Payload changing system and method

Abstract

A payload changing system for a robot (400) comprises an adaptor (200) configured to be attached to a robot; a payload mount (100) configured to support a payload; and a changing unit (300). The payload mount (100) is configured to attach to the adaptor (200) and the changing unit is configured to support the payload mount (100). The payload mount (100) is configured to attach to the adaptor (200) when the payload mount (300) and adaptor are raised relative to the changing unit 300 and the payload mount (100) is configured to detach from the adaptor (200) when the payload mount (100) and adaptor (200) are lowered relative to the changing unit (300). A method (500) for attaching a payload to the robot comprises instructing the robot to move to a position in which the adaptor is located beneath the changing unit (502); instructing the robot to raise the height of the adaptor relative to the changing unit to engage a payload mount such that such that the payload mount is attached to the adaptor (504); and instructing the robot to move away from the changing unit with the adaptor at the raised height, with the payload mount attached to the adaptor (506). A method (600) for detaching a payload from a robot comprises instructing the robot to move to a position in which the payload mount and adaptor are located above a changing unit (602); instructing the robot to lower the height of the adaptor relative to the changing unit such that payload mount detaches from the adaptor (604); and (20) instructing the robot to move away from the changing unit with the adaptor at the lowered height (606).

Description

Payload changing system and method

[0001] Described herein is a payload changing system for a robot, and a method for changing a payload of a robot.

[0002] Working in radioactive, contaminated, hazardous, or otherwise hostile environments can pose serious health risks to humans. Examples of this work can include the maintenance, processing, and examination of radioactive materials as might be used in nuclear reactors. These tasks are necessary for the safe operation of reactors and during decommissioning activities. Other examples of hostile environments may include disaster relief and recovery, and security or surveillance-related activities. In the case of radioactive or contaminated environments, excessive exposure can dramatically increase the likelihood of long-term health issues including radiation sickness and cancer. Therefore, it is preferable to avoid human interaction wherever possible.

[0003] Recent developments in robotic technology have provided robotic platforms that are capable of operating in these hostile environments without the same susceptibilities as humans. Several leading robotic platforms are based on quadrupeds, which may provide a stable and adaptable platform suitable for operations in hostile environments.

[0004] It is possible to expand the capabilities of a robotic platform by providing the robotic platform with a payload. A payload may be carried by a robot, and may be electrically connected to the robot, to transmit power and / or data from the robot to the payload. Examples of payloads that may be used with a robot in a hostile environment include a thermal imaging camera with sound recording and lights, lidar scanning equipment, long-distance radio communications, and network and power ports.

[0005] Changing of the payload provided on the robotic platform can be a challenge. In a hostile environment such as those described above, an operator manually changing a payload may be putting their health and safety at risk. It may be expensive to equip an operator with the level of protection required to enter such an environment, and such equipment may encumber the operator in changing the payload. For example, if the operator is wearing an air-fed suit with a visor and several layers of gloves, they may have reduced vision and dexterity when changing the payload.

[0006] According to the present invention there is provided an apparatus and method as set forth in the appended claims. Other features of the invention will be apparent from the dependent claims, and the description which follows.

[0007] According to an aspect of the invention, there is provided a payload changing system for a robot, the system comprising: an adaptor configured to be attached to a robot; a payload mount configured to support a payload and configured to be attached to the adaptor; and a changing unit configured to support the payload mount when the payload mount is detached from the adaptor, wherein the payload mount is configured to attach to the adaptor when the adaptor is raised from beneath the payload mount towards the payload mount such that thepayload mount is lifted from the changing unit, and wherein the payload mount is configured to detach from the adaptor when the payload mount is lowered onto the changing unit.

[0008] The payload changing system uses the ability of a robot to change its height in the changing of the payload of the robot, thereby avoiding the requirement of a human operator to manually change the payload.

[0009] The adaptor may be configured to couple to the payload mount when the adaptor is raised towards the payload mount from beneath the payload mount. The changing unit may be configured to lock the payload mount to the adaptor when the payload mount and adaptor are coupled together and raised together from the changing unit.

