Payload replacement system and method

Abstract

A payload replacement system for a robot (400) includes an adapter (200) configured to be connected to the robot; a payload bracket (100) configured to support a payload; and a replacement unit (300). The payload bracket (100) is configured to be attached to the adapter (200), and the replacement unit is configured to support the payload bracket (100). The payload bracket (100) is configured to be attached to the adapter (200) when the payload bracket (300) and the adapter are raised relative to the replacement unit (300), and the payload bracket (100) is configured to be detached from the adapter (200) when the payload bracket (100) and the adapter (200) are lowered relative to the replacement unit (300). A method (500) for connecting a payload to a robot includes instructing the robot to move to a position (502) where an adapter is below a replacement unit; instructing the robot to raise a height of the adapter relative to the replacement unit to engage the payload bracket to attach the payload bracket to the adapter (504); and instructing the robot to be away from the replacement unit (506) with the adapter at the elevated height and the payload bracket connected to the adapter. A method 600 for detaching a payload from a robot includes instructing the robot to move to a position in which a payload carrier and an adapter are above a replacement unit (602); instructing the robot to lower the height of the adapter relative to the replacement unit such that the payload bracket is detached from the adapter (604); and instructing the robot to move away from the replacement unit (606) when the adapter is at the lowered height.

Description

[0001] This paper describes a payload replacement system for robots and a method for replacing robot payloads.

[0002] Working in radioactive, contaminated, hazardous, or other harsh environments poses serious risks to human health. Examples of such work might include the maintenance, handling, and inspection of radioactive materials that may be used in a nuclear reactor. These tasks are essential for the safe operation and decommissioning of the reactor. Other examples of harsh environments might include disaster relief and recovery, as well as activities related to safety or surveillance. In radioactive or contaminated environments, excessive exposure significantly increases the likelihood of long-term health problems, including radiation sickness and cancer. Therefore, it is best to avoid human involvement whenever possible.

[0003] Recent advancements in robotics have enabled robotic platforms capable of operating in these harsh environments without exhibiting the same fragility as humans. Some leading robotic platforms are based on quadrupedal objects, which can provide a stable and adaptable platform suitable for operation in harsh conditions.

[0004] The capabilities of a robotic platform can be extended by providing it with a payload. The payload can be carried by the robot and can be electrically connected to the robot to transfer power and / or data from the robot to the payload. Examples of payloads that can be used with robots in harsh environments include thermal imaging cameras with recording and lighting, lidar scanning equipment, long-range radio communications, and network and power ports.

[0005] Changing payloads on a robotic platform can be challenging. In the harsh environments described above, manual payload changes by operators can jeopardize their health and safety. Equipping operators with the necessary level of protection for such environments can be expensive, and such equipment may hinder payload changes. For example, if operators are wearing supplied-air protective suits with face shields and multiple layers of gloves, their vision and dexterity may be reduced when changing payloads.

[0006] According to the present invention, an apparatus and method as described in the appended claims are provided. Other features of the invention will be apparent from the dependent claims and the following description.

[0007] According to one aspect of the present invention, a payload changing system for a robot is provided, the system comprising: an adapter configured to be connected to a robot; a payload support configured to support a payload and configured to be connected to the adapter; and a changing unit configured to support the payload support when the payload support is detached from the adapter, wherein the payload support is configured to be connected to the adapter when the adapter is raised from below the payload support toward the payload support, and wherein the payload support is configured to be detached from the adapter when the payload support is lowered onto the changing unit.

[0008] The payload changing system utilizes the robot's ability to change its height when changing the robot's payload, thereby eliminating the need for human operators to manually change the payload.

[0009] The adapter can be configured to connect to the payload support when it is raised from below the payload support toward the payload support. When the payload support and the adapter are connected together and raised together with the replacement unit, the replacement unit can be configured to lock the payload support to the adapter.

