Actuator for autonomous mobile robot

Abstract

The invention provides an actuator for a mobile robot. The actuator includes two links having four degrees of freedom and is capable of depressing target buttons on elevator interior and exterior elevator panels from a single position with sufficient accessibility. The actuator comprises a camera used for sensing a target button, and two connecting rods used for translation and tilting movement can achieve the needed accessibility and position of the actuator according to the input of the camera. The actuator also includes a bevel gear set and a sub-link to rotate the end effector to ensure vertical access when the target button is depressed (optionally limiting the position to 0 DEG or 90 DEG). The actuator may firmly depress the target button without sliding. The whole module can be installed upwards or downwards according to requirements. Therefore, the actuator can be sufficiently miniaturized and applied to different robots.

Description

Technical Field

[0001] The present application relates to an actuator, and more particularly to an actuator with four degrees of freedom, so that an autonomous mobile robot can perform specific tasks according to requirements. Background Art

[0002] The use of autonomous mobile robots (AMRs) is increasing in various industries and applications, allowing the movement and handling of various goods and materials without human intervention. However, in most applications, AMRs can only operate in a single floor space or a single level of a building. This is due to the limited ability of AMRs to enter, exit, and operate elevators.

[0003] Recent urban buildings have introduced a type of smart elevator that can be operated by AMR through various channels. This type of AMR needs to include a communication interface for obtaining elevator information, making elevator calls, monitoring elevator status, and call monitoring. However, it is still challenging for AMR to introduce traditional elevators that do not have the aforementioned communication interface in most urban buildings. Although there have been recent solutions that allow AMRs to ride traditional elevators, their AMRs still require human intervention (such as pressing a button) or are designated as AMR-only and cannot be shared with humans.

[0004] There are methods to allow AMRs to ride in traditional elevators without human intervention, and a key part of their design is enabling the robot to interact with physical objects in the environment through an actuation system. Most proposed solutions are: 1) under-actuated, or 2) over-actuated.

[0005] Low actuation refers to a system with fewer actuators than the degrees of freedom to be controlled, and the actuators in such solutions are often simple in structure and have limited accessibility and button push capabilities. Therefore, such solutions require the AMR's mobile base to be positioned / docked with greater precision when performing button actuation.

[0006] Over-actuation is the opposite, where there are more actuators in the system than degrees of freedom to be controlled, and the actuators in such solutions are often too complex to achieve optimal button pressing capabilities. As a result, such solutions result in an AMR elevator ride solution that is too expensive and an undesirable module on a mobile robot.

[0007] From previous studies, it is known that a mobile robot needs to have at least 3 degrees of freedom actuators to enable operation in different elevator models and allow pressing the required buttons when the mobile base is not precisely positioned.

[0008] In view of this, how to provide an actuator with 4 degrees of freedom for a mobile robot to control elevators and automatic doors and solve the defects of the prior art is an urgent problem to be solved. Summary of the invention

[0009] The present invention aims to provide an actuator with 4 degrees of freedom for a mobile robot to operate elevators and automatic doors, and the mobile robot can use two-dimensional (2D) spatial positioning to move and navigate.

[0010] Another object of the present invention is to provide an actuator for a mobile robot to ride an elevator or open an automatic door without human intervention and without a communication interface with an elevator control system or an automatic door control system. The actuator includes two links with four degrees of freedom (i.e., translation, tilt and rotation) to operate an elevator call button (outside the elevator), a floor button (inside the elevator) or a target button on the automatic door from a single position with sufficient accessibility. The mobile robot includes a camera to sense the target button; the two links on the actuator with translation and tilt movement can achieve the desired accessibility and position of the actuator based on the input from the camera. The actuator also includes a bevel gear and a sub-link for rotating the end effector (tip, finger) to ensure that the end effector is in vertical contact when pressing the target button. Alternatively, the contact angle between the end effector and the target object can be limited to 0° or 90°. In addition, when the actuator returns to an original position, the first link and the second link are driven to fold close to each other along the plumb line, and the end effector returns to a position adjacent to the mounting base, so that the actuator has a smaller footprint and is less likely to collide with other objects in the original position. The entire module can be installed upward or downward as required. The actuator is fully miniaturized and more suitable for different mobile robots.

[0011] Another object of the present invention is to provide an actuator with 4 degrees of freedom and an end effector. The end effector of the actuator is made of neoprene or polyurethane (PU) rubber, which has a non-slip effect, is wear-resistant, chemical-resistant and does not harden over time. The end effector can also be composed of a soft end effector with a TPU tip that can deform when the target button is pressed. That is, the actuator can firmly press the target button without slipping. In addition, the end effector can also include a detachable tip, so that the shape and size of the end effector can be easily replaced, and different shapes can be used according to the target button. On the other hand, the actuator also includes a tactile feedback sensor integrated with the end effector to sense whether the actuator has pressed the elevator button and stop the movement (extending) of the actuator after the button is pressed. This can provide a feedback mechanism for the mobile robot to understand when the button pressing action is successfully completed and prevent the actuator from overexerting, otherwise it may cause component failure or damage to the elevator button panel. The lift panel or actuator will not be damaged after repeated pressing.