[0010] The changing unit may be configured to unlock the payload mount from the adaptor when the payload mount is lowered onto the changing unit. The adaptor may be configured o uncouple from the payload mount when the adaptor is further lowered relative to the payload mount supported on the changing station.

[0011] The payload mount may comprise a clip and the adaptor may comprise a corresponding channel, wherein the channel may be configured to receive at least a portion of the clip to lock the payload mount to the adaptor. The clip and corresponding channel may allow the payload mount to be securely attached to the adaptor. The clip and channel may provide a simple mechanism for locking and unlocking the payload mount to and from the adaptor such that the payload may be easily changed by a robot.

[0012] The clip may be movable from a first position in which the at least a portion of the clip is received in the channel of the adaptor, and a second position in which the at least a portion of the clip is separated from the channel.

[0013] The clip may be biased into the first position. For example, the clip may be pivotable between the first and second positions, and the clip may be spring-loaded to bias the clip to pivot into the first position. The biasing force of the clip may allow the payload mount to securely locked to the adaptor when the payload mount and adaptor are raised from the changing unit.

[0014] The changing unit may be configured to engage with the clip to move the clip from the first position to the second position when the payload mount and adaptor are lowered relative to the changing unit and to move the clip to move from the second position to the first position when the payload mount and adaptor are raised relative to the changing unit.

[0015] The changing unit may comprise a rail that may engage the clip. The rail may support the payload mount when the payload mount is lowered onto the changing unit. The weight of the payload mount on the rail may act against the biasing force of the clip when the payload mount is lowered by the robot onto the rail, thereby unlocking the payload mount from the adaptor. When the payload mount is raised from the rail, the biasing force of the clip may lock the clip to the adaptor.

[0016] The coupling portion may comprise a guard configured to cover at least a portion of the clip for preventing unintentional engagement of the clip. The guard may comprise anopening for access by the changing unit for the changing unit to engage the clip. The guard may prevent the clip being operated by the robot brushing against obstacles or falling onto its side. The guard may be a moulding. The guard may cover a side of the clip. The guard may cover the clip entirely apart from the opening within the cover. The changing unit may comprise a protrusion or key, for example provided on the rail. The protrusion or key may be configured to access the interior of the guard to engage with the clip. The opening may have a particular shape and the protrusion or key feature on the rail may have a complementary shape configured to enter the opening on the cover and operate the clip.

[0017] The changing unit may comprise a plurality of rails and may be configured to support the payload mount on the plurality of rails. The payload mount may thereby be supported on the changing unit until it is required to be attached to the robot.

[0018] The adaptor may comprise locating pins projecting from an upper surface thereof and the payload mount may comprise recesses for receiving the locating pins. The locating pins may allow the adaptor to be coupled to the payload mount in the correct position prior to locking the adaptor to the payload mount.

[0019] The locating pins may reduce in width from a base at the upper surface of the adaptor to a distance from the upper surface of the adaptor. The locating pins may thereby provide a tolerance in coupling the adaptor to the payload mount, such that it may be easier for the robot to couple the adaptor to the payload mount. For example, the locating pins may provide a tolerance of + / - 5mm in the horizontal direction.

[0020] The payload mount may comprise a first electrical connector and the adaptor may comprise a second electrical connector, wherein the first connector may be configured to electrically connect to the second connector when the payload mount is attached to the adaptor. The payload mount may comprise a third electrical connector for connecting the payload to the payload mount. When the payload is connected to the third electrical connector and the first and second electrical connectors are connected, the adaptor may be configured to transmit and / or receive power and / or data from the robot to the payload via the payload mount.

[0021] The first connector and the second connector may be magnetically couplable together. For example, the first connector and second connector may be in the form of plates that can be coupled together magnetically. It may thereby be easier for the robot to couple the first and second connectors together when coupling the adaptor to the payload plate. The first and second connectors may couple together when the adaptor and payload mount are coupled together. For example, when the locating pins of the adaptor are received in the openings of the payload mount, the first and second connectors may magnetically couple together.

