular household robot for storage in another spatial direction, which is essentially orthogonal to the z-direction, is shifted on one level to a predetermined location, with several on one level predetermined locations can be used for the intermediate storage of functional modules. This means that more than one functional module can be stored temporarily on each level. A significant reduction in space requirements is thus achieved not only through several intermediate storage levels provided at intervals from a work or zero level of the household robot, but also through their multiple use. These levels can also be at an angle to the working or zero level. In addition, according to an essential development of the invention, separate drives are used essentially orthogonally to the z-direction for positioning the functional modules in the z-direction and for a subsequent displacement of the functional modules. With a simple structure, these drives work very precisely and also reliably with each other for the targeted storage and removal of a respective functional module. Accordingly, in a further development of the invention, a device in the high-bay warehouse has several levels, each of which has a vertical transport unit.

A gripper is expediently provided in the high-bay warehouse, which gripper is designed to engage on or in a release element of each functional module for locking and unlocking the functional module on the base module.

In a preferred embodiment of the invention, the release element with the gripper is designed in the manner of a bayonet lock. Fixed to a correspondingly designed vertical transport unit, a safe displacement of the functional module in the z-direction in the high-bay warehouse for picking up and removal as well as temporary storage is guaranteed.

In an essential development, the gripper is designed with the release element of a function module to unlock and release connections from data and / or media lines of the function module to the base module after captive fixation and, in the opposite direction, first lock and only then release the Establish fixation of the respective functional module with the receptacle in the base module or transfer to a vertical transport unit. When a function module is placed in or on a base module, the Process after locking and before releasing the fixation of the receptacle on the respective functional module expanded by the establishment of connections for data and / or media lines.

In an advantageous embodiment of the invention, the gripper is designed to be rotatable to a certain extent in coordination with the release element of a functional module, with the functional module itself being mounted or held in a non-rotatable manner around the z-axis, in particular by guides on the base module and / or the high-bay storage system or the respective vertical transport unit.

It has basically proven to be useful to design a base station of an autonomously working household robot as a loading bay. Using known techniques, charging of the household robot, etc. done with electrical energy. Due to the generally desired high availability and correspondingly long usage or working times of the household robot, the predetermined storage locations at the predetermined locations of the respective functional modules themselves are designed for supply and disposal of the respective functional modules, according to an essential development of the invention. The functional modules are supplied and / or disposed of when they reach a position for intermediate storage using an interface. In this way, the functional modules themselves can be supplied with consumables during intermediate storage, worn or used up elements as well as waste, dust and / or waste water can be removed and / or the functional module's own energy supply can be charged. The latter variant has the advantage that a functional module has its own supply of electrical energy, which can be used to cover its own energy requirement and / or as an additional energy store for the base module. In any case, loading times of the base module in the base station can be shortened, which advantageously increases the general availability and also the readiness for use of the autonomously working household robot.

• 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 great advantage of a modular cleaning robot is that this robot can perform many different functions depending on the functional module or functional unit used. Thus, in addition to a so-called mobile base platform, the customer only needs to select the one that is required for the particular one Obtain functional modules suitable for the task, and not a new robot for each new task. However, the advantages of such a versatile modular cleaning robot only come fully to bear when the replacement of functional modules of the cleaning robot and thus the change of task takes place automatically and independently. The present invention now creates a system with an operating method which enables an automated exchange of functional modules of a modular household robot. A storage of functional modules is realized in a base station expanded by a type of high-bay storage facility as an intermediate storage facility with simple constructive and inexpensive means. In embodiments of the invention, an exchange and flow of can be carried out between the base station and the functional modules of the modular robot and the functional modules temporarily stored in the high-bay warehouse

• Energy, e.g. B .. charging at least one accumulator,
• Information, e.g. B .. which function module has currently been used or how and where the function module is to be stored, and
• Substances, 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 refinements of the invention are described in more detail below with reference to an embodiment shown in the drawing, to which the invention is not limited. They show schematically:

