A Modular Mobile Robot

Abstract

The invention relates to a modular mobile robot that can be used in various sectors such as logistics, manufacturing, retail, services, and advertising. Thanks to its integrated modules, it can perform various tasks such as material handling, servicing, in-warehouse transfers, promotion, and advertising activities. It is used in diverse applications ranging from industrial facilities to shopping malls, hospitals to airports, and can be adapted to many different sectors and application areas thanks to modules and software such as kiosks, advertising units, service units, GAP barcode scanners, and shopping carts, all developed according to different needs. It operates reliably and seamlessly in various environmental conditions and successfully performs critical tasks such as mapping its surroundings, autonomous navigation, and obstacle detection.

Description

1 TARIFF A Modular Mobile Robot TECHNICAL AREA 5 Innovation exists in various sectors such as logistics, manufacturing, retail, healthcare, services, and advertising. usable for material handling, service, and storage thanks to integrated modules. industrial companies capable of performing various tasks such as internal transfers, promotion, and advertising activities. from facilities to shopping malls, hospitals to airports, different uses 10 kiosks, advertising, service, and GAP barcode systems are used in various fields and developed to meet different needs. Thanks to modules and software such as browsers and shopping carts, it is suitable for many different sectors and uses. adaptable to its field, and operating seamlessly and reliably in various environmental conditions, It performs mapping and autonomous navigation by perceiving its surroundings, and includes features such as obstacle detection. 15 different modules at the software and hardware levels that successfully perform critical tasks. It relates to a modular mobile robot that can be reconfigured. PREVIOUS TECHNIQUE Today, mobile robot systems used in industry and service sectors are generally 20 years old. They are used as single-function devices serving a specific purpose. These robots, They are specifically optimized for the use case for which they were designed and can be used in other tasks. It is not easily convertible for use in various environments. For example, in large warehouses or While mobile robots used in production lines only perform the function of transporting materials, shopping Robots serving in shopping centers or hotels perform promotional, informational, or customer service tasks. It is used in tasks such as guidance. This special-purpose structure allows robots to operate in only one direction. It is limited in that it can be used in an operational context but cannot meet different needs. This gives rise to a system. This situation forces companies to develop different robot systems for each new need. This is forcing investment. Specifically, a mobile carrier robot for logistics operations. While being acquired, a different service robot is being supplied for customer service; this will benefit both the first 30 This increases investment costs and makes it more difficult for systems to work together. Furthermore, each with different software infrastructures, control systems and maintenance requirements Managing these robots together and integrating them into the operational infrastructure is significantly important. It requires time and resources. As a result, such systems are far from scalable. It exhibits a rigid structure; it contradicts the flexible production and service approach of companies. 35 2 The main shortcomings in current practices can be grouped under four main headings. Firstly, there is the problem of single-purpose use. Most robots on the market only perform a single task. It was developed for one purpose and cannot be reconfigured for another. Secondly, it is low-cost. It is a flexibility problem. When a new use case emerges within the business (for example, (such as the transition from production to distribution), the current system is unable to adapt to this new need. 5 Thirdly, there is the high cost factor. Because a separate robot needs to be purchased for each task. Therefore, the total cost of ownership is increasing, which is particularly problematic for SMEs. This reduces accessibility. Fourth and finally, maintenance and integration challenges, enabling robots from different manufacturers to operate in an integrated manner under the same infrastructure. This complicates things; software and hardware incompatibilities create operational risks. 10 This constitutes the challenge faced by today's industry and service sector. The fundamental technical problem is that it needs to be versatile, modular, and reconfigurable. The problem is the lack of mobile robot platforms. The same physical platform cannot be reused for different tasks. its configurability, and rapid adaptation to different operational needs through software-based task switching. There is currently no system in place that makes it possible to respond. Furthermore, modularity 15 thanks to the hardware components (e.g. transport module, sensor assemblies, manipulator arm) (etc.) components that can be added or removed as needed, improving the system both functionally and economically. A system that makes it sustainable is needed. Many domestic and foreign companies offer different solution approaches in this field. ABB Robotics, 20 especially in industrial robotic arms and autonomous mobile robot (AMR) systems. We offer solutions; high-precision systems for automation of production lines. KUKA Robotics develops a wide range of products, including both industrial and service robots. It has a portfolio and stands out particularly with its solutions in the field of human-robot collaboration (HRC). Omron Mobile Robots has developed 25 robots for use in in-plant transportation. Developing user-friendly solutions that offer high flexibility with autonomous mobile robots. Fetch Robotics stands out with its software infrastructure, particularly in warehouse automation and We manufacture AMR systems for intralogistics applications, tailored to different transport scenarios. They offer suitable, customizable platforms. However, the solutions of most of these companies are... time is either optimized for specific sectors or focused on a single function. 30 This means that the sector still has general-purpose products that support and facilitate transitions between scenarios. The need for mobile robot platforms offering integration continues. In this context... Future robotic systems will feature multi-purpose use, software flexibility, and hardware modularity. Its development is largely due to criteria such as low integration costs. It is important. 35 3 As a result of research conducted in the literature, the application number “2025 / 006486” and “MOBILE” Turkish patent application titled "AUTONOMOUS ORDER PICKING ROBOT" It has been encountered. The application in question is a modularly designed mobile autonomous order. It is related to the picking robot. However, the application in question includes logistics, manufacturing, retail, services, and It can be used in different sectors such as advertising, and thanks to the modules integrated onto it, it has 5 various activities such as material handling, servicing, in-warehouse transfer, promotion and advertising. capable of performing tasks ranging from industrial facilities to shopping malls, hospitals Used in various fields, including airports, and developed to meet different needs. thanks to modules and software such as kiosk, advertising, service, gap barcode scanner and shopping cart Adaptable to many different sectors and application areas, providing uninterrupted service in various environmental conditions and 10 reliable operation, mapping by sensing its surroundings, autonomous navigation and obstacle handling. a modular mobile robot that successfully performs critical tasks such as sensing No evidence was found. Ultimately, the problems mentioned above, which cannot be solved with the current technology, are addressed in the relevant technical section. 