WO2014081141A1 - Docking module, mobile robot comprising docking module, docking system comprising mobile robot, and method of docking mobile robot - Google Patents

Docking module, mobile robot comprising docking module, docking system comprising mobile robot, and method of docking mobile robot Download PDF

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Publication number
WO2014081141A1
WO2014081141A1 PCT/KR2013/010054 KR2013010054W WO2014081141A1 WO 2014081141 A1 WO2014081141 A1 WO 2014081141A1 KR 2013010054 W KR2013010054 W KR 2013010054W WO 2014081141 A1 WO2014081141 A1 WO 2014081141A1
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WO
WIPO (PCT)
Prior art keywords
slit
mobile robot
dock
main body
docking
Prior art date
Application number
PCT/KR2013/010054
Other languages
French (fr)
Inventor
Seok Hoon Yoon
Original Assignee
Samsung Techwin Co., Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Techwin Co., Ltd filed Critical Samsung Techwin Co., Ltd
Publication of WO2014081141A1 publication Critical patent/WO2014081141A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0044—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction specially adapted for holding portable devices containing batteries

Definitions

  • Exemplary embodiments relate to a docking module, a mobile robot including the docking module, and a docking system.
  • mobile robots such as a robot cleaner, an exploration robot, or a reconnaissance robot have been actively developed.
  • mobile robots are configured to accumulate electric power in a battery, for driving thereof.
  • the mobile robot In order to continuously operate a mobile robot, the mobile robot is required to be charged frequently.
  • the charging of the mobile robot may be periodically performed by a manager.
  • Recent mobile robots may have a function of charging themselves by returning to a charging dock.
  • the mobile robot and the charging dock may not be correctly coupled to each other when an approaching posture of the mobile robot with respect to the charging dock is incorrect.
  • One or more exemplary embodiments provide a docking module for a mobile robot, and a mobile robot including the docking module, and a docking system which may induce stable coupling between the mobile robot and a dock even though a direction in which the mobile robot approaches the dock is slightly incorrect.
  • One or more exemplary embodiments provide a method of docking a mobile robot which is used to effectively induce the mobile robot approaching from a plurality of directions to be stably coupled to a dock.
  • a charging ground portion may be protected from an external impact and prevented from becoming wet due to moisture.
  • a docking module comprising: a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; and at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
  • a mobile robot comprising the docking module.
  • a docking system comprising: a mobile robot comprising the docking module; and a dock that is coupled to the docking module of the mobile robot, wherein the dock comprises a base portion, and a dock terminal that protrudes from the base portion and is inserted into the first slit of the docking module when being coupled to the docking module so as to be connected to the terminal portion of the docking module.
  • a method of docking a mobile robot comprising: marking a closed curve on a ground surface and positioning a dock on the closed curve; causing the mobile robot to approach the closed curve; causing the mobile robot to recognize the closed curve and to move along the closed curve; and coupling a docking module of the mobile robot to the dock.
  • the docking module may induce stable coupling between the mobile robot and a dock even though a direction in which the mobile robot approaches the dock is slightly incorrect.
  • the docking module may effectively induce the mobile robot approaching from a plurality of directions to be stably coupled to a dock.
  • FIG. 1 is a schematic view of a mobile robot according to an exemplary embodiment
  • FIG. 2 is a schematic perspective view of a docking module of the mobile robot of FIG. 1;
  • FIG. 3 is a schematic enlarged view of a portion III of FIG. 2;
  • FIGS. 4A and 4B are schematic bottom views illustrating an operational state of the docking module of FIG. 2;
  • FIG. 5 is a schematic view illustrating a state where the docking module of FIG. 2 and a dock are coupled to each other;
  • FIG. 6 is a schematic bottom view illustrating the state where the docking module and the dock are coupled to each other which is illustrated in FIG. 5;
  • FIG. 7 is a schematic plan view of the dock according to an exemplary embodiment
  • FIG. 8 is a schematic view illustrating a state where the mobile robot according to an exemplary embodiment obliquely approaches the dock;
  • FIGS. 9A and 9B are schematic views illustrating a state where the mobile robot shifted to one side according to an exemplary embodiment approaches the dock;
  • FIG. 10 is a schematic flow chart illustrating a method of docking a mobile robot according to an exemplary embodiment.
  • FIG. 11 is a schematic view illustrating a state where the mobile robot approaches the dock by using a method of docking a mobile robot according to an exemplary embodiment.
  • a docking module comprising: a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; and at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
  • the docking module may further comprises: a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located; and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  • the main body portion may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
  • a mobile robot comprising the docking module.
  • the mobile robot may further comprise a battery, wherein the terminal portion of the docking module is electrically connected to the battery.
  • the docking module may comprise a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located, and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  • the main body portion of the docking module may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
  • a docking system comprising: a mobile robot comprising the docking module; and a dock that is coupled to the docking module of the mobile robot, wherein the dock comprises a base portion, and a dock terminal that protrudes from the base portion and is inserted into the first slit of the docking module when being coupled to the docking module so as to be connected to the terminal portion of the docking module.
  • the docking module of the mobile robot may comprise a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located, and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  • the main body portion of the docking module of the mobile robot may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
  • a method of docking a mobile robot comprising: marking a closed curve on a ground surface and positioning a dock on the closed curve; causing the mobile robot to approach the closed curve; causing the mobile robot to recognize the closed curve and to move along the closed curve; and coupling a docking module of the mobile robot to the dock.
  • a plurality of the closed curves disposed at one and another sides with the dock as the center may be provided.
  • the mobile robot may comprise the docking module coupled to the dock, and wherein the docking module may comprises a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
  • the docking module may comprises a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
  • the docking module may comprises a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located; and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  • the main body portion of the docking module may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
  • the docking system of the mobile robot may cause a dock and the mobile robot to exchange information or objects with each other through a physical coupling between the dock and the mobile robot, and may be used to charge the mobile robot.
  • a description is given of an example in which the docking system is used to charge the mobile robot.
  • FIG. 1 is a schematic view of a docking system 1 of a mobile robot 10 according to an exemplary embodiment.
  • the docking system 1 of the mobile robot 10 includes a mobile robot 10 and a dock 200.
  • the mobile robot 10 performs a predetermined operation while traveling autonomously.
  • the mobile robot 10 may be a robot for cleaning, a robot for reconnaissance, a robot for disaster relief, or the like.
  • the mobile robot 10 includes a robot main body 11, a battery 12, a driving unit 13, a control unit 14, an information collection unit 15, a communication unit 16, a track recognition unit 18, a docking module 100.
  • the robot main body 11 provides internal and external spaces where the battery 12, the driving unit 13, the information collection unit 15, the communication unit 16, the track recognition unit 18, and the docking module 100 may be installed.
  • the robot main body 11 may include a traveling unit such as a wheel or a caterpillar so as to move on a ground surface G.
  • the robot main body 11 may include a multi-legged walking unit having a leg shape, instead of the traveling unit.
  • the robot main body 11 includes wheels as a traveling unit.
