DE102015110555B4 - Robot-assisted transport of a movable object - Google Patents

Abstract

Robot system (1) for transporting a movable object (2), in particular a hospital bed, wherein the robot system (1) comprises at least two robots (3) and both robots (3) are each coupled to the movable object (2) such that a Power from both robots (3) on the movable object (2) is transferable, so that the robot (3) together can transport the movable object (2), characterized in that both robots (3) are arranged so that they movable object (2) can move forward, backward and sideways, without raising the movable object (2).

Description

The present invention relates to a robot system for transporting a movable object, in particular a hospital bed, according to the preamble of claim 1, a hospital bed according to claim 7 and a method for transporting a movable object, in particular a hospital bed, according to the preamble of claim 8.

The purpose of the articles of the present invention is to transport a movable object. The term "movable object", as used in the present invention, refers to an article having at least one chassis, with which the article can be moved under the action of rolling and / or sliding. The chassis of the object thus has, during transport, in principle contact with a substrate on which the article is transported (eg a floor).

Movable objects of the type in question are z. B. movable seating and / or reclining furniture. Sitting or lying furniture serve to accommodate a person to sit or lie down. Examples include wheelchairs and nursing beds. Movable objects within the meaning of the present invention are also movable machines, trailers, load carriers, etc.

Robots are increasingly being used to transport such movable objects, especially in the industrial environment. Typically, a robot is a programmable device that has at least three freely movable axes.

Such a robot shows the DE 10 2011 085 019 A1 , The known robot has a vehicle body, a chassis with at least one driven wheel, a coupling device for coupling a trailer to the robot and at least one non-contact distance sensor. The distance sensor is used to detect obstacles and / or people around the robot and / or the trailer. The movable object here is the trailer, which can carry a load and can be coupled to the robot or uncoupled from the robot at a front end area of the trailer.

The DE 10 2008 010 463 A1 shows a care device to assist in the care of people. The care device has a chassis and a multi-joint robot mounted on the chassis, which is designed to accommodate heavy loads on. The care device may have a coupling device for connection to a further care agent such as a bed.

The US 2012/0029697 A1 shows a robot transport device for transporting movable objects, for example from a hospital bed. The robot transport device has a body, two coupling arms and a control module. The body has at least one motor-driven wheel. The two coupling arms comprise an adjustable wheel locking device. The control module may move each wheel lock device under a target wheel of the traveling object to lock and lift the target wheel so that the traveling object can be moved.

The DE 10 2007 046 868 A1 shows two remotely operated transport devices for receiving a charge carrier. The transport devices are configured in their dimension so that they can travel under the clearance gauge of the charge carrier. In this case, all the functional elements are accommodated within a carrier part which accommodates the charge carrier. The transport devices are set up so that the load carrier is lifted by a stroke of the respective carrier part and subsequently moved by means of the transport devices.

There are movable objects for which such lifting is undesirable or impractical. In some movable objects, a process in the raised state may even lead to tilting or falling over. In an environment that provides little room for maneuvering the traveling object, in which moving obstacles such as persons must be taken into account (eg to avoid a collision) and / or overcome in the floors (eg by means of a lift) must be (hereinafter referred to as complex environment), often necessary maneuvers or driving movements with the known individual robots - especially in a longer or larger movable object - not or not effectively or not perform efficiently.

Such an environment provides z. There are generally narrow corridors with numerous bends, small rooms with a narrow entrance, some movable partly immovable obstacles and targets that can only be reached by means of a lift.

A typical hospital has a variety of hospital beds. The term "hospital bed", as used in the context of the present invention, denotes a reclining furniture adapted to clinical requirements. One such hospital bed usually has a chassis with four non-driven wheels, two wheels are mounted in a front end portion and the other two wheels in a rear end portion of the hospital bed. Typically, the wheels attached to the same end region can be identified together as being rollable in one direction only, and the hospital bed can be controlled by the other two wheels that are not locked but omnidirectional when being transported. Hospital beds of the type in question have a frame and a grid or plate carrying a mattress. Such a hospital bed is manually or electrically adjustable, usually separately in three sections of a lying surface.

Hospital beds are typically transported manually by hospital staff from a pick-up location (eg, a patient room) to a destination (eg, an operating room). Due to a typically prevalent understaffing of hospital staff as well as sickness and / or vacation-related absence of hospital staff, hospitals often experience economically relevant waiting times, delays, shifts or failures of surgical appointments and / or lack of patient satisfaction.