[0010] The replacement unit can be configured to unlock the payload support from the adapter when the payload support is lowered onto the replacement unit. The adapter can be configured to disengage from the payload support when the adapter is further lowered relative to the payload support supported on the replacement station.

[0011] The payload holder may include a clamp, and the adapter may include a corresponding channel, wherein the channel can be configured to receive at least a portion of the clamp to lock the payload holder onto the adapter. The clamp and the corresponding channel allow the payload holder to be securely attached to the adapter. The clamp and the channel provide a simple mechanism for locking the payload holder to and unlocking it from the adapter, making it easy for the robot to change the payload.

[0012] The clip can be moved from a first position to a second position. In the first position, at least a portion of the clip is received in the channel of the adapter, and in the second position, at least a portion of the clip is separated from the channel.

[0013] The clip can be biased to a first position. For example, the clip can pivot between the first and second positions, and the clip can be spring-loaded to bias the clip to the first position. The biasing force of the clip allows the payload holder to be securely locked onto the adapter as the payload holder and adapter are raised from the replacement unit.

[0014] The replacement unit can be configured to engage with a clamp to move the clamp from a first position to a second position when the payload support and adapter are lowered relative to the replacement unit, and to move the clamp from the second position to the first position when the payload support and adapter are raised relative to the replacement unit.

[0015] The replacement unit may include a track that can engage the gripper. The track can support the payload holder when it is lowered onto the replacement unit. As the robot lowers the payload holder onto the track, the weight of the payload holder on the track may resist the biasing force of the gripper, thereby unlocking the payload holder from the adapter. As the payload holder is raised from the track, the biasing force of the gripper may lock the gripper onto the adapter.

[0016] The connecting portion may include a protective device configured to cover at least a portion of the clamp to prevent accidental engagement. The protective device may include an opening for a replacement unit to enter and engage with the clamp. The protective device prevents the clamp from being accidentally triggered when the robot encounters an obstacle or rolls over. The protective device may be molded. The protective device may cover one side of the clamp. The protective device may completely cover the clamp except for an opening within the cover. The replacement unit may include, for example, a protrusion or key disposed on a track. The protrusion or key may be configured to enter the interior of the protective device to engage with the clamp. The opening may have a specific shape, and the protrusion or key feature on the track may have a complementary shape configured to enter the opening on the cover and operate the clamp.

[0017] The replacement unit can include multiple tracks and can be configured to support the payload holder on multiple tracks. Therefore, the payload holder can be supported on the replacement unit until it needs to be connected to the robot.

[0018] The adapter may include a locating pin projecting from its upper surface, and the payload holder may include a recess for receiving the locating pin. The locating pin allows the adapter to be properly positioned on the payload holder before it is locked to the payload holder.

[0019] The width of the locating pin can be reduced from the base of the adapter's upper surface to a certain distance from the adapter's upper surface. Therefore, the locating pin can provide tolerance when connecting the adapter to the payload holder, making it easier for the robot to connect the adapter to the payload holder. For example, the locating pin can provide a tolerance of + / - 5 mm in the horizontal direction.

[0020] The payload holder may include a first electrical connector, and the adapter may include a second electrical connector, wherein the first connector may be configured to be electrically connected to the second connector when the payload holder is connected to the adapter. The payload holder may include a third electrical connector for connecting the payload to the payload holder. When the payload is connected to the third electrical connector and the first and second electrical connectors are connected, the adapter may be configured to send and / or receive power and / or data from the robot to the payload via the payload holder.

[0021] The first and second connectors can be magnetically coupled together. For example, the first and second connectors can be in the form of plates that can be magnetically coupled together. Therefore, when the adapter is attached to the payload plate, the robot may find it easier to connect the first and second connectors together. When the adapter and payload support are attached together, the first and second connectors can be coupled together. For example, when the locating pin of the adapter is accommodated in the opening of the payload support, the first and second connectors can be magnetically coupled together.