  • the battery 12 stores electric power used in electric and electronic devices such as the driving unit 13, the control unit 14, the information collection unit 15, the communication unit 16, and the track recognition unit 18 of the mobile robot 10, and is preferably a rechargeable battery.
  • the battery 12 is also electrically connected to the dock 200 so as to receive power from the dock 200 when the docking module 100 of the mobile robot 10 is coupled to the dock 200.
  • the driving unit 13, which generates a driving power for moving the robot main body 11, may include a motor or an engine.
  • the driving unit 13 provides a rotational force to the wheel.
  • the driving unit 13 may include a steering device (not shown) so that the robot main body 11 may turn in right and left directions.
  • the information collection unit 15, which acquires peripheral information of the mobile robot 10 may include various types of measurement devices.
  • various measurement devices such as a camera for capturing peripheral images of the mobile robot 10, a microphone for recording peripheral sounds of the mobile robot 10, or a laser scanner for scanning peripheral geographical features of the mobile robot 10 may be employed as the information collection unit 15.
  • the mobile robot 10 may include an illumination unit for nighttime photographing.
  • the communication unit 16 may be used for communication between the mobile robot 10 and an operator, and may include a wireless transmission and reception device.
  • Information acquired by the information collection unit 15 of the mobile robot 10 may be transmitted to an operator through the communication unit 16, and an operators' control command may be transmitted to the mobile robot 10 through the communication unit 16.
  • the mobile robot 10 of the current embodiment includes the communication unit 16 in the above description, the mobile robot 10 may be designed to autonomously travel while acquiring peripheral information thereof without receiving a separate control command in a wireless manner.
  • the track recognition unit 18 is used when the mobile robot 10 recognizes a track that is previously marked on the ground surface.
  • the track recognition unit 18 may include a photosensitive sensor or a camera capable of recognizing visible light or light and shade of an infrared light region so as to recognize the track that is previously marked on the ground surface. Meanwhile, when the track marked on the ground surface includes a magnetic material, the track recognition unit 18 may recognize the track in a manner that senses a variation in a magnetic field.
  • the mobile robot 10 may further include an illumination unit 17 for irradiating the ground surface G with visible light or infrared light in order to further increase the track recognition rate of the track recognition unit 18.
  • the docking module 100 which is coupled to the dock 200, may be disposed on a bottom surface of the mobile robot 10.
  • FIG. 2 is a schematic perspective view of the docking module 100 of the mobile robot 10 of FIG. 1.
  • FIG. 2 illustrates only the docking module 100 without the robot main body 11 of the mobile robot 10.
  • the docking module 100 includes a module main body portion 110, terminal portions 141 and 142, and a cover portion 120.
  • the module main body portion 110 includes a coupling portion 112, a first slit 114A, a second slit 116A, a first protrusion portion 111, a second protrusion portion 113, a third protrusion portion 115, a first guide space 114, and a second guide space 116.
  • the coupling portion 112 is a portion for coupling the module main body portion 110 and the bottom surface of the mobile robot 10 to each other, and may be provided with a screw coupling hole when the coupling portion 112 is installed on the mobile robot 10 by using a screw.
  • the module main body portion 110 and the mobile robot 10 may be coupled to each other in various ways such as by insertion, fastening, or welding as well as coupling using a screw.
  • the first slit 114A and the second slit 116A are formed at a lower surface of the module main body portion 110 so as to be parallel to each other in a front-back direction of the mobile robot 10.
  • the first, second, and third protrusion portions 111, 113, and 115 are formed to protrude toward a front side of the mobile robot 10, and are arranged in a direction intersecting a front-back direction ( x direction) of the mobile robot 10.
  • the first guide space 114 and the second guide space 116 are formed between the first protrusion portion 111 and the second protrusion portion 113 and between the second protrusion portion 113 and the third protrusion portion 115, respectively.
  • the first guide space 114 and the second guide space 116 are connected to the first slit 114A and the second slit 116A, respectively.
  • the first guide space 114 and the second guide space 116 are formed in such a shape that the sizes thereof become smaller toward the first slit 114A and the second slit 116A. Therefore, when dock terminals 220 of the dock 200 enter the first guide space 114 and the second guide space 116, the movement of the dock terminals 220 may be guided to the first slit 114A and the second slit 116A.
  • the terminal portions 141 and 142 are respectively disposed in inner spaces of the first slit 114A and the second slit 116A, and are formed of a conductive material so as to be electrically connected to the dock terminals 220 of the dock 200.
  • FIG. 3 is a schematic enlarged view of a portion III of FIG. 2, that is, a portion of the first slit 114A of the module main body portion 110 at which the terminal portion 141 is located. For convenience of description, a portion covering the first slit 114A is shown to be cut in FIG. 3.
  • the terminal portion 141 is installed at each of side wall portions 1102 of the first slit 114A, and a portion thereof is disposed so as to be exposed by an inner space of the first slit 114A through a through hole formed in each of both side wall portions 1102.
  • the terminal portion 141 is connected to the battery 12 through an electric wire (not shown).
  • a circuit board or the like may be disposed at an upper side of an inner bottom surface 1101 of the module main body portion 110.
  • Pins 118 installed at side walls of the first slit 114A are respectively inserted into and coupled to both ends of the terminal portion 141.
  • a spring 119 is interposed between the end of the terminal portion 141 and a head portion of the pin 118, and the portion of the terminal portion 141 which is inserted into the through hole of the side wall portion 1102 is elastically pressed toward the inner space of the first slit 114A by the spring 119.
  • the contact between the terminal portion 141 of the docking module 100 and the dock terminal 220 of the dock 200 may be stably maintained when the dock terminal 220 of the dock 200 is inserted into the first slit 114A.
  • terminal portion 141 disposed in the first slit 114A has been described, but the terminal portion 142 of the second slit 116A may also be configured in the same manner as the terminal portion 141.
  • the cover portion 120 is used to open and close the first slit 114A and the second slit 116A which are formed on the bottom surface of the module main body portion 110.
  • the cover portion 120 is coupled to a linear guide 117 formed in the module main body portion 110 so as to slidably move with respect to the module main body portion 110.
  • the cover portion 120 includes a coupling pin 125 that passes through a rear wall portion of the module main body portion 110 and is inserted into the module main body portion 110.
  • a spring 130 is interposed between a head portion of the coupling pin 125 and the rear wall portion of the module main body portion 110 as a pressing unit. Since the head portion of the coupling pin 125 is elastically pressed by the spring 130, the cover portion 120 to which the coupling pin 125 is fixed comes into close contact with the module main body portion 110 in a forward direction. Meanwhile, in the current embodiment, a case where the spring 130 elastically presses the cover portion 120 has been described. However, the cover portion 120 may be elastically supported by using a pressing unit formed of another elastic material such as rubber. In addition, such a pressing unit may use attraction and repulsion between magnets or may use attraction between a magnet and a magnetic material.
  • FIG. 4A is a schematic bottom view of the docking module 100 in a state illustrated in FIG. 2.