[0022] The payload mount may comprise a voltage regulator for regulating the voltage at the connection between the first connector and the second connector. The voltage regulator may adapt the payload mount to be used for a particular payload requiring a particular voltage, without requiring the adaptor to also be adapted for use with the particular payload. The sameadaptor may thereby be usable with a plurality of different payload mounts with different payloads having different voltage requirements.

[0023] The changing unit may comprise a fiducial configured to be detected by the robot. The fiducial may enable the robot to detect the location of the changing unit, such that the robot may position the adaptor at the appropriate location to attach or detach the payload mount to or from the adaptor. The fiducial may be a 2D barcode.

[0024] According to another aspect of the invention, there is provided a method for attaching a payload to a robot, wherein the robot comprises an adaptor attached to an upper surface thereof, the method comprising: instructing the robot to move to a position in which the adaptor is located beneath a changing unit supporting a payload mount; instructing the robot to raise the height of the adaptor relative to the changing unit to engage the payload mount such that such that the payload mount is attached to the adaptor; and instructing the robot to move away from the changing unit with the adaptor at the raised height, with the payload mount attached to the adaptor.

[0025] The method may provide a way for a payload to be attached to a robot without requiring manual intervention from an operator. The method may provide a simple process for attaching a payload, such that the payload may be attached by the robot acting autonomously or with minimal control input from a remote user.

[0026] The method may further comprise instructing the robot to detect a location of a fiducial associated with the changing unit. The instructing the robot to move to the position in which the adaptor is located beneath the changing unit may be based on the detected location of the fiducial. The detecting the location of the fiducial may allow the robot to autonomously move towards the changing unit and move into the required position beneath the changing unit.

[0027] The robot may be a quadruped, and the instructing the robot to raise the height of the adaptor may comprise instructing the robot to extend its legs to raise the height of the robot.

[0028] According to another aspect of the invention, there is provided a method for detaching a payload from a robot, wherein the robot comprises an adaptor attached to an upper surface thereof and a payload mount is attached to the adaptor, the method comprising: instructing the robot to move to a position in which the payload mount and adaptor is located above a changing unit; instructing the robot to lower the height of the adaptor relative to the changing unit such that payload mount detaches from the adaptor and is supported on the changing unit; and instructing the robot to move away from the changing unit with the adaptor at the lowered height.

[0029] The method may provide a way for a payload to be detached from a robot without requiring manual intervention from an operator. The method may provide a simple process for detaching a payload, such that the payload may be detached by the robot acting autonomously or with minimal control input from a remote user.

[0030] The method may further comprise instructing the robot to detect a location of a fiducial associated with the changing unit. Instructing the robot to move to the position in which thepayload mount and adaptor are located above the changing unit may be based on the detected location of the fiducial. The detecting the location of the fiducial may allow the robot to autonomously move towards the changing unit and move into the required position with the payload mount located above the changing unit.

[0031] The robot may be a quadruped, and the instructing the robot to lower the height of the adaptor may comprise instructing the robot to bend its legs to lower the height of the robot.

[0032] According to another aspect, there is provided a computer program product comprising instructions which, when the program is executed by a computer, cause the computer to carry out one or more steps of the methods described above.

[0033] Although a few preferred embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes and modifications might be made without departing from the scope of the invention, as defined in the appended claims.

