Docking device, docking system comprising the docking device and docking method

Abstract

Disclosed are a docking device, a docking system including the same, and a docking method, in which the docking device for moving a mobile robot to a docking area includes a docking guide configured to detect an entry position of the mobile robot and guide the mobile robot to the docking area, and the docking guide includes a connection portion configured to be coupled to and decoupled from a portion of the mobile robot, and a guide rail arranged to provide a path for the docking guide to move to the docking area in response to the portion of the mobile robot being coupled to the docking guide.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims the benefit of priority under 35 U.S.C. §119(a) to Korean Patent Application No. 10-2022-0082640 filed on July 5, 2022, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein in its entirety for all purposes. TECHNICAL FIELD

[0003] The disclosure relates to a docking device, a docking system including the same, and a docking method. BACKGROUND

[0004] The statements in this section merely provide background information related to the present disclosure and do not constitute the related art.

[0005] In the logistics field in which autonomous mobile robots (AMRs) are employed for logistics automation, the autonomous mobile robots are configured to load and transport goods at a designated place. A docking device is arranged in a logistics field, which assists the autonomous mobile robots to accurately arrive at the designated place.

[0006] Figure 1 is a perspective view of a docking device according to a comparative example.

[0007] The autonomous mobile robot 20 detects the reflection plate 11 and moves toward the reflection plate 11. The docking device 10 detects the entry of the autonomous mobile robot 20 using the sensor 14 and operates the driver 13 to move the reflection plate 11 inward using the belt 12. Then, the autonomous mobile robot 20 enters while maintaining a certain distance from the reflection plate 11 without colliding with the reflection plate 11.

[0008] As the autonomous mobile robot 20 enters while maintaining a certain distance from the reflection plate 11, the docking device 10 uses a plurality of sensors 14 to determine the position of the autonomous mobile robot 20. When it is determined that the autonomous mobile robot 20 has reached a predetermined position, the docking device 10 stops the operation of the driver 13 to stop the reflection plate 11.

[0009] In the case of the docking device 10 according to the comparative example, it is necessary to provide a controller (not shown), the belt 12, the driver 13, and a plurality of sensors 14 to control the operation of the reflection plate 11. In addition, it is necessary to continuously supply power supplied to control the operation of the reflection plate 11.

[0010] The above-mentioned background art is possessed or acquired by the inventors in the course of acquiring the present disclosure, and does not necessarily be considered as a known art which is publicly disclosed to the general public before the present disclosure is submitted. SUMMARY

[0011] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the DETAILED DESCRIPTION. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to determine the scope of the claimed subject matter.

[0012] In one general aspect, there is provided a docking apparatus for moving a mobile robot to a docking area, the docking apparatus including: a docking guide configured to detect an entry position of the mobile robot and guide the mobile robot to the docking area, and the docking guide including a connection portion configured to couple to and decouple from a portion of the mobile robot; and a guide rail arranged to provide a path for the docking guide to move to the docking area in response to the portion of the mobile robot being coupled to the docking guide.

[0013] The connection portion can include: an engagement portion configured to couple to the portion of the mobile robot; a guide pin configured to decouple the mobile robot from the engagement portion; and a body portion supporting the engagement portion and the guide pin.

[0014] The docking guide can include a reflective plate configured to reflect a signal from an object detector for the mobile robot to detect a docking entry position using the object detector.

[0015] The engagement portion can be formed to protrude in a direction in which the mobile robot exits the docking area.

[0016] The connection portion can be rotatably coupled to the reflective plate.

[0017] The guide pin can be coupled to the body portion so as to be rotatable in a direction in which the mobile robot exits the docking area.

[0018] The docking apparatus can include a decoupling causing unit arranged on a movement path of the mobile robot, wherein the decoupling causing unit can be configured to decouple the mobile robot from the engagement portion by engaging the guide pin during movement of the mobile robot.

[0019] The separation inducing unit can include a fixed portion fixed to a rail plate supporting the guide rail, and a protruding portion protruding from the fixed portion and configured to engage the guide pin.

[0020] The docking guide can include an elastic member connecting the body portion and the reflection plate.

[0021] The docking guide can be configured to be coupled to the mobile robot and to move together with the mobile robot in response to the mobile robot leaving the docking area.

[0022] The docking guide can include a support portion configured to allow one side of the support portion to contact the mobile robot in response to the mobile robot entering the docking area.

[0023] The docking guide can include a bumper disposed on one side of the support portion for preventing the mobile robot in contact with the support portion from being damaged.

[0024] The docking apparatus can include a sensed body disposed in the docking area, and the sensed body is configured to determine whether the mobile robot has arrived at the docking area.