  • the cover portion 120 is located so as to cover the first slit 114A and the second slit 116A which are formed on the bottom surface of the module main body portion 110.
  • the terminal portions 141 disposed in the inner spaces of the first slit 114A and the second slit 116A are also covered.
  • FIG. 4B is a schematic bottom view illustrating a state where the cover portion 120 is shifted rearward in the docking module 100.
  • the cover portion 120 when the cover portion 120 is shifted rearward from the module main body portion 110 due to an external force, the first slit 114A and the second slit 116A which are covered by the cover portion 120 are exposed to the outside. Accordingly, the terminal portions 141 disposed on the inner sides of the first slit 114A and the second slit 116A are also exposed to the outside.
  • the external force for shifting the cover portion 120 rearward may be applied by the dock terminal 220 of the dock 200. That is, as the mobile robot 10 approaches the dock 200, the dock terminals 220 of the dock 200 may be respectively inserted into the first slit 114A and the second slit 116A while pushing the cover portion 120 of the docking module 100 of the mobile robot 10 rearward.
  • FIGS. 5 and 6 are schematic views illustrating a state where the mobile robot 10 approaches and is coupled to the charging dock 2.
  • the dock terminals 220 of the dock 200 are respectively inserted into the first slit 114A and the second slit 116A while pushing the cover portion 120 of the docking module 100.
  • the spring 130 into which the coupling pin 125 of the cover portion 120 is inserted contracts.
  • the dock terminals 220 of the dock 200 which are inserted into the first slit 114A and the second slit 116A come into contact with and are electrically connected to the terminal portions 141 of the docking module 100.
  • the cover portion 120 of the docking module 100 of the mobile robot 10 may be returned to its original state by the spring 130 and then cover the first slit 114A and the second slit 116A again to effectively prevent foreign substances from entering the first slit 114A and the second slit 116A.
  • the control unit 14 controls the battery 12, the driving unit 13, the information collection unit 15, the communication unit 16, the track recognition unit 18, and the docking module 100 of the mobile robot 10, and may include a microprocessor.
  • the control unit 14 may control the mobile robot 10 in response to a control command received from an operator in a wireless manner, or may control the mobile robot 10 in response to a program that is previously loaded thereto.
  • the control unit 14 may control units of the mobile robot 10 so that the mobile robot 10 performs functions such as avoidance of an obstacle, acquisition of peripheral information, or recognition of a track marked on the ground surface to move along the track.
  • the control unit 14 may control the mobile robot 10 by monitoring an amount of charge of the battery 12 and then returning to the dock 200 when the amount of charge of the battery 12 is decreased to equal to or less than a predetermined value.
  • the dock 200 is coupled to the docking module 100 of the mobile robot 10, and transmits electric power for charging the mobile robot 10 to the docking module 100.
  • the dock 200 is connected to an external power source so as to supply power to the mobile robot 10.
  • FIG. 7 is a schematic plan view of the dock 200.
  • the dock 200 includes a base portion 210 and a pair of the dock terminals 220.
  • the base portion 210 is fixed to the ground surface so that the dock 200 is stably located on the ground surface.
  • the dock terminal 220 is an electrical terminal for supplying power to the mobile robot 10, and is electrically connected to an external power source unit 300.
  • Each dock terminal 220 is installed at the base portion 210 so as to move in a direction (y-axis direction) which intersects an approaching direction of the mobile robot 10, and is elastically supported by a spring 215. Accordingly, each dock terminal 220 moves when an external force is applied thereto, and then elastically returns to the original state when the external force disappears.
  • FIG. 8 is a schematic view illustrating a case where the mobile robot 10 obliquely approaches the dock 200.
  • FIG. 8 schematically illustrates the docking module 100 of the mobile robot 10, and the dock 200.
  • the terminal portions of the dock 200 are respectively inserted into the first guide space 114 and the second guide space 116 and are then guided to the first slit 114A and the second slit 116A.
  • the dock terminals 220 of the dock 200 are stably induced to be inserted into the first slit 114A and the second slit 116A, and are stably connected to the terminal portions 141 and 142 respectively disposed in the first slit 114A and second slit 116A.
  • the dock terminals 220 of the dock 200 are elastically pushed out when the first, second, and third protrusion portions 111, 113, and 115 of the docking module 100 of the mobile robot 10 are pushed thereinto, the dock 200 and the docking module 100 of the mobile robot 10 may be coupled to each other more easily.
  • FIGS. 9A and 9B are schematic views illustrating a case where the mobile robot 10 shifted to one side approaches the dock 200.
  • the dock terminals 220 of the dock 200 are effectively guided to the first slit 114A and the second slit 116A by the first guide space 114 and the second guide space 116 of the docking module 100 of the mobile robot 10, respectively.
  • the dock terminals 220 of the dock 200 may also move elastically, the dock terminals 220 are smoothly induced to be inserted into the first slit 114A and the second slit 116A without meeting any obstruction.
  • the mobile robot 10 and the dock 200 which employ the docking system 1 according to the current embodiment, even if the mobile robot 10 approaches the dock 200 obliquely or in a state where the mobile robot 10 is shifted to one side, the mobile robot 10 and the dock 200 may be coupled to each other without any problem. Therefore, the need to precisely control the mobile robot 10 for docking decreases, and the possibility of failure of docking may be significantly reduced.
  • the method of docking the mobile robot 10 according to the current embodiment may employ the above-mentioned docking system.
  • FIG. 10 is a schematic flow chart illustrating a method of docking the mobile robot 10 according to the current embodiment.
  • FIG. 11 is a schematic view illustrating a state where the mobile robot 10 approaches a dock 200 by using the method of docking the mobile robot 10 according to the current embodiment.
  • the dock 200 used to charge the mobile robot 10 will be described.
  • the method of docking the mobile robot 10 includes marking a closed curve passing through the dock 200 on the ground surface (operation S10), causing the mobile robot 10 to approach the closed curve (operation S20), causing the mobile robot 10 to recognize the closed curve and to move along the closed curve (operation S30), coupling a docking module 100 of the mobile robot 10 to the dock 200 (operation S40), and charging a battery 12 of the mobile robot 10 (operation S50).
  • the marking of the closed curve passing through the dock 200 on the ground surface includes marking a track having a closed curve TR shape which may be recognized by a track recognition unit 18 of the mobile robot 10 on the ground surface G.
  • the closed curve TR may be formed of a material having absorbance or color that is different from that of the ground surface G so as to be recognized by the track recognition unit 18.
  • the track recognition unit 18 is a unit sensing a variation in a magnetic field
  • the closed curve TR may be formed of a material having a magnetic characteristic that is different from that of the ground surface G.
  • two closed curves TR are provided, and the closed curves TR are disposed in such a manner that one end of one closed curve TR and one end of the other closed curve TR are adjacent to each other.
  • the dock 200 is disposed in portions of the two closed curves TR which are adjacent to each other, so as to be simultaneously located on the two closed curves TR.