[0022] The payload holder may include a voltage regulator for adjusting the voltage at the connection between the first and second connectors. The voltage regulator allows the payload holder to be adapted to a specific payload requiring a specific voltage, without requiring an adapter. Therefore, the same adapter can be used for multiple different payload holders with different voltage requirements.

[0023] The replacement unit may include a reference configured for robot detection. The reference enables the robot to detect the location of the replacement unit, allowing the robot to position the adapter appropriately to attach or detach the payload holder from the adapter. The reference may be a 2D barcode.

[0024] According to another aspect of the invention, a method for attaching a payload to a robot is provided, wherein the robot includes an adapter attached to its upper surface, the method comprising: instructing the robot to move to a position where the adapter is located below a replacement unit supporting a payload support; instructing the robot to raise the height of the adapter relative to the replacement unit to engage the payload support such that the payload support is attached to the adapter; and instructing the robot to leave the replacement unit, with the adapter at the raised height and the payload support attached to the adapter.

[0025] This method provides a way to attach payloads to a robot without requiring manual operator intervention. It offers a simple process for attaching payloads, allowing them to be attached autonomously by the robot or with minimal control input from a remote user.

[0026] The method may also include instructing the robot to detect the position of a reference point associated with the replacement unit. Instructing the robot to move to a position where the adapter is located below the replacement unit can be based on the detected position of the reference point. Detecting the position of the reference point allows the robot to autonomously move toward the replacement unit and to the desired position below it.

[0027] The robot can be a quadrupedal object, and instructing the robot to raise the height of the adapter can include instructing the robot to extend its legs to raise the robot's height.

[0028] According to another aspect of the invention, a method for removing a payload from a robot is provided, wherein the robot includes an adapter attached to its upper surface and a payload support attached to the adapter, the method comprising: instructing the robot to move to a position where the payload support and the adapter are above a replacement unit; instructing the robot to lower the height of the adapter relative to the replacement unit such that the payload support is detached from the adapter and supported on the replacement unit; and instructing the robot to move away from the replacement unit while the adapter is at the lowered height.

[0029] This method provides a way to detach a payload from a robot without requiring manual operator intervention. It offers a simple process for detaching the payload, allowing it to be detached autonomously by the robot or with minimal control input from a remote user.

[0030] The method may also include instructing the robot to detect the position of a reference associated with the replacement unit. Instructing the robot to move to a position where the payload support and adapter are above the replacement unit can be based on the detected reference position. Detecting the reference position allows the robot to autonomously move toward the replacement unit and, when the payload support is above the replacement unit, move to the desired position.

[0031] The robot can be a quadrupedal object, and instructing the robot to lower the height of the adapter can include instructing the robot to bend its legs to lower the robot's height.

[0032] According to another aspect, a computer program product is provided, which includes instructions that, when executed by a computer, cause the computer to perform one or more steps of the method described above.

[0033] Although some preferred embodiments of the invention have been shown and described, those skilled in the art will understand that various changes and modifications can be made without departing from the scope of the invention as defined in the appended claims.

[0034] To better understand the present invention and to show how embodiments of the invention can be implemented, reference will now be made to the accompanying drawings by way of example only, wherein: Figure 1 A sample replacement system and a robot are shown; Figure 2 Displayed in the attachment configuration Figure 1 Example of a modified system's adapter and payload support; Figure 3 The example shows the replacement system's adapter and payload bracket in a disassembly configuration; Figure 4 An exploded view of the adapter and payload bracket of the example replacement system is shown; Figure 5A and 5B The example replacement system shows the adapter and payload bracket portions, respectively. Figure 6 A flowchart of an example method for connecting payloads is shown; Figure 7 The robot is shown approaching the replacement unit of the example replacement system; Figure 8 The robot's lowering position is shown near the replacement unit of the example replacement system; Figure 9 The robot is shown positioned below the payload plate on the replacement unit of the example replacement system; Figure 10A and 10B The system shown depicts a robot that rises to connect an adapter to the payload support of an example replacement system; Figure 11A and 11B This illustrates a system in which a robot raises a payload support from a replacement unit of an example replacement system; and Figure 12 A flowchart showing an example method for disassembling the payload is provided.