[0025] The guide pin can be configured to rotate within an angle in one direction with respect to the body portion, and not to rotate in a direction opposite to the one direction with respect to the body portion; in response to the mobile robot moving toward the docking area, the guide pin can rotate within the angle in the one direction so as to avoid a protruding structure disposed on the guide rail and maintain an engaged state of the engagement portion with the mobile robot; and in response to the mobile robot leaving the docking area, the guide pin can engage the protruding structure and rotate together with the body portion and the engagement portion in the opposite direction so as to release the engagement portion from the mobile robot.

[0026] The mobile robot and the docking guide can be separated as at least a portion of the connection portion rotates.

[0027] The mobile robot can be an autonomous mobile robot.

[0028] In another general aspect, a docking system is provided, including a mobile robot and a docking device configured to guide the mobile robot to a docking area, wherein the docking device includes: a docking guide configured to detect an entry position of the mobile robot and guide the mobile robot to the docking area, and the docking guide includes a connection portion configured to couple to and decouple from a portion of the mobile robot; and a guide track arranged to provide a path for the docking guide to move to the docking area in response to the portion of the mobile robot being coupled to the docking guide.

[0029] The mobile robot can enter the docking area while pushing the docking guide.

[0030] The mobile robot can include a bracket configured to couple to and decouple from the connection portion.

[0031] At least a portion of the connection portion can have a ring shape.

[0032] Other features and aspects will be apparent from the following detailed description, the drawings, and the claims. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a perspective view of a docking device according to a comparative example.

[0034] Figure 2 is a perspective view of a docking device according to an embodiment of the present disclosure.

[0035] Figure 3 is a zoomed-in view of a docking guide according to an embodiment of the present disclosure.

[0036] Figure 4 is a side view of a docking guide according to an embodiment of the present disclosure.

[0037] Figures 5 to 9 illustrates a docking process of an autonomous mobile robot in a docking system according to an embodiment of the present disclosure.

[0038] Figure 10 is a flowchart of a docking method according to an embodiment of the present disclosure.

[0039] Throughout the drawings and detailed description unless otherwise described or provided, the same drawing reference numerals will be understood to refer to the same element, feature, and structure. The drawings can not be to scale and the relative dimensions, proportions, and descriptions of the elements in the drawings can be exaggerated for clarity, illustration, and convenience. DETAILED DESCRIPTION

[0040] The following detailed description is presented to aid the reader in gaining a comprehensive understanding of the methods, apparatuses, and / or systems described herein. However, various changes, modifications, and equivalents can be used, and the

[0041] The terminology used herein is for the purpose of describing particular examples only and is not intended to be limiting of the examples described herein. Describing an example as "comprising" a particular feature or structure means that the example can or can not comprise that particular feature or structure, but that the example can contain additional features or structures. Describing an example as "comprising" a particular feature or structure means that the example can or can not comprise that particular feature or structure, but that the example can contain additional features or structures. Describing an example as "comprising" a particular feature or structure means that the example can or can not comprise that particular feature or structure, but that the example can contain additional features or structures.

[0042] Although terms such as "first," "second," and "third" or A, B, (a), (b), etc. can be used herein to describe various different components, parts, zones, layers, sections, or segments, these components, parts, zones, layers, sections, or segments are not limited by these terms. For example, each of these terms is not used to define the nature, order, or sequence of the corresponding components, parts, zones, layers, sections, or segments, but is only used to distinguish the corresponding components, parts, zones, layers, sections, or segments from the other components, parts, zones, layers, sections, or segments. Therefore, the first components, parts, zones, layers, sections, or segments involved in the examples described herein can also be referred to as the second components, parts, zones, layers, sections, or segments without departing from the teachings of the examples.

[0043] Throughout the specification, when a component or element is described as "connected to," "coupled to," or "bonded to" another component or element, it can be directly connected, coupled, or bonded to the other component or element, or one or more other components or elements can be interposed therebetween. When a component or element is described as "directly connected to," "directly coupled to," or "directly bonded to" another component or element, no other element is interposed therebetween. Likewise, expressions such as "between," "between," and "adjacent to," and "immediately adjacent to" can also be interpreted as described above. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. For example, "A and / or B" can be interpreted as "A," "B," or "A and B."

[0044] The terminology used herein is for the purpose of describing particular examples only and is not intended to be limiting of examples. As used herein, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0045] The docking device according to an embodiment can provide convenience of maintenance by minimizing components of the device.

[0046] The docking device according to an embodiment can be docked with an autonomous mobile robot without any power supply.

[0047] The docking device according to an embodiment can reduce manufacturing costs.

[0048] The problems to be solved by the disclosure are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art through the following description.

[0049] Hereinafter, some exemplary embodiments of the disclosure will be described in detail with reference to the accompanying drawings. In the following description of some embodiments, for the purpose of clarity and brevity, a detailed description of known functions and configurations incorporated herein will be omitted.

[0050] In addition, various different terms such as first, second, A, B, (a), (b), etc. are used only to distinguish one component from other components, not to imply or suggest the substantial, order or sequence of the components.