  • the causing of the mobile robot 10 to approach the closed curve includes causing the mobile robot 10 to move in a direction the mobile robot 10 approaches the closed curve as illustrated in 1 of FIG. 11.
  • the mobile robot 10 may be previously programmed so as to store information on the position of the dock 200 and to move toward the dock 200 when the mobile robot 10 is required to be coupled to the dock 200, for example, in order to be charged.
  • the mobile robot 10 may be controlled by an operator in a wireless manner to thereby approach the dock 200.
  • the closed curves TR are marked in the vicinity of the dock 200, and thus the mobile robot 10 is located on the closed curves TR before reaching the dock 200.
  • the causing of the mobile robot 10 to recognize the closed curve and to move along the closed curve includes causing the mobile robot 10 located on the closed curves TR to recognize the closed curves TR through the track recognition unit 18 and to move along the closed curves TR as illustrated in 2 of FIG. 11.
  • Each closed curve TR is formed to pass through the dock 200, and thus the mobile robot 10 approaches the dock 200 while moving along the closed curves TR.
  • the coupling of the docking module 100 of the mobile robot 10 to the dock 200 includes causing the mobile robot 10 to approach the dock 200 while moving along the closed curves TR to thereby be coupled to the dock 200. Since the mobile robot 10 of the current embodiment employs the docking module 100 of the above-mentioned docking system, the mobile robot 10 may be smoothly coupled to the dock 200 without any problem even though the position of the mobile robot 10 with respect to the dock 200 is not correctly controlled due to, for example, a case where the mobile robot 10 approaches the dock 200 obliquely or in a state where the mobile robot 10 is shifted to one side. That is, the dock terminals 220 of the dock 200 are smoothly connected to the terminal portions 141 and 142 of the docking module 100 of the mobile robot 10.
  • the charging of the battery 12 of the mobile robot 10 includes causing the dock 200 connected to an external power source to supply power to the battery 12 of the mobile robot 10 through the docking module 100 of the mobile robot 10 coupled thereto.
  • the control unit 14 may sense the full charge of the battery 12 and may move the mobile robot 10 in a direction in which the mobile robot 10 may be separated from the dock 200.
  • the cover portion 120 of the docking module 100 of the mobile robot 10 is elastically restored so as to cover the first slit 114A and the second slit 116A, and thus foreign substances may be effectively prevented from entering the first slit 114A and the second slit 116A. That is, the terminal portions 141 and 142 of the mobile robot 10 may be effectively protected.
  • the mobile robot 10 may adopt a posture appropriate for docking while moving along the closed curves TR for guiding the mobile robot 10 to the dock 200.
  • the closed curves TR are marked in both sides with the dock 200 as the center, the mobile robot 10 may be induced to the dock 200 even though the mobile robot 10 approaches toward any one of the both sides with the dock 200 as the center. That is, as long as the mobile robot 10 is controlled to enter a region where the closed curve TR is marked, the subsequent docking of the mobile robot 10 may be performed without any problem.
  • Such an advantage may be particularly magnified in an environment where the mobile robot 10 may not correctly find the position of the dock 200 or the movement of the mobile robot 10 may not be correctly controlled.
  • the docking module 100 of the mobile robot 10 may include only one slit.
  • the mobile robot 10 may include only one slit, negative and positive terminal portions may be disposed in an inner space of the slit.
  • a guide space may also be provided so as to guide the terminal portions of the dock 200 to the slit.
  • a pair of the closed curves TR are provided at both sides with the dock 200 as the center.
  • only one closed curve passing through the dock 200 may be provided, or three or more closed curves passing through the dock 200 may be provided.
  • the dock terminals 220 of the dock 200 are elastically supported, but the dock terminals 220 of the dock 200 are not required to be elastically supported.
  • the dock terminals 220 of the dock 200 may elastically return to their original states after the movement of the dock terminals 220, the dock terminals 220 may be configured to maintain their positions even if an external force applied thereto disappears after the movement of the dock terminals 220.
  • the exemplary embodiments may be applied to various docking modules, mobile robots, and docking systems of the mobile robots.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

According to an aspect of an exemplary embodiment, there is provided a docking module comprising: a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; and at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.

Description

DOCKING MODULE, MOBILE ROBOT COMPRISING DOCKING MODULE, DOCKING SYSTEM COMPRISING MOBILE ROBOT, AND METHOD OF DOCKING MOBILE ROBOT
Exemplary embodiments relate to a docking module, a mobile robot including the docking module, and a docking system.
In recent years, mobile robots such as a robot cleaner, an exploration robot, or a reconnaissance robot have been actively developed. In general, such mobile robots are configured to accumulate electric power in a battery, for driving thereof. In order to continuously operate a mobile robot, the mobile robot is required to be charged frequently. The charging of the mobile robot may be periodically performed by a manager. Recent mobile robots may have a function of charging themselves by returning to a charging dock.
In this case, when a mobile robot attempts to charge itself by returning to a charging dock, the mobile robot and the charging dock may not be correctly coupled to each other when an approaching posture of the mobile robot with respect to the charging dock is incorrect.
When the mobile robot and the charging dock are not correctly coupled to each other, there is a problem that a charging operation of the mobile robot may not be satisfactorily performed.
One or more exemplary embodiments provide a docking module for a mobile robot, and a mobile robot including the docking module, and a docking system which may induce stable coupling between the mobile robot and a dock even though a direction in which the mobile robot approaches the dock is slightly incorrect.
One or more exemplary embodiments provide a method of docking a mobile robot which is used to effectively induce the mobile robot approaching from a plurality of directions to be stably coupled to a dock.
In addition, according to one or more exemplary embodiments, a charging ground portion may be protected from an external impact and prevented from becoming wet due to moisture.
According to an aspect of an exemplary embodiment, there is provided a docking module comprising: a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; and at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
According to another aspect of an exemplary embodiment, there is provided a mobile robot comprising the docking module.
According to another aspect of an exemplary embodiment, there is provided a docking system comprising: a mobile robot comprising the docking module; and a dock that is coupled to the docking module of the mobile robot, wherein the dock comprises a base portion, and a dock terminal that protrudes from the base portion and is inserted into the first slit of the docking module when being coupled to the docking module so as to be connected to the terminal portion of the docking module.
According to another aspect of an exemplary embodiment, there is provided a method of docking a mobile robot, the method comprising: marking a closed curve on a ground surface and positioning a dock on the closed curve; causing the mobile robot to approach the closed curve; causing the mobile robot to recognize the closed curve and to move along the closed curve; and coupling a docking module of the mobile robot to the dock.
According to the exemplary embodiments, the docking module may induce stable coupling between the mobile robot and a dock even though a direction in which the mobile robot approaches the dock is slightly incorrect.
According to the exemplary embodiments, the docking module may effectively induce the mobile robot approaching from a plurality of directions to be stably coupled to a dock.