15 This has made it necessary to make an innovation in the field. A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and introduce new technologies to the relevant technical field. It is related to a modular mobile robot designed to bring advantages. 20 The main purpose of the invention is to enable many different applications thanks to the modules and software integrated into it. Adaptable to the sector and application area, providing uninterrupted and reliable service in various environmental conditions. It operates in this way, mapping its surroundings by perceiving them, and has autonomous navigation. and to obtain a modular mobile robot that can detect obstacles. 25 The invention allows a single mobile base to be easily reconfigured with different task modules. with a modular mobile robot platform that can be used in both industrial and service environments. It is related. The main difference of the invention is that it is modular and can be quickly changed both mechanically and electrically. connection interface and by communicating with this interface, task algorithms are automatically 30 It is the adaptive software infrastructure. All the purposes mentioned above and those that will emerge from the detailed explanation below. to realize the existing invention in different areas such as logistics, manufacturing, retail, services and advertising. It can be used in many sectors, thanks to the modules and software integrated onto it. adaptable to different sectors and application areas, and providing uninterrupted service in various environmental conditions. 4 Autonomous navigation that operates reliably and maps its surroundings by sensing them. It is a modular mobile robot with obstacle detection capabilities;  Equipped with at least one camera to obtain image data of the robot and its surroundings. by mapping, obstacle recognition, visual verification during the task and the task The camera system, which enables analysis of various scenarios, is 5  Wireless communication between the robot and the control unit / central management software An antenna that enables data transfer by providing  Connecting the robot to the automatic charging station and wirelessly or contact-based recharging of the robot's energy storage unit charging pad that provides 10  The main carrier body to which all mechanical, electronic and modular components are attached. skeletal system,  Environmental sensing and mapping via sensors located on the device obstacle detection and the robot's autonomous navigation system enable this. the ability to perform accurate mapping even in low-light environments 15 and timestamps sensor data to enable obstacle detection. sensor system that combines in this way,  Enables the robot to gain versatile maneuverability and Swivel casters, which are auxiliary carrier wheels,  the robot's drive motors, wheels and wheel drive components and related 20 motion unit that includes control mechanisms and provides direct movement,  by absorbing shocks and vibrations coming from the ground / base, the robot ensuring stable operation and protection of electronic components suspension system,  The motion unit 25 contains the gearbox along with the main drive motors. the driving system located on it that performs the robot's movements,  housing energy storage units and power distribution systems, a power unit that meets the energy needs of all electronic and mechanical systems,  The robot's central processing boards, driver circuits, and control software are located on it. Module 30, which manages all motion, sensor, and communication processes. When plugged in, it reads the EEPROM or 1-Wire identification unit on the module. automatic sensor data, motion parameters and user interface The control unit loads the appropriate module identifier profile, which changes it to,  The robot can operate quickly and safely with modules developed for different scenarios. both mechanical interlocking and power and data transmission enable its integration. 35 a hybrid interface providing positioning pins, locking mechanism, elastomer vibration dampers and pogo-pin or magnetic connector based Includes power and data pins, module alignment, and secure installation. pre-charging and ensuring its removal and stable operation under vibration. MOSFET limiting circuits allow modules to be installed while energized. modular connection adapter 5 that enables It includes. The best way to utilize the advantages of the existing invention, together with its structure and additional elements. For it to be understood, it must be considered together with the figures explained below. BRIEF DESCRIPTION OF THE FIGURES Figure 1 is a representative illustration of the modular mobile robot that is the subject of the invention. Figure 2 shows a representation of the control mechanism of a modular mobile robot that is the subject of the invention. It is a representation. 15 Figure 3 shows a representation of the driving mechanism of a modular mobile robot that is the subject of the invention. It is a representation. Figure 4 shows an external representation of the modular mobile robot that is the subject of the invention. Figure 5 shows a side-view representation of the modular mobile robot that is the subject of the invention. Figure 6 is a top-down representation of the modular mobile robot that is the subject of the invention. 20 Figure 7 shows a representative example of a modular mobile robot, the subject of this invention, used in a kiosk. It is a representation. Figure 8 shows another representation of the modular mobile robot, which is the subject of the invention, in the case of its use in a kiosk. It is a representation. Figure 9 shows another example of a modular mobile robot, the subject of the invention, being used in a kiosk. It is a representative illustration. Figure 10 shows the modular mobile robot, which is the subject of the invention, in the case of its use as an advertising robot. It is a representative illustration. Figure 11 shows a side view of the modular mobile robot, the subject of the invention, being used as an advertising robot. It is a representative illustration. 30 Figure 12 shows a top-down view of the modular mobile robot, the subject of the invention, being used as an advertising robot. It is a representative illustration. The drawings do not necessarily need to be scaled and are necessary for understanding the invention. Details that are not present may have been overlooked. Furthermore, at least to a large extent, 35 Elements that are identical or at least have substantially identical functions are numbered the same. It is shown. 