[0051] When referring to any component "connected" or "coupled" to another component, it should be understood that any component can be directly connected or coupled to another component, or connected or coupled to another component with other components interposed therebetween.

[0052] Throughout this specification, unless explicitly described to the contrary, "comprise" or "include" any component will be understood to imply the inclusion of other elements rather than the exclusion of any other elements.

[0053] The term "unit", "module" and the like described in the specification mean a unit that processes at least one function or operation, and can be implemented by hardware, or software, or a combination of hardware and software.

[0054] It should be noted that the description of any one embodiment can also apply to other embodiments except that the description of the other embodiments can be different.

[0055] The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, will be described below. Figure 1 The description of the present disclosure disclosed herein is intended to describe exemplary embodiments of the present disclosure, and is not intended to represent the only embodiments in which the present disclosure can be practiced.

[0056] Figure 2 is a perspective view of a docking device according to an embodiment of the present disclosure.

[0057] Figure 3 is an enlarged view of a docking guide according to an embodiment of the present disclosure.

[0058] Figure 4 is a side view of a docking guide according to an embodiment of the present disclosure.

[0059] Referring to Figures 2 to 4 , the docking device 100 according to the present disclosure can include all or a part of a docking guide 110, a guide roller 120, a sensed body 130, a separation causing unit 160, a first stopper 171, a second stopper 172, a guide rail 180, and a rail plate 190.

[0060] The guide rail 180 is arranged to provide a path for the docking guide 110 to move to the docking area B. When the mobile robot 200 (see below Figure 5 ) also known as an autonomous mobile robot 200 recognizes the docking guide 110 and enters the docking area B, the guide rail 180 can be arranged to allow the docking guide 110 to move linearly toward the docking area B.

[0061] In a section in which the autonomous mobile robot 200 moves along the guide rail 180, a plurality of guide rollers 120 can be spaced apart from each other at predetermined intervals. The guide roller 120 can be arranged to guide the movement of the autonomous mobile robot 200 when the autonomous mobile robot 200 enters and exits the docking area B.

[0062] The sensed body 130 is a recognition device arranged to determine whether the autonomous mobile robot 200 has reached the docking area B using an object detector (not shown). The object detector can be arranged below the autonomous mobile robot 200. When the autonomous mobile robot 200 detects the sensed body 130, it determines that the autonomous mobile robot 200 has reached the docking area B, and then slows down and stops.

[0063] The separation causing unit 160 can be disposed to be fixed to at least a portion of the rail plate 190 along the guide rail 180. The separation causing unit 160 is disposed on a movement path of the autonomous mobile robot 200 and the docking guide 110. When the autonomous mobile robot 200 leaves the docking area B to the first position A, the separation causing unit 160 is configured to allow the autonomous mobile robot 200 and the docking guide 110 to be separated at the first position A. The separation causing unit 160 can be disposed at a point where the autonomous mobile robot 200 enters the docking apparatus 100 for docking, i.e., at the first position A.

[0064] The separation causing unit 160 can include a fixing portion 162 and a protruding portion 164. The fixing portion 162 is fixed to at least a portion of the rail plate 190 along the guide rail 180. The protruding portion 164 can be formed to protrude from the fixing portion 162 to allow the connection portion 112, particularly the guide pin 1126, to engage with the protruding portion 164. The protruding portion 164 is configured to allow the guide pin 1126 to engage with the protruding portion 164 when the autonomous mobile robot 200 coupled to the docking guide 110 leaves the docking area B to the first position A. In Figures 2 to 4 The fixing portion 162 and the protruding portion 164 are shown to form a right angle in the drawings, but are not necessarily limited thereto, and it should be noted that the protruding portion 164 can protrude at another angle at which the guide pin 1126 can engage with the protruding portion 164. The protruding portion 164 can have a length of 10 mm or more.

[0065] The first stopper 171 plays an auxiliary role in stopping the autonomous mobile robot 200 in the docking area B. Under normal circumstances, the autonomous mobile robot 200 can be stopped in the docking area B without the first stopper 171 by recognizing the sensed body 130. However, in the case where the autonomous mobile robot 200 cannot correctly recognize the sensed body 130, the first stopper 171 plays an auxiliary role in stopping the autonomous mobile robot 200.

[0066] The docking apparatus 100 can further include a charging unit 140 and a charging terminal 150. The charging terminal 150 can be formed to extend from one surface of the charging unit 140 toward the first stopper 171. When the autonomous mobile robot 200 is stopped in the docking area B and a load object, a portion of the autonomous mobile robot 200 can come into contact with the charging terminal 150, so that the autonomous mobile robot 200 can be charged.

[0067] Referring back to Figures 2 to 4 The docking guide 110 can include a support portion 111, a connection portion 112, a reflection plate 113, a coupling member 114, and an elastic member 115. The docking guide 110 is configured to detect an entry position of the autonomous mobile robot 200 (see belowFigure 5 ), so as to guide the autonomous mobile robot 200 to the docking area B.