These and/or other aspects will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of a mobile robot according to an exemplary embodiment;
FIG. 2 is a schematic perspective view of a docking module of the mobile robot of FIG. 1;
FIG. 3 is a schematic enlarged view of a portion III of FIG. 2;
FIGS. 4A and 4B are schematic bottom views illustrating an operational state of the docking module of FIG. 2;
FIG. 5 is a schematic view illustrating a state where the docking module of FIG. 2 and a dock are coupled to each other;
FIG. 6 is a schematic bottom view illustrating the state where the docking module and the dock are coupled to each other which is illustrated in FIG. 5;
FIG. 7 is a schematic plan view of the dock according to an exemplary embodiment;
FIG. 8 is a schematic view illustrating a state where the mobile robot according to an exemplary embodiment obliquely approaches the dock;
FIGS. 9A and 9B are schematic views illustrating a state where the mobile robot shifted to one side according to an exemplary embodiment approaches the dock;
FIG. 10 is a schematic flow chart illustrating a method of docking a mobile robot according to an exemplary embodiment; and
FIG. 11 is a schematic view illustrating a state where the mobile robot approaches the dock by using a method of docking a mobile robot according to an exemplary embodiment.
According to an aspect of an exemplary embodiment, there is provided a docking module comprising: a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; and at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
The docking module may further comprises: a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located; and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
The main body portion may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
According to another aspect of an exemplary embodiment, there is provided a mobile robot comprising the docking module.
The mobile robot may further comprise a battery, wherein the terminal portion of the docking module is electrically connected to the battery.
The docking module may comprise a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located, and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
The main body portion of the docking module may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
According to another aspect of an exemplary embodiment, there is provided a docking system comprising: a mobile robot comprising the docking module; and a dock that is coupled to the docking module of the mobile robot, wherein the dock comprises a base portion, and a dock terminal that protrudes from the base portion and is inserted into the first slit of the docking module when being coupled to the docking module so as to be connected to the terminal portion of the docking module.
The docking module of the mobile robot may comprise a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located, and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
The main body portion of the docking module of the mobile robot may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
According to another aspect of an exemplary embodiment, there is provided a method of docking a mobile robot, the method comprising: marking a closed curve on a ground surface and positioning a dock on the closed curve; causing the mobile robot to approach the closed curve; causing the mobile robot to recognize the closed curve and to move along the closed curve; and coupling a docking module of the mobile robot to the dock.
A plurality of the closed curves disposed at one and another sides with the dock as the center may be provided.
The mobile robot may comprise the docking module coupled to the dock, and wherein the docking module may comprises a main body portion; a first slit that is formed in the main body portion so as to extend in one direction; at least one terminal portion that is disposed at an inner side of the first slit, wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
The docking module may comprises a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located; and a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
The main body portion of the docking module may comprise a second slit that is formed to be parallel to the first slit, and at least one terminal portion that is disposed at an inner side of the second slit, and wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
Hereinafter, a docking system of a mobile robot according to an exemplary embodiment will be described with reference to the accompanying drawings. Expressions such as at least one of, when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list.
The docking system of the mobile robot may cause a dock and the mobile robot to exchange information or objects with each other through a physical coupling between the dock and the mobile robot, and may be used to charge the mobile robot. In the current embodiment, a description is given of an example in which the docking system is used to charge the mobile robot.
FIG. 1 is a schematic view of a docking system 1 of a mobile robot 10 according to an exemplary embodiment.
Referring to FIG. 1, the docking system 1 of the mobile robot 10 according to the current embodiment includes a mobile robot 10 and a dock 200.
The mobile robot 10 performs a predetermined operation while traveling autonomously. The mobile robot 10 may be a robot for cleaning, a robot for reconnaissance, a robot for disaster relief, or the like.
The mobile robot 10 includes a robot main body 11, a battery 12, a driving unit 13, a control unit 14, an information collection unit 15, a communication unit 16, a track recognition unit 18, a docking module 100.
The robot main body 11 provides internal and external spaces where the battery 12, the driving unit 13, the information collection unit 15, the communication unit 16, the track recognition unit 18, and the docking module 100 may be installed. The robot main body 11 may include a traveling unit such as a wheel or a caterpillar so as to move on a ground surface G. In addition, the robot main body 11 may include a multi-legged walking unit having a leg shape, instead of the traveling unit. In the current embodiment, for convenience of description, it is assumed that the robot main body 11 includes wheels as a traveling unit.
The battery 12 stores electric power used in electric and electronic devices such as the driving unit 13, the control unit 14, the information collection unit 15, the communication unit 16, and the track recognition unit 18 of the mobile robot 10, and is preferably a rechargeable battery. In addition, the battery 12 is also electrically connected to the dock 200 so as to receive power from the dock 200 when the docking module 100 of the mobile robot 10 is coupled to the dock 200.
The driving unit 13, which generates a driving power for moving the robot main body 11, may include a motor or an engine. When the traveling unit is a wheel, the driving unit 13 provides a rotational force to the wheel. In addition, the driving unit 13 may include a steering device (not shown) so that the robot main body 11 may turn in right and left directions.
The information collection unit 15, which acquires peripheral information of the mobile robot 10, may include various types of measurement devices. For example, various measurement devices such as a camera for capturing peripheral images of the mobile robot 10, a microphone for recording peripheral sounds of the mobile robot 10, or a laser scanner for scanning peripheral geographical features of the mobile robot 10 may be employed as the information collection unit 15. When a camera is used as the information collection unit 15, the mobile robot 10 may include an illumination unit for nighttime photographing.
The communication unit 16 may be used for communication between the mobile robot 10 and an operator, and may include a wireless transmission and reception device.
Information acquired by the information collection unit 15 of the mobile robot 10 may be transmitted to an operator through the communication unit 16, and an operators' control command may be transmitted to the mobile robot 10 through the communication unit 16. Meanwhile, although the mobile robot 10 of the current embodiment includes the communication unit 16 in the above description, the mobile robot 10 may be designed to autonomously travel while acquiring peripheral information thereof without receiving a separate control command in a wireless manner.
The track recognition unit 18 is used when the mobile robot 10 recognizes a track that is previously marked on the ground surface. The track recognition unit 18 may include a photosensitive sensor or a camera capable of recognizing visible light or light and shade of an infrared light region so as to recognize the track that is previously marked on the ground surface. Meanwhile, when the track marked on the ground surface includes a magnetic material, the track recognition unit 18 may recognize the track in a manner that senses a variation in a magnetic field.
Meanwhile, the mobile robot 10 may further include an illumination unit 17 for irradiating the ground surface G with visible light or infrared light in order to further increase the track recognition rate of the track recognition unit 18.
The docking module 100, which is coupled to the dock 200, may be disposed on a bottom surface of the mobile robot 10.
FIG. 2 is a schematic perspective view of the docking module 100 of the mobile robot 10 of FIG. 1. For convenience of description, FIG. 2 illustrates only the docking module 100 without the robot main body 11 of the mobile robot 10.
Referring to FIG. 2, the docking module 100 includes a module main body portion 110, terminal portions 141 and 142, and a cover portion 120.