[0034] For a better understanding of the invention, and to show how embodiments of the same may be carried into effect, reference will now be made, by way of example only, to the accompanying diagrammatic drawings in which:

[0035] Figure 1 shows an example changing system and a robot;

[0036] Figure 2 shows the adaptor and payload mount of the example changing system of figure 1 in an attached configuration;

[0037] Figure 3 shows the adaptor and payload mount of the example changing system in a detached configuration;

[0038] Figure 4 shows an exploded view of the adaptor and payload mount of the example changing system;

[0039] Figures 5A and 5B show portions of the adaptor and payload mount of the example changing system in isolation;

[0040] Figure 6 shows a flowchart of an example method for attaching a payload;

[0041] Figure 7 shows the robot approaching the changing unit of the example changing system;

[0042] Figure 8 shows the robot in a lowered position adjacent the changing unit of the example changing system;

[0043] Figure 9 shows the robot positioned beneath the payload plate on the changing unit of the example changing system;

[0044] Figures 10A and 10B show the system wherein the robot raises to couple the adaptor to the payload mount of the example changing system;

[0045] Figures 11A and 11 B show the system wherein the robot raises to lift the payload mount from the changing unit of the example changing system; and

[0046] Figure 12 shows a flowchart of an example method of detaching a payload.

[0047] Various combinations of optional features have been described herein, and it will be appreciated that described features may be combined in any suitable combination. In particular, the features of any one example embodiment may be combined with features of any other embodiment, as appropriate, except where such combinations are mutually exclusive. Throughout this specification, the term “comprising” or “comprises” means including the component(s) specified but not to the exclusion of the presence of others.

[0048] As shown in figure 1 , an example changing system comprises a payload mount 100, an adaptor 200, and a changing unit 300. The adaptor 200 is attached to a quadruped robot 400. In other examples, the adaptor 200 may be attached to other types of robot that have the ability to raise and lower at least a portion of the robot.

[0049] The payload mount 100 comprises a plate 102 for supporting a payload and a coupling portion 104 for coupling to the adaptor 200, as shown in figure 2.

[0050] The adaptor 200 comprises a main body 202 and mounting portions 204, 206 for attaching the adaptor 200 to the robot 400, as shown in figure 2.

[0051] As shown in more detail in figures 3-5, the adaptor 200 comprises locating pins 208 that project upwards from an upper surface 210 of the adaptor main body 202. A lower surface 106 of the coupling portion main body 108 comprises openings 110 for receiving the locating pins 208, as shown in figure 5. The adaptor 200 and payload mount 100 may be coupled together by the locating pins 208 being received in the openings 110.

[0052] The locating pins 208 are substantially cone-shaped, with a width decreasing from a greater width at the base of the pin 208 to a smaller width at the distal end of the pin 208. The decreasing width of the pin 208 provides a tolerance of + / - 5 mm in coupling the adaptor 200 to the payload mount 100.

[0053] The coupling portion 104 comprises a clip 112 that is pivotably connected to a side wall of the coupling portion main body 108. The adaptor 200 comprises a channel 212 provided in a side wall of the main body 202. The clip 112 extends from the side wall of the coupling portion main body 108 and comprises a hooked portion 114 at a distal end thereof, as shown in figures 2 and 3. The channel 212 is configured to receive the hooked portion 114 of the clip 112 to lock the payload mount 100 to the adaptor 200.

[0054] In the example shown in the figures, the coupling portion 104 comprises two clips 112. In other examples, the coupling portion 104 may comprise fewer or more than two clips. For example, the coupling portion may comprise four clips.

[0055] The clip 112 is pivotable between a first position, in which the hooked portion 114 may be received in the channel 212, and a second position, the hooked portion 114 is separated from the channel 212. In the first position, the clip 112 extends substantially parallel to the side wall of the main body 108 of the coupling portion 104, whilst in the second position, the clip 112 extends at an oblique angle from the main body 108 of the coupling portion 104, as shown in figures 10B and 11 B. The hooked portion 114 of the clip 112 is configured to bereceived in the channel 212, to lock the payload mount 100 to the adaptor 200. The clip 112 is spring-loaded, to bias the clip 112 into the first position.

[0056] The changing unit 300 comprises rails 302 for supporting the payload mount 100. As shown in figure 1 , the changing unit 300 comprises two substantially horizontally extending rails 302. In use, the rails 302 are raised from the ground. In the example shown in the figures, the changing unit 300 is provided on a post 12 having a base 14 for supporting the changing unit 300, the changing unit 300 being raised vertically relative to the base 14 by the post 12.

