Robots and methods for operating a robot

Abstract

Robot (24) designed as a mobile robot (24) for transporting objects (6) and comprising a base structure (26) and a sensor device (58) with at least one environmental sensor unit (28), wherein: - the base structure (26) is extended in a longitudinal direction (40), - a chassis (38) is attached to the base structure (26), which forms at least one axis (36), - the at least one axis (36) is elongated in an axial direction (34) transverse to the longitudinal direction (40), - the at least one environmental sensor unit (28) is attached to the base structure (26) via a suspension (30), - the suspension (30) is designed such that the at least one environmental sensor unit (28) is rotatable about a rotational axis (32), and - the rotational axis (32) is oriented substantially parallel to the longitudinal direction (40) or parallel to the axial direction (34).

Description

[0001] The invention relates to a robot configured as a mobile robot for transporting objects, comprising a base structure and a sensor device with at least one environmental sensor unit. The invention also relates to a method for operating such a robot.

[0002] Robots have been developed for a wide variety of tasks. One such task is transporting vehicles within an infrastructure environment, such as a parking garage. Robots trained for this type of task are commonly referred to as parking robots.

[0003] Several designs of parking robots are already known. Some designs are described in more detail, for example, in DE 10 2018 221 173 A1, CN 112 097 664 A and CN 212 535 255 U.

[0004] The invention is based on the objective of providing an advantageously designed robot in which, in particular, the reliability of the robot and / or the safety during its operation are increased. Furthermore, the invention is based on the objective of providing an advantageous method for operating such a robot.

[0005] This problem is solved by a robot with the features of claim 1 and by a method with the features of claim 10. The advantages and preferred embodiments mentioned with regard to the robot are also transferable to the method and vice versa. Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims.

[0006] The robot according to the invention is designed as a mobile robot. That is, the robot, i.e., the robot according to the invention, is designed for movement between different locations or positions and has a chassis for this purpose. Preferably, the robot is designed as an autonomous robot and thus configured for independent movement between different locations or positions. The robot is therefore specifically designed to move independently from a starting point to a destination.

[0007] Furthermore, the robot is trained to transport objects, namely, for example, motor vehicles and especially passenger cars. This means that in one application, the robot is designed as a so-called parking robot.

[0008] If the robot according to the invention is designed as a parking robot, different embodiments are advantageous. According to at least one embodiment, the robot is designed to transport a complete motor vehicle virtually single-handedly. In alternative embodiments, the robot is designed to transport a motor vehicle together with a number of other robots, as is the case, for example, with a parking robot described in DE 10 2018 221 173 A1.

[0009] Regardless, the robot according to the invention has a base structure that extends in a longitudinal direction and, in some embodiments, is also elongated in the longitudinal direction. The aforementioned chassis is attached to this base structure, the chassis having or forming at least one axis. This at least one axis is elongated in an axial direction transverse to the longitudinal direction. Typical embodiments include those in which the chassis has or forms two or at least two axes, each of which is elongated in the axial direction.

[0010] Furthermore, the robot has a sensor system with at least one environmental sensor unit. This environmental sensor unit preferably includes an environmental sensor, which can be, for example, a camera, a lidar sensor, a radar sensor, or an ultrasonic sensor.

[0011] The at least one environmental sensor unit is now attached to the base structure via a suspension. This suspension is designed such that the at least one environmental sensor unit can rotate about at least one axis of rotation. This axis of rotation is oriented essentially parallel to the longitudinal direction or essentially parallel to the axial direction. That is, the at least one axis of rotation is typically horizontally oriented, at least when the robot is standing or moving on a flat surface and thus on an equipotential surface in the Earth's gravitational field.