The module main body portion 110 includes a coupling portion 112, a first slit 114A, a second slit 116A, a first protrusion portion 111, a second protrusion portion 113, a third protrusion portion 115, a first guide space 114, and a second guide space 116.
The coupling portion 112 is a portion for coupling the module main body portion 110 and the bottom surface of the mobile robot 10 to each other, and may be provided with a screw coupling hole when the coupling portion 112 is installed on the mobile robot 10 by using a screw. The module main body portion 110 and the mobile robot 10 may be coupled to each other in various ways such as by insertion, fastening, or welding as well as coupling using a screw.
The first slit 114A and the second slit 116A are formed at a lower surface of the module main body portion 110 so as to be parallel to each other in a front-back direction of the mobile robot 10.
The first, second, and third protrusion portions 111, 113, and 115 are formed to protrude toward a front side of the mobile robot 10, and are arranged in a direction intersecting a front-back direction ( x direction) of the mobile robot 10. The first guide space 114 and the second guide space 116 are formed between the first protrusion portion 111 and the second protrusion portion 113 and between the second protrusion portion 113 and the third protrusion portion 115, respectively. The first guide space 114 and the second guide space 116 are connected to the first slit 114A and the second slit 116A, respectively. The first guide space 114 and the second guide space 116 are formed in such a shape that the sizes thereof become smaller toward the first slit 114A and the second slit 116A. Therefore, when dock terminals 220 of the dock 200 enter the first guide space 114 and the second guide space 116, the movement of the dock terminals 220 may be guided to the first slit 114A and the second slit 116A.
The terminal portions 141 and 142 are respectively disposed in inner spaces of the first slit 114A and the second slit 116A, and are formed of a conductive material so as to be electrically connected to the dock terminals 220 of the dock 200.
FIG. 3 is a schematic enlarged view of a portion III of FIG. 2, that is, a portion of the first slit 114A of the module main body portion 110 at which the terminal portion 141 is located. For convenience of description, a portion covering the first slit 114A is shown to be cut in FIG. 3.
Referring to FIG. 3, the terminal portion 141 is installed at each of side wall portions 1102 of the first slit 114A, and a portion thereof is disposed so as to be exposed by an inner space of the first slit 114A through a through hole formed in each of both side wall portions 1102. In addition, the terminal portion 141 is connected to the battery 12 through an electric wire (not shown). A circuit board or the like may be disposed at an upper side of an inner bottom surface 1101 of the module main body portion 110.
Pins 118 installed at side walls of the first slit 114A are respectively inserted into and coupled to both ends of the terminal portion 141. A spring 119 is interposed between the end of the terminal portion 141 and a head portion of the pin 118, and the portion of the terminal portion 141 which is inserted into the through hole of the side wall portion 1102 is elastically pressed toward the inner space of the first slit 114A by the spring 119. In this manner, since the terminal portion 141 is elastically supported by the inner space of the first slit 114A, the contact between the terminal portion 141 of the docking module 100 and the dock terminal 220 of the dock 200 may be stably maintained when the dock terminal 220 of the dock 200 is inserted into the first slit 114A.
In the above, the terminal portion 141 disposed in the first slit 114A has been described, but the terminal portion 142 of the second slit 116A may also be configured in the same manner as the terminal portion 141.
The cover portion 120 is used to open and close the first slit 114A and the second slit 116A which are formed on the bottom surface of the module main body portion 110. The cover portion 120 is coupled to a linear guide 117 formed in the module main body portion 110 so as to slidably move with respect to the module main body portion 110.
The cover portion 120 includes a coupling pin 125 that passes through a rear wall portion of the module main body portion 110 and is inserted into the module main body portion 110. A spring 130 is interposed between a head portion of the coupling pin 125 and the rear wall portion of the module main body portion 110 as a pressing unit. Since the head portion of the coupling pin 125 is elastically pressed by the spring 130, the cover portion 120 to which the coupling pin 125 is fixed comes into close contact with the module main body portion 110 in a forward direction. Meanwhile, in the current embodiment, a case where the spring 130 elastically presses the cover portion 120 has been described. However, the cover portion 120 may be elastically supported by using a pressing unit formed of another elastic material such as rubber. In addition, such a pressing unit may use attraction and repulsion between magnets or may use attraction between a magnet and a magnetic material.
FIG. 4A is a schematic bottom view of the docking module 100 in a state illustrated in FIG. 2. When an external force is not applied to the cover portion 120, the cover portion 120 is located so as to cover the first slit 114A and the second slit 116A which are formed on the bottom surface of the module main body portion 110. When the first slit 114A and the second slit 116A are covered by the cover portion 120, the terminal portions 141 disposed in the inner spaces of the first slit 114A and the second slit 116A are also covered. In this manner, when the cover portion 120 covers the first slit 114A and the second slit 116A, foreign substances are effectively prevented from entering the first slit 114A and the second slit 116A, and thus a bad connection between the terminal portion 141 of the docking module 100 and the dock terminal 220 of the dock 200 due to the entrance of foreign substances may be effectively prevented.
FIG. 4B is a schematic bottom view illustrating a state where the cover portion 120 is shifted rearward in the docking module 100.
Referring to FIG. 4B, when the cover portion 120 is shifted rearward from the module main body portion 110 due to an external force, the first slit 114A and the second slit 116A which are covered by the cover portion 120 are exposed to the outside. Accordingly, the terminal portions 141 disposed on the inner sides of the first slit 114A and the second slit 116A are also exposed to the outside.
The external force for shifting the cover portion 120 rearward may be applied by the dock terminal 220 of the dock 200. That is, as the mobile robot 10 approaches the dock 200, the dock terminals 220 of the dock 200 may be respectively inserted into the first slit 114A and the second slit 116A while pushing the cover portion 120 of the docking module 100 of the mobile robot 10 rearward.
FIGS. 5 and 6 are schematic views illustrating a state where the mobile robot 10 approaches and is coupled to the charging dock 2.
Referring to FIGS. 5 and 6, when the dock 200 and the docking module 100 of the mobile robot 10 are coupled to each other, the dock terminals 220 of the dock 200 are respectively inserted into the first slit 114A and the second slit 116A while pushing the cover portion 120 of the docking module 100. At this time, the spring 130 into which the coupling pin 125 of the cover portion 120 is inserted contracts. The dock terminals 220 of the dock 200 which are inserted into the first slit 114A and the second slit 116A come into contact with and are electrically connected to the terminal portions 141 of the docking module 100.
Meanwhile, when the mobile robot 10 moves backward with respect to the dock 200 to thereby be separated from the dock 200, the cover portion 120 of the docking module 100 of the mobile robot 10 may be returned to its original state by the spring 130 and then cover the first slit 114A and the second slit 116A again to effectively prevent foreign substances from entering the first slit 114A and the second slit 116A.