6 REFERENCE NUMBERS 1. Camera system 2. Manual charging socket 5 3. Anten 4. Charging pad 5. Skeletal system 6. Sensor system 7. Drunken wheels 10 8. Movement unit 9. Suspension system 10. Driving system 11. Unit of power 12. Control unit 15 13. Shell 14. Emergency stop button 15. Visual information unit 16. Modular connection adapter DETAILED DESCRIPTION OF THE INVENTION In this detailed explanation, the modular mobile robot that is the subject of the invention is simply a better understanding of the subject. It is explained with examples that do not create any limiting effect on understanding. A modular mobile robot, camera system (1), manual charging socket (2), antenna (3), charging pad (4), skeleton system (5), sensor system (6), caster wheels (7), motion unit (8), suspension system (9), driving system (10), power unit (11), control unit (12), shell (13), emergency stop button (14), includes visual information unit (15), modular connection apparatus (16). Camera system (1), which has at least one camera, obtains image data of the robot and its surroundings 30 by enabling mapping, obstacle recognition and visual verification during the mission. It is a system. The manual charging socket (2) is not connected to the robot's automatic charging station. In some cases, it allows for manual power boosting via an external power supply. The antenna (3) is a socket between the robot and the control unit (12) / central management software wirelessly. It is the element that enables data transfer by providing communication. Charging pad (4), 35 the robot can be connected to the automatic charging station wirelessly or via contact. It is the unit that enables the robot's energy storage unit to recharge. Skeletal system (5), 7 It is the main carrier body structure to which all mechanical, electronic and modular components are fixed; It provides durability and ease of assembly. The sensor system (6) is located on it. obstacle detection, enabling environmental sensing and mapping through sensors. It is the system that enables the robot to achieve autonomous navigation capabilities, and this The sensors are preferably LiDAR sensors. The sensor system (6) transmits LiDAR and camera data over time 5 It combines them in a stamped manner (sensor fusion). This allows it to function even in low-light environments. Accurate mapping and obstacle detection are performed. Drunken wheels (7) guide the robot's direction. auxiliary carrier that allows it to gain versatile maneuverability without changing its position The motion unit (8) contains the robot's drive motors, wheel drive components and related wheels. It is the unit that contains the control mechanisms and provides direct movement. Suspension system 10 (9) absorbs shocks and vibrations from the ground / base, making the robot stable It is the system that ensures the operation and protection of electronic components. Driving system (10), housing the gearbox together with the main drive motors, having the drive unit (8) on it and is the system that performs the robot's movements. Power unit (11), energy storage units and housing the power distribution systems and all electronic and mechanical systems 15 It is the unit that meets the energy needs. The control unit (12) has the robot's central processor on it. All motion, sensor and communication boards, driver circuits and control software are included. It is the unit that manages the processes. Control unit (12), preferably a ROS 2 based task orchestrator It has software. When the module is installed, the EEPROM or 1-Wire identification unit on the module The system reads the sensor data and loads the appropriate module identifier profile (MDP). This profile contains the sensor data, 20 It automatically changes the motion parameters and user interface. That is, the advertising module. When the module is installed, the introductory interface becomes active, while when the service module is installed, navigation and delivery become active. algorithms come into play. The shell (13) is in contact with the external environment, and has an aesthetic and protective function. It is a protective coating structure. It protects both electronic and mechanical components from external influences. The emergency stop button (14) stops all functions of the system instantly in case of danger or unexpected situations. It is the safety component that stops the robot from interacting with people through the visual information unit (15). It enables interaction and may have lighting or indicators depending on the usage scenario. It is a unit. The modular connection apparatus (16) allows the robot to be connected with modules developed for different scenarios. It is a mechanical and electrical interface that enables fast and secure integration. Modular. The connection device (16) is a hybrid 30 that provides both mechanical locking and power and data transmission. It is an interface. This interface consists of positioning pins, a locking mechanism, and elastomer vibration. It includes dampers and power-data pins based on pogo-pin or magnetic connectors. This design ensures module alignment with a tolerance of ±0.5 mm, secure installation and removal, and vibration resistance. This ensures stable operation. Power pins: 12–48 V DC, 10 A continuous current. It has the capacity. The data interface preferably supports CAN-FD and 100BASE-T1 Ethernet. 35 Pre-charging and MOSFET limiting circuits allow for safe hot-swapping (plugging in while energized). (enabled) can be done. The data line includes EMI and ESD protection. The robot is industrial. 8 It combines durability with the aesthetics of a service robot. Aluminum housing, IP54 protection. Its level is resistant to temperature ranges of -10°C–45°C and vibration / impact tests. This hybrid structure the robot can operate safely both in production facilities and in public environments It provides. Some of the system's advantages include providing multitasking support from a single platform, and the modules... It can be mounted with a tool-free, quick plug-and-play connection, according to the module ID in the software. The ability to perform automated task adaptation, along with industrial resilience and service. The combination of aesthetics, maintenance, and scalability ensures a low total cost of living. These can be listed as features such as secure power and data transfer (with hot-swap support). 10 A modular mobile robot (referred to as DOBBY in one of the invention's configurations), Flexible, high-performance solutions tailored to the needs of different sectors and use cases. and offers an innovative solution. The robot is used in various sectors such as logistics, manufacturing, retail, services, and advertising. It is a modular mobile robot that can be used in different sectors. The robot's central platform, Thanks to the modules integrated on it, material handling, service, in-warehouse transfer, 15 It can perform various tasks such as promotional and advertising activities. In this way, from industrial facilities to shopping malls, hospitals to airports, a very wide range It is used in a variety of applications. The strongest aspect of the invention is its modular design concept. Kiosks developed to meet different needs include advertising, service, Gap barcode scanner, and shopping cart options. Thanks to the special modules and software integrated into it, it can be used in 20 different fields. It can be used. Thus, a single mobile platform can be used in many different sectors and application areas. It is adaptable. This flexible structure allows companies to customize robotics to suit their own business processes. This invention enables them to implement solutions quickly and efficiently. It is not just a robot, but a versatile platform that shapes the workforce of the future. The robot The mobile platform, which is the central component, integrates all motion, power management, and control systems. It has a robust and durable structure. Preferably aluminum profile and sheet metal. This robust infrastructure, manufactured from panels, enables the robot to operate continuously even in challenging environmental conditions. This ensures reliable operation. Advanced engine systems, LiDAR technology, and Equipped with various sensors, the invention perceives its surroundings for mapping and autonomous navigation. and successfully performs critical tasks such as obstacle detection. 30 The technical problem mentioned in the previous article is solved with the developed modular mobile robot. At the heart of the invention is the mobile component, which integrates motion, power management, and control systems. containing aluminum profiles and sheet metal, it is robust and durable. It is a carrier platform. Built upon this mobile base are 35 specialized devices capable of performing different tasks. The devices can be integrated. The invention offers the following advantages: 9  Modular superstructure connection system: Different task modules (e.g. (advertising, service, basket, special purpose transport) easily integrated mechanically and electrically. Special connection points have been developed to enable this. This structure is present in existing mobile robots. It enables versatile usage flexibility that is not currently available. New usage Only the appropriate module can be developed and integrated into the system when needs arise. This can be done; which increases the scalability of the system.  