[0012] To achieve the above-mentioned purpose, an embodiment of the present invention provides an actuator for an autonomous mobile robot. The actuator includes a mounting base, a first dual-axis motor, a first connecting rod, a second dual-axis motor, a second connecting rod, a bevel gear transmission group and an end effector. The mounting base assembly is mounted on the autonomous mobile robot. There is a first degree of freedom between the mounting base and the first dual-axis motor, and the first dual-axis motor allows translation relative to the mounting base around a vertical axis. The first connecting rod has a first end and a second end opposite to each other, wherein the first end of the first connecting rod is connected to the mounting base through the first dual-axis motor and driven by the first dual-axis motor, wherein there is a second degree of freedom between the first connecting rod and the first dual-axis motor, and the first connecting rod allows tilting relative to the first dual-axis motor around a horizontal axis. The second dual-axis motor is pivotally connected to the second end of the first connecting rod, wherein there is a third degree of freedom between the first connecting rod and the second dual-axis motor, and the second dual-axis motor allows rotation relative to the first connecting rod around a horizontal axis. The second link has a third end and a fourth end opposite to each other, wherein the third end is connected to the second end of the first link through a second dual-axis motor, and the second link is controlled by the second dual-axis motor to tilt relative to the first link. A bevel gear set is disposed adjacent to the third end of the second link and is driven by the second dual-axis motor. The end effector is pivoted to the fourth end of the second link and is connected to the bevel gear set through a sub-link along the second link, wherein the end effector has a fourth degree of freedom between the fourth end of the second link, and the end effector is allowed to rotate about a horizontal axis relative to the fourth end of the second link, wherein the second dual-axis motor drives the sub-link through the bevel gear set to rotate the end effector to press the target button.

[0013] In one embodiment, the actuator further includes a camera assembly. The camera assembly includes a camera unit and a connection unit, wherein the camera unit is disposed on the first dual-axis motor through the connection unit, and the first connecting rod includes a receiving groove disposed adjacent to the first end, wherein when the first connecting rod and the second connecting rod are driven to fit with a plumb line, the end effector is driven to fit to an initial position of the mounting base, and the connection unit is accommodated in the receiving groove, so that the actuator occupies a smaller area.

[0014] In one embodiment, the distance from the second end of the first link to the camera unit is greater than the distance from the second end of the first link to the end effector on the fourth end of the second link, and the camera unit is not blocked by the second link and the end effector.

[0015] In one embodiment, the end effector is made of chloroprene rubber or polyurethane (PU) rubber to achieve an anti-slip effect.

[0016] In one embodiment, the end effector is wear resistant, chemical resistant, and hardens over time.

[0017] In one embodiment, the end effector is a soft end effector having a TPU tip that deforms when the target button is pressed.

[0018] In one embodiment, the end effector includes a detachable tip to easily change the shape and size of the end effector and allow the shape to be changed according to the target button.

[0019] In one embodiment, the end effector is used to press a target button to call an elevator in an elevator hall, control the elevator to a target floor, or activate an automatic door in a building.

[0020] In one embodiment, the actuator further includes an RFID tag with access rights, integrated with the end effector, and configured to be positioned to access an access card sensor disposed adjacent to the automatic door.

[0021] In one embodiment, the end effector is rotated by the bevel gear set and the sub-connecting rod to ensure that the end effector connected to the fourth end of the second connecting rod is perpendicular to the target button when actuated.

[0022] In one embodiment, the end effector is rotated by the bevel gear set and the sub-connecting rod to select a rotation angle, and the rotation angle is between 0° and 90° relative to the plumb line.

[0023] In one embodiment, the actuator also includes: a sensing module for sensing a target button; a cognitive module connected to the sensing module and locating the target button using a vertical coordinate (Z), a horizontal coordinate (X) and an orientation (θ); and a control module connected to the cognitive module to receive the vertical coordinate, horizontal coordinate and orientation of the target button.

[0024] In one embodiment, the sensing module includes an image capture module or a camera assembly, which is disposed adjacent to the mounting base.

[0025] In one embodiment, the first biaxial motor and the second biaxial motor are connected to a control module, and the control module drives the first biaxial motor and the second biaxial motor according to the vertical coordinate, the horizontal coordinate and the orientation of the target button.

[0026] In one embodiment, the autonomous mobile robot allows the use of 2D spatial positioning to approach the target button.

[0027] In one embodiment, a tactile feedback sensor is integrated with the end effector for button press feedback.

[0028] In one embodiment, the first link, the second link, and the end effector are allowed to move upward or downward relative to the mounting base.

[0029] The beneficial effect of the present invention is that the present invention provides an actuator with 4 degrees of freedom for a mobile robot to operate an elevator and an automatic door, and the mobile robot can use two-dimensional (2D) spatial positioning to move and navigate. The actuator is used by the mobile robot to take an elevator or open an automatic door without manual intervention and without a communication interface with an elevator control system or an automatic door control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following detailed description of the present invention and the schematic diagrams of the embodiments are intended to enable those skilled in the art to more fully understand the above contents, and are not intended to limit the present invention.

[0031] Figure 1 A structural stereoscopic diagram of an actuator of a preferred embodiment of the present invention is disclosed, wherein the actuator is folded to an initial position.

[0032] Figure 2 A structural stereoscopic diagram of an actuator in an operating state according to a preferred embodiment of the present invention is disclosed.

[0033] Figure 3 A side view of an actuator for pressing a target button according to a preferred embodiment of the present invention is disclosed.

[0034] Figure 4 A functional block diagram of an actuator according to a preferred embodiment of the present invention is disclosed.

[0035] Figure 5A and Figure 5B The elevator button panels outside and inside the elevator are disclosed separately.

[0036] Figure 6 The parking path of the autonomous mobile robot and the actuator outside the elevator is disclosed.