The control unit 14 controls the battery 12, the driving unit 13, the information collection unit 15, the communication unit 16, the track recognition unit 18, and the docking module 100 of the mobile robot 10, and may include a microprocessor. The control unit 14 may control the mobile robot 10 in response to a control command received from an operator in a wireless manner, or may control the mobile robot 10 in response to a program that is previously loaded thereto. In addition, the control unit 14 may control units of the mobile robot 10 so that the mobile robot 10 performs functions such as avoidance of an obstacle, acquisition of peripheral information, or recognition of a track marked on the ground surface to move along the track. In addition, the control unit 14 may control the mobile robot 10 by monitoring an amount of charge of the battery 12 and then returning to the dock 200 when the amount of charge of the battery 12 is decreased to equal to or less than a predetermined value.
When the mobile robot 10 approaches and is coupled to the dock 200, the dock 200 is coupled to the docking module 100 of the mobile robot 10, and transmits electric power for charging the mobile robot 10 to the docking module 100. The dock 200 is connected to an external power source so as to supply power to the mobile robot 10.
FIG. 7 is a schematic plan view of the dock 200. Referring to FIG. 7, the dock 200 includes a base portion 210 and a pair of the dock terminals 220. The base portion 210 is fixed to the ground surface so that the dock 200 is stably located on the ground surface.
The dock terminal 220 is an electrical terminal for supplying power to the mobile robot 10, and is electrically connected to an external power source unit 300. Each dock terminal 220 is installed at the base portion 210 so as to move in a direction (y-axis direction) which intersects an approaching direction of the mobile robot 10, and is elastically supported by a spring 215. Accordingly, each dock terminal 220 moves when an external force is applied thereto, and then elastically returns to the original state when the external force disappears.
Next, an effect of the docking system 1 according to the current embodiment will be described with reference to the accompanying drawings.
FIG. 8 is a schematic view illustrating a case where the mobile robot 10 obliquely approaches the dock 200. FIG. 8 schematically illustrates the docking module 100 of the mobile robot 10, and the dock 200.
Referring to FIG. 8, even if the mobile robot 10 obliquely approaches the dock 200, the terminal portions of the dock 200 are respectively inserted into the first guide space 114 and the second guide space 116 and are then guided to the first slit 114A and the second slit 116A. Thus, the dock terminals 220 of the dock 200 are stably induced to be inserted into the first slit 114A and the second slit 116A, and are stably connected to the terminal portions 141 and 142 respectively disposed in the first slit 114A and second slit 116A. In addition, since the dock terminals 220 of the dock 200 are elastically pushed out when the first, second, and third protrusion portions 111, 113, and 115 of the docking module 100 of the mobile robot 10 are pushed thereinto, the dock 200 and the docking module 100 of the mobile robot 10 may be coupled to each other more easily.
FIGS. 9A and 9B are schematic views illustrating a case where the mobile robot 10 shifted to one side approaches the dock 200. As illustrated in FIG. 9A and 9B, even if the mobile robot 10 approaches the dock 200 in a state where the mobile robot 10 is shifted to the left or right side, the dock terminals 220 of the dock 200 are effectively guided to the first slit 114A and the second slit 116A by the first guide space 114 and the second guide space 116 of the docking module 100 of the mobile robot 10, respectively. In addition, since the dock terminals 220 of the dock 200 may also move elastically, the dock terminals 220 are smoothly induced to be inserted into the first slit 114A and the second slit 116A without meeting any obstruction.
In this manner, with regard to the mobile robot 10 and the dock 200 which employ the docking system 1 according to the current embodiment, even if the mobile robot 10 approaches the dock 200 obliquely or in a state where the mobile robot 10 is shifted to one side, the mobile robot 10 and the dock 200 may be coupled to each other without any problem. Therefore, the need to precisely control the mobile robot 10 for docking decreases, and the possibility of failure of docking may be significantly reduced.
Next, a method of docking a mobile robot 10 according to another embodiment will be described with reference to the accompanying drawings. The method of docking the mobile robot 10 according to the current embodiment may employ the above-mentioned docking system.
FIG. 10 is a schematic flow chart illustrating a method of docking the mobile robot 10 according to the current embodiment. FIG. 11 is a schematic view illustrating a state where the mobile robot 10 approaches a dock 200 by using the method of docking the mobile robot 10 according to the current embodiment. In the current embodiment, an example of the dock 200 used to charge the mobile robot 10 will be described.
Referring to FIG. 10, the method of docking the mobile robot 10 according to the current embodiment includes marking a closed curve passing through the dock 200 on the ground surface (operation S10), causing the mobile robot 10 to approach the closed curve (operation S20), causing the mobile robot 10 to recognize the closed curve and to move along the closed curve (operation S30), coupling a docking module 100 of the mobile robot 10 to the dock 200 (operation S40), and charging a battery 12 of the mobile robot 10 (operation S50).
The marking of the closed curve passing through the dock 200 on the ground surface (operation S10) includes marking a track having a closed curve TR shape which may be recognized by a track recognition unit 18 of the mobile robot 10 on the ground surface G. The closed curve TR may be formed of a material having absorbance or color that is different from that of the ground surface G so as to be recognized by the track recognition unit 18. In addition, when the track recognition unit 18 is a unit sensing a variation in a magnetic field, the closed curve TR may be formed of a material having a magnetic characteristic that is different from that of the ground surface G.
Referring to FIG. 11, in the docking method of the current embodiment, two closed curves TR are provided, and the closed curves TR are disposed in such a manner that one end of one closed curve TR and one end of the other closed curve TR are adjacent to each other. The dock 200 is disposed in portions of the two closed curves TR which are adjacent to each other, so as to be simultaneously located on the two closed curves TR.
The causing of the mobile robot 10 to approach the closed curve (operation S20) includes causing the mobile robot 10 to move in a direction the mobile robot 10 approaches the closed curve as illustrated in ① of FIG. 11. The mobile robot 10 may be previously programmed so as to store information on the position of the dock 200 and to move toward the dock 200 when the mobile robot 10 is required to be coupled to the dock 200, for example, in order to be charged. In addition, the mobile robot 10 may be controlled by an operator in a wireless manner to thereby approach the dock 200. In the current embodiment, the closed curves TR are marked in the vicinity of the dock 200, and thus the mobile robot 10 is located on the closed curves TR before reaching the dock 200.
The causing of the mobile robot 10 to recognize the closed curve and to move along the closed curve (operation S30) includes causing the mobile robot 10 located on the closed curves TR to recognize the closed curves TR through the track recognition unit 18 and to move along the closed curves TR as illustrated in ② of FIG. 11. Each closed curve TR is formed to pass through the dock 200, and thus the mobile robot 10 approaches the dock 200 while moving along the closed curves TR.
The coupling of the docking module 100 of the mobile robot 10 to the dock 200 (operation S40) includes causing the mobile robot 10 to approach the dock 200 while moving along the closed curves TR to thereby be coupled to the dock 200. Since the mobile robot 10 of the current embodiment employs the docking module 100 of the above-mentioned docking system, the mobile robot 10 may be smoothly coupled to the dock 200 without any problem even though the position of the mobile robot 10 with respect to the dock 200 is not correctly controlled due to, for example, a case where the mobile robot 10 approaches the dock 200 obliquely or in a state where the mobile robot 10 is shifted to one side. That is, the dock terminals 220 of the dock 200 are smoothly connected to the terminal portions 141 and 142 of the docking module 100 of the mobile robot 10.