[0068] When the autonomous mobile robot 200 contacts the docking guide 110, the support portion 111 protrudes in a direction perpendicular to the reflection plate 113 to allow one side of the support portion 111 to contact a portion of the autonomous mobile robot 200.

[0069] The support portion 111 can include a buffer 1114. The buffer 1114 is arranged to mitigate an impact applied to the autonomous mobile robot 200 when the support portion 111 contacts the autonomous mobile robot 200. The buffer 1114 can be a roller. The buffer 1114 is arranged on one side of the support portion 111 to prevent damage to the autonomous mobile robot 200 contacting the one side of the support portion 111.

[0070] The connection portion 112 is configured to be coupled to and separated from at least a portion of the autonomous mobile robot 200, particularly the bracket 210 (see below Figure 5 ). The connection portion 112 can be rotatably coupled to the reflection plate 113. The connection portion 112 can be coupled to the reflection plate 113 by means of a coupling member 114. The connection portion 112 and the reflection plate 113 can be coupled by means of a pin or a hinge to allow the connection portion 112 to rotate and / or move up and down. The connection portion 112 and the reflection plate 113 can be coupled such that at least a portion of the connection portion 112 covers an upper portion of the reflection plate 113. The connection portion 112 can be made of a material such as galvanization in order to minimize wear due to friction caused by repeated operations.

[0071] The connection portion 112 can include an engagement portion 1122, a body portion 1124, and a guide pin 1126.

[0072] The engagement portion 1122 is configured to be coupled to and separated from at least a portion of the autonomous mobile robot 200 (see below Figure 5 ), particularly the bracket 210 (see below Figure 5 ). The engagement portion 1122 can be configured to engage with the bracket 210. One side of the engagement portion 1122 can have a hook shape. The engagement portion 1122 can be formed to extend from the reflection plate 113 in a direction away from the autonomous mobile robot 200. The engagement portion 1122 is connected to the body portion 1124. The engagement portion 1122 can be coupled to the reflection plate 113 so as to rotate about a center axis together with the body portion 1124. Here, as Figure 4 indicated in FIG. 16, when the engagement portion 1122 and the body portion 1124 are coupled by means of a pin or a hinge, the center axis can refer to a center axis of the pin or the hinge.

[0073] The main body 1124 is connected to one side of the joint 1122 and is rotatably connected to the reflector 113. The main body 1124 can be connected to the reflector 113 to cover a portion of the upper part of the reflector 113. The main body 1124 is configured to support the joint 1122, guide pin 1126, etc.

[0074] When the autonomous mobile robot 200, connected to the docking guide 110, leaves the docking area B and reaches the first position A, the guide pin 1126 is configured to separate the docking guide 110 from the autonomous mobile robot 200. The guide pin 1126 is connected to a part of the main body 1124. The guide pin 1126 can be rotatably connected to the main body 1124.

[0075] The guide pin 1126 can separate the docking guide 110 from the autonomous mobile robot 200 by cooperating with the separation initiation unit 160. Specifically, when the autonomous mobile robot 200, which is connected to the docking guide 110, leaves the docking area B and reaches the first position A, the guide pin 1126 engages with the protrusion 164 of the separation initiation unit 160. As the guide pin 1126 engages with the protrusion 164, the engagement portion 1122, which is rotatably connected to the reflector 113, rotates downward, and as a result, the docking guide 110 and the autonomous mobile robot 200, which are engaged with each other, can be separated (see...). Figure 9 Thus, the docking device 100 according to this disclosure can return the reflector 113 to its original position using only the simple structure of the connecting part 112 and the bracket 210 without any power supply, thereby simplifying the configuration of the device and improving the convenience of maintenance.

[0076] like Figure 4 As shown, the guide pin 1126 can be connected to the main body 1124 for rotation in one direction. Specifically, the guide pin 1126 can be connected by means of a pin or hinge to one side of the main body 1124 extending from the top to the bottom of the reflector 113. Figure 4As shown, the guide pin 1126 can be configured to rotate in the direction of departure of the autonomous mobile robot 200, but not in the direction of entry. Since the guide pin 1126 is configured to be able to rotate in the direction of departure of the autonomous mobile robot 200, even in the case where a foreign object such as a bolt or nut exists on the movement path of the guide pin 1126 when the autonomous mobile robot 200 enters, the guide pin 1126 rotates in the direction of departure of the autonomous mobile robot 200, so that the autonomous mobile robot 200 and the docking guide 110 can enter the docking area B without any obstacle. Also, since the guide pin 1126 is configured not to rotate in the direction of entry of the autonomous mobile robot 200, even in the case where a foreign object such as a bolt or nut exists on the movement path of the guide pin 1126 when the autonomous mobile robot 200 departs, the guide pin 1126 engages with the protrusion 164 of the separation causing unit 160, so that the autonomous mobile robot 200 and the docking guide 110 can smoothly separate at the first position A. As such, in the docking device 100 according to the present disclosure, since the guide pin 1126 is configured to be able to rotate in one direction, in the case where a foreign object exists on the path during entry and departure of the autonomous mobile robot 200, the autonomous mobile robot 200 can be allowed to smoothly operate without any obstacle, and it is also possible to prevent components of the docking device 100 from being damaged.

