Modular robots

Abstract

The present invention discloses a modular robot (10) with a drive platform, wherein the modular robot has the following modules: a first lateral drive module (12), the first lateral drive module having at least two wheels (120, 122) and at least one motor for driving at least one of the wheels; a second lateral drive module (14), the second lateral drive module having at least one wheel (140, 144) and at least one motor (141, 143) for driving the at least one wheel; a front beam module (16) for connecting the first end of the first lateral drive module and the first end of the second lateral drive module; and a rear beam module (18) for connecting the first end of the first lateral drive module and the first end of the second lateral drive module; wherein the two lateral drive modules are connected to each other. One of the lateral drive modules has a control unit (20) for controlling the motors of the two lateral drive modules, wherein the two drive modules have first connecting devices (128, 148) at their respective ends (124, 126, 144, 146), and the two crossbeam modules have second connecting devices (184, 186) in the region of their respective ends (180, 182), and the first connecting devices and the second connecting devices have mechanical connecting means (130, 150, 188), and wherein at least one of the two drive modules has at least one docking device (132, 134, 152, 154) for docking an application unit to the drive platform, and the at least one docking device has mechanical and / or electrical connecting means.

Description

Technical Field

[0001] The present disclosure relates to a modular robot for use, inter alia, in agriculture. Background Art

[0002] The use of robots in agriculture is known, for example, from US patent US 6671582 B1, international patent application WO 2006 / 063314 A2 and US patent application US 2015 / 142250 A1.

[0003] AGCO GmbH's Xaver project involves the use of robots in agriculture. Most of the robots used here each have their own integrated planting unit. These robots are electrically driven and communicate with a logic unit via the cloud.

[0004] Canadian company Clearpath Robotics offers a mobile robotic platform called “Warthog” that is suitable for use in agriculture and can be flexibly adapted to different purposes using modules.

[0005] The "AgriApps" project of the Fraunhofer Institute for Manufacturing Engineering and Automation IPA involves agricultural robots that can be adapted to their respective purposes using exchangeable, specialized sensors and actuators.

[0006] The French company NAIO TECHNOLOGIES similarly offers robots for use in agriculture, in particular for weeding vineyards. Information about such robots can be found on the Internet.

[0007] The Norwegian company Saga Robotics offers a robot for agricultural use called Thorvald. Information about the platform can be found online at: https: / / sagarobotics.com / pages / thorvald-platform. The dimensions of this robot platform can be flexibly adapted to suit the intended purpose. For example, the robot is available in a three-wheeled version, a narrow and low version ideal for use in confined greenhouses, a differential-drive version, and a standard version. The robot's width and length can be easily configured using aluminum tubing. Summary of the Invention

[0008] A modular robot, particularly for use in agriculture, will now be described below.

[0009] The modular robot disclosed herein includes a drive platform having the following modules: a first lateral drive module having at least two wheels and at least one motor for driving at least one of the wheels; a second lateral drive module having at least one wheel and at least one motor for driving the at least one wheel; a front crossbeam module for connecting a first end of the first lateral drive module to a first end of the second lateral drive module; and a rear crossbeam module for connecting a first end of the first lateral drive module to a first end of the second lateral drive module. One of the two lateral drive modules has a control unit for controlling the motors of the two lateral drive modules. The two drive modules have first connecting devices at their respective ends, and the two crossbeam modules have second connecting devices at their respective end regions, and the first and second connecting devices have mechanical connection means. At least one of the two drive modules has at least one docking device for docking an application unit to the drive platform, and the at least one docking device has mechanical and / or electrical connection means.

[0010] The first and second connection means can additionally include electrical connection means. This allows, for example, for supplying electrical energy to electrical units in the crossbeam module and / or the lateral drive module. The electrical connection means can also be used to connect signal transmission lines.

[0011] At least one of the two crossbar modules can include at least one sensor, in particular a radar, laser, or sonar sensor or a camera. Depending on the robot's purpose, a crossbar module equipped with a suitable sensor can be used. For example, a crossbar module equipped with a radar sensor can be used to measure distances. For object detection, a crossbar module equipped with a laser sensor and / or a camera can be used. When the robot is used underwater, a crossbar module equipped with a sonar sensor can be used to detect obstacles.