[0037] Figure 7 A schematic diagram illustrating typical position changes of the mobile robot relative to the button panel is disclosed.

[0038] Figure 8 Disclosed is a parking path of a mobile robot and an actuator in an elevator.

[0039] Fig.9A and Fig. 9B Expose the different button panels inside the elevator.

[0040] Fig. 10A and Fig. 10B The actuator of the preferred embodiment of the present invention is disclosed for pressing a target button upward and downward.

[0041] FIG. 11A to FIG. 11D Different examples of tip ends of the end effectors in the actuators of the present invention are disclosed. DETAILED DESCRIPTION

[0042] Some typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different ways, all of which do not depart from the scope of the present invention, and the description and drawings therein are essentially used for illustrative purposes rather than for limiting the present invention. For example, if the following content of the present disclosure describes that a first feature is set on or above a second feature, it means that it includes an embodiment in which the first feature set is in direct contact with the second feature, and also includes an embodiment in which the additional feature can be set between the first feature and the second feature, so that the first feature and the second feature may not be in direct contact. In addition, different embodiments of the present disclosure may use repeated reference symbols and / or marks. These repetitions are for the purpose of simplification and clarity, and are not used to limit the relationship between the various embodiments and / or the appearance structure. Furthermore, in order to facilitate the description of the relationship between a component or feature component and another (plural) component or (plural) feature component in the drawings, spatially related terms such as "high", "low", "upward", "downward", "front" and similar terms may be used. In addition to the orientation shown in the drawings, spatially related terms are used to cover different orientations of the device in use or operation. The device may also be positioned in another manner (e.g., rotated 90 degrees or located in other orientations), and the description of the spatially related terms used is interpreted accordingly. In addition, when a component is referred to as "connected to" or "coupled to" another component, it may be directly connected to or coupled to another component, or there may be an intervening component. Although the numerical ranges and parameters of the broad scope of the present disclosure are approximate values, the numerical values ​​are stated in the specific examples as accurately as possible. In addition, it is understood that although the words "first", "second", "third" and the like may be used in the claims to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are for different components respectively. For example: the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component without departing from the scope of the embodiment.

[0043] Figure 1 A structural stereoscopic diagram of an actuator of a preferred embodiment of the present invention is disclosed, wherein the actuator is folded to an initial position. Figure 2 A structural stereoscopic diagram of an actuator in an operating state according to a preferred embodiment of the present invention is disclosed. Figure 3 The present invention discloses a side view of an actuator for pressing a target button in a preferred embodiment of the present invention. The present invention provides an actuator for assisting an agent or a mobile robot, such as an autonomous mobile robot (AMR), to perform a specific task requested by a user, such as pressing an elevator call button in an elevator lobby to call an elevator, manipulating an elevator floor panel to reach a target floor, or activating an automatic door in a building.

[0044] like Figures 1 to 3 As shown, in this embodiment, the actuator 1 includes a mounting base 10, a first dual-axis motor 20, a first connecting rod 30, a second dual-axis motor 40, a second connecting rod 50, a bevel gear transmission group 70 and an end effector 60. The mounting base 10 is assembled and installed on the autonomous mobile robot, and the first dual-axis motor 20 is connected to the mounting base 10 and the first connecting rod 30. The first connecting rod 30 has a first end 31 and a second end 32 opposite to each other. The first end 31 of the first connecting rod 30 is connected to the mounting base 10 through the first dual-axis motor 20, and the movement of the first connecting rod 30 is driven by the first dual-axis motor 20. The second dual-axis motor 40 is pivotally connected to the second end 32 of the first connecting rod 30. The second connecting rod 50 has a third end 51 and a fourth end 54 opposite to each other, wherein the third end 51 is connected to the second end 32 of the first connecting rod 30 through the second dual-axis motor 40, and the fourth end 52 of the second connecting rod 50 is controlled by the second dual-axis motor 40 to tilt relative to the first connecting rod 30. The bevel gear set 70 is disposed adjacent to the second end 32 of the first link 30 and the third end 51 of the second link 50, and is driven by the second dual-axis motor 40. The end effector 60 is pivoted to the fourth end 52 of the second link 50, and is connected to the bevel gear set 70 via the sub-link 80 along the second link 50. The second dual-axis motor 40 drives the sub-link 80 via the bevel gear set 70 to rotate the end effector 60 to press the target button.

[0045] In the present embodiment, the bevel gear set 70 includes a first bevel gear 71 and a second bevel gear 72. The first bevel gear 71 is connected to the second end 32 of the first connecting rod 30, and the second bevel gear 72 is connected to the third end 51 of the second connecting rod. The first bevel gear 71 and the second bevel gear 72 are attached to each other at an angle. The dual-axis motor 40 drives the first bevel gear 71 to rotate, thereby driving the second bevel gear 72 to rotate through the first bevel gear 71. Preferably, but not exclusively, the first bevel gear 71 and the second bevel gear 72 are arranged at right angles. In an embodiment of the present invention, the bevel gear set 70 also includes a sub-connecting rod 80. The sub-connecting rod 80 is connected to the second bevel gear 72 at the third end 51 and to the end effector 60 at the fourth end 52. The sub-connecting rod 80 can also be indirectly driven by the second dual-axis motor 40 to rotate the end effector 60.