[0012] The suspension allows at least one environmental sensor unit to be rotated around at least one axis of rotation, thus changing its orientation. This adjustability of the orientation of the at least one environmental sensor unit is considered advantageous. This is based on the consideration that the robot's base structure can be elastically deformed by the weight force exerted on it by an object being transported, and in at least some cases, this deformation does occur. This elastic deformation can then lead to an undesirable change in the orientation of the at least one environmental sensor unit, which is attached to the base structure.In order to compensate for this undesirable change in orientation, the at least one environmental sensor unit of the robot according to the invention is attached to the base structure via the suspension, which allows the at least one environmental sensor unit to be rotated about the at least one axis of rotation.

[0013] The robot is preferably configured such that, in at least one operating mode, the current rotational position of the at least one environmental sensor unit relative to the at least one axis of rotation is automatically adjusted, and in particular, ultimately adapted to the weight of an object to be transported. This adjustment preferably occurs after a change in the robot's load and / or preferably before the start of a transport operation, i.e., before the robot begins moving for transport.

[0014] This enables the robot to carry out the method according to the invention, namely a method for operating the robot, in the execution of which, in at least one operating mode of the robot, a current rotational position of the at least one environment sensor unit is automatically adjusted with respect to the at least one axis of rotation and, in particular, is ultimately adjusted to a weight force of an object to be transported.

[0015] As previously indicated, the robot, i.e., the robot according to the invention, is preferably designed for transporting motor vehicles and, in particular, passenger cars. It is therefore preferably configured as a so-called parking robot.

[0016] Further advantageous designs include those in which the suspension has a rotary bearing or is designed as a rotary bearing. In this case, at least one environmental sensor unit is rotatably mounted about exactly one axis of rotation, which is preferably aligned essentially parallel to the axis direction.

[0017] Alternatively, the suspension usually uses a ball joint or forms a ball joint.

[0018] Preferred designs also include those in which the suspension has a controllable locking device by means of which the at least one environment sensor unit can be locked in a current rotational position with respect to the at least one axis of rotation or with respect to the single axis of rotation.

[0019] In a further advantageous configuration, the robot is set up such that, in at least one operating mode, the locking mechanism is automatically activated before and / or after each object transport to temporarily release the standard locking position of at least one environmental sensor unit. "Temporarily" typically means that the locking position is released for a predetermined period. A period of a few seconds, for example 5 seconds, is suitable. The underlying principle is to correct the orientation of at least one environmental sensor unit only when the load condition has changed, i.e., when the load supported by the base structure has changed.

[0020] Furthermore, designs are advantageous in which a drive unit for actively changing the current rotational position of at least one environmental sensor unit relative to at least one axis of rotation or the single axis of rotation is omitted. In these cases, the effect of the Earth's gravitational field is then expediently used to compensate for undesired changes in orientation.

[0021] In a further advantageous embodiment, the at least one environmental sensor unit has an upper end and a lower end, the upper end being connected to the suspension and the lower end being designed as a free end and incorporating a ballast weight. This ensures, in particular, that at least under the intended operating conditions of the robot, the center of gravity of the at least one environmental sensor unit, relative to the Earth's gravitational field, lies below the suspension, specifically in the area of ​​the ballast weight. If the at least one environmental sensor unit is freely rotatable, it is forced into a vertical position by the Earth's gravitational field, similar to a plumb line. This vertical position then conveniently corresponds to the desired orientation of the at least one environmental sensor unit.

[0022] Also useful are design variants in which the base structure extends longitudinally from a front end to a rear end and in which at least one environmental sensor unit is attached to the front end or the rear end of the base structure.

[0023] The at least one environmental sensor unit typically serves to generate sensor data that maps at least part of the robot's environment. Based on this sensor data and possibly further sensor data, such as additional sensor data from other environmental sensor units, the robot usually moves autonomously and, in particular, autonomously travels between a starting point and a destination.

[0024] Furthermore, the sensor device typically has two or more environmental sensor units, which are designed in the manner of at least one environmental sensor unit and are attached to the base structure in the manner of at least one environmental sensor unit.

[0025] In a further advantageous configuration, at least two corresponding environmental sensor units are attached to the front end of the base structure and at least two corresponding environmental sensor units are attached to the rear end of the robot's base structure.