Multiple scenario support from a single platform: Existing systems require a separate robot for each task. The invention, when needed, enables multiple use cases on a single mobile platform. It provides support. Thus, it is important in terms of cost, maintenance and software integration. Technical superiority is achieved. 10  Software adaptability: The control unit (12) automatically adapts to the functions of the modules. It is configured to run different task algorithms. This means that the same It enables the efficient use of hardware infrastructure in various software tasks.  A combination of industrial robustness and modularity: Most current service robots only While it can be used in closed and controlled environments, the aluminum housing structure used in the invention, 15 Thanks to powerful motors and sensor equipment, it can operate even in challenging industrial conditions. This feature enables the use of the invention. With this modularity, it facilitates industrial applications. A unique solution is presented that combines durability with quality.  Fast reconfigurability: Thanks to the easy attachment and detachment of modules, the robot, It can be quickly reconfigured between different tasks. This feature is available for the 20 It provides operational flexibility that is not available in other systems. In conclusion, the invention improves the flexibility, adaptability, and cost of existing single-purpose robot systems. by eliminating its shortcomings in this respect, it is versatile, reconfigurable and modular It offers a mobile robot platform. This structure can quickly and efficiently meet the changing needs of different sectors in 25 years. This enables an effective response and provides an innovative solution to existing technical problems. It provides a solution. The topic of a modular mobile robot is that the robot senses its surroundings and acts autonomously. It is a mobile platform with a modular structure that can move in this way. The robot's environmental The perception is primarily provided by the camera system (1). The camera system (1) provides visual data. It is in operation and allows for analysis of mission scenarios. Also 30 Environmental mapping and obstacle detection are carried out through the sensor system (6), Thus, safe and efficient navigation is achieved. In the sensor system (6) Lidar Sensors can be used. The robot's movement capability is on the movement unit (8). The suspension system is provided by the positioned drive motors and drive system (10). (9) It provides a stable ride by damping vibrations originating from the ground. 35 Maneuverability is increased by means of swivel wheels (7). The overall structural of the system Strength and regular arrangement of components are ensured by the skeleton system (5), external Protection against harmful agents and aesthetic integrity are provided by the shell (13). The robot's energy needs are met via the power unit (11), and this energy is supplied both manually. Automatic charging via external connection through the charging socket (2) and via the charging pad (4) This can be achieved through the station. The management of all these subsystems involves control algorithms. This is carried out by the control unit (12) which includes. User safety, in case of emergency 5 This is guaranteed by the emergency stop button (14) that activates. The robot can be used in different ways. It is equipped with a modular connection apparatus (16) so that it can be adapted to various scenarios. Thus, additional It allows for easy integration of hardware or functional units. In addition, the invention includes a visual information unit (15) to enhance user interaction. The invention is a sensor-based sensing system (camera system (1), sensor system (6)), 10 power unit (11) and control unit (12), modular with motion and suspension elements By combining integration capabilities, a secure, autonomous, and multi-purpose mobile platform is created. It enables its acquisition. 1 TARIFF A Modular Mobile Robot TECHNICAL AREA 5 Innovation exists in various sectors such as logistics, manufacturing, retail, healthcare, services, and advertising. usable for material handling, service, and storage thanks to integrated modules. industrial companies capable of performing various tasks such as internal transfers, promotion, and advertising activities. from facilities to shopping malls, hospitals to airports, different uses 10 kiosks, advertising, service, and GAP barcode systems are used in various fields and developed to meet different needs. Thanks to modules and software such as browsers and shopping carts, it is suitable for many different sectors and uses. adaptable to its field, and operating seamlessly and reliably in various environmental conditions, It performs mapping and autonomous navigation by perceiving its surroundings, and includes features such as obstacle detection. 15 different modules at the software and hardware levels that successfully perform critical tasks. It relates to a modular mobile robot that can be reconfigured. PREVIOUS TECHNIQUE Today, mobile robot systems used in industry and service sectors are generally 20 years old. They are used as single-function devices serving a specific purpose. These robots, They are specifically optimized for the use case for which they were designed and can be used in other tasks. It is not easily convertible for use in various environments. For example, in large warehouses or While mobile robots used in production lines only perform the function of transporting materials, shopping Robots serving in shopping centers or hotels perform promotional, informational, or customer service tasks. It is used in tasks such as guidance. This special-purpose structure allows robots to operate in only one direction. It is limited in that it can be used in an operational context but cannot meet different needs. This gives rise to a system. This situation forces companies to develop different robot systems for each new need. This is forcing investment. Specifically, a mobile carrier robot for logistics operations. While being acquired, a different service robot is being supplied for customer service; this will benefit both the first 30 This increases investment costs and makes it more difficult for systems to work together. Furthermore, each with different software infrastructures, control systems and maintenance requirements Managing these robots together and integrating them into the operational infrastructure is significantly important. It requires time and resources. As a result, such systems are far from scalable. It exhibits a rigid structure; it contradicts the flexible production and service approach of companies. 35 2 The main shortcomings in current practices can be grouped under four main headings. Firstly, there is the problem of single-purpose use. Most robots on the market only perform a single task. It was developed for one purpose and cannot be reconfigured for another. Secondly, it is low-cost. It is a flexibility problem. When a new use case emerges within the business (for example, (such as the transition from production to distribution), the current system is unable to adapt to this new need. 5 Thirdly, there is the high cost factor. Because a separate robot needs to be purchased for each task. Therefore, the total cost of ownership is increasing, which is particularly problematic for SMEs. This reduces accessibility. Fourth and finally, maintenance and integration challenges, enabling robots from different manufacturers to operate in an integrated manner under the same infrastructure. This complicates things; software and hardware incompatibilities create operational risks. 