[0012] In particular, the mechanical connection means of the first and second connection means are designed so that they only allow a defined connection between the crossbeam module and the lateral drive module. This prevents incorrect assembly of the robot modules, such as, for example, mounting the crossbeam module at an angle to the lateral drive module.

[0013] In particular, these mechanical connection elements have three or more mortises and tenons, at least one of which is not arranged on a straight line connecting the mortises and tenons. This arrangement of mortises and tenons constitutes a measure that allows the specified connection between the crossbeam module and the lateral drive module to be achieved using relatively few mechanical elements.

[0014] The control unit can be designed to automatically configure itself during commissioning and after the drive platform is assembled from these modules by determining the types of lateral drive modules and crossbeam modules that the drive platform is composed of and, based on this information, configuring the electrical components of these modules, particularly the motors of these drive modules. For example, the control unit can determine the identifiers of the various modules of the robot and, based on these identifiers, configure the control of the modules' electrical components. If the crossbeam module is equipped with multiple sensors, the control unit can, for example, automatically determine the sensor type and load the appropriate software component to control the determined sensor type. In particular, the control unit can determine the motors used in the lateral drive units and, based on this information, adjust the control of these motors.

[0015] Furthermore, the control unit can be designed to communicate with the electrical components wirelessly and / or wired via data transmission lines in the drive module and crossbar module. Wireless communication has the advantage of eliminating the need for signal lines within the module for data transmission. Wired data transmission is particularly important when the most reliable transmission is important, especially when the robot is used in an environment where radar transmission cannot be guaranteed to be interference-free with the desired reliability.

[0016] At least one of the two drive modules can have an energy storage device for operating one or more motors of the drive module. For example, in the case of an electric motor, a battery, in particular a rechargeable battery or a fuel cell can be used as the energy storage device.

[0017] The wheels of the lateral drive modules can have a permanently defined orientation, and the control unit can be designed to control the motors of the lateral drive modules in such a way that the robot performs a turn by correspondingly controlling the rotational speeds of the motors of the lateral drive units. As a result, no complex mechanical or electromechanical steering devices are required.

[0018] Furthermore, the width of the robot's drive platform can be customized by using beam modules of corresponding lengths. This results in a universally adaptable drive platform for modular robots. In particular, this allows the drive platform to be adapted to the desired track width in a relatively simple manner by using beam modules of corresponding lengths.

[0019] Further features can be found in the following description with reference to the exemplary embodiments shown in the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Attached Figure 1 An exemplary embodiment of a modular robot is shown in FIG. DETAILED DESCRIPTION

[0021] In the following description, identical elements, functionally identical and functionally related elements may be provided with the same reference signs.Absolute values are indicated hereinafter merely by way of example and are not to be understood as limiting.

[0022] Figure 1 The drive platform of the modular robot 10 is shown, which is composed of several modules. These modules are two drive modules 12 and 14 and two crossbeam modules 16 and 18.

[0023] The two drive modules 12 and 14 are designed to be mirror-symmetrical in size and shape, and each has two wheels 120, 122 and 140, 142, respectively. A drive module can also have only one wheel or more than two wheels. Each of the two drive modules 12 and 14 has at least one motor, particularly an electric motor, for driving a wheel. In the case of drive module 14, two electric motors 141, 143 are schematically shown, which drive two wheels 140, 142, respectively.

[0024] In addition, only one of these drive modules, namely the drive module 14, has a control unit 20, which is configured to control the motors of both drive modules 12 and 14. The control unit 20 can additionally be configured for other functions of the robot, as will be described below. Finally, an energy storage device 24, in particular a rechargeable battery, is also integrated in the drive module 14, which energy storage device in particular supplies energy to drive the motors 141, 143 of the drive module 14. Such an energy storage device can also be provided in the drive module 12. As an alternative, the energy storage device 24 integrated in the drive module 14 can also supply electrical energy to the electric unit (such as the motor of the drive module 12) via a corresponding power supply cable extending in one of the two beam modules 16, 18.

