US 12,447,607 B2
Method of handling carrier by means of mobile robot, control system and mobile robot
Jonas Larsson, Västerås (SE)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 18/252,944
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed Nov. 20, 2020, PCT No. PCT/EP2020/082880
§ 371(c)(1), (2) Date May 15, 2023,
PCT Pub. No. WO2022/106021, PCT Pub. Date May 27, 2022.
Prior Publication US 2023/0415331 A1, Dec. 28, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 5/00 (2006.01); B25J 13/08 (2006.01); G05D 1/00 (2006.01)
CPC B25J 9/0093 (2013.01) [B25J 5/007 (2013.01); B25J 13/08 (2013.01); G05D 1/021 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method of handling a carrier via a mobile robot, the mobile robot including:
a body having a base;
a traction arrangement configured to move the body over a surface;
at least one manipulator connected to the base; and
at least one end effector movable relative to the base via the at least one manipulator;
wherein the mobile robot is configured to perform an omnidirectional motion of the base relative to the surface;
the method comprising:
obtaining environment data of a carrier positioned on the surface via 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 via the mobile robot;
wherein the at least one manipulator comprises a link rotatable about a horizontal axis, and wherein the method further includes reducing a support of the link after securing each end effector to the at least one handle.