10 This constitutes the challenge faced by today's industry and service sector. The fundamental technical problem is that it needs to be versatile, modular, and reconfigurable. The problem is the lack of mobile robot platforms. The same physical platform cannot be reused for different tasks. its configurability, and rapid adaptation to different operational needs through software-based task switching. There is currently no system in place that makes it possible to respond. Furthermore, modularity 15 thanks to the hardware components (e.g. transport module, sensor assemblies, manipulator arm) (etc.) components that can be added or removed as needed, improving the system both functionally and economically. A system that makes it sustainable is needed. Many domestic and foreign companies offer different solution approaches in this field. ABB Robotics, 20 especially in industrial robotic arms and autonomous mobile robot (AMR) systems. We offer solutions; high-precision systems for automation of production lines. KUKA Robotics develops a wide range of products, including both industrial and service robots. It has a portfolio and stands out particularly with its solutions in the field of human-robot collaboration (HRC). Omron Mobile Robots has developed 25 robots for use in in-plant transportation. Developing user-friendly solutions that offer high flexibility with autonomous mobile robots. Fetch Robotics stands out with its software infrastructure, particularly in warehouse automation and We manufacture AMR systems for intralogistics applications, tailored to different transport scenarios. They offer suitable, customizable platforms. However, the solutions of most of these companies are... time is either optimized for specific sectors or focused on a single function. 30 This means that the sector still has general-purpose products that support and facilitate transitions between scenarios. The need for mobile robot platforms offering integration continues. In this context... Future robotic systems will feature multi-purpose use, software flexibility, and hardware modularity. Its development is largely due to criteria such as low integration costs. It is important. 35 3 As a result of research conducted in the literature, the application number “2025 / 006486” and “MOBILE” Turkish patent application titled "AUTONOMOUS ORDER PICKING ROBOT" It has been encountered. The application in question is a modularly designed mobile autonomous order. It is related to the picking robot. However, the application in question includes logistics, manufacturing, retail, services, and It can be used in different sectors such as advertising, and thanks to the modules integrated onto it, it has 5 various activities such as material handling, servicing, in-warehouse transfer, promotion and advertising. capable of performing tasks ranging from industrial facilities to shopping malls, hospitals Used in various fields, including airports, and developed to meet different needs. thanks to modules and software such as kiosk, advertising, service, gap barcode scanner and shopping cart Adaptable to many different sectors and application areas, providing uninterrupted service in various environmental conditions and 10 reliable operation, mapping by sensing its surroundings, autonomous navigation and obstacle handling. a modular mobile robot that successfully performs critical tasks such as sensing No evidence was found. Ultimately, the problems mentioned above, which cannot be solved with the current technology, are addressed in the relevant technical section. 15 This has made it necessary to make an innovation in the field. A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and introduce new technologies to the relevant technical field. It is related to a modular mobile robot designed to bring advantages. 20 The main purpose of the invention is to enable many different applications thanks to the modules and software integrated into it. Adaptable to the sector and application area, providing uninterrupted and reliable service in various environmental conditions. It operates in this way, mapping its surroundings by perceiving them, and has autonomous navigation. and to obtain a modular mobile robot that can detect obstacles. 25 The invention allows a single mobile base to be easily reconfigured with different task modules. with a modular mobile robot platform that can be used in both industrial and service environments. It is related. The main difference of the invention is that it is modular and can be quickly changed both mechanically and electrically. connection interface and by communicating with this interface, task algorithms are automatically 30 It is the adaptive software infrastructure. All the purposes mentioned above and those that will emerge from the detailed explanation below. to realize the existing invention in different areas such as logistics, manufacturing, retail, services and advertising. It can be used in many sectors, thanks to the modules and software integrated onto it. adaptable to different sectors and application areas, and providing uninterrupted service in various environmental conditions. 4 Autonomous navigation that operates reliably and maps its surroundings by sensing them. It is a modular mobile robot with obstacle detection capabilities;  Equipped with at least one camera to obtain image data of the robot and its surroundings. by mapping, obstacle recognition, visual verification during the task and the task The camera system, which enables analysis of various scenarios, is 5  Wireless communication between the robot and the control unit / central management software An antenna that enables data transfer by providing  Connecting the robot to the automatic charging station and wirelessly or contact-based recharging of the robot's energy storage unit charging pad that provides 10  The main carrier body to which all mechanical, electronic and modular components are attached. skeletal system,  Environmental sensing and mapping via sensors located on the device obstacle detection and the robot's autonomous navigation system enable this. the ability to perform accurate mapping even in low-light environments 15 and timestamps sensor data to enable obstacle detection. sensor system that combines in this way,  Enables the robot to gain versatile maneuverability and Swivel casters, which are auxiliary carrier wheels,  the robot's drive motors, wheels and wheel drive components and related 20 motion unit that includes control mechanisms and provides direct movement,  by absorbing shocks and vibrations coming from the ground / base, the robot ensuring stable operation and protection of electronic components suspension system,  The motion unit 25 contains the gearbox along with the main drive motors. the driving system located on it that performs the robot's movements,  housing energy storage units and power distribution systems, a power unit that meets the energy needs of all electronic and mechanical systems,  The robot's central processing boards, driver circuits, and control software are located on it. Module 30, which manages all motion, sensor, and communication processes. When plugged in, it reads the EEPROM or 1-Wire identification unit on the module. automatic sensor data, motion parameters and user interface The control unit loads the appropriate module identifier profile, which changes it to,  The robot can operate quickly and safely with modules developed for different scenarios. both mechanical interlocking and power and data transmission enable its integration. 