[0025] Each of the drive modules 12 and 14 has a corresponding first connection device 128 and 148 at its respective end 124, 126 and 144, 146, respectively. The first connection devices 128 and 148 have corresponding mechanical connectors 130 and 150 in the form of tenons, which, in the exemplary embodiment shown, are arranged at the three corners of a triangle. Furthermore, the first connection devices 128 and 148 may have corresponding electrical connectors 136 and 156, for example in the form of electrical plug contacts. The first connection devices 128 and 148 primarily serve to mechanically secure the drive modules 12 and 14 to the crossbar modules 16 and 18. If the first connection devices 128 and 148 also have electrical connectors 136 and 156, electrical signals and / or electrical energy can also be transmitted via these connectors. In this case, the first connection devices also serve as the electrical interface between the individual modules 12, 14, 16, and 18. In particular, signals from or to the control units 20 of the various electrical or electronic components integrated in the modules 12, 16, 18 can be transmitted via the electrical wiring integrated in these modules via the electrical connectors 136, 156. For example, signals from the sensor 160 integrated in the crossbar module 16 can be transmitted via the electrical wiring and the electrical connectors 156 to the control unit 20 in the lateral drive module 14 for further processing.

[0026] The crossbeam modules 16, 18 are primarily used to establish a mechanically resilient connection between the two lateral drive modules 12 and 14 by means of the front crossbeam module 16 and the rear crossbeam module 18, thereby creating a mechanically stable drive platform for the robot 10. Crossbeam modules 16, 18 of different lengths can be used to create drive platforms for the robot 10 with different track widths, which is particularly advantageous for use in agriculture, since the track width of the drive platform can be adapted to the respective purpose simply by replacing the crossbeam modules 16, 18, without requiring complex mechanical adjustment options, such as shifting devices.

[0027] However, the crossbeam modules 16, 18 may also be equipped with one or more sensors 160 and thus implement additional functions of the robot 10. For example, radar, laser or sonar sensors and / or cameras may be used as sensors to detect the area around the robot 10, for example, to identify obstacles in the path of the robot 10 during agricultural use and, if necessary, automatically avoid these obstacles or, for example, automatically stop the robot 10 in time in front of an obstacle identified by the sensors 160. This can be performed fully automatically by the control unit 20, which can correspondingly control the motors 141, 143 to stop the robot 10.

[0028] In addition, the control unit 20 can also control the motors 141 and 143 to enable the robot 10 to travel around the identified obstacle by controlling the drive motors of the wheels 120 and 122 or 140 and 142 accordingly to influence the rotation speed of these wheels, thereby enabling the robot 10 to perform a turn. Figure 1 This is particularly advantageous in the case of the exemplary embodiment shown when it is desired to construct the drive modules 12 , 14 in the simplest possible manner, in particular when it is not desired that these drive modules include mechanical or electromechanical steering devices and when the corresponding wheels 120 , 122 and 140 , 142 have a permanently defined orientation 123 (i.e. cannot be steered).

[0029] To ensure that modules 12, 14, 16, 18 can be replaced as simply as possible and assembled without errors, crossbar modules 16, 18 can include mortises 188 as mechanical connectors for receiving tenons 130, 150 of drive modules 12, 14. Assembly simply requires positioning the crossbar so that one of its ends 180, 182 abuts against the ends 124, 126, 144, 146 of the drive modules, so that tenons 130, 150 engage in the corresponding mortise 188 and can be locked therein. Similarly, electrical connectors 136, 156 at the ends 124, 126, 144, 146 of the drive modules 12, 14 can make electrical contact with the corresponding electrical connectors 190 of the crossbar. Arranging tenons 130, particularly at the corners of a non-equilateral triangle, also ensures that the crossbar module can be mechanically connected to the drive module in only one way.

[0030] The two lateral drive modules 12 and 14 each additionally have two corresponding docking devices 132, 134 and 152, 154, which are provided for docking an application unit (not shown) on the drive platform. The docking devices 132, 134, 152, 154 can be designed as simple recesses or openings for inserting and locking corresponding fastening means of the application unit. In particular, these docking devices can additionally have electrical interfaces for supplying electrical energy to electrical components of the application unit (such as electric motors, actuators, sensors, etc.) and / or for data and / or signal transmission.

[0031] In particular, the modular robot described herein offers the advantages and possibilities listed below:

[0032] - Modular concept based on submodules that can be freely combined.

[0033] - Submodules: a drive module with an electric drive and wheels, an energy module with an electrical energy storage device (if necessary), a sensor module that can have a sensor combination (if necessary), a charging module that can have multiple different options for charging the electrical energy storage device (if necessary), and third-party modules can also be integrated through the definition of disclosed interfaces.