Fig. 1

storage of functional modules of a modular cleaning robot in levels parallel to the zero level;

Figures 2a - 2d

Workflows from removal of a functional module up to interim 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 interim warehouse;

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 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 USING EXEMPLARY EMBODIMENTS

In the following description of an exemplary embodiment of the present invention, the same reference symbols always designate the same or comparable 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 further detail, for drive, control, location and energy supply, as in particular in FIG DE 10 2016 213 920.7 disclosed. A function module 3 is placed on the base module 2 and locked, data and / or media lines of the function module 3 being connected to those of the base module 2 via interfaces. Expanded by a respective functionality of the functional module 3, the cleaning robot 1 moves independently in a working plane, which is referred to below as zero plane E0.

A great 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 functional module 3 used in each case. Thus, in addition to what is known as a mobile base platform or base module 2, the customer only needs to obtain the functional modules 3 suitable for the respective desired task, and not a new robot for each new task. These advantages of such a versatile modular cleaning robot 1 only come into their own, however, when an exchange of a respective functional module of the cleaning robot 1 and thus the change of task takes place automatically and independently. A speaking method and various forms of apparatus therefor will now be described:

In the in Fig. 1 The illustrated situation, the cleaning robot 1 has entered a base station 4 on the zero level E0. The base station 4 is designed to form more than one parking position for "tidying up" the cleaning robot 1 in that a type of high-bay warehouse 5 is connected to the base station 4 for picking up, removing and temporarily storing functional modules 3. The function modules 3 are picked up, removed and temporarily stored in the z-direction with displacement of the function modules in the x-direction on different planes E1 to E3, which are provided here to run essentially equidistant and parallel to the zero plane E0.

Individual work processes from removing a functional module to intermediate storage are illustrated in the sequence of figures Figures 2a to 2d shown for an embodiment. In Figure 2a The modular cleaning robot 1 with the functional module 3 on the base module 2 moves into the base station 4. A gripper 6 with a lifting device is in a ready position. To Figure 2b the cleaning robot 1 is parked in the base station 4 and the gripper 6 is lowered onto the functional module 3. There, the gripper is first locked on the functional module 3 by a rotation, releases fixations of the functional module 3 to the base module 2 when it is further rotated and thus finally also separates contacts at interfaces. Material, energy and information flows between the basic module 2 and the functional module 3 no longer take place.

Function module 3 is thus closed Figure 2c 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 the functional module 3 has reached a predetermined level with a free space in the z-direction in the high-bay warehouse 5, in which the functional module 3 is to be temporarily stored. A force fit and / or form fit between the gripper 6 and the functional module 3 is now released 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.

The gripper 6 is now free to transport a certain other functional module 3 from the high-bay warehouse 5 to the base module 2 in the base station 4, to fix it there and to connect it via interfaces. To do this, the following steps are carried out without any further graphic representation:

1. 1.) Determination of which stored functional module 3 is to be used on the mobile cleaning robot 1
2. 2.) The mechanism temporarily establishes contact with the stored functional module 3 in the high-bay warehouse 5 by means of a force fit or form fit
3. 3.) Mechanism shifts the function module 3 into the zero level E0 and places the function module 3 on the mobile base module 2 of the modular cleaning robot 1.
4. 4.) A mechanism in the gripper 6 releases the temporary force fit and / or form fit to the functional module 3.

In this way, from sub-step 4 onwards, the required material, energy and information flows between the basic module 2 and the functional module 3 are established by a control unit of the basic module 2 of the modular cleaning robot 1. This means that the modular cleaning robot 1 is fully ready for use with the new functionality.