35 a hybrid interface providing positioning pins, locking mechanism, elastomer vibration dampers and pogo-pin or magnetic connector based Includes power and data pins, module alignment, and secure installation. pre-charging and ensuring its removal and stable operation under vibration. MOSFET limiting circuits allow modules to be installed while energized. modular connection adapter 5 that enables It includes. The best way to utilize the advantages of the existing invention, together with its structure and additional elements. For it to be understood, it must be considered together with the figures explained below. BRIEF DESCRIPTION OF THE FIGURES Figure 1 is a representative illustration of the modular mobile robot that is the subject of the invention. Figure 2 shows a representation of the control mechanism of a modular mobile robot that is the subject of the invention. It is a representation. 15 Figure 3 shows a representation of the driving mechanism of a modular mobile robot that is the subject of the invention. It is a representation. Figure 4 shows an external representation of the modular mobile robot that is the subject of the invention. Figure 5 shows a side-view representation of the modular mobile robot that is the subject of the invention. Figure 6 is a top-down representation of the modular mobile robot that is the subject of the invention. 20 Figure 7 shows a representative example of a modular mobile robot, the subject of this invention, used in a kiosk. It is a representation. Figure 8 shows another representation of the modular mobile robot, which is the subject of the invention, in the case of kiosk use. It is a representation. Figure 9 shows another example of a modular mobile robot, the subject of the invention, in the case of kiosk use. It is a representative illustration. Figure 10 shows the modular mobile robot, which is the subject of the invention, in the case of its use as an advertising robot. It is a representative illustration. Figure 11 shows a side view of the modular mobile robot, the subject of the invention, being used as an advertising robot. It is a representative illustration. 30 Figure 12 shows a top-down view of the modular mobile robot, the subject of the invention, being used as an advertising robot. It is a representative illustration. The drawings do not necessarily need to be scaled and are necessary for understanding the invention. Details that are not present may have been overlooked. Furthermore, at least to a large extent, 35 Elements that are identical or at least have substantially identical functions are numbered the same. It is shown. 6 REFERENCE NUMBERS 1. Camera system 2. Manual charging socket 5 3. Anten 4. Charging pad 5. Skeletal system 6. Sensor system 7. Drunken wheels 10 8. Movement unit 9. Suspension system 10. Driving system 11. Unit of power 12. Control unit 15 13. Shell 14. Emergency stop button 15. Visual information unit 16. Modular connection adapter DETAILED DESCRIPTION OF THE INVENTION In this detailed explanation, the modular mobile robot that is the subject of the invention is simply a better understanding of the subject. It is explained with examples that do not create any limiting effect on understanding. A modular mobile robot, camera system (1), manual charging socket (2), antenna (3), charging pad (4), skeleton system (5), sensor system (6), caster wheels (7), motion unit (8), suspension system (9), driving system (10), power unit (11), control unit (12), shell (13), emergency stop button (14), includes visual information unit (15), modular connection apparatus (16). Camera system (1), which has at least one camera, obtains image data of the robot and its surroundings 30 by enabling mapping, obstacle recognition and visual verification during the mission. It is a system. The manual charging socket (2) is not connected to the robot's automatic charging station. In some cases, it allows for manual power boosting via an external power supply. The antenna (3) is a socket between the robot and the control unit (12) / central management software wirelessly. It is the element that enables data transfer by providing communication. Charging pad (4), 35 the robot can be connected to the automatic charging station wirelessly or via contact. It is the unit that enables the robot's energy storage unit to recharge. Skeletal system (5), 7 It is the main carrier body structure to which all mechanical, electronic and modular components are fixed; It provides durability and ease of assembly. The sensor system (6) is located on it. obstacle detection, enabling environmental sensing and mapping through sensors. It is the system that enables the robot to achieve autonomous navigation capabilities, and this The sensors are preferably LiDAR sensors. The sensor system (6) transmits LiDAR and camera data over time 5 It combines them in a stamped manner (sensor fusion). This allows it to function even in low-light environments. Accurate mapping and obstacle detection are performed. Drunken wheels (7) guide the robot's direction. auxiliary carrier that allows it to gain versatile maneuverability without changing its position The motion unit (8) contains the robot's drive motors, wheel drive components and related wheels. It is the unit that contains the control mechanisms and provides direct movement. Suspension system 10 (9) absorbs shocks and vibrations from the ground / base, making the robot stable It is the system that ensures the operation and protection of electronic components. Driving system (10), housing the gearbox together with the main drive motors, having the drive unit (8) on it and is the system that performs the robot's movements. Power unit (11), energy storage units and housing the power distribution systems and all electronic and mechanical systems 15 It is the unit that meets the energy needs. The control unit (12) has the robot's central processor on it. All motion, sensor and communication boards, driver circuits and control software are included. It is the unit that manages the processes. Control unit (12), preferably a ROS 2 based task orchestrator It has software. When the module is installed, the EEPROM or 1-Wire identification unit on the module The system reads the sensor data and loads the appropriate module identifier profile (MDP). This profile contains the sensor data, 20 It automatically changes the motion parameters and user interface. That is, the advertising module. When the module is installed, the introductory interface becomes active, while when the service module is installed, navigation and delivery become active. algorithms come into play. The shell (13) is in contact with the external environment, and has an aesthetic and protective function. It is a protective coating structure. It protects both electronic and mechanical components from external influences. The emergency stop button (14) stops all functions of the system instantly in case of danger or unexpected situations. It is the safety component that stops the robot from interacting with people through the visual information unit (15). It enables interaction and may have lighting or indicators depending on the usage scenario. It is a unit. The modular connection apparatus (16) allows the robot to be connected with modules developed for different scenarios. It is a mechanical and electrical interface that enables fast and secure integration. Modular. The connection device (16) is a hybrid 30 that provides both mechanical locking and power and data transmission. It is an interface. This interface consists of positioning pins, a locking mechanism, and elastomer vibration. It includes dampers and power-data pins based on pogo-pin or magnetic connectors. This design ensures module alignment with a tolerance of ±0.5 mm, secure installation and removal, and vibration resistance. This ensures stable operation. Power pins: 12–48 V DC, 10 A continuous current. It has the capacity. The data interface preferably supports CAN-FD and 100BASE-T1 Ethernet. 35 Pre-charging and MOSFET limiting circuits allow for safe hot-swapping (plugging in while energized). (enabled) can be done. The data line includes EMI and ESD protection. The robot is industrial. 