[0057] The rails 302 are configured to lock and unlock the payload mount 100 from the adaptor 200. The clip 112 comprises a latch portion 116. When the payload mount 100 is lowered onto the rails 302, the rails 302 engage the latch portion 116, causing the clip 112 to pivot from the first position to the second position. When the payload mount 100 is lifted from the rails 302, the latch portion 116 is disengaged from the rails 302 and pivots to the second position. Raising and lowering the payload mount 100 relative to the rails 302 thereby causes the payload mount 100 to lock and unlock from the adaptor 200.

[0058] According to some examples, the clip 112 comprises one or more features (not shown) to inhibit unintentional release of the hooked portion 114 from the channel 212. One such feature may be a molded guard feature surrounding at least a portion of the clip, for example the latch of the clip, to prevent the clip being operated by the robot brushing against obstacles or falling onto its side. In other examples, the clip may be covered by a cover or molding, wherein the cover covers the clip entirely apart from an opening within the cover, the opening allowing a protrusion or key feature on the rail of the changing unit to access the interior of the cover and engage with the latch of the clip. The opening may have a particular shape and the protrusion or key feature on the rail may have a complementary shape configured to enter the opening on the cover and operate the clip.

[0059] As shown in figures 2 to 4, the payload mount 100 comprises guide rails 118 for positioning the payload mount 100 on the rails 302 of the changing unit 300. The guide rails 118 are provided on a lower surface of the payload plate 102. The guide rails 118 comprise a locating feature 120, for assisting in positioning the payload mount on the rails 302 of the changing unit 300.

[0060] The coupling portion 104 of the payload mount 100 comprises a first electrical connector 122 and the adaptor 200 comprises a second electrical connector 214. As shown in figures 5A and 5B, the first electrical connector 122 is provided on a lower surface 106 of the main body 108 of the coupling portion 104 of the payload mount 100 and the second electrical connector 214 is provided on the upper surface 210 of the adaptor main body 202. The first connector 122 and second connector 214 are configured to electrically connect when the adaptor 200 and the payload mount 100 are coupled together. The first connector 122 and the second connector 214 are configured to magnetically couple together.

[0061] The payload mount 100 comprises a third electrical connector (not shown) for connecting to a payload, for example by a cable of the payload being inserted into the third electrical connector. The third electrical connector is connected to the first connector 122. The adaptor 200 comprises a fourth electrical connector (not shown) for electrically connecting to the robot 400. Power and data may thereby transmitted from the robot 400 to the payload via the electrical connectors.

[0062] The payload mount 100 further comprises 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 adapts the payload mount 100 to be used for payloads having different voltage requirements. Different payload mounts for different voltages may thereby be used with the same adaptor 200.

[0063] An example method 500 for attaching a payload to a robot is shown in figure 6. An adaptor is attached to the robot whilst a payload mount is supported on a changing unit. The method 500 may use the payload changing system shown in figures 1 to 5, with the adaptor 200 attached to the robot 400 and the payload provided on the payload mount 100, which is supported on the changing unit 300.

[0064] The method 500 comprises at step 502 instructing the robot to move to a position in which the adaptor is located beneath the changing unit.

[0065] According to the example shown in figures 7-9, instructing the robot 400 to move to the position in which the adaptor 200 is located beneath rails 302 of the changing unit 300 comprises instructing the robot 400 to move towards the changing unit 300 (shown in figure 7), instructing the robot 400 to lower its height relative to the changing unit 300 (shown in figure 8), and instructing the robot 400 to move to the position in which the adaptor 200 is located beneath and between the rails 302 of the changing unit 300 (shown in figure 9). The lower height may be a predetermined height, for example the lowest gait at which the robot 400 may walk, or any other height in which the upper surface of the adaptor 200 is beneath the rails 302 of the changing unit 300. In other examples, the height of the robot 400 at which the adaptor 200 is positioned beneath the changing unit may be the normal operating height of the robot, in which case the robot will not require instructing to lower its height.