[0046] In an embodiment of the present invention, the actuator 1 includes a first dual-axis motor 20 and a second dual-axis motor 40 to achieve four degrees of freedom of translation, tilt and / or roll to manipulate the target object, such as pressing a button. The first dual-axis motor 20 directly provides two degrees of freedom for the first connecting rod 30, and the second dual-axis motor 40 provides another two degrees of freedom for the second connecting rod and the end effector 60. The first degree of freedom is provided between the mounting base 10 and the first dual-axis motor 20, and the first dual-axis motor 20 enables the first connecting rod 30 to translate relative to the mounting base 10 around the vertical axis C1 (i.e., parallel to the Z-axis direction). In this way, the mounting base 10 and the first dual-axis motor 20 form a first degree of freedom of swinging around the vertical axis C1, so that the actuator 1 can move in the XY plane. When the first dual-axis motor 20 swings relative to the mounting base 10, because the first dual-axis motor 20 is connected to the first connecting rod 10, the first connecting rod 30 will perform the same swinging motion. In addition, the second link 50 and the end effector 60 will also perform the same swinging motion. The first degree of freedom allows the actuator and ultimately the mobile robot to perform operations on the target object directly in front of the actuator, but also to perform operations on the target object at an offset angle, thereby providing better coverage in the XY plane.

[0047] The second degree of freedom is provided between the first connecting rod 30 and the first dual-axis motor 20, and the first connecting rod 30 can be tilted around the horizontal axis C2 at the first end 31 relative to the first dual-axis motor 20 and the mounting base 10, wherein the horizontal axis C2 is perpendicular to the Z axis. The first dual-axis motor 20 and the first connecting rod 30 form a second degree of freedom tilted around the horizontal axis C2, which enables the actuator to move in the ZX plane. In this embodiment, the first degree of freedom and the second degree of freedom provided by the first dual-axis motor 20 are 2 intersecting dimensions, and the rotation vertical axis C1 and the horizontal axis C2 are perpendicular to each other.

[0048] The third degree of freedom is provided between the second connecting rod 50 and the second dual-axis motor 40. The second dual-axis motor 40 enables the second connecting rod 50 to tilt relative to the first connecting rod 30 around the horizontal axis C3 at the second end 32, wherein the horizontal axis C3 is also perpendicular to the Z axis. The second dual-axis motor 40 and the first connecting rod 30 form a third degree of freedom that tilts around the horizontal axis C3, which enables the actuator to move in the ZX plane. The horizontal axis C2 and the horizontal axis C3 are parallel to each other at both ends of the first connecting rod 30, which together allow the actuator 1 to have a wider range of movement in the ZX plane, that is, the actuator can reach a higher or lower height than that with only a single connecting rod. As a result, the accessibility of the actuator and the mobile robot is further improved.

[0049] The fourth degree of freedom is provided between the end effector 60 and the fourth end 52 of the second link 50, so that the end effector 60 can rotate around the horizontal axis C4 relative to the fourth end 52 of the second link 50, wherein the horizontal axis C4 is also perpendicular to the Z axis. The end effector 60 is pivoted to the second link 50 to form a fourth degree of freedom of rotation around the horizontal axis C4 at the fourth end 52. Through the fourth degree of freedom, the end effector 60 can approach the target object at a better angle to ensure the stability of its contact. For example, the end effector 60 can press the target button vertically or at other desired angles. As described above, the end effector 60 is driven by the second dual-axis motor 40 through the bevel gear set 70. The second dual-axis motor 40 provides the third degree of freedom and the fourth degree of freedom at both ends of the second link 50 through the bevel gear set 70. In a preferred embodiment, the first bevel gear 71 and the second bevel gear 72 are arranged vertically, and the rotation axis C3 of the third degree of freedom is parallel to the rotation axis C4 of the fourth degree of freedom.

[0050] In an exemplary embodiment of the present invention, the actuator 1 can reach a height of 1,320 mm in the vertical direction relative to the mounting base 10 and can pan 16 degrees in the horizontal direction relative to the mounting base 10. Of course, the coverage of the actuator and the degree of motion of each degree of freedom can be selected according to user needs, application scenarios or other factors.

[0051] In addition, in an embodiment of the present invention, the first link 30 and the second link 50 are folded and retracted to be close to each other along the plumb line. And when the first link 30 and the second link 50 are folded and retracted, the end effector 60 is driven to maintain a straight line with the second link 50. Preferably, but not exclusively, the main surfaces of the first link 30 and the second link 50 are vertically aligned, so that the actuator 1 has a smaller footprint and will not easily collide when it is in the initial position. Preferably, but not exclusively, the actuator 1 can be controlled to perform a specific task, such as pressing a target button, such as calling an elevator in an elevator lobby, controlling the elevator to a target floor, or starting an automatic door in a building. In order to stably press the target button, the end effector 60 rotates through the bevel gear set 70 and the sub-link 80 to ensure that the end effector 60 connected to the fourth end 52 of the second link 50 remains perpendicular to the target button during actuation. That is, when the actuator 1 is controlled to press the target button, the bevel gear set 70 and the sub-connecting rod 80 cooperate with the drive of the second dual-axis motor 40 to rotate the end effector 60 and ensure that the end effector 60 is vertically close to the target button. Of course, in other embodiments, the end effector 60 can be rotated by the bevel gear set 70, and the contact angle between the end effector 60 and the target object can be, for example, but not limited to, 0° or 90°. The present invention is not limited thereto.