[0026] It should be noted once again that the advantages and further training described in connection with the robot can also be applied analogously to the procedure and vice versa.

[0027] Further advantages, features, and details of the invention will become apparent from the claims, the following description of preferred embodiments, and the schematic drawings. These show: Fig. 1. Side view of a state-of-the-art parking robot without a load, Fig. 2 in the side view of the state-of-the-art parking robots with a load, Fig. 3 in a block diagram representation a parking robot according to the invention with an environment sensor unit and with a suspension for the environment sensor unit, Fig. 4 in a side view, partial view of the parking robot according to the invention, Fig. Figure 5 schematically simplifies a side view showing the environment sensor unit together with part of the suspension in a first state, and Fig. Figure 6 schematically simplifies the side view of the environmental sensor unit together with the part of the suspension in a second state.

[0028] Corresponding parts are marked with the same reference symbols in all figures.

[0029] For the sake of simplicity, the following explanations always consider a flat substrate 2. That is, the surface of the substrate 2 corresponds to an equipotential surface of the Earth's gravitational field.

[0030] In Fig. 1 and Fig. Figure 2 now schematically simplifies the representation of a state-of-the-art parking robot 4, which stands on the aforementioned flat surface 2. The parking robot 4 is designed to transport a passenger car 6 in cooperation with three other parking robots not shown, as is the case, for example, with a parking robot described in DE 10 2018 221 173 A1.

[0031] The parking robot 4 has a basic structure 8 which is designed to receive a wheel 10 of a passenger car 6 to be transported as a load. Fig. Figure 1 shows the parking robot 4 without the load and Fig. Figure 2 shows the parking robot 4 with the load.

[0032] As from Fig. 1 and Fig. As can be seen from Figure 2, the load causes a deformation of the base structure 8, namely an elastic deformation. In the case of the parking robot 4, this elastic deformation leads to a change in the orientation of an environment sensor unit 12 of the parking robot 4. To make this change easier to detect, in Fig. 1 and Fig. 2 a kind of viewing direction 14 of the environment sensor unit 12 is indicated. In Fig. 1. This viewing direction 14 is aligned parallel to the surface of the substrate 2. In Fig. In contrast, the viewing direction 14 is no longer parallel to the surface of the substrate 2.

[0033] In Fig. 3 and Fig. Figure 4 further illustrates an embodiment of a parking robot 24 according to the invention. Fig. Figure 3 shows the parking robot 24 in a block diagram representation and Fig. Figure 3 shows a part of the parking robot 24 in a side view, with the parking robot 24 also standing on the aforementioned flat surface 2.

[0034] The parking robot 24 also according to Fig. 3 and Fig. Robot 4 is designed to transport a passenger car 6 in cooperation with three other parking robots (not shown). Parking robot 24, in turn, has a base structure 26 designed to pick up a wheel 10 of the passenger car 6 to be transported as a load.

[0035] As with the parking robot 4, the load also causes an elastic deformation of the base structure 26 in the parking robot 24, and thereby a change in the orientation of an environment sensor unit 28 of the parking robot 24. Fig. Figure 4 shows the parking robot 24 in a state where the load is acting on the parking robot 24, even though the load itself is not shown. Also in Fig. 4 indicates a kind of viewing direction 29 for the environment sensor unit 28, which is no longer aligned parallel to the surface of the substrate 2 due to the deformation of the base structure 26.

[0036] However, while in the case of the parking robot 4 the orientation of the environmental sensor unit 12 relative to the base structure 8 is unchangeable according to the state of the art, the environmental sensor unit 28 in the case of the parking robot 24 is Fig. 3 and Fig. 4 is rotatable relative to the base structure 26, namely about a rotational axis 32. This is because the environment sensor unit 28 is attached to the base structure 26 via a suspension 30, which has a rotary bearing.