[0066] According to the example shown in figures 7-11 , the robot 400 is a quadruped, and the instructing the robot 400 to raise the height of the adaptor 200 comprises instructing the robot 400 to extend legs of the robot 400 to raise the height of the robot 400.

[0067] According to an example, the robot 400 moves autonomously, with data processing apparatus provided remotely or on the robot 400 instructing the robot 400 to move to a position in which the adaptor 200 is located beneath the changing unit 300, for example in response to receiving a user command to change the payload. For example, the method may comprise receiving a user input selecting a payload and instructing the robot 400 to move to the changing unit associated with the selected payload. The method may comprise instructing the robot 400 to detect a location of a fiducial, such as a 2D barcode, associated with the changingunit or payload, for example in response to receiving a user input selecting a changing unit or payload. The method may comprise instructing the robot 400 to move towards the changing unit and position itself such that the adaptor 200 is provided beneath the changing unit autonomously based on the detected location of the fiducial.

[0068] Alternatively, the robot 400 may be controlled by a user to move to the position based on the user inputting one or more commands, for example directional movement commands, to move the robot to the position in which the adaptor 200 is located beneath the changing unit 300.

[0069] Returning to figure 6, the method 500 comprises at step 504 instructing the robot to raise the height of the adaptor relative to the changing unit to attach the payload mount to the adaptor.

[0070] According to an example, as shown in figures 10 and 11 , raising the height of the adaptor 200 to attach the payload mount 100 to the adaptor 200 is a two-stage process. In a first stage, shown in figures 10A and 10B, the robot 400 raises its height such that the adaptor 200 couples to the coupling portion 104 of the payload mount 100 by inserting the locating pins 208 of the adaptor 200 into the corresponding openings 110 in the coupling portion 104. At this stage, as shown in figure 10B, the payload mount 100 is not yet locked to the adaptor 200, with the clip 112 being in the second position in which the hooked portion 1 14 of the clip 112 is not received in the channel 212 of the adaptor 200.

[0071] In a second stage, shown in figures 11A and 11 B, the robot 400 raises its height further, such that the payload mount 100 is lifted from the changing unit 300. As shown in figure 11 B, the clip 112 of the payload mount 100 is no longer held in the second position by the changing unit 300 and so moves to the first position, in which the hooked portion 114 is received in the channel 212 of the adaptor 200.

[0072] Returning to figure 6, the method 500 comprises at step 506 instructing the robot to move away from the changing unit with the adaptor at the raised height, with the payload mount attached to the adaptor. The robot may then use the payload as required. For example, the arm of the robot may operate the payload and may lift the payload from the payload plate.

[0073] An example method 600 for detaching a payload from a robot is shown in figure 12. An adaptor is attached to the robot whilst a payload mount is attached to the adaptor. The method 600 may use the payload changing system shown in figures 1 to 5, with the adaptor 200 attached to the robot 400, the payload mount 100 coupled to and locked to the adaptor 200, and the payload provided on the plate 102 of the payload mount 100. In detaching the payload from the robot, the method of figure 6 is reversed, as described in further detail below.

[0074] The method 600 comprises at step 602 instructing the robot to move to a position in which the payload mount and the adaptor are located above a changing unit.

[0075] According to an example, instructing the robot 400 to move to the position in which payload mount 100 and adaptor 200 are located above the changing unit 300 comprisesinstructing the robot to move towards the changing unit 300, instructing the robot 400 to raise its height relative to the changing unit 300, and instructing the robot to move to the position in which the adaptor 200 is located above the changing unit 300 (shown in figure 11 A). The raised height may be a predetermined height, for example the greatest height at which the robot 400 may walk, or any other height in which clip 112 of the adaptor 200 is positioned above the changing unit 300. In other examples, the height of the robot 400 at which the adaptor 200 and payload mount 100 are positioned above the changing unit 300 may be the normal operating height of the robot, in which case the robot will not require instructing to raise its height.