[0052] In an embodiment of the present invention, the actuator 1 further includes a camera assembly 11 for sensing the action of the actuator 1 or the target object manipulated by the actuator 1. In this embodiment, the camera assembly 11 includes a photographing unit 111 and a connecting unit 112. The connecting unit 112 is mounted on the side wall of the first dual-axis motor 20, and the camera unit 11 is disposed on the first dual-axis motor 20 through the connecting unit 112 to have a sufficient field of view for sensing. Preferably, but not exclusively, the field of view of the camera unit 111 is maintained at a fixed horizontal height, and is allowed to translate and swing together with the first dual-axis motor 20 relative to the mounting base 10. In this embodiment, the first connecting rod 30 further includes a receiving groove 310 disposed at the first end 31, and the receiving groove 310 is spatially relative to the first dual-axis motor 20 and the connecting unit 112. Through the receiving groove 310, the first dual-axis motor 30 can tilt the first connecting rod 30, but will not collide with the first dual-axis motor 30 and the camera assembly 11. In addition, when the first link 30 and the second link 50 are driven to approach each other at the initial position, and the end effector 60 is driven to maintain the upright position, the connecting unit 112 is received in the receiving groove 310, so that the actuator 1 has a smaller footprint. Figure 2 In this embodiment, the distance from the second end 32 of the first link 30 to the connecting unit 112 is greater than the distance from the second end 32 of the first link 30 to the end of the end effector 60 on the fourth end 52. When the actuator 1 returns to the initial position, the camera unit 111 will not be blocked by the second link 50 and the end effector 60.

[0053] In the embodiment of the present invention, the first dual-axis motor 20 has two mutually perpendicular drive shafts, which pass through the mounting base 10 and the first end 31 of the first connecting rod 30 respectively. In addition, the second dual-axis motor 40 has two mutually perpendicular drive shafts, which pass through the second end 32 of the first connecting rod 30 and the bevel gear set 70 respectively. The third end 51 of the second connecting rod 50 is fixed to a side wall of the second dual-axis motor 40, which is opposite to the drive shaft passing through the second end 32 of the first connecting rod 30. The first bevel gear 71 is driven by the drive shaft of the second dual-axis motor 40. The second bevel gear 72 is pivoted to the third end 51 of the second connecting rod 50 and is used to drive the sub-connecting rod 80. The central axis D1 of the first bevel gear 71 and the central axis D2 of the second bevel gear 72 are perpendicular to each other. When the second dual-axis motor 40 drives the sub-connecting rod 80 through the bevel gear set 70, the end effector 60 rotates relative to the fourth end 52 of the second connecting rod 50 around the horizontal axis C4 under the drive of the sub-connecting rod 80.

[0054] Figure 4The functional block diagram of the actuator of the preferred embodiment of the present invention is disclosed. In the embodiment of the present invention, the actuator 1 is mounted on the mobile robot through the mounting base 10, has 4 degrees of freedom (DOF), and is used to manipulate the target object, such as pressing the call button on the elevator call button panel (outside the elevator) and the floor button on the elevator floor button panel (inside the elevator). In order to be integrated with the mobile robot, the actuator 1 also includes a sensing perception module 2, a cognitive module 3 and a control module 4. In some embodiments, the sensing perception module 2, the cognitive module 3 and the control module 4 are integrated with the mobile robot and used for self-positioning. In this embodiment, the sensing perception module 2 is used to sense the target object. Preferably, but not exclusively, the sensing perception module 2 includes an image capture module or a camera assembly 11, which is arranged next to or near the mounting base 10. It is worth noting that the camera assembly 11 can be integrated into a part of the actuator, or it can be separately arranged on the actuator 1. The cognitive module 3 is connected to the sensing perception module 2, and is used to locate the target object according to the vertical coordinate (Z), the horizontal coordinate (X) and the orientation (θ). The control module 4 is connected to the cognitive module 3 and is used to receive the vertical coordinates, horizontal coordinates and orientation of the target object. Further, the first biaxial motor 20 and the second biaxial motor 40 are connected to the control module 4, and the control module 4 drives the first biaxial motor 20 and the second biaxial motor 40 according to the vertical coordinates, horizontal coordinates and orientation of the target object.

[0055] Figure 5A and Figure 5B The elevator button panels outside and inside the elevator are disclosed separately. Figure 6 The parking path of the autonomous mobile robot and the actuator outside the elevator is disclosed. Please refer to Figures 1 to 4 , Figure 5A and Figure 6 .At Figure 5AIn the scenario shown in which the mobile robot presses the elevator call button 90a of the elevator call button panel 9a (outside the elevator), the mobile robot needs to approach the elevator call button panel 9a, detect the elevator call button 90a (up or down), and then press the target button. When the mobile robot arrives at the elevator lobby (in order to take the elevator), the actuator 1 needs to press the elevator call button 90a to call the elevator to the current floor. In order to approach the elevator call button panel 9a, the mobile robot senses and detects the button panel 9a and the elevator call button 90a (up or down) through the camera component 11 of the sensing and perception module 2, and confirms the position of the elevator call button panel 9 with the vertical coordinate (Z), horizontal coordinate (X) and orientation (θ) through the cognitive module 3. Preferably, but not exclusively, the sensing and perception module 2 and the cognitive module 3 can sense and confirm the status and position of various objects near the elevator, such as the personnel position PP, the call button panel position PA and the elevator door position PB based on, for example, point cloud feature technology. The mobile robot with the actuator 1 can first approach the call button panel position PA (docking outside) and detect the call button panel 9a. Then, the control module 4 of the mobile robot controls the first dual-axis motor 20 and the second dual-axis motor 40 to drive the actuator 1 with 4DOF motion, thereby actuating the end effector 60 to press the target button on the button panel 9a according to the ordinate, abscissa and orientation of the button panel 9a and the elevator call button 90. After the driving process is completed, the mobile robot can be positioned close to the center of the elevator door or the call button panel button while avoiding collision with people. Of course, the present invention is not limited to this.