[0034] - Variation of the submodules allows a more specific adaptation to the application or area of use (e.g. by selecting a drive module with suitable tires to adapt to a specific track width, selecting a suitable sensor module for a specific task (e.g. a sensor system for detecting weeds)).

[0035] - The mechanical and electrical module interfaces can be designed according to the "error-proofing" principle, making it possible to ensure error-free assembly of the entire robot.

[0036] An automatic configuration of the control unit's software can be carried out based on the identified modular composition; in particular, the combination of modules can be identified by an algorithm implemented in the control unit's operating software.

[0037] - Acceptance of different attachments (operation modules) can be ensured via open standardized interfaces.

[0038] - Create a combination of modular robotic concepts and device carrier platforms.

[0039] - Freely configurable robot platforms can be created, particularly in line with safety requirements, which automatically and independently recognize module combinations.

[0040] - Repairs by the user are also possible, which in particular does not require any special knowledge; modules can be replaced in a simple manner.

[0041] - Low total cost of ownership due to simplified maintenance.

[0042] - Downtime is minimized due to quick repairs.

Claims

1. A modular robot (10) having a drive platform, the drive platform having the following modules: a first lateral drive module (12) having at least two wheels (120, 122) and at least one motor for driving at least one of the wheels; a second lateral drive module (14) having at least one wheel (140, 142) and at least one motor (141, 143) for driving the at least one wheel; - a front cross-beam module (16) for connecting the first end of the first lateral drive module and the first end of the second lateral drive module; and - a rear cross-beam module (18), the rear cross-beam module being used to connect the second end of the first lateral drive module and the second end of the second lateral drive module; - wherein one of the two lateral drive modules has a control unit (20) for controlling the motors of the two lateral drive modules, wherein the two drive modules have first connecting means (128, 148) at their respective ends (124, 126, 144, 146), and the two crossbeam modules have second connecting means (184, 186) in the region of their respective ends (180, 182), the first and second connecting means having mechanical connecting means (130, 150, 188), and - wherein at least one of the two drive modules has at least one docking device (132, 134, 152, 154) for docking the application unit on the drive platform, and the at least one docking device has mechanical and / or electrical connection means, The mechanical connection means (130, 150, 188) of the first connection device (128, 148) and the second connection device (184, 186) are designed such that they only allow a defined connection between the crossbeam module (16, 18) and the lateral drive module (12, 14). The mechanical connection devices have three or more mortise and tenon joints (130, 150, 188), wherein at least one mortise and tenon joint is not on a straight line connecting the mortise and tenon joints. The first connection device (128, 148) is used to mechanically fasten the drive module (12, 14) to the beam module (16, 18).

2. The robot according to claim 1, It is characterized by: The first connecting device (128, 148) and the second connecting device (184, 186) additionally have electrical connecting means (136, 156, 190).

3. The robot according to claim 1 or 2, It is characterized by: At least one of the two transverse beam modules (16) has at least one sensor (160).

4. The robot according to claim 1 or 2, It is characterized by: The control unit (20) is designed such that it automatically configures itself during commissioning and after the drive platform is assembled from the modules (12, 14, 16, 18) by determining the types of lateral drive modules (12, 14) and crossbeam modules (16, 18) from which the drive platform is assembled and configuring the control of the electrical components of these modules accordingly.

5. The robot according to claim 1 or 2, It is characterized by: The control unit (20) is designed to communicate with the electrical components wirelessly and / or in a wired manner via data transmission lines (22) in the drive modules and the crossbeam modules.

6. The robot according to claim 1 or 2, It is characterized by: At least one of the two drive modules (14) has an energy storage device (24) for operating one or more motors (141, 143) of the drive module (14).

7. The robot according to claim 1 or 2, It is characterized by: The wheels (120, 122) of the lateral drive modules have a permanently defined orientation (123), and the control unit (20) is designed to control the motors of the lateral drive modules in such a way that the robot performs a turn by correspondingly controlling the rotational speeds of the motors of the lateral drive units.

8. The robot according to claim 1 or 2, It is characterized by: The width of the robot's drive platform can be determined by using beam modules with matching lengths.

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