[0077] The guide pin 1126 can have a length greater than that of the protrusion 164 of the separation causing unit 160. For example, if the above-mentioned protrusion 164 of the separation causing unit 160 has a length of 10 mm or more, the guide pin 1126 can have a length of 35 mm or more. Thus, even in the case where a foreign object such as a bolt or nut exists on the movement path of the autonomous mobile robot 200 (typically within 20 mm), the autonomous mobile robot 200 and the docking device 100 can smoothly operate.

[0078] The connection portion 112 can be coupled to the reflection plate 113 by means of a coupling member 114. The engagement portion 1122, the main body portion 1124, and the coupling member 114 can be coupled by means of a pin or a hinge. For example, the coupling member 114 can be coupled to the reflection plate 113 in a thread-fastened manner. Here, the length of the coupling member 114 can be determined based on the length of the reflection plate 113 and / or the horizontal length of the connection portion 112, but can be determined to have a minimum length to allow the connection portion 112 to be firmly fixed to the reflection plate 113 and the autonomous mobile robot 200 to easily recognize the reflection plate 113.

[0079] The elastic member 115 can connect the connection portion 112 and the reflection plate 113. As Figure 4As shown, one side of the elastic member 115 can be connected to a lower portion of the reflection plate 113 in the entering direction of the autonomous mobile robot 200, and the other side can be connected to the opposite side connected to the engagement portion 1122 of the main body portion 1124. Because the elastic member 115 is connected in the above-described manner, the connection portion 112 that rotates to separate the autonomous mobile robot 200 from the docking guide 110 can return to the original position of the connection portion 112 by the elastic force of the elastic member 115. The elastic member 115 can be, for example, a spring, and can be plural in number.

[0080] The reflection plate 113 is configured to receive a signal from an object detector and reflect the signal so as to be used for the autonomous mobile robot 200 to detect a docking entry position using the object detector. Here, the object detector can be a radar, a lidar, an ultrasonic sensor, or the like. In addition, in order to improve recognition accuracy of the autonomous mobile robot 200, a QR code can be attached to at least a portion of the reflection plate 113.

[0081] Figures 5 to 9 A docking process of an autonomous mobile robot in a docking system according to an embodiment of the disclosure is illustrated.

[0082] Before the docking process is illustrated, as Figures 5 to 9 shown, the autonomous mobile robot 200 can include a bracket 210 configured to be coupled to and separated from the connection portion 112. The bracket 210 is disposed on at least a portion of the autonomous mobile robot 200. The bracket 210 can be disposed at a position facing the docking guide 110 when the autonomous mobile robot 200 enters the docking area B. In addition, if a portion of the engagement portion 1122 has a ring shape, at least a portion of the bracket 210 can have a ring shape corresponding to the shape of the engagement portion 1122 so as to allow the bracket 210 and the engagement portion 1122 to be coupled to each other. For example, as Figures 5 to 9 shown, the ring shape of the engagement portion 1122 can be formed to face upward, and the ring shape of the bracket 210 can be formed to face downward. However, the shapes of the engagement portion 1122 and the bracket 210 are not limited thereto, and can have other shapes capable of being fastened to each other, or have ring shapes formed in different directions.

[0083] Figure 5 It is shown that the autonomous mobile robot 200 recognizes the docking guide 110 including the connection portion 112, and moves toward the docking guide 110 in the docking system 1000 according to the disclosure.

[0084] When the autonomous mobile robot 200 enters the docking device 100, the autonomous mobile robot 200 travels through the guider roller 120 that guides movement of the autonomous mobile robot 200 within the docking device 100.

[0085] Figure 6 It is shown that the autonomous mobile robot 200 enters the docking area B in a state in which the autonomous mobile robot 200 contacts the bumper 1114 of the docking guider 110 in the docking system 1000.

[0086] When the autonomous mobile robot 200 enters the docking area B under the guidance of the guider roller 120, the autonomous mobile robot 200 moves while pushing the docking guider 110. The autonomous mobile robot 200 can move in a state in which the autonomous mobile robot contacts the bumper 1114 of the support portion 111 of the docking guider 110. The autonomous mobile robot 200 can move the docking guider 110 by pushing the bumper 1114 that contacts the autonomous mobile robot.

[0087] Figure 7 It is shown that the autonomous mobile robot 200 has reached the docking area B in the docking system 1000.