[0056] It is worth noting that although the position of the mobile robot in 2D position (X, Y) and positioning angle (θ) can change frequently, the mobile robot does not need to dock with the elevator button panel 9a with high precision. In this way, the mobile robot of the present invention itself can use two-dimensional (2D) spatial positioning (such as waypoint positioning) to approach the target button, and further realize the precise manipulation of the target button by the actuator 1 with 4 degrees of freedom to effectively use the elevator (such as pressing the elevator call button and floor button) and the automatic door (clicking the access card). In addition, even if the mobile robot may approach the button panel in different orientations, the actuator 1 of the present invention (with 4DOF) also has the ability to press the target button on the button panel, regardless of the orientation of the mobile robot. The actuator 1 set on the mobile robot is able to reach the target button without redirecting the mobile robot in a specific direction. Preferably, but not exclusively, in order to allow the mobile robot to move using only two-dimensional (2D) spatial positioning, the actuator 1 with 4DOF can set the reachability based on the size and size of the target object (such as a button panel) using the vertical coordinate (Z), horizontal coordinate (X) and direction (θ). Figure 7A schematic diagram of a typical position change of a mobile robot relative to a button panel is disclosed. The mobile robot approaches an elevator button panel and operates a target button in 3D space. Its position is illustrated graphically. Figure 7 In FIG. 1 , the typical position change of the mobile robot in the X and Y coordinate axes is observed from the perspective of the call button panel and is in cm, which shows that the actuator 1 has the ability to press the target button when the mobile base of the mobile robot is in different orientations. Of course, the present invention is not limited to this.

[0057] Figure 8 Publicizes the robot's parking path in the elevator. Figures 1 to 4 , Figure 5b and Figure 8 .At Figure 5B In the scenario shown in which the mobile robot presses the elevator floor button 90b of the elevator floor button panel 9b (inside the elevator), the actuator 1 needs to press the target floor button 90b on the elevator floor button panel 9b to instruct the elevator to move to the target destination floor. Furthermore, the mobile robot with the actuator 1 needs to approach the elevator floor button panel 9b (inside the elevator), detect the elevator floor button 90b (for example, the 8th floor), and press the target button. In this embodiment, the mobile robot senses and detects the elevator floor button panel 9b and the elevator floor button (for example, the 8th floor) through the camera component 11 of the sensing perception module 2, and obtains the vertical coordinate (Z), horizontal coordinate (X) and azimuth angle (θ) to locate the button panel 9b through the cognitive module 3. Preferably, but not exclusively, the sensing perception module 2 and the cognitive module 3 are capable of detecting states and positions, such as the personnel position PP, the call button panel position PA, the elevator door position PB and the elevator floor button panel position PC, based on, for example, point cloud feature technology. The mobile robot with the actuator 1 can first approach the floor button panel position PC (internal docking) and detect the call button panel 9b first. Then, the control module 4 on the mobile robot controls the first dual-axis motor 20 and the second dual-axis motor 40 to drive the actuator 1 to move in four degrees of freedom, so that the end effector 60 can press the target button on the button panel 9b according to the vertical coordinates, horizontal coordinates and direction angles of the button panel 9b and the floor button 90b. After the button pressing program is completed, the mobile robot can be positioned and wait until it reaches the target destination floor. Of course, the present invention is not limited to this.

[0058] It is worth noting that for different elevator models, the floor button panel 9b (inside the elevator) includes multiple floor buttons 90b which may be arranged in more than one row. Fig.9A and Fig. 9B Different floor button panels in an elevator are disclosed. Since the panel layouts of different elevators may be different, the actuator 1 of the present invention can be set and / or actuated according to the pre-measured and recorded dimensions of the buttons and button panels. Fig.9A An exemplary button panel with a vertical arrangement is disclosed. The mounting base 10 of the actuator 1 can be set at a height DcfH relative to the floor FL, for example 950 mm, and the end actuator 60 of the actuator 1 has a vertical reachable range Dcpy (for example 300 mm) relative to the height of the floor button panel 9b, so as to press the top floor button 90b of the button panel 9b. In an exemplary embodiment of the present invention, the end actuator 60 of the actuator 1 can reach 90% of the elevator coverage. Similarly, Fig. 9B An exemplary button panel with a horizontal arrangement is disclosed. Preferably, but not exclusively, the mounting base 10 of the actuator 1 is disposed adjacent to the lower edge of the button panel, at a height DcfH relative to the floor FL, for example, 950 mm, and the end actuator 60 of the actuator 1 has a horizontal reachable range Dcpx (for example, 150 mm) relative to the width of the floor button panel 9b, so that the end actuator 60 of the actuator 1 can reach 95% of the elevator coverage. Of course, the vertical reachable range and the horizontal reachable range can be adjusted according to the actual application requirements, and the present invention is not limited thereto.