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

Fig. 4 shows a transfer of a functional module 3 from the gripping mechanism 6 to the storage mechanism in the form of a horizontal transport unit 7 in a further embodiment of a high-bay warehouse 5 connected to a base station 4. Only the basic module 2 of the household robot 1 remains in this state of a functional module being replaced in the base station. In this In the exemplary embodiment, three intermediate storage spaces L1_1 to L3_3 are provided for each level E1 to E3 in the high-bay warehouse 5, which have horizontal transport units 7 in the form of electric motor-driven carriages or short trains. Due to the division into a coupled double slide for accommodating two function modules 3 and a single sledge accommodating only one function module 3, all three intermediate storage spaces of each of the levels E1 to E3 can be freely and independently of one another by the vertical transport unit 6 with function modules while reducing the horizontal width of the high-bay warehouse 5 3 can be loaded or loaded and also unloaded.

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

Fig. 5 Finally, shows a functional structure of a storage system for functional modules 3 of the modular cleaning robot 1 in a high-bay warehouse 5. To implement the specifics and movement sequences described above, a base station is proposed, the functional structure of which is shown in this figure: The base station 4 thus has a defined "parking position", to which the modular cleaning robot 1 goes when a respective functional module 3 is changed. 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 charged in this parking position. Thus, according to the terminology above, the parking position represents the zero level E0.

If the replacement of a functional module 3 of the modular cleaning robot is now carried out manually by the customer or automated based on, for example, sensor signals 1, 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 that are exchanged between the base module 2 and the functional module 3 currently still attached to it.

In addition, the initiated exchange of the functional module 3 prepares a control unit of the base station 4 for the upcoming exchange of the functional module. In the park position, this control unit takes over the coordination of the processes described in the previous section for removal, storage and equipping with a functional 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. In the present example, this mechanism is a spindle drive together with corresponding lateral guides, which according to FIG Fig. 4 can be moved in the positive and negative z-direction. A force fit, material fit, form fit or a combination of these is established as temporary contact with the functional module 3 via the gripper 6. As an alternative to a bayonet lock described above, this can be done by means of finger grippers and corresponding recesses in the functional module 3 by means of a form fit, or else magnetic grippers and corresponding magnetic metals in the function module 3 by means of a force fit.

After successful removal, the gripping mechanism 6 moves the functional module 3 to 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 storing the functional 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 Figure 4 indicated, hereinafter referred to as storage mechanism. The storage mechanism exists according to Figure 3 also from a spindle drive together with a corresponding guide, which can be moved in the positive and negative y-direction. In the embodiment of Figure 4 however, movable cars or short trains, each with their own electric drive, are provided.

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 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 location is occupied by a function module 3 with a unique identifier xy. Is the identifier of a function module 3 z. B. to "L3_1" and for the sake of simplicity would be with the intermediate storage position in Figure 4 identical, the loaded functional module 3 would be placed on the corresponding sliding carriage in the storage level E3 and then moved to the intermediate storage position L3_1. A rigid assignment makes sense here, as special function modules such as B., vacuum cleaner modules are only stored in certain predetermined positions, for example, to enable their cleaning, maintenance and new supply with consumables within the high-bay warehouse 5 through a respectively adapted interface 8.

For equipping with a function module, the sequence described above is carried out in reverse order. Due to the analogy, the description is therefore not repeated.

• 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 between a gripping mechanism or a vertical transport unit 6 and a storage mechanism or horizontal transport unit 7 is justified as follows:

• One-dimensional moveable drives are standard these days, inexpensive to manufacture and easy to control.
• As a result of the subdivision into a gripping mechanism and a 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 customer requirements.

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

With regard to an appealing look, the entire base station is ideally provided with a transparent outer shell, which can have the appearance of a piece of furniture, e.g. B. a chest of drawers or a tall cabinet. This means that the base station of a modular cleaning robot can be integrated homogeneously into existing living concepts. It is advisable to offer different materials and colors for the outer shell in order 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.

The following advantages, among others, result from the implementation of the present invention:

• The above-described storage system of the base station can be expanded according to customer requirements depending on the desired number of stored functional modules;
• The functional modules of a modular robot are stored in a space-saving manner within the storage system described above.
• The base station described above can be camouflaged as furniture in an interior-friendly manner and / or integrated into a furniture wall.
• The base station described enables convenient automatic cleaning of the various cleaning modules or the supply and disposal of consumables, e.g. B. the cleaning of a vacuum cleaner, a wet mopping or an air cleaning module.