[0076] According to the example shown in figures 7-10, wherein the robot 400 is a quadruped, instructing the robot to lower the height of the adaptor comprises instructing the robot to bend legs of the robot to lower the height of the robot.

[0077] According to an example, the robot 400 moves autonomously, with data processing apparatus provided remotely or on the robot 400 instructing the robot 400 to move to a position in which the adaptor 200 is located above the changing unit 300, for example in response to receiving a user command to remove the payload from the robot 400. For example, the method may comprise receiving a user input selecting a changing unit at which the robot 400 should remove the payload and instructing the robot 400 to move to the selected changing unit. The method may comprise instructing the robot 400 to detect a location of a fiducial, such as a 2D barcode, associated with the selected changing unit, for example in response to receiving a user input selecting a changing unit. The method may comprise instructing the robot 400 to move towards the changing unit 300 and position itself such that the adaptor 200 and payload mount 100 are provided above the changing unit 300 autonomously based on the detected location of the fiducial.

[0078] Alternatively, the robot 400 may be controlled by a user to move to the position based on the user inputting one or more commands, for example directional movement commands, to move the robot 400 to the position in which the adaptor 200 and payload mount 100 are located above the changing unit 300.

[0079] Returning to figure 12, the method 600 comprises at step 604 instructing the robot to lower the height of the adaptor relative to the changing unit to detach the payload mount from the adaptor.

[0080] According to an example, lowering the height of the adaptor 200 to detach the payload mount 100 from the adaptor 200 is a two-stage process. In a first stage, the robot lowers its height such that the payload mount 100 rests on the changing unit 300. Resting the payload mount 100 on the changing unit 300 causes the rails 302 of the changing unit to engage the clip 112, pivoting the clip 112 from the first position to the second position, such that the hooked portion 114 of the clip 112 is removed from the channel 212 of the adaptor 200 (as shown in figure 10B), thereby unlocking the payload mount 100 from the adaptor 200.

[0081] In a second stage, the robot 400 lowers its height further such that the locating pins 208 of the adaptor 200 are removed from the openings 110 in the coupling portion 104, thereby uncoupling the payload mount 100 from the adaptor 200. At the end of this second stage, the robot 400 is in a position as shown in figure 9.

[0082] Returning to figure 12, the method 600 comprises at step 606 instructing the robot to move away from the changing unit at the lowered height, whilst the payload mount remains resting on the changing unit.

[0083] The payload changing system and method described herein use the ability of a robot to change its height in changing the payload of the robot. This may mitigate the need for manual intervention of a human operator in changing the payload in a hazardous environment. This may also mitigate the need for another robot to change the payload. The changing system and method may enable the payload to be changed in a simple process that may be carried out by a robot acting autonomously or with minimal control input from a remote user.

[0084] Attention is directed to all papers and documents which are filed concurrently with or previous to this specification in connection with this application and which are open to public inspection with this specification, and the contents of all such papers and documents are incorporated herein by reference.

[0085] All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive.

[0086] Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.

[0087] The invention is not restricted to the details of the foregoing embodiment(s). The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

Claims

CLAIMS1 . A payload changing system for a robot, the system comprising: an adaptor configured to be attached to a robot; a payload mount configured to support a payload and configured to be attached to the adaptor; and a changing unit configured to support the payload mount when the payload mount is detached from the adaptor, wherein the payload mount is configured to attach to the adaptor when the adaptor is raised from beneath the payload mount towards the payload mount such that the payload mount is lifted from the changing unit, and wherein the payload mount is configured to detach from the adaptor when the payload mount is lowered onto the changing unit.

2. The payload changing system according to claim 1 , wherein the payload mount comprises a clip and wherein the adaptor comprises a corresponding channel, wherein the channel is configured to receive at least a portion of the clip to lock the payload mount to the adaptor.