[0059] Fig. 10A and Fig. 10B The actuator of the preferred embodiment of the present invention is used to press the target button upward and downward. In this embodiment, the first link 30, the second link 50 and the end effector 60 can move upward or downward relative to the mounting base 10. Fig. 10A As shown, in this embodiment, the actuator 1 can be installed to extend upward and fold back to its original position. For example, the actuator 1 can be composed of a telescopic connecting rod, and the telescopic connecting rod retracts to the initial position after pressing a button. Fig. 10B As shown, in this embodiment, the actuator 1 can be installed to extend downward and fold back to the initial position. For the elevator floor button panel 9b with multiple columns of floor buttons 90b below the mounting base 10 of the actuator 1, the end effector 60 of the actuator 1 only takes a few seconds on average to press the target floor button 90b and return to the initial position. Of course, the actuator 1 with 4 degrees of freedom of the present invention can reach all columns of target buttons without reorienting the mounting base 10 of the actuator 1. Of course, the present invention is not limited to this.

[0060] Please refer to Figures 1 to 4. In this embodiment, the actuator 1 is assembled with an RFID tag with access rights integrated with the end effector 60, and can be positioned using an access card sensor (not shown) adjacent to the automatic door. Preferably, but not exclusively, the RFID tag is embedded in the removable tip 61 of the end effector 60. In the scenario of activating the automatic door in the building, the mobile robot with the actuator 1 needs to approach the access card sensor (next to the door), detect the access card sensor and position the tip 61 of the end effector 60 (with an RFID tag inside) close to the access card sensor. In this embodiment, the actuator 1 senses and detects the access card sensor through the camera component 11 of the sensing module 2, and obtains the vertical coordinate (Z), horizontal coordinate (X) and orientation (θ) of the access card sensor through the cognitive module 3. Then, the control module 4 of the actuator 1 on the mobile robot controls the end effector 60 of the actuator 1 to locate the RFID tag (i.e., the tip 61) with access rights according to the vertical coordinate, horizontal coordinate, and direction of the access card sensor to access the access card sensor disposed near the automatic door. Next, the mobile robot with the actuator 1 can wait for the door to open or press the door opening button to open the door. Of course, the present invention is not limited thereto.

[0061] On the other hand, the end effector 60 of the actuator 1 is further integrated with a tactile feedback sensor 62 for button pressing feedback. Since the tactile feedback sensor 62 is integrated with the end effector 60 of the actuator 1, it can sense whether the actuator 1 has successfully pressed the target button and stop the movement of the actuator 1 after pressing the target button. In other words, the actuator 1 also provides a feedback mechanism to the mobile robot to understand when the button pressing action is successfully completed and prevent the actuator 1 from over-exerting, otherwise it may cause component failure or damage to the elevator button panel. Of course, the present invention is not limited to this and will not be repeated.

[0062] FIG. 11A to FIG. 11D Different examples of the tip of the end effector in the actuator of the present invention are disclosed. In one embodiment, the end effector 60 further includes a tip 61a made of chloroprene rubber or polyurethane (PU) rubber, which has an anti-slip effect, so that the actuator 1 can firmly press the target button without slipping. Fig.11A As shown, the tip 61a is detachable and can be easily removed and replaced. In one embodiment, the end effector 60 is a soft end effector having a TPU tip 61b, such as Fig. 11B As shown, it can deform when the target button is pressed. In other embodiments, the end effector 60 and / or the tip 61, 61a, 61b are also wear-resistant, chemical-resistant, and harden over time. In other embodiments, the actuator 1 also includes a spherical end effector 60a (such as Fig. 11C ) or a capsule-shaped end effector 60b (as shown Fig.11D As shown in FIG. 1 , the end effector 60, 60a, 60b is detachable and replaceable, so that the end effector 60, 60a, 60b can be easily replaced, and different shapes can be used according to the target button. In addition, the RFID tag and / or the tactile feedback sensor 62 can be embedded in the end effector 60, 60a, 60b to achieve various applications. Of course, the present invention is not limited to this and will not be repeated.

[0063] In summary, the present invention provides an actuator with 4 degrees of freedom for a mobile robot to operate an elevator and an automatic door, and the mobile robot can move and navigate using two-dimensional (2D) spatial positioning. The actuator is used by the mobile robot to ride an elevator or open an automatic door without human intervention and without a communication interface with the elevator control system or the automatic door control system. The actuator includes two links with 4 degrees of freedom (i.e., translation, tilt and rotation movement) to operate an elevator call button (outside the elevator), a floor button (inside the elevator) or a target button on the automatic door from a single position with sufficient accessibility. The mobile robot includes a camera to sense the target button; the two translation and tilt movement links on the actuator can enable the actuator to achieve the desired accessibility and position based on the input from the camera. The actuator also includes a bevel gear and a sub-link for rotating the end effector (tip, finger) to ensure vertical contact when the end effector presses the target button. Alternatively, the contact angle between the end effector and the target object can be limited to 0° or 90°. In addition, when the actuator returns to the original position, the first link and the second link are driven to fold closely to each other along the plumb line, and the end effector returns to a position adjacent to the mounting base, so that the actuator has a smaller footprint and is not easy to collide with other objects in the original position. The entire module can be installed upward or downward as required. The actuator is fully miniaturized and more suitable for different robots. Furthermore, the end effector of the actuator is made of chloroprene rubber or polyurethane (PU) rubber, which has an anti-slip effect, wear resistance, chemical resistance and will not harden over time. The end effector can also be composed of a soft end effector with a TPU tip, which can be deformed when the target button is pressed. That is, the actuator can firmly press the target button without slipping. In addition, the end effector can also include a detachable tip, so that the shape and size of the end effector can be easily replaced, and different shapes can be used according to the target button. On the other hand, the actuator also includes a tactile feedback sensor integrated with the end effector to sense whether the actuator presses the elevator button and stop the movement (extending) of the actuator after the button is pressed. This provides a feedback mechanism for the mobile robot to know when a button press has been successfully completed and prevents the actuator from overexerting, which could cause component failure or damage to the elevator button panel. The elevator panel or actuator will not be damaged after repeated presses.