[0088] When the autonomous mobile robot 200 detects the sensed subject 130, it is determined that the autonomous mobile robot 200 has reached the docking area B, and then slows down and stops.

[0089] Figure 8 It is shown that the autonomous mobile robot 200 leaves the docking area B in the docking system 1000.

[0090] The autonomous mobile robot 200 leaves in a direction opposite to a direction in which the autonomous mobile robot 200 has entered along the guider roller 120. At this time, no power is supplied to the docking guider 110. The docking guider 110 is coupled to the autonomous mobile robot 200 by means of the bracket 210 and the engagement portion 1122, and moves together with the autonomous mobile robot 200.

[0091] As such, the docking guider 110 can be returned to the first position A using the engagement portion 1122 and the bracket 210 of a relatively simple structure without any power supply. Furthermore, since the bracket 210 and the engagement portion 1122 are coupled to each other only when the autonomous mobile robot 200 leaves the docking area B, damage to the coupling configuration of the autonomous mobile robot 200 and the docking guider 110 can be minimized, and the need for separate design and selection of standards according to the weight of the autonomous mobile robot 200 and / or goods loaded on the autonomous mobile robot 200 can be eliminated, thereby facilitating production and maintenance.

[0092] Figure 9 It is shown that the autonomous mobile robot 200 is separated from the docking device 100 in the docking system 1000.

[0093] The docking guide 110 is coupled to the autonomous mobile robot 200 and exits the docking area B. When the docking guide 110 reaches the first position A, the docking guide 110 is separated from the autonomous mobile robot 200. Specifically, when the autonomous mobile robot 200 coupled to the docking guide 110 exits the docking area B and reaches the first position A, the guide pin 1126 engages with the protrusion 164 of the separation causing unit 160. As the guide pin 1126 engages with the protrusion 164, the engagement portion 1122 coupled to the reflection plate 113 in a rotatable manner rotates downward, and as a result, the docking guide 110 and the autonomous mobile robot 200 engaged with each other are separated.

[0094] After the docking guide 110 and the autonomous mobile robot 200 are separated, the rotated connection portion 112 can return to the original position of the connection portion 112 by the elastic force of the elastic member 115.

[0095] Figure 10 is a flowchart of a docking method according to an embodiment of the disclosure. Hereinafter, redundant descriptions of the docking device 100 and the docking system 1000 will be omitted.

[0096] The autonomous mobile robot 200 recognizes the docking guide 110 in the first position A of the docking device 100 and moves toward the docking guide 110 (S10).

[0097] One side of the autonomous mobile robot 200 comes into contact with the docking guide 110, and the autonomous mobile robot 200 moves to the docking area B while pushing the docking guide 110 (S20). The autonomous mobile robot 200 moves to the docking area B along the guide roller 120 disposed on the docking device 100.

[0098] It is determined whether the autonomous mobile robot 200 has reached the docking area B (S30). The autonomous mobile robot 200 can determine whether the autonomous mobile robot 200 has reached the docking area B by detecting the sensed body 130 using the object detector.

[0099] When it is determined that the autonomous mobile robot 200 has not reached the docking area B, the above-mentioned step S20 is performed.

[0100] When it is determined that the autonomous mobile robot 200 has arrived at the docking area B, the docking guide 110 and the autonomous mobile robot 200 are coupled to each other (S40). The docking guide 110 is coupled to the autonomous mobile robot 200 by means of the connection portion 112 coupled to the reflection plate 113 in a rotatable manner. Specifically, the engagement portion 1122 of the connection portion 112 and the bracket 210 of the autonomous mobile robot 200 are coupled to each other, and as a result, the docking guide 110 and the autonomous mobile robot 200 are coupled to each other.

[0101] The autonomous mobile robot 200 exits the docking area B (S50). When the autonomous mobile robot 200 exits, the docking guide 110 coupled to the autonomous mobile robot 200 also moves together.

[0102] The autonomous mobile robot 200 is separated from the docking guide 110 at the first position A (S60). Since the docking guide 110 is stopped at the first position A by the second stopper 172 and the autonomous mobile robot 200 continues to move, the docking guide 110 and the autonomous mobile robot 200 are separated.

[0103] The autonomous mobile robot 200 and the docking guide 110 are separated, and the docking is terminated as the autonomous mobile robot 200 moves away from the docking apparatus 100.

[0104] According to an embodiment, the docking apparatus, the docking system, and the docking method can eliminate components such as a controller, a motor, a belt, a plurality of sensors, etc. used in a conventional docking apparatus, and replace these components with a docking guide having a relatively simple configuration, thereby reducing manufacturing costs.

[0105] According to an embodiment, it is possible to facilitate maintenance of the docking apparatus by minimizing components included in the docking apparatus.