3. The payload changing system according to claim 2, wherein the clip is movable from a first position in which the at least a portion of the clip is received in the channel of the adaptor, and a second position in which the at least a portion of the clip is separated from the channel, wherein the clip is biased into the first position.

4. The payload changing system according to claim 3, wherein the changing unit is configured to engage with the clip to move the clip from the first position to the second position when the payload mount and adaptor are lowered relative to the changing unit and to move the clip to move from the second position to the first position when the payload mount and adaptor are raised relative to the changing unit.

5. The payload changing system according to claim 4, wherein the coupling portion comprises a guard configured to cover at least a portion of the clip for preventing unintentional engagement of the clip, the guard comprising an opening for access by the changing unit for the changing unit to engage the clip.

6. The payload changing system according to any preceding claim, wherein the changing unit comprises a plurality of rails, wherein the changing unit is configured to support the payload mount on the rails.

7. The payload changing system according to any preceding claim, wherein the adaptor comprises locating pins projecting from an upper surface thereof and wherein the payload mount comprises recesses for receiving the locating pins.

8. The payload changing system according to claim 7, wherein the locating pins reduce in width from a base at the upper surface of the adaptor to a distance from the upper surface of the adaptor.

9. The payload changing system according to any preceding claim, wherein the payload mount comprises a first electrical connector and the adaptor comprises a second electrical connector, wherein the first connector is configured to electrically connect to the second connector when the payload mount is attached to the adaptor, and wherein the payload mount comprises a third electrical connector for connecting the payload to the payload mount, wherein when the payload is connected to the third electrical connector and the first and second electrical connectors are connected, the adaptor is configured to transmit power and data to the payload via the payload mount.

10. The payload changing system according to claim 9, wherein the first connector and the second connector are magnetically couplable together.

11. The payload changing system according to claim 9 or claim 10, wherein the payload mount comprises a voltage regulator for regulating the voltage at the connection between the first connector and the second connector.

12. The payload changing system according to any preceding claim, wherein the changing unit comprises a fiducial configured to be detected by the robot.

13. The payload changing system according to claim 12, wherein the fiducial is a 2D barcode.

14. A method for attaching a payload to a robot, wherein the robot comprises an adaptor attached to an upper surface thereof, the method comprising: instructing the robot to move to a position in which the adaptor is located beneath a changing unit supporting a payload mount; instructing the robot to raise the height of the adaptor relative to the changing unit to engage a payload mount such that such that the payload mount is attached to the adaptor; and instructing the robot to move away from the changing unit with the adaptor at the raised height, with the payload mount attached to the adaptor.

15. The method according to claim 14, the method further comprising instructing the robot to detect a location of a fiducial associated with the changing unit, wherein the instructing the robot to move to the position in which the adaptor is located beneath the changing unit is based on the detected location of the fiducial.

16. The method according to claims 14 or claim 15, wherein the robot is a quadruped, and wherein the instructing the robot to raise the height of the adaptor comprises instructing the robot to extend legs of the robot to raise the height of the robot.

17. A method for detaching a payload from a robot, wherein the robot comprises an adaptor attached to an upper surface thereof and a payload mount is attached to the adaptor, the method comprising: instructing the robot to move to a position in which the payload mount and adaptor is located above a changing unit; instructing the robot to lower the height of the adaptor relative to the changing unit such that payload mount detaches from the adaptor is supported on the changing unit; and instructing the robot to move away from the changing unit with the adaptor at the lowered height.

18. The method according claim 17, further comprising instructing the robot to detect a location of a fiducial associated with the changing unit, wherein the instructing the robot to move to the position in which the payload mount and adaptor are located above the changing unit is based on the detected location of the fiducial.

19. The method according to claim 17 or claim 18, wherein the robot is a quadruped, and wherein the instructing the robot to lower the height of the adaptor comprises instructing the robot to bend legs of the robot to lower the height of the robot.

20. A computer program product comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method of any of claims 14 to 19.

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