[0035] This document has described various combinations of optional features, and it should be understood that the described features can be combined in any suitable combination. In particular, features of any example embodiment can be appropriately combined with features of any other embodiment, unless such combination is mutually exclusive. In this specification, the terms "comprising" or "comprises" mean including the specified components, but do not exclude the presence of other components.

[0036] like Figure 1 As shown, the example replacement system includes a payload support 100, an adapter 200, and a replacement unit 300. The adapter 200 is attached to a quadruped robot 400. In other examples, the adapter 200 may be attached to other types of robots capable of raising and lowering at least a portion of the robot.

[0037] The payload support 100 includes a plate 102 for supporting the payload and a connection portion 104 for connecting to the adapter 200, such as... Figure 2 As shown.

[0038] Adapter 200 includes a main body 202 and mounting portions 204, 206 for connecting adapter 200 to robot 400, such as... Figure 2 As shown.

[0039] like Figure 3 As shown in more detail in FIG. 5, the adapter 200 includes a locating pin 208 projecting upward from the upper surface 210 of the adapter body 202. As shown in FIG. 5, the lower surface 106 of the connecting portion body 108 includes an opening 110 for receiving the locating pin 208. The adapter 200 and the payload holder 100 can be connected together by the locating pin 208 received in the opening 110.

[0040] The locating pin 208 is essentially tapered, with its width decreasing from a larger width at the bottom of the pin 208 to a smaller width at the distal end of the pin 208. This reduction in the width of the pin 208 provides a tolerance of + / - 5 mm when connecting the adapter 200 to the payload bracket 100.

[0041] The connecting portion 104 includes a clip 112 pivotally connected to a sidewall of the connecting portion body 108. The adapter 200 includes a channel 212 disposed in the sidewall of the body 202. The clip 112 extends from the sidewall of the connecting portion body 108 and includes a hook-like portion 114 at its distal end, such as... Figure 2 and Figure 3 As shown. Channel 212 is configured to receive the hook portion 114 of clip 112 to lock the payload holder 100 to adapter 200.

[0042] In the example shown in the accompanying drawings, the connecting portion 104 includes two clips 112. In other examples, the connecting portion 104 may include fewer or more than two clips. For example, the connecting portion may include four clips.

[0043] The clip 112 is pivotable between a first position and a second position. In the first position, the hook-shaped portion 114 is received in the channel 212; in the second position, the hook-shaped portion 114 is separated from the channel 212. Figure 10B and 11BAs shown, in a first position, the clip 112 extends substantially parallel to the sidewall of the body 108 of the connecting portion 104, while in a second position, the clip 112 extends at an angle from the body 108 in the connecting portion 104. The hook-shaped portion 114 of the clip 112 is configured to be received in the channel 212 to lock the payload holder 100 to the adapter 200. The clip 112 is spring-loaded to bias the clip 112 to the first position.

[0044] The replacement unit 300 includes a track 302 for supporting the payload support 100. (Example) Figure 1 As shown, the replacement unit 300 includes two generally horizontally extending tracks 302. In use, the tracks 302 are raised from the ground. In the example shown in the figures, the replacement unit 300 is mounted on a column 12, which has a base 14 for supporting the replacement unit 300, allowing the replacement unit 300 to be raised vertically relative to the base 14.

[0045] Track 302 is configured to lock and unlock payload support 100 from adapter 200. Clamp 112 includes a latch portion 116. When payload support 100 is lowered onto track 302, track 302 engages with latch portion 116, causing clamp 112 to pivot from a first position to a second position. When payload support 100 is lifted off track 302, latch portion 116 disengages from track 302 and pivots to the second position. Thus, raising and lowering payload support 100 relative to track 302 causes payload support 100 to lock and unlock from adapter 200.