[0106] According to an embodiment, it is possible to allow the docking guide to be docked with the autonomous mobile robot even in a case where a power supply of the docking guide is not received.

[0107] Although each of the respective processes in the flowchart is described as being performed in a sequence, it is intended only to illustrate the technical idea of some embodiments of the disclosure. In other words, a person skilled in the art to which some embodiments of the disclosure pertain can change and perform the processes described in the flowchart, or perform one or more processes in parallel in various different ways, without departing from the essential characteristics of some embodiments of the disclosure, and thus the flowchart is not limited to the chronological order.

[0108] The computing devices, electronic devices, processors, memories, and other components described herein are implemented by or represent hardware components. Examples of hardware components that can be employed in the implementation of the hardware components described in this application include controllers, sensors, generators, drivers, memories, comparators, arithmetic logic units, adders, subtractors, multipliers, dividers, integrators, and any other electronic components configured to perform the operations described in this application. In other examples, one or more hardware components that perform operations described in this application are implemented by computing hardware, such as by one or more processors or computers. A processor or computer can be implemented by one or more processing elements, such as logic gates arrays, controllers and arithmetic logic units, digital signal processors, microcomputers, programmable logic controllers, field programmable gate arrays, programmable logic arrays, microprocessors, or any other device or combination of devices configured to respond to and execute instructions in a defined manner to achieve a desired result. In one example, a processor or computer includes one or more memories that store instructions or software for execution by the processor or computer. The hardware components implemented by the processor or computer can execute instructions or software, such as an operating system (OS) and one or more software applications running on the OS, in order to perform the operations described in this application. The hardware components can also access, manipulate, process, create, and store data in response to the execution of the instructions or software. For simplicity, the singular term “processor” or “computer” can be used in this application to describe an example, but plural processors or computers can be used in other examples, or a processor or computer can include multiple processing elements, or multiple types of processing elements, or both. For example, a single hardware component or two or more hardware components can be implemented by a single processor, two or more processors, or a processor and a controller. One or more hardware components can be implemented by one or more processors, or a processor and a controller, and one or more other hardware components can be implemented by one or more other processors, or another processor and another controller. One or more processors, or a processor and a controller, can implement a single hardware component, or two or more hardware components.A hardware component can have any one or more of different processing configurations, examples of which include a single processor, independent processors, a parallel processor, a single-instruction single-data (SISD) multiple processor, a single-instruction multiple-data (SIMD) multiple processor, a multiple-instruction single-data (MISD) multiple processor, and a multiple-instruction multiple-data (MIMD) multiple processor.

[0109] The methods illustrated in the figures that perform the operations described in this application are performed by computing hardware, for example, by one or more processors or computers, which are implemented as described above to execute instructions or software to perform the operations performed by the methods described in this application. For example, a single operation or two or more operations can be performed by a single processor, two or more processors, or a processor and a controller. One or more operations can be performed by one or more processors, or a processor and a controller, and one or more other operations can be performed by one or more other processors, or another processor and another controller. One or more processors, or a processor and a controller, can perform a single operation, or two or more operations.

[0110] The instructions or software to control computing hardware, for example, one or more processors or computers, to implement the hardware components and perform the methods as described above, can be written in a computer program, a code segment, instructions, or any combination thereof, to individually or collectively instruct or configure one or more processors or computers as a machine or special-purpose computer to operate to perform the operations performed by the hardware components and the methods as described above. In one example, the instructions or software include machine code directly executable by one or more processors or computers, such as machine code produced by a compiler. In another example, the instructions or software include high-level code executable by one or more processors or computers using an interpreter. The instructions or software can be written in any programming language based on the block diagrams and flowcharts illustrated in the figures and corresponding descriptions in this document, which disclose algorithms and methods as described above for performing the operations performed by the hardware components.

[0111] Instructions or software that are used to control computing hardware (e.g., one or more processors or computers) to implement the hardware components and perform the methods as described above, as well as any associated data, data files, and data structures, can be recorded, stored, or fixed in one or more non-transitory computer-readable storage media. Examples of non-transitory computer-readable storage media include read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, nonvolatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD Re, Blu-ray or optical disk storage, a hard disk drive (HDD), a solid state drive (SSD), flash memory, card-type memory such as a multimedia card or card (e.g., a secure digital (SD) card or an extreme digital (XD) card), a magnetic tape, a floppy disk, a magneto-optical data storage device, an optical data storage device, a hard disk, a solid state disk, and any other device configured to store instructions or software, as well as any associated data, data files, and data structures, in a non-transitory manner and to provide access to the instructions or software, as well as any associated data, data files, and data structures, to one or more processors or computers so that the one or more processors or computers are enabled to perform the instructions. In one example, the instructions or software, as well as any associated data, data files, and data structures, are distributed over a network-coupled computer system so that the instructions and software, as well as any associated data, data files, and data structures, are stored, accessed, and executed in a distributed fashion by the one or more processors or computers.