The charging of the battery 12 of the mobile robot 10 (operation S50) includes causing the dock 200 connected to an external power source to supply power to the battery 12 of the mobile robot 10 through the docking module 100 of the mobile robot 10 coupled thereto.
When the battery 12 of the mobile robot 10 is fully charged by being supplied with electric power, the control unit 14 may sense the full charge of the battery 12 and may move the mobile robot 10 in a direction in which the mobile robot 10 may be separated from the dock 200. When the docking module 100 of the mobile robot 10 is separated from the dock 200 by the mobile robot 10 moving backward from the dock 200, the cover portion 120 of the docking module 100 of the mobile robot 10 is elastically restored so as to cover the first slit 114A and the second slit 116A, and thus foreign substances may be effectively prevented from entering the first slit 114A and the second slit 116A. That is, the terminal portions 141 and 142 of the mobile robot 10 may be effectively protected.
According to the method of docking the mobile robot 10 of the current embodiment, even if the mobile robot 10 is not precisely controlled in order to be coupled to the dock 200, the mobile robot 10 may adopt a posture appropriate for docking while moving along the closed curves TR for guiding the mobile robot 10 to the dock 200. In addition, in the current embodiment, since the closed curves TR are marked in both sides with the dock 200 as the center, the mobile robot 10 may be induced to the dock 200 even though the mobile robot 10 approaches toward any one of the both sides with the dock 200 as the center. That is, as long as the mobile robot 10 is controlled to enter a region where the closed curve TR is marked, the subsequent docking of the mobile robot 10 may be performed without any problem. Such an advantage may be particularly magnified in an environment where the mobile robot 10 may not correctly find the position of the dock 200 or the movement of the mobile robot 10 may not be correctly controlled.
In the above, some exemplary embodiments have been described, but the present invention is not limited thereto and may be embodied in various other ways.
For example, in the above-mentioned embodiment, a case where the docking module 100 of the mobile robot 10 includes the first slit 114A and the second slit 116A has been described, but the docking module 100 of the mobile robot 10 may include only one slit. When the mobile robot 10 includes only one slit, negative and positive terminal portions may be disposed in an inner space of the slit. In this case, a guide space may also be provided so as to guide the terminal portions of the dock 200 to the slit.
In addition, in the method of docking the mobile robot 10 according to the above-mentioned embodiment, a pair of the closed curves TR are provided at both sides with the dock 200 as the center. However, only one closed curve passing through the dock 200 may be provided, or three or more closed curves passing through the dock 200 may be provided.
In addition, in the above description, the dock terminals 220 of the dock 200 are elastically supported, but the dock terminals 220 of the dock 200 are not required to be elastically supported. Although the dock terminals 220 of the dock 200 may elastically return to their original states after the movement of the dock terminals 220, the dock terminals 220 may be configured to maintain their positions even if an external force applied thereto disappears after the movement of the dock terminals 220.
It should be understood that the exemplary embodiments described herein should be considered in a descriptive sense only and not for purposes of limitation. Descriptions of features or aspects within each embodiment should typically be considered as available for other similar features or aspects in other embodiments.
While one or more embodiments have been described with reference to the figures, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.
The exemplary embodiments may be applied to various docking modules, mobile robots, and docking systems of the mobile robots.

Claims (15)

  1. A docking module comprising:
    a main body portion;
    a first slit that is formed in the main body portion so as to extend in one direction; and
    at least one terminal portion that is disposed at an inner side of the first slit,
    wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
  2. The docking module of claim 1, further comprising:
    a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located; and
    a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  3. The docking module of claim 1, wherein the main body portion comprises
    a second slit that is formed to be parallel to the first slit, and
    at least one terminal portion that is disposed at an inner side of the second slit, and
    wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
  4. A mobile robot comprising the docking module of claim 1.
  5. The mobile robot of claim 4, further comprising a battery,
    wherein the terminal portion of the docking module is electrically connected to the battery.
  6. The mobile robot of claim 4, wherein the docking module comprises
    a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located, and
    a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  7. The mobile robot of claim 4, wherein the main body portion of the docking module comprises
    a second slit that is formed to be parallel to the first slit, and
    at least one terminal portion that is disposed at an inner side of the second slit, and
    wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
  8. A docking system comprising:
    a mobile robot comprising the docking module of claim 1; and
    a dock that is coupled to the docking module of the mobile robot,
    wherein the dock comprises
    a base portion, and
    a dock terminal that protrudes from the base portion and is inserted into the first slit of the docking module when being coupled to the docking module so as to be connected to the terminal portion of the docking module.
  9. The docking system of claim 8, wherein the docking module of the mobile robot comprises
    a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located, and
    a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  10. The docking system of claim 8, wherein the main body portion of the docking module of the mobile robot comprises
    a second slit that is formed to be parallel to the first slit, and
    at least one terminal portion that is disposed at an inner side of the second slit, and
    wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
  11. A method of docking a mobile robot, the method comprising:
    marking a closed curve on a ground surface and positioning a dock on the closed curve;
    causing the mobile robot to approach the closed curve;
    causing the mobile robot to recognize the closed curve and to move along the closed curve; and
    coupling a docking module of the mobile robot to the dock.
  12. The method of claim 11, wherein a plurality of the closed curves disposed at one and another sides with the dock as the center are provided.
  13. The method of claim 11, wherein the mobile robot comprises the docking module coupled to the dock, and
    wherein the docking module comprises
    a main body portion;
    a first slit that is formed in the main body portion so as to extend in one direction; and
    at least one terminal portion that is disposed at an inner side of the first slit,
    wherein a first guide space is provided at one side of the main body portion, the first guide space being connected to the first slit and being formed in such a manner that a size of the first guide space becomes smaller toward the first slit.
  14. The method of claim 13, wherein the docking module comprises
    a cover portion that is movably coupled to the main body portion so as to cover or open a portion of the first slit at which the terminal portion is located; and
    a pressing unit that presses the cover portion in a direction in which the cover portion covers the portion of the first slit at which the terminal portion is located.
  15. The method of claim 13, wherein the main body portion of the docking module comprises
    a second slit that is formed to be parallel to the first slit, and
    at least one terminal portion that is disposed at an inner side of the second slit, and
    wherein a second guide space is provided at the one side of the main body portion, the second guide space being connected to the second slit and being formed in such a manner that a size of the second guide space becomes smaller toward the second slit.
PCT/KR2013/010054 2012-11-21 2013-11-07 Docking module, mobile robot comprising docking module, docking system comprising mobile robot, and method of docking mobile robot WO2014081141A1 (en)

Applications Claiming Priority (2)

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KR10-2012-0132600 2012-11-21
KR1020120132600A KR101964372B1 (en) 2012-11-21 2012-11-21 Docking module

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KR20140065281A (en) 2014-05-29

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