8 It combines durability with the aesthetics of a service robot. Aluminum housing, IP54 protection. Its level is resistant to temperature ranges of -10°C–45°C and vibration / impact tests. This hybrid structure the robot can operate safely both in production facilities and in public environments It provides. Some of the system's advantages include providing multitasking support from a single platform, and the modules... It can be mounted with a tool-free, quick plug-and-play connection, according to the module ID in the software. The ability to perform automated task adaptation, along with industrial resilience and service. The combination of aesthetics, maintenance, and scalability ensures a low total cost of living. These can be listed as features such as secure power and data transfer (with hot-swap support). 10 A modular mobile robot (referred to as DOBBY in one of the invention's configurations), Flexible, high-performance solutions tailored to the needs of different sectors and use cases. and offers an innovative solution. The robot is used in various sectors such as logistics, manufacturing, retail, services, and advertising. It is a modular mobile robot that can be used in different sectors. The robot's central platform, Thanks to the modules integrated on it, material handling, service, in-warehouse transfer, 15 It can perform various tasks such as promotional and advertising activities. In this way, from industrial facilities to shopping malls, hospitals to airports, a very wide range It is used in a variety of applications. The strongest aspect of the invention is its modular design concept. Kiosks developed to meet different needs include advertising, service, Gap barcode scanner, and shopping cart options. Thanks to the special modules and software integrated into it, it can be used in 20 different fields. It can be used. Thus, a single mobile platform can be used in many different sectors and application areas. It is adaptable. This flexible structure allows companies to customize robotics to suit their own business processes. This invention enables them to implement solutions quickly and efficiently. It is not just a robot, but a versatile platform that shapes the workforce of the future. The robot The mobile platform, which is the central component, integrates all motion, power management, and control systems. It has a robust and durable structure. Preferably aluminum profile and sheet metal. This robust infrastructure, manufactured from panels, enables the robot to operate continuously even in challenging environmental conditions. This ensures reliable operation. Advanced engine systems, LiDAR technology, and Equipped with various sensors, the invention perceives its surroundings for mapping and autonomous navigation. and successfully performs critical tasks such as obstacle detection. 30 The technical problem mentioned in the previous article is solved with the developed modular mobile robot. At the heart of the invention is the mobile component, which integrates motion, power management, and control systems. containing aluminum profiles and sheet metal, it is robust and durable. It is a carrier platform. Built upon this mobile base are 35 specialized devices capable of performing different tasks. The devices can be integrated. The invention offers the following advantages: 9  Modular superstructure connection system: Different task modules (e.g. (advertising, service, basket, special purpose transport) easily integrated mechanically and electrically. Special connection points have been developed to enable this. This structure is present in existing mobile robots. It enables versatile usage flexibility that is not currently available. New usage Only the appropriate module can be developed and integrated into the system when needs arise. This can be done; which increases the scalability of the system.  Multiple scenario support from a single platform: Existing systems require a separate robot for each task. The invention, when needed, enables multiple use cases on a single mobile platform. It provides support. Thus, it is important in terms of cost, maintenance and software integration. Technical superiority is achieved. 10  Software adaptability: The control unit (12) automatically adapts to the functions of the modules. It is configured to run different task algorithms. This means that the same It enables the efficient use of hardware infrastructure in various software tasks.  A combination of industrial robustness and modularity: Most current service robots only While it can be used in closed and controlled environments, the aluminum housing structure used in the invention, 15 Thanks to powerful motors and sensor equipment, it can operate even in challenging industrial conditions. This feature enables the use of the invention. With this modularity, it facilitates industrial applications. A unique solution is presented that combines durability with quality.  Fast reconfigurability: Thanks to the easy attachment and detachment of modules, the robot, It can be quickly reconfigured between different tasks. This feature is available for the 20 It provides operational flexibility that is not available in other systems. In conclusion, the invention improves the flexibility, adaptability, and cost of existing single-purpose robot systems. by eliminating its shortcomings in this respect, it is versatile, reconfigurable and modular It offers a mobile robot platform. This structure can quickly and efficiently meet the changing needs of different sectors in 25 years. This enables an effective response and provides an innovative solution to existing technical problems. It provides a solution. The topic of a modular mobile robot is that the robot senses its surroundings and acts autonomously. It is a mobile platform with a modular structure that can move in this way. The robot's environmental The perception is primarily provided by the camera system (1). The camera system (1) provides visual data. It is in operation and allows for analysis of mission scenarios. Also 30 Environmental mapping and obstacle detection are carried out through the sensor system (6), Thus, safe and efficient navigation is achieved. In the sensor system (6) Lidar Sensors can be used. The robot's movement capability is on the movement unit (8). The suspension system is provided by the positioned drive motors and drive system (10). (9) It provides a stable ride by damping vibrations originating from the ground. 35 Maneuverability is increased by means of swivel wheels (7). The overall structural of the system Strength and regular arrangement of components are ensured by the skeleton system (5), external Protection against harmful agents and aesthetic integrity are provided by the shell (13). The robot's energy needs are met via the power unit (11), and this energy is supplied both manually. Automatic charging via external connection through the charging socket (2) and via the charging pad (4) This can be achieved through the station. The management of all these subsystems involves control algorithms. This is carried out by the control unit (12) which includes. User safety, in case of emergency 5 This is guaranteed by the emergency stop button (14) that activates. The robot can be used in different ways. It is equipped with a modular connection apparatus (16) so that it can be adapted to various scenarios. Thus, additional It allows for easy integration of hardware or functional units. In addition, the invention includes a visual information unit (15) to enhance user interaction. The invention is a sensor-based sensing system (camera system (1), sensor system (6)), 10 power unit (11) and control unit (12), modular with motion and suspension elements By combining integration capabilities, a secure, autonomous, and multi-purpose mobile platform is created. It enables its acquisition.