[0046] According to some examples, the clamp 112 includes one or more features (not shown) to prevent the hook portion 114 from being accidentally released from the channel 212. One such feature may be a molded protective feature surrounding at least a portion of the clamp (e.g., the clamp's latch) to prevent the clamp from hitting obstacles or falling to the side when operated by a robot. In other examples, the clamp may be covered by a cap or molded part, wherein the cap completely covers the clamp except for an opening within the cap that allows a protrusion or key feature on the track of a replacement unit to enter the interior of the cap and engage the clamp's latch. The opening may have a specific shape, and the protrusion or key feature on the track may have complementary shapes, configured to enter the opening on the cap and operate the clamp.

[0047] like Figures 2 to 4 As shown, the payload support 100 includes a guide rail 118 for positioning the payload support 100 on the track 302 of the replacement unit 300. The guide rail 118 is disposed on the lower surface of the payload plate 102. The guide rail 118 includes a positioning feature 120 for assisting in positioning the payload support on the track 302 of the replacement unit 300.

[0048] The connection portion 104 of the payload holder 100 includes a first electrical connector 122, and the adapter 200 includes a second electrical connector 214. (As...) Figure 5A and 5B As shown, a first electrical connector 122 is disposed on the lower surface 106 of the body 108 of the connecting portion 104 of the payload holder 100, and a second electrical connector 214 is disposed on the upper surface 210 of the adapter body 202. The first connector 122 and the second connector 214 are configured to be electrically connected when the adapter 200 and the payload holder 100 are connected together. The first connector 122 and the second connector 214 are configured to be magnetically coupled together.

[0049] The payload holder 100 includes a third electrical connector (not shown) for connection to the payload, for example, by inserting the payload's cable into the third electrical connector. The third electrical connector is connected to the first connector 122. The adapter 200 includes a fourth electrical connector (not shown) for electrical connection to the robot 400. Thus, power and data can be transmitted from the robot 400 to the payload via the electrical connectors.

[0050] The payload holder 100 also includes a voltage regulator (not shown) for regulating the voltage at the connection between the first connector 122 and the second connector 214. The voltage regulator allows the payload holder 100 to be adapted to payloads with different voltage requirements. Therefore, different payload holders for different voltages can be used with the same adapter 200.

[0051] Figure 6 The diagram illustrates an example method 500 for connecting a payload to a robot. An adapter is connected to the robot, while the payload support is mounted on a replacement unit. Method 500 can use... Figure 1 The payload replacement system shown in Figure 5 includes an adapter 200 connected to a robot 400, a payload mounted on a payload support 100, and a replacement unit 300.

[0052] Method 500 includes instructing the robot to move to a position where the adapter is located below the replacement unit in step 502.

[0053] according to Figure 7-9 The example shown instructing robot 400 to move to a position where adapter 200 is located below track 302 of replacement unit 300 includes instructing robot 400 to move toward replacement unit 300 (e.g., Figure 7 As shown), the robot 400 is instructed to lower its height relative to the replacement unit 300 (e.g. Figure 8 (as shown) and instructing the robot 400 to move to the position where the adapter 200 is located below and between the guide rail 302 of the replacement unit 300 (as shown). Figure 9(As shown). The lower height can be a predetermined height, such as the minimum gait at which robot 400 can walk, or any other height at which the upper surface of adapter 200 is below the track 302 of replacement unit 300. In other examples, the height at which adapter 200 is located below replacement unit of robot 400 can be the robot's normal operating height, in which case the robot will not need to be instructed to lower its height.

[0054] according to Figure 7-1 In the example shown in 1, robot 400 is a quadrupedal object, and instructing robot 400 to raise the height of adapter 200 includes instructing robot 400 to extend its legs to raise the height of robot 400.