[0037] In this embodiment, the axis of rotation 32 is essentially aligned parallel to an axis direction 34. The axis direction 34, in turn, is defined by an axis 36 of the parking robot 24, which is part of a chassis 38 of the parking robot 24. This chassis 38 is attached to the base structure 26 and, similar to the chassis 16 of the parking robot 4, has a Fig. 1. Another second axis, which, however, is in Fig. 4 is not shown. The axis 36 and the second axis are each elongated in the axis direction 34 and thus essentially define the orientation of the axis direction 34 in the reference system of the parking robot 24.

[0038] In the reference frame of the parking robot 24, a longitudinal direction 40 is oriented transversely to the axis 34. Along this longitudinal direction 40, the parking robot 24 extends from a front end 42 to a rear end, which is located in Fig. 4 is not shown. In the exemplary embodiment, the environment sensor unit 28 is attached to the base structure 26 in the area of ​​the front end 42.

[0039] In the exemplary embodiment, part of the suspension 30 further includes a controllable locking device 46 and a data processing device 48, which is configured to control the locking device 46. The locking device 46 allows the environmental sensor unit 28 to be locked in a current rotational position relative to the axis of rotation 32.

[0040] In the exemplary embodiment, the parking robot 24 is configured such that the environmental sensor unit 28 is locked in its rotational position relative to the axis of rotation 32 by default. As a result, if the base structure 26 deforms, the environmental sensor unit 28 is initially rotated relative to the ground system, since the axis of rotation 32 is also rotated relative to the ground system as a consequence of the deformation. However, the axis of rotation 32 remains essentially parallel to the axis direction 34 and essentially transverse to the longitudinal direction. Fig. 4 and Fig. Figure 5 shows the environment sensor unit 28 in a rotated position relative to the Earth system.

[0041] The environmental sensor unit 28 further comprises an upper end 50 and a lower end 52, the upper end 50 being connected to the suspension 30 and the lower end 52 being designed as a free end and incorporating a ballast weight 54. The suspension 30 and the ballast weight 54 of the environmental sensor unit 28 enable the use of the same operating principle as a plumb bob. This principle forces the environmental sensor unit 28, when released from its locking position, into a vertical position by the Earth's gravitational field. In this position, the center of gravity 56 of the environmental sensor unit 28 and a suspension point of the suspension 30, located on the axis of rotation 32, lie on a line oriented in the direction of the gravitational force exerted by the Earth's gravitational field. In this vertical position, the environmental sensor unit 28 is then in the desired orientation.

[0042] Preferably, the parking robot 24 is configured such that the locking device 46 is automatically activated by the data processing unit 48 before and / or after each transport, thus releasing the standard locking mechanism for a predetermined period. Subsequently, the environmental sensor unit 28 is forced into the vertical position, unless it is already in that position. After the predetermined period has elapsed, the environmental sensor unit 28 is locked in its current rotational position relative to the axis of rotation 32.

[0043] In this way, the rotational position of the environment sensor unit 28 is automatically adjusted to the deformation of the base structure 26 and thus ultimately to the weight of a passenger car 6 being transported. The adjustment takes place after every change in the load and especially before each start of a transport, i.e. before the parking robot 24 starts moving for a transport.

[0044] Preferably, the environmental sensor unit 28 is part of a sensor assembly 58. This sensor assembly 58 typically includes further environmental sensor units 28, not explicitly shown, which are designed according to the nature of the environmental sensor unit 28 described above. Each of these environmental sensor units 28 is then preferably rotatable about an associated axis of rotation, which is oriented essentially parallel to the axis direction, according to the nature of the environmental sensor unit 28 described above.

[0045] Each environmental sensor unit 28 of the parking robot 24, in particular the previously described environmental sensor unit 28, also has an environmental sensor 60, which is designed, for example, as a camera, as a lidar sensor, as a radar sensor or as an ultrasonic sensor.

[0046] In the exemplary embodiment, the ballast weight 54 of the respective environment sensor unit 28 is also attached directly to the environment sensor 60 of the respective environment sensor unit 28. Each assembly consisting of the environment sensor 60 and the ballast weight 54 is, in turn, attached to a base plate 62 of the respective environment sensor unit 28, and the corresponding base plate 62 is finally connected to the associated suspension 30.