[0064] The present invention can be modified in various ways by those skilled in the art, but all of them are within the scope of the protection intended by the attached claims.

Claims

1. An actuator for an autonomous mobile robot, comprising: A mounting base, assembled and mounted on the autonomous mobile robot; a first dual-axis motor, wherein the mounting base and the first dual-axis motor have a first degree of freedom therebetween, and the first dual-axis motor allows translation about a vertical axis relative to the mounting base; a first connecting rod having a first end and a second end opposite to each other, wherein the first end of the first connecting rod is connected to the mounting base through the first dual-axis motor and driven by the first dual-axis motor, wherein a second degree of freedom is provided between the first connecting rod and the first dual-axis motor, and the first connecting rod is allowed to tilt about a horizontal axis relative to the first dual-axis motor; a second dual-axis motor pivotally connected to the second end of the first link, wherein a third degree of freedom is provided between the first link and the second dual-axis motor, and the second dual-axis motor is allowed to rotate about a horizontal axis relative to the first link; a second connecting rod having a third end and a fourth end opposite to each other, wherein the third end is connected to the second end of the first connecting rod through the second dual-axis motor, and the second connecting rod is controlled by the second dual-axis motor to tilt relative to the first connecting rod; a bevel gear set disposed adjacent to the third end of the second connecting rod and driven by the second dual-shaft motor; and An end effector is pivoted to the fourth end of the second link and connected to the bevel gear set via a sub-link along the second link, wherein a fourth degree of freedom is provided between the end effector and the fourth end of the second link, and the end effector is allowed to rotate around a horizontal axis relative to the fourth end of the second link, wherein the second dual-axis motor drives the sub-link via the bevel gear set to rotate the end effector to press a target button.

2. The actuator for an autonomous mobile robot according to claim 1, further comprising: A camera assembly includes a camera unit and a connecting unit, wherein the camera unit is set on the first dual-axis motor through the connecting unit, and the first connecting rod includes a receiving groove arranged adjacent to the first end, wherein when the first connecting rod and the second connecting rod are driven to be aligned with a plumb line, the end actuator is driven to be aligned to an initial position of the mounting base, and the connecting unit is accommodated in the receiving groove, so that the actuator occupies a smaller area.

3. An actuator for an autonomous mobile robot as described in claim 2, wherein the distance from the second end of the first link to the camera unit is greater than the distance from the second end of the first link to the end effector on the fourth end of the second link, and the camera unit is not blocked by the second link and the end effector.

4. The actuator for an autonomous mobile robot as claimed in claim 1, wherein the end effector is made of chloroprene rubber or polyurethane rubber to provide an anti-slip effect.

5. The actuator for an autonomous mobile robot as claimed in claim 1, wherein the end effector is wear-resistant, chemical-resistant and hardens over time. 6 . The actuator for an autonomous mobile robot as claimed in claim 1 , wherein the end effector is a soft end effector having a TPU tip that is deformed when the target button is pressed.

7. The actuator for an autonomous mobile robot as claimed in claim 1, wherein the end effector includes a detachable tip to easily replace the shape and size of the end effector and allow the shape to be changed according to the target button.

8. An actuator for an autonomous mobile robot as described in claim 1, wherein the end effector presses the target button to call an elevator in an elevator hall, control the elevator to move to a target floor, or start an automatic door in a building.

9. The actuator for an autonomous mobile robot as claimed in claim 8, further comprising an RFID tag with access rights, integrated with the end effector and used to be positioned to access an access card sensor disposed adjacent to the automatic door.

10. The actuator for an autonomous mobile robot as claimed in claim 1, wherein the end effector is rotated by the bevel gear set and the sub-connecting rod to ensure that the end effector connected to the fourth end of the second connecting rod is perpendicular to the target button when actuated.

11. The actuator for an autonomous mobile robot as claimed in claim 1, wherein the end effector is rotated by the bevel gear set and the sub-connecting rod to select a rotation angle, and the rotation angle is between 0° and 90° relative to a plumb line.

12. The actuator for an autonomous mobile robot according to claim 1, further comprising: A sensing module, used for sensing the target button; a recognition module connected to the sensing module and locating the target button using a vertical coordinate, a horizontal coordinate and an orientation; as well as A control module is connected to the recognition module to receive the vertical coordinate, the horizontal coordinate and the position of the target button.

13. The actuator for an autonomous mobile robot as claimed in claim 12, wherein the sensing perception module comprises an image capture module or a camera assembly, which is arranged adjacent to the mounting base.

14. An actuator for an autonomous mobile robot as described in claim 12, wherein the first biaxial motor and the second biaxial motor are connected to the control module, and the control module drives the first biaxial motor and the second biaxial motor according to the vertical coordinate, the horizontal coordinate and the orientation of the target button.

15. The actuator for an autonomous mobile robot as claimed in claim 1, wherein the autonomous mobile robot allows 2D spatial positioning to approach the target button. 16 . The actuator for an autonomous mobile robot as claimed in claim 1 , wherein a tactile feedback sensor is integrated with the end effector for button pressing feedback.

17. The actuator for an autonomous mobile robot as claimed in claim 1, wherein the first link, the second link and the end effector are allowed to move upward or downward relative to the mounting base.

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