[0055] According to one example, robot 400 moves autonomously, and a remote or on-board data processing device instructs robot 400 to move to a position where adapter 200 is located below replacement unit 300, for example, in response to receiving a user command to change the payload. For example, the method may include receiving user input to select a payload and instructing robot 400 to move to the replacement unit associated with the selected payload. The method may include, for example, in response to receiving user input to select a replacement unit or payload, instructing robot 400 to detect the position of a reference (such as a 2D barcode) associated with the replacement unit or payload. The method may include instructing robot 400 to move toward the replacement unit and position itself such that adapter 200 autonomously positions itself below the replacement unit based on the detected position of the reference.

[0056] Alternatively, robot 400 can be controlled by a user to move to the position based on one or more commands input by the user (such as directional movement commands) to move the robot to the position where adapter 200 is below replacement unit 300.

[0057] Back Figure 6 Method 500 includes instructing the robot in step 504 to raise the adapter relative to the replacement unit to attach the payload support to the adapter.

[0058] As illustrated in Figures 10 and 11, raising the height of adapter 200 to attach the payload support 100 to adapter 200 is a two-stage process. In the first stage, as... Figure 10A and 10B As shown, the robot 400 raises its height such that the adapter 200 is connected to the connection portion 104 of the payload support 100 by inserting the positioning pin 208 of the adapter 200 into the corresponding opening 110 in the connection portion 104. During this stage, as... Figure 10BAs shown, the payload holder 100 is not yet locked to the adapter 200, and the clip 112 is in the second position, in which the hook portion 114 of the clip 112 is not accommodated in the channel 212 of the adapter 200.

[0059] In the second stage, such as Figure 11A and 11B As shown, robot 400 further raises its height, causing payload support 100 to be lifted off the replacement unit 300. (As...) Figure 11B As shown, the clip 112 of the payload bracket 100 is no longer held in the second position by the replacement unit 300, and thus moves to the first position, in which the hook portion 114 is accommodated in the channel 212 of the adapter 200.

[0060] Back Figure 6 Method 500 includes instructing the robot to leave the replacement unit in step 506, with the adapter at an elevated height and the payload support attached to the adapter. The robot can then use the payload as needed. For example, the robot's arm can manipulate the payload and lift it from the payload plate.

[0061] Figure 12 The image shows an example method 600 for detaching a payload from a robot. An adapter is attached to the robot, and a payload holder is attached to the adapter. Method 600 can be used... Figure 1 The payload changing system shown in Figure 5 includes an adapter 200 connected to the robot 400, a payload holder 100 connected and locked to the adapter 200, and a payload mounted on a plate 102 of the payload holder 100. When removing the payload from the robot... Figure 6 The method is the opposite, as described in further detail below.

[0062] Method 600 includes instructing the robot to move to a position where the payload support and adapter are located above the replacement unit in step 602.

[0063] According to one example, instructing robot 400 to move to a position where payload support 100 and adapter 200 are above replacement unit 300 includes: instructing robot 400 to move toward replacement unit 300, instructing robot 400 to raise its height relative to replacement unit 300, and instructing robot 400 to move to a position where adapter 200 is above replacement unit 300 (e.g., ...). Figure 11A(As shown). The height to which it is raised can be a predetermined height, such as the maximum height at which robot 400 can walk, or any other height at which the clamp 112 of adapter 200 is located above the replacement unit 300. In other examples, the height at which adapter 200 and payload support 100 are located above the replacement unit 300 of robot 400 can be the robot's normal operating height, in which case the robot will not need to be instructed to raise its height.

[0064] according to Figure 7-1 The example shown in 0, where robot 400 is a quadrupedal object, instructing the robot to lower the height of the adapter includes instructing the robot to bend its legs to lower the robot's height.

[0065] According to one example, robot 400 moves autonomously, and a data processing device, either remotely or on robot 400, instructs robot 400 to move to a position where adapter 200 is located above replacement unit 300, for example, in response to receiving a user command to remove a payload from robot 400. For example, the method may include receiving user input, selecting a replacement unit from which robot 400 should remove the payload, and instructing robot 400 to move to the selected replacement unit. The method may include, for example, in response to receiving user input selecting a replacement unit, instructing robot 400 to detect the position of a reference (such as a 2D barcode) associated with the selected replacement unit. The method may include instructing robot 400 to move toward replacement unit 300 and position itself such that adapter 200 and payload support 100 are autonomously positioned above replacement unit 300 based on the detected reference position.

[0066] Alternatively, robot 400 can be controlled by the user to move to the position based on one or more commands input by the user (such as directional movement commands) to move robot 400 to a position where adapter 200 and payload support 100 are above replacement unit 300.

[0067] Back Figure 12 Method 600 includes instructing the robot in step 604 to lower the height of the adapter relative to the replacement unit in order to detach the payload support from the adapter.

[0068] According to one example, lowering the height of adapter 200 to detach payload holder 100 from adapter 200 is a two-stage process. In the first stage, the robot lowers its height so that payload holder 100 rests against changing unit 300. Placing payload holder 100 on changing unit 300, engaging the track 302 of changing unit with clamp 112, and pivoting clamp 112 from a first position to a second position, such that the hook portion 114 of clamp 112 is removed from channel 212 of adapter 200 (e.g., ...). Figure 10B(as shown), thereby unlocking the payload holder 100 from the adapter 200.

[0069] In the second phase, the robot 400 further lowers its height, causing the positioning pin 208 of the adapter 200 to be removed from the opening 110 in the connecting portion 104, thereby disengaging the payload support 100 from the adapter 200. At the end of this second phase, the robot 400 is in a position as follows: Figure 9 The location shown.

[0070] Back Figure 12 Method 600 includes instructing the robot to move away from the replacement unit at a lowered height in step 606, while the payload support remains resting on the replacement unit.

[0071] The payload changing system and method described herein utilize the robot's ability to change its height when changing the robot's payload. This reduces the need for human intervention when changing payloads in hazardous environments. It also reduces the need to change payloads for another robot. The changing system and method enable payload changing in a simple process that can be performed with minimal control input from an autonomous robot or a remote user.

[0072] Please note all documents and files relating to this application that were submitted concurrently with or prior to this specification. These documents and files are publicly available together with this specification, and the contents of all such documents and files are incorporated herein by reference.

[0073] All features disclosed in this specification (including any appended claims, abstracts and drawings) and / or all steps of any disclosed method or process may be combined in any combination, except that at least some features and / or steps are mutually exclusive combinations.

[0074] Unless otherwise expressly stated, each feature disclosed in this specification (including any appended claims, abstract, and drawings) can be replaced by alternative features for the same, equivalent, or similar purpose. Therefore, unless otherwise expressly stated, each disclosed feature is merely one example of a series of equivalent or similar features.

[0075] This invention is not limited to the details of the embodiments described above. The invention extends to any novel feature or any novel combination thereof disclosed in this specification (including any appended claims, abstract, and drawings), or any novel step of any method or process so disclosed.

Claims

1. A payload changing system for a robot, the system comprising: The adapter is configured to connect to the robot. A payload holder, configured to support the payload and configured to be connected to the adapter; as well as The replacement unit is configured to support the payload support when the payload support is detached from the adapter. The payload support is configured to connect to the adapter when the adapter is raised from below the payload support toward the payload support, such that the payload support is raised from the replacement unit. The payload support is configured to be detached from the adapter when the payload support is lowered onto the replacement unit.

2. The payload replacement system according to claim 1, wherein, The payload holder includes a clip, and the adapter includes a corresponding channel configured to receive at least a portion of the clip to lock the payload holder to the adapter.