[0112] While the present disclosure includes specific examples, it will be apparent to one skilled in the art, after an understanding of the disclosure herein, that various changes in form and details can be made without departing from the spirit and scope of the claims and their equivalents. The examples described herein are to be considered in a descriptive sense only and not for purposes of limitation. Descriptions of features or aspects in each example are to be considered as being applicable to similar features or aspects in other examples. Suitable results can be achieved if the described techniques are performed in a different order, and / or if the described systems, architectures, devices or circuits are combined in a different manner, and / or if the components are replaced or supplemented by other components or their equivalents.

[0113] Therefore, the scope of the present disclosure is not to be limited by the specific embodiments herein, but only by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the present disclosure.

Claims

1. A docking apparatus for moving a mobile robot to a docking area, the docking apparatus comprising: a docking guide configured to detect an entry position of the mobile robot and guide the mobile robot to the docking area, and the docking guide including a connection portion configured to be coupled to and decoupled from a portion of the mobile robot; and a guide rail arranged to provide a path for the docking guide to move to the docking area in response to the portion of the mobile robot being coupled to the docking guide, wherein the docking guide is configured to be coupled to the mobile robot and move together in response to the mobile robot leaving the docking area; and wherein the mobile robot is decoupled from the docking guide at a first position A where the mobile robot enters the docking apparatus for docking.

2. The docking device of claim 1, wherein, the connection portion including: an engagement portion configured to be coupled to the portion of the mobile robot; a guide pin configured to decouple the mobile robot from the engagement portion; and a body portion supporting the engagement portion and the guide pin.

3. The docking device of claim 2, wherein, the docking guide further including a reflection plate configured to reflect a signal from an object detector for the mobile robot to detect a docking entry position using the object detector.

4. The docking device of claim 3, wherein, the engagement portion is formed to protrude in a direction in which the mobile robot leaves the docking area.

5. The docking device of claim 3, wherein, the connection portion is rotatably coupled to the reflection plate.

6. The docking device of claim 2, wherein, the guide pin is coupled to the body portion so as to be rotatable in a direction in which the mobile robot leaves the docking area. 7.The docking apparatus of claim 2, further comprising a decoupling causing unit arranged on a movement path of the mobile robot, wherein the decoupling causing unit is configured to decouple the mobile robot from the engagement portion by engaging the guide pin during movement of the mobile robot.

8. The docking device of claim 7, wherein, the decoupling causing unit including: a fixing portion fixed to a rail plate supporting the guide rail; and a protruding portion protruding from the fixing portion and configured to engage the guide pin.

9. The docking device of claim 3, wherein, the docking guide further including an elastic member connecting the body portion and the reflection plate.

10. The docking device of claim 1, wherein, the docking guide further including a support portion configured to allow a side of the support portion to contact the mobile robot in response to the mobile robot entering the docking area.

11. The docking device of claim 10, wherein, the docking guide further including a bumper arranged on a side of the support portion to prevent the mobile robot urged to contact the support portion from being damaged. 12.The docking apparatus of claim 1, further comprising a sensed body arranged in the docking area and configured to determine whether the mobile robot has reached the docking area.

13. The docking device of claim 2, wherein: the guide pin is configured to rotate within an angle in one direction relative to the body portion and not rotate in an opposite direction relative to the body portion opposite the one direction; in response to the mobile robot moving toward the docking area, the guide pin rotates within the angle in the one direction so as to avoid a protruding structure disposed on the guide track and maintain the engaged state of the engagement portion with the mobile robot; and in response to the mobile robot leaving the docking area, the guide pin engages with the protruding structure and rotates with the body portion and the engagement portion in the opposite direction so as to release the engagement portion from the mobile robot.

14. The docking device of claim 1, wherein, the mobile robot and the docking guide separate as at least a portion of the connection portion rotates.

15. The docking device of claim 1, wherein, the mobile robot is an autonomous mobile robot.

16. A docking system, comprising: a mobile robot; and a docking device configured to guide the mobile robot to a docking area, wherein the docking device comprises: a docking guide configured to detect an entry position of the mobile robot and guide the mobile robot to the docking area, and the docking guide comprises a connection portion configured to couple to and decouple from a portion of the mobile robot; and a guide track disposed to provide a path for the docking guide to move to the docking area in response to the portion of the mobile robot coupling to the docking guide, wherein the docking guide is configured to couple to and move with the mobile robot in response to the mobile robot leaving the docking area; and wherein the mobile robot is decoupled from the docking guide at a first position A where the mobile robot enters the docking device for docking.

17. The docking system of claim 16, wherein, the mobile robot enters the docking area while pushing the docking guide.

18. The docking system of claim 16, wherein, the mobile robot comprises a bracket configured to couple to and decouple from the connection portion.

19. The docking system of claim 16, wherein, at least a portion of the connection portion has a ring shape.

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