So here is a robotic transport of hospital beds desirable and at the same time challenging. The same applies to the transport of other movable objects in hospitals, such as. B. Operating tables and medical devices.

It is therefore an object of the present invention to provide systems, devices and / or working methods which enable effective, precise, reliable, punctual, fast, cost-effective and / or efficient robot-assisted transport of a movable object even in complex environments.

According to a first aspect of the invention, the above-described task is solved by a robot system according to claim 1. Preferred embodiments of this aspect of the invention are the subject of the relevant subclaims.

It goes without saying that embodiments, embodiments, advantages and the like, which are given below for the purpose of avoiding repetition only as an aspect of the invention, apply correspondingly in relation to the other aspects of the invention.

Given this, the first aspect of the invention will be described in more detail below.

The basic idea of the first aspect of the invention is that the robot system comprises at least two robots and both robots can each be coupled to the moveable object, in particular to a coupling device of the moveable object such that a force of at least one of the robots can be transmitted to the moveable object so that the robots can transport the movable object together.

For transporting the movable object, however, both robots are simultaneously coupled to the movable object at different points of the movable object. With the help of the two robots, the movable object can be maneuvered or transported effectively, precisely, reliably, punctually, quickly, inexpensively and efficiently, even in complex environments. In particular, the robot system according to the invention allows a more precise and faster maneuvering and a smaller maneuvering area (area which the moveable object sweeps over during maneuvering) than when being transported by one person or a robot or several persons.

According to the invention, both robots of the robot system are set up so that they can move the movable object forwards, backwards and sideways without lifting the movable object. Rather, a chassis of the movable object is used to transport the movable object. In the case of a hospital bed, therefore, all the wheels of the hospital bed are used in transporting the hospital bed and the two robots push, pull and / or turn the hospital bed or move it sideways.

Preferably, both robots each have a communication device that enables wireless communication with the communication device of the other robot and / or an elevator and / or a central control system.

With the help of the communication device, a robot information such. B. transmitted sensor data wirelessly to the communication device of the other robot. The other robot can then evaluate this information and, if necessary, take measures taking this information into account.

With the aid of their respective communication device, both robots can also communicate wirelessly with an elevator and / or a central control system. So both robots z. B. cause a lift to hold in a particular floor. The robots can also do that with the communicate central control system so that the central control system causes an elevator to hold on a particular floor.

Preferably, both robots each have a control device, in particular for controlling a chassis of the respective robot. In this case, both robots are designed such that control commands of the control device of one robot can be tuned to the control device of the other robot, in particular that control information of one robot can be transmitted wirelessly to the communication device of the other robot by means of the communication device of the one robot.

Control commands in the sense of the present invention are commands or commands of a control device of a robot, which are directed to one or more of its components, for. B. to a chassis of the robot.

In this preferred embodiment, the two robots can thus agree with each other or coordinate their processes. In particular, the two robots can coordinate their driving movements, so z. In terms of direction, speed, acceleration and / or time, such that a joint action (such as moving the traveling object together or driving together to a pickup location) is effective, accurate, reliable, punctual, fast, inexpensive and performed efficiently. The same applies to the force exerted by the two robots and thus a total resulting force on the movable object, eg. B. in terms of direction, time and intensity of the resulting force. So the two robots z. B. coordinate braking and / or approach maneuver with each other and synchronize (temporally).

Also, the coupling process, the two robots can vote together. Thus, the two robots can determine which of them and when coupled to the movable object, in particular at which coupling device of the movable object.

The two robots can also coordinate interactions with people. So the two robots z. B. coordinate which robot when and where and under what conditions a hint, a warning message and / or a request reproduces.

When tuning the control commands, the control commands of the two robots can be treated equally. In the case of control commands that can not be implemented together, a decision to be implemented by both robots may be possible. B. based on the arrival time of the control commands or randomly. However, it is also possible to assign the decision sovereignty to a robot in the sense of a master / slave principle. The master robot may then dictate control commands to the slave robot to be performed by the slave robot. The role as master or slave between the robots can also change. So z. For example, during transport of the movable object, that robot always holds the master roll which, when the one robot is coupled to the movable object at a front end region and the other robot is coupled to the movable object at a rear end region, is coupled to the front end region of the movable object in the direction of travel is, in each case assume the master role.

The robot with the master role can therefore specify the slave robot certain control commands, eg. B. when cornering when and how to make a turn. If the direction of travel changes, the role of the master or slave can also change between the two robots.

The master / slave principle can also be broken. If, for example, the slave robot detects an obstacle that the master does not detect, the slave robot can force a braking of both robots by means of control commands.

Preferably, both robots each have a detection device for detecting and / or localizing a coupling device of the movable object. The task of the detection device is in particular to locate where the coupling device is located on the movable object. The position of the coupling device may be different from movable object to movable object, z. B. with regard to the height at which the coupling device is mounted on the movable object. Among other things, the height at which the coupling device is mounted on the movable object can be determined by means of the detection device.

A further preferred task of the detection device is to determine whether the coupling device of the movable object is located at a front end area or at a rear end area of the movable object.

The detection device can, for. Example, a bar code reader, in particular a bar code scanner include. The detection unit can also have a reading unit which is designed to read an identification of a transponder. For this purpose, in particular, a reading unit corresponding to an RFID transponder, which by means of magnetic alternating fields and / or high-frequency radio waves can establish a coupling with the RFID transponder. Preferably, the reading unit is designed for data processing by means of a microprogram and a middleware with an interface to other electronic circuits. With the aid of a system comprising the reading unit of the detection device and an RFID transponder, objects can be identified and localized automatically and without contact.

Preferably, both robots of the robot system each have a distance sensor. With the aid of the distance sensor, a distance between a reference point of the robot and a movable object and / or a person can be determined. By means of the distance sensor can be z. B. detect the distance between a reference point of the robot and a coupling device of the movable object. This information can be used when coupling the robot with the movable object, in particular with the coupling device of the movable object.

Preferably, both robots are designed to be height-adjustable, wherein the height adjustment is preferably controlled or regulated by means of a pressure sensor. The height adjustability of the robot is advantageous, inter alia, when coupling with the movable object. Thus, the robot can be coupled with different height movable objects, in particular with attached at different heights coupling devices different movable objects.

Preferably, both robots each have at least one energy store, which is rechargeable by means of a charging station. Both robots are then designed so that they are autonomously movable for recharging to a charging station. Such energy storage can, for. B. be an accumulator.

Preferably, at least one robot has a loudspeaker, a microphone, a display, an input device and / or a touchscreen. It can also be provided on each side of the robot two speakers. Preferably, this robot is set up so that a destination can be specified by one person and / or an audio and / or image playback takes place synchronously with the other robot. So z. B. data input via voice and / or a keyboard and / or audio and image data (including videos) are played. In particular, such a transport can be programmed, changed and / or aborted by a person. In addition, the robot can play notes, warnings and / or prompts. Preferably, image reproductions of the robots are simultaneously reproduced in speech.

Preferably, both robots each have a chassis with at least one driven wheel. The driven wheel is driven by a motor, for example. Preferably, the driven wheel by means of an adjusting device on a substrate, for. B. a floor of a building, pressed. The adjusting device can, for. As a spring, a hydraulic and / or an electric motor. In this way, unevenness of the ground can be compensated. In addition, a traction control can be realized with this advantageous embodiment.

The chassis of the robot preferably has at least one further wheel, which can be moved down to a ground and away from the ground. This wheel serves to support the robot and is preferably a non-driven wheel.

It has proved to be advantageous if both robots can be coupled and uncoupled to a front and / or rear end region of the movable object. For transporting the movable object, one of the two robots then couples to the front end region of the movable object (eg at a head end of a hospital bed) and the other robot to the rear end region of the movable object (eg at a foot end of a hospital bed ). In this way, the two robots can effectively and efficiently maneuver the traveling object. In particular, in the case of a movable object whose length is greater than its width (as in the case of a hospital bed), the movable object can best be maneuvered through a confined environment with obstacles and around curves, corners or bends.

This advantage is enhanced if both robots can be centrally coupled to the respective end region of the movable object.

Preferably, both robots of the robot system each have a matching to a coupling device of the movable object coupling device. For this purpose, the coupling device of the respective robot z. B. magnetically and / or geometrically complementary to the coupling device of the movable object. It has proved to be advantageous if in the coupled state, the coupling device of the robot is rigidly connected to the coupling device of the movable object and / or the robot kippfest is connected to the movable object. By a rigid, tilted and non-positive coupling of the robot with the movable object they can move and steer it by means of their respective chassis, in particular by means of their respective driven wheels.

Preferably, both robots, in particular their respective coupling device with respect to their height, their distance and their lateral offset relative to the coupling device of the movable object, so aligned that the coupling device of the respective robot can be coupled to the coupling device of the movable object. Among other things, the chassis of the robot, the distance sensor of the robot and the height adjustment of the robot can be used.

The coupling device of the respective robot preferably has at least one coupling element which, preferably by means of an electric motor, can be moved from a decoupled position into a coupled position and vice versa. A suitable coupling element is z. As a claw which engages in the coupled position in a recess or behind a projection of the coupling device of the movable object.

Preferably, at least one robot of the robot system has a sensor system, wherein at least a part of the sensor system is adjustable in height such that this part can protrude beyond the movable object. This is particularly useful when measuring signals of the sensor system would be blocked by the movable object. For example, the sensor system may include a distance sensor and / or a camera. If one of the two robots is coupled to a rear end region of the movable object and it is not possible to detect distances or images of objects and / or persons lying in front of the movable object in the direction of travel, this can be achieved by adjusting the height of the distance sensor and / or the camera via the movable one Subject, in particular on the highest elevation of the movable object, be made possible.

Preferably, at least one robot is set up so that it can determine whether the movable object, in particular a running gear of the movable object, is blocked. So it is z. B. desirable that one of the robot recognizes when the chassis of the movable object, in particular a hospital bed, is detected. If this is determined by the robot, he can play a hint, a warning and / or a request and / or send, for. B. to a central control system.

Preferably, both robots are connectable to each other and then together as a, preferably compact unit movable. In this way, both robots can move together as one unit (eg, to a pickup location). The unit is (eg at the pickup location for coupling with the movable object) again divisible into both robots, so that both robots are movable in different directions. Preferably, division and connection to a unit are done automatically, not manually.

Preferably, at least one robot has a deburred outer wall. With this configuration, injuries in collisions of the robot with persons can be avoided.

The robots are preferably designed so compact that they take up little space and allow an effective and efficient transport of the movable object.

The robots are preferably set up so that when an object or a person is threatened with a collision, by means of the distance sensor

dynamic braking depending on the detected distance to the object or to the person takes place.

The robot system preferably has three-dimensional building information, in particular a 3D building plan of a building in which the robot system is located. With the aid of the 3D building plan, the robot system can determine or determine a transport path from a pickup location to a destination for the movable object, a route to a pickup location and / or a path to a charging station. The robot system takes into account known obstacles and / or elevators, steps, etc.

The robot system preferably has means for navigation and / or collision detection and avoidance.

The robot system, in particular each robot of the robot system, preferably moves autonomously through a building. By means of a sensor system, preferably with a plurality of sensors, the robot system scans its surroundings and detects obstacles as well as its own position in the building. To determine the position of the robot system and the orientation of the robot system can, for. B. radio beacons are used. These are stationary radio transmitters with a known position. Corresponding radio beacons can be arranged in the building in which the robot system is located.

If the robot system recognizes an obstacle that can not be bypassed, the robot system can play and / or send a message or request.

The robotic system is preferably designed so that it can cause a door opener to open an associated door of a building, in particular a hospital. For this purpose, the robot system can be set up, for example, such that at least one robot of the robot system can transmit control commands to a communication device of the door opener by means of its communication device, wherein the control commands are suitable for causing a control unit of the door opener or the door to open the door. Alternatively or additionally, at least one robot can have an actuating device with which the robot can actuate the door opener to open the corresponding door. Such an actuator may, for. B. be a retractable telescopic rod or a multi-unit robotic arm.

The coupling device of the movable object is preferably attachable to a front or rear end portion of the movable object. The attachment of the coupling device can also be made subsequently during the production of the movable object. Thus, movable objects, in particular hospital beds, can subsequently be retrofitted so that they can be transported by a robot or by a robot system, in particular as described above. In addition, retrofitting the coupling device according to the invention on the moved object has the advantage that a smaller number of coupling devices can be stored as movable objects.

The coupling device preferably has an identification device, in particular a transponder, very particularly an RFID or NFC transponder, for identifying the movable object. By means of the identification device is a recognition and, preferably, a position signal can be transmitted wirelessly. The identifier allows the identification of the movable object. Particularly in the case of a hospital bed, the identifier can also enable identification of the patient occupying the hospital bed. This information can be used for patient-related processes.

The position of the coupling device on the movable object is preferably adaptable, for. B. the height changeable. It is preferred if the orientation of the coupling device is variable.

The position signal is designed so that with him the position of the coupling device on the movable object and / or a front or rear end portion of the movable object can be determined. With the help of the position signal, it is thus not only possible to determine where the movable device is the coupling device, but also whether this position is located in a front or rear end of the movable object. In the case of a hospital bed, the robot or the robot system can thus determine a head or foot end of the hospital bed. This information is useful for transporting and handling a patient occupying the hospital bed.

According to a second aspect of the invention, the above-described task is solved by a hospital bed according to claim 7. This hospital bed has two attached robots ( 3 ) as previously described and, optionally, a coupling device as previously described.

A central control system for a robot and / or a robot system as described above can be provided.

The central control system is for controlling the robot and / or robot system, for monitoring the functions of the robot and / or robot system, for reporting disturbances of the robot and / or robot system, for evaluating and / or documenting processes of the robot and / or robot system, for updating a software of the robot and / or robot system, for controlling an elevator and / or for transmitting transport orders to the robot and / or the robot system.

The robot system according to the invention, in particular its robot, can communicate with the central control system and z. As orders and commands received from the central control system.

The central control system may be part of an information system, in particular a hospital information system.

According to a third aspect of the invention, the above-described problem is solved by a method for transporting a movable object, in particular a hospital bed, with a robot system, in particular as described above, according to claim 8. Preferred embodiments of this aspect of the invention are the subject of the relevant subclaims.

According to the method according to the invention, at least two robots of the robot system couple to the movable object, in particular to a coupling device of the movable object, such that a force of at least one of the robots can be transmitted to the movable object, so that the robots can jointly transport the movable object ,

In this case, one of the robots connects to a front end region of the movable object and the other robot to a rear end region of the movable object. The robots transport the moveable item by pushing and / or pulling and / or moving sideways to a destination without lifting the moveable item.

Preferably one of the robots detects and / or locates a coupling device of the movable object by means of a detection device, approaches the coupling device and, for coupling with a coupling device of the movable object, aligns a coupling device matching the coupling device of the movable object with respect to its height, distance and lateral Offset relative to the coupling device of the movable object. Preferably, the robot moves a coupling element of the coupling device of the robot, in particular by means of an electric motor, from a decoupled position into a coupled position.

Preferably, one of the robots communicates wirelessly with the communication device of the other robot and / or an elevator and / or a central control system by means of a communication device.

The one robot preferably coordinates control commands of a control device of one robot, in particular for controlling a chassis of one robot, with the control device of the other robot. Specifically, the one robot wirelessly transmits control information to the communication device of the other robot through the communication device of the one robot.

Preferably, both robots are connected together prior to transportation and move together as a unit to a pickup location. Only at the pickup location do both robots divide and move separately. For the purpose of dividing and / or uncoupling the movable object, both robots move at least one wheel of a running gear down to a ground in order to support the respective robot. This wheel is in particular a non-driven wheel.

Preferably, the one robot by means of an input device transmitted information to the other robot wirelessly.

Preferably, the one robot performs audio and / or image reproduction (including video playback) synchronously with the other robot.

Preferably, at least part of a sensor system of the one robot is adjusted in height so that this part protrudes beyond the movable object for the purpose of detecting sensor data.

Preferably, the robot determines or determine both robots before the start of transport, whether the movable object, in particular a chassis of the movable object is blocked.

When transporting the movable object by the robot system by means of an elevator, it may happen that the elevator does not provide enough space for both robots to remain coupled to the movable object during the elevator ride. In particular, a lift may not be long enough for one robot to remain coupled to a front end region and the other robot may be coupled to a rear end region.

According to the invention, to solve such situations it is provided that at least one robot is disconnected from the movable object during an elevator ride. For this purpose, the following sequence can be provided. When entering the elevator both robots are coupled to the movable object and maneuver the movable object in the elevator. During or after retraction, one of the two robots