The features disclosed in the above description, the claims and the drawings can be important both individually and in any combination for the implementation of the invention in its various configurations.

REFERENCE LIST

1

Household robots

2

Basic module

3

Function module

4th

Base station

5

High-bay warehouse

6th

rotatable gripper with lifting device as a vertical transport unit

7th

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 on the left

E1_2

Level 1 on the right

E2_1

Level 2 on the left

E2_2

Level 2 on the right

E3_1

Level 3 on the left

E3_2

Level 3 on the right

L1_1

Intermediate storage location 1 on level E1

L1_2

Intermediate storage location 2 on level E1

L1_3

Intermediate storage location 3 on level E1

L2_1

Intermediate storage location 4 on level E2 ...

Claims (10)

1. Method for replacing a functional module (3) of a modularly constructed household robot (1),
   in which a functional module (3) is locked and connected to a base module (2), which is used to move and navigate on a predetermined surface of a plane (E0) of a space, and the functional module (3) performs a release for the replacement by unlocking and separating at a base station (4),
   wherein the replacement is carried out in an automated manner following the release of the functional module (3), once the household robot (1) has been received in the base station (4) and the functional module (3) has been released at the base module (2), by the functional module (3) being unlocked and removed from the modularly constructed household robot (1) in the z direction in a kind of high-bay storage (5), characterised in that the functional module (3) is intermediately stored at a particular height on a plane (E1, E2, E3) by the functional module (3) being displaced in another spatial direction, which is substantially orthogonal to the z direction, on one of the planes (E1, E2, E3) at a predetermined location (L1, L2, L3, L4) in each case, and
   on request, a particular functional module is used, locked and connected on the base module (2) by way of displacement from a predetermined location (L1, L2, L3, L4) and following removal from the high-bay storage (5) in the z direction.
2. Method according to claim 1, characterised in that a plurality of predetermined locations (L1_1, L1_2, L1_3, L2_1, ...) for the intermediate storage of functional modules (3) can be used on a plane (E1, E2, E3) in each case.
3. Method according to one of the preceding claims, characterised in that separate drives are used for positioning the functional modules (3) in the z direction and subsequently displacing the functional modules (3) substantially orthogonally to the z direction.
4. Method according to one of the preceding claims, characterised in that the functional modules (3) are supplied and/or disposed of upon reaching a position for intermediate storage by using an interface (8).
5. Apparatus for replacing a functional module (3), fixed to a base module (2), of a modularly constructed household robot (1), in which a base station (4) is embodied for receiving the household robot (1),
   characterised in that
   the apparatus embodied for implementing a method according to one of the preceding claims particularly in that a type of high-bay storage (5) for receiving and removing and intermediately storing functional modules (3) in the z direction is attached to the base station (4).
6. Apparatus according to the preceding claim, characterised in that a plurality of planes (E1, E2, E3), which in each case possess a horizontal transport unit (7), are provided in the high-bay storage (5).
7. Apparatus according to one of the preceding claims, characterised in that the horizontal transport units (7) are embodied as displaceable trolleys or short trains, each with their own electrical drives.
8. Apparatus according to one of the three preceding claims, characterised in that provided in the high-bay storage (5) is a gripper (6), which is embodied for engaging on or into a release element of each functional module (3) for locking and unlocking the functional module (3) on the base module (2).
9. Apparatus according to one of the four preceding claims, characterised in that the release element of a functional module (3) is embodied with the gripper (6) in the manner of a bayonet closure.
10. Apparatus according to one of the five preceding claims, characterised in that the gripper (6) is embodied with the release element of a functional module (3), in order, following an anti-loss fixing, to establish an unlocking and releasing of connections of data and/or media lines of the functional module (3) to the base module (2) and, in the reverse direction, to first establish a locking and then, subsequently, a releasing of the fixing of the respective functional module (3) with the receiving in the base module (2) or transfer to a vertical transport unit.

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