Claims

11 REQUESTS 1. It can be used in different sectors such as logistics, manufacturing, retail, services and advertising, 5 Thanks to the modules and software integrated into it, it is suitable for many different sectors and adaptable to the application area, providing uninterrupted and reliable service in various environmental conditions. a worker, capable of mapping its surroundings by perceiving them, with autonomous navigation features. It is a modular mobile robot that has obstacle detection capabilities;  Equipped with at least one camera, obtaining image data of the robot and its surroundings. 10 by mapping, obstacle recognition, visual verification during the task and the task camera system (1) that enables analysis of scenarios,  Wireless communication between the robot and the control unit (12) / central management software antenna (3) that performs data transfer by providing  Connecting the robot to the automatic charging station and wirelessly or 15 contact-based recharging of the robot's energy storage unit providing charging pad (4),  The main carrier body to which all mechanical, electronic and modular components are attached. skeletal system (5),  Environmental sensing and mapping via sensors located on it 20 obstacle detection and the robot's autonomous navigation system enable this. enabling it to achieve accurate mapping even in low-light environments. and timestamps sensor data to enable obstacle detection. sensor system that combines in this way (6),  Enables the robot to gain versatile maneuverability and 25 auxiliary carrier wheels, swivel casters (7),  the robot's drive motors, wheels and wheel drive components and related motion unit that includes control mechanisms and provides direct movement (8),  By absorbing shocks and vibrations from the ground / floor, the robot's 30 ensuring stable operation and protection of electronic components suspension system (9),  The drive unit (8) which houses the gearbox together with the main drive motors the driving system (10) located on it and which performs the robot's movements, 12  housing energy storage units and power distribution systems, a power unit that meets the energy needs of all electronic and mechanical systems (11),  The robot's central processing boards, driver circuits, and control software are located on it. Module 5, which manages all motion, sensor, and communication processes. When plugged in, it reads the EEPROM or 1-Wire identification unit on the module. automatic sensor data, motion parameters and user interface The control unit (12) loads the appropriate module identifier profile which changes it to,  The robot can operate quickly and safely with modules developed for different scenarios. It enables integration with both mechanical locking and power and data transmission. 10 a hybrid interface providing positioning pins, locking mechanism, elastomer vibration dampers and pogo-pin or magnetic connector based Includes power and data pins, module alignment, and secure installation. pre-charging and ensuring its removal and stable operation under vibration. With MOSFET limiting circuits, modules can be installed while energized. 15 modular connection apparatus (16) that allows It includes.

2. A modular mobile robot conforming to Claim 1, whose feature is; the robot's automatic charging Manual power supply via external power source if not connected to the station 20 It includes a manual charging socket (2) which enables it to be recharged.

3. A modular mobile robot conforming to Claim 1, whose feature is that it is in contact with the external environment. It includes a shell (13) which protects both electronic and mechanical components from external influences.

4. A modular mobile robot conforming to Claim 1, whose feature is; hazard or unexpected It includes an emergency stop button (14) that stops all functions of the system immediately in case of emergency.

5. A modular mobile robot conforming to Claim 1, whose feature is that the robot interacts with people. 30 lighting or indicators that enable interaction, depending on the usage scenario. It includes the visual information unit (15) that can be found.

6. It is a modular mobile robot that complies with Claim 1, and its feature is that the aforementioned sensors are Lidar. It is the presence of a sensor and / or camera. 35 7. It is a modular mobile robot in accordance with claim 1, and its feature is that the mentioned control unit (12) The service enables the promotional interface to become active when the advertising module is installed. 13 the navigation and delivery algorithms are activated when the module is installed It is the unit that provides. 11 REQUESTS 1. It can be used in different sectors such as logistics, manufacturing, retail, services and advertising, 5 Thanks to the modules and software integrated into it, it is suitable for many different sectors and adaptable to the application area, providing uninterrupted and reliable service in various environmental conditions. a worker, capable of mapping its surroundings by perceiving them, with autonomous navigation features. It is a modular mobile robot that has obstacle detection capabilities;  Equipped with at least one camera, obtaining image data of the robot and its surroundings. 10 by mapping, obstacle recognition, visual verification during the task and the task camera system (1) that enables analysis of scenarios,  Wireless communication between the robot and the control unit (12) / central management software antenna (3) that performs data transfer by providing  Connecting the robot to the automatic charging station and wirelessly or 15 contact-based recharging of the robot's energy storage unit providing charging pad (4),  The main carrier body to which all mechanical, electronic and modular components are attached. skeletal system (5),  Environmental sensing and mapping via sensors located on it 20 obstacle detection and the robot's autonomous navigation system enable this. enabling it to achieve accurate mapping even in low-light environments. and timestamps sensor data to enable obstacle detection. sensor system that combines in this way (6),  Enables the robot to gain versatile maneuverability and 25 auxiliary carrier wheels, swivel casters (7),  the robot's drive motors, wheels and wheel drive components and related motion unit that includes control mechanisms and provides direct movement (8),  By absorbing shocks and vibrations from the ground / floor, the robot's 30 ensuring stable operation and protection of electronic components suspension system (9),  The drive unit (8) which houses the gearbox together with the main drive motors the driving system (10) located on it and which performs the robot's movements, 12  housing energy storage units and power distribution systems, a power unit that meets the energy needs of all electronic and mechanical systems (11),  The robot's central processing boards, driver circuits, and control software are located on it. Module 5, which manages all motion, sensor, and communication processes. When plugged in, it reads the EEPROM or 1-Wire identification unit on the module. automatic sensor data, motion parameters and user interface The control unit (12) loads the appropriate module identifier profile which changes it to,  The robot can operate quickly and safely with modules developed for different scenarios. It enables integration with both mechanical locking and power and data transmission. 10 a hybrid interface providing positioning pins, locking mechanism, elastomer vibration dampers and pogo-pin or magnetic connector based Includes power and data pins, module alignment, and secure installation. pre-charging and ensuring its removal and stable operation under vibration. With MOSFET limiting circuits, modules can be installed while energized. 15 modular connection apparatus (16) that allows It includes.

2. A modular mobile robot conforming to Claim 1, whose feature is; the robot's automatic charging Manual power supply via external power source if not connected to the station 20 It includes a manual charging socket (2) which enables it to be recharged.

3. A modular mobile robot conforming to Claim 1, whose feature is that it is in contact with the external environment. It includes a shell (13) which protects both electronic and mechanical components from external influences.

4. A modular mobile robot conforming to Claim 1, whose feature is; hazard or unexpected It includes an emergency stop button (14) that stops all functions of the system immediately in case of emergency.

5. A modular mobile robot conforming to Claim 1, whose feature is that the robot interacts with people. 30 lighting or indicators that enable interaction, depending on the usage scenario. It includes the visual information unit (15) that can be found.

6. It is a modular mobile robot that complies with Claim 1, and its feature is that the aforementioned sensors are Lidar. It is the presence of a sensor and / or camera. 35 7. It is a modular mobile robot in accordance with claim 1, and its feature is that the mentioned control unit (12) The service enables the promotional interface to become active when the advertising module is installed. 13 the navigation and delivery algorithms are activated when the module is installed It is the unit that provides.

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