[0047] With the aid of the environmental sensor unit 28 of the parking robot 24, sensor data is generated during operation of the parking robot 24, which maps the environment of the parking robot 24. This sensor data is evaluated by the data processing unit 48 and, based on this sensor data, the parking robot 24 then typically moves autonomously, i.e., in particular, autonomously between a starting point and a destination point.

[0048] For autonomous movement, the parking robot 24 conveniently has a drive unit 64, which acts on the chassis 38 in a manner not shown in detail, thus providing propulsion. The drive unit 64 is controlled by the data processing unit 48. Reference symbol list 2 Subsurface 4 state-of-the-art parking robots 6 passenger cars 8 Basic structure 10 wheels 12 Environment sensor unit 14 View direction 16 Chassis 24 (inventive) parking robots 26 Basic structure 28 Environment sensor unit 29 View direction 30 Suspension 32 Rotary axis 34 Axis direction 36 axle 38 Chassis 40 Longitudinal direction 42 front end 46 Locking device 48 Data processing equipment 50 upper end 52 lower end 54 ballast weight 56 Focus 58 Sensor device 60 Environmental sensor 62 Base plate 64 Drive unit QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2018 221 173 A1 [0003, 0008, 0030] CN 112 097 664 A

[0003] CN 212 535 255 U

[0003]

Claims

[1] Robot (24) designed as a mobile robot (24) for transporting objects (6) and comprising a basic structure (26) and a sensor device (58) with at least one environment sensor unit (28), wherein - the basic structure (26) is extended in a longitudinal direction (40), - a chassis (38) is attached to the base structure (26), which forms at least one axle (36), - which at least one axis (36) is elongated in an axial direction (34) transverse to the longitudinal direction (40), - which at least one environment sensor unit (28) is attached to the base structure (26) via a suspension (30), - the suspension (30) is designed such that at least one environment sensor unit (28) is rotatable about a rotation axis (32), and - the axis of rotation (32) is oriented essentially parallel to the longitudinal direction (40) or parallel to the axial direction (34). [2] Robot (24) according to claim 1, wherein it is designed as a parking robot (24). [3] Robot (24) according to claim 1 or 2, wherein the suspension (30) is designed as a rotary bearing and wherein the axis of rotation (32) is oriented substantially parallel to the axis direction (34). [4] Robot (24) according to one of claims 1 to 3, wherein the suspension (30) has a controllable locking device (46) by means of which the at least one environment sensor unit (28) can be locked in a current rotational position with respect to the axis of rotation (32). [5] Robot (24) according to claim 4, wherein it is configured such that in at least one operating mode the locking device (46) is automatically controlled before and / or after each transport of an object (6) in order to release a standard locking of the at least one environment sensor unit (28) for a predetermined period of time. [6] Robot (24) according to one of claims 1 to 5, wherein a drive unit for actively changing a current rotational position of the at least one environment sensor unit (28) with respect to the axis of rotation (32) is omitted. [7] Robot (24) according to one of claims 1 to 6, wherein the at least one environment sensor unit (28) has an upper end (50) and a lower end (52), wherein the upper end (50) is connected to the suspension (30) and wherein the lower end (52) has a ballast weight (54). [8] Robot (24) according to any one of claims 1 to 7, wherein the base structure (26) extends in the longitudinal direction (40) from a front end (42) to a rear end and wherein the at least one environment sensor unit (28) is attached to the front end (42) or to the rear end of the base structure (26). [9] Robot (24) according to one of claims 1 to 8, wherein it is configured such that in at least one operating mode the current rotational position of the at least one environment sensor unit (28) with respect to the axis of rotation (32) is automatically adjusted to a weight force of an object (6) to be transported. [10] Method for operating a robot (24) according to one of the preceding claims, wherein in at least one operating mode of the robot (24) a current rotational position of the at least one environment sensor unit (28) with respect to the axis of rotation (32) is automatically adjusted to a weight force of an object (6) to be transported.

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