Mobile Robot Handle Gripping for Flexible Carrier Transport
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Solution Overview
Problem
Existing robotic solutions for handling carriers, such as carts and trolleys, are costly, inflexible, and inefficient, often requiring modifications to carriers and limited to controlled logistics environments, and cannot handle a wide range of carrier types.
Innovation Solution
A mobile robot system that utilizes carrier handles as the connection point, enabling omnidirectional motion and flexible handling of various carriers without modifications, using manipulators and end effectors to secure to handles, and employing environment sensors for precise positioning and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional AGVs are used to lift and move carriers, then carriers can be transported between locations, but the system requires significant cost to replace or rebuild existing carriers, needs special carrier designs, and has limited adaptability to different carrier types
Solution Approach 1:
The end effector is designed with multiple degrees of freedom (at least 3 DOFs) to universally accommodate different handle types, positions, and orientations. This allows a single robot system to handle diverse carrier types (carts, trolleys, beds) without requiring carrier modifications, resolving the contradiction between adaptability and manufacturing cost by making the robot adaptable rather than the carriers
2Reliability
If AGVs lift carriers high to create clear sight for sensors, then navigation is improved, but the system requires significant lifting capability and cannot handle carriers with fixed wheel configurations
Solution Approach 1:
The robot employs dynamic base orientation adjustment with at least 2 DOFs to adapt to different carrier wheel configurations (castor vs. fixed wheels). Instead of lifting carriers to improve sensor sight, the robot dynamically adjusts its base orientation and uses manipulators to reach handles at various heights, eliminating the need for significant lifting capability while maintaining navigation reliability
3Extent of automation
If mobile robots replace stationary carriers, then automation is improved, but the robots would be poorly utilized since carriers stand still most of the time
Solution Approach 1:
The system implements on-demand robot deployment where robots are dispatched only when carriers need to be moved. Carriers remain stationary and available for use without requiring continuous robot presence. The robot returns to charging or standby after each task, achieving high automation only when needed while maintaining high utilization efficiency by avoiding continuous operation
4Adaptability or versatility
If manipulators with multiple DOFs are used to secure end effectors to handles, then handling flexibility is improved, but the robot requires larger footprint and more complex structure
Solution Approach 1:
The robot system is segmented into independent functional modules: base mobility unit, manipulator unit with multiple DOFs for positioning, and end effector unit for handle engagement. This segmentation allows the manipulator to extend only when needed for handle acquisition, keeping the base footprint small while providing the necessary handling flexibility through modular extension
Data Source
AI summary
A method of handling a carrier by means of a mobile robot including a body having a base; a traction arrangement; at least one manipulator; and at least one end effector movable relative to the base; wherein the mobile robot is configured to perform an omnidirectional motion of the base relative to a surface; the method including obtaining environment data of a carrier positioned on the surface by means of an environment sensor; determining a handle position of at least one handle of the carrier based on the environment data; positioning each end effector in relation to at least one handle based on the one or more handle positions; securing each end effector to the at least one handle; and moving the mobile robot and the carrier in common over the surface by means of the mobile robot.