3. The payload replacement system according to claim 2, wherein, The clip is movable from a first position and a second position, in the first position, at least a portion of the clip is received in the channel of the adapter; In the second position, at least a portion of the clip is separated from the channel, wherein the clip is biased to the first position.

4. The payload replacement system according to claim 3, wherein, The replacement unit is configured to engage the clamp to move the clamp from the first position to the second position when the payload support and adapter are lowered relative to the replacement unit, and to move the clamp from the second position to the first position when the payload support and adapter are raised relative to the replacement unit.

5. The payload replacement system according to claim 4, wherein, The connecting portion includes a protective device configured to cover at least a portion of the clip to prevent accidental engagement of the clip. The protective device includes an opening for the replacement unit to enter and engage the clip.

6. The payload replacement system according to any one of the preceding claims, wherein, The replacement unit includes multiple tracks, wherein the replacement unit is configured to support the payload support on the tracks.

7. The payload replacement system according to any one of the preceding claims, wherein, The adapter includes a locating pin protruding from its upper surface, and the payload holder includes a recess for receiving the locating pin.

8. The payload replacement system according to claim 7, wherein, The width of the locating pin decreases from the base at the upper surface of the adapter to a distance from the upper surface of the adapter.

9. The payload replacement system according to any one of the preceding claims, wherein, The payload holder includes a first electrical connector, the adapter includes a second electrical connector, wherein the first connector is configured to be electrically connected to the second connector when the payload holder is connected to the adapter, and wherein the payload holder includes a third electrical connector for connecting the payload to the payload holder, wherein when the payload is connected to the third electrical connector and the first and second electrical connectors are connected, the adapter is configured to transmit power and data to the payload via the payload holder.

10. The payload replacement system according to claim 9, wherein, The first connector and the second connector can be magnetically coupled together.

11. The payload replacement system according to claim 9 or 10, wherein, The payload support includes a voltage regulator for adjusting the voltage at the connection between the first connector and the second connector.

12. The payload replacement system according to any one of the preceding claims, wherein, The replacement unit includes a reference configured for detection by the robot.

13. The payload replacement system according to claim 12, wherein, The benchmark is a 2D barcode.

14. A method for attaching a payload to a robot, wherein the robot includes an adapter attached to an upper surface of the robot, the method comprising: Instruct the robot to move to a position where the adapter is located below the replacement unit supporting the payload bracket; The robot is instructed to raise the adapter relative to the replacement unit to engage the payload bracket, thereby connecting the payload bracket to the adapter; as well as The robot is instructed to leave the replacement unit, the adapter is at an elevated height, and the payload support is connected to the adapter.

15. The method of claim 14, further comprising instructing the robot to detect the position of a reference associated with the replacement unit, wherein instructing the robot to move to a position where the adapter is located below the replacement unit is based on the detected position of the reference.

16. The method of claim 14 or 15, wherein the robot is a quadrupedal object, and wherein instructing the robot to raise the height of the adapter includes instructing the robot to extend its legs to raise the height of the robot.

17. A method for removing a payload from a robot, wherein the robot includes an adapter attached to an upper surface of the robot, and a payload holder is connected to the adapter, the method comprising: The robot is instructed to move to a position where the payload support and adapter are located above the replacement unit; The robot is instructed to lower the height of the adapter relative to the replacement unit, so that the payload support is detached from the adapter and supported on the replacement unit; as well as The robot is instructed to move away from the replacement unit while the adapter is at a lowered height.

18. The method of claim 17, further comprising instructing the robot to detect the position of a reference associated with the replacement unit, wherein instructing the robot to move to a position where the payload support and adapter are located above the replacement unit is based on the detected position of the reference.

19. The method of claim 17 or 18, wherein the robot is a quadrupedal object, and wherein instructing the robot to lower the height of the adapter comprises instructing the robot to bend its legs to lower the height of the robot.

20. A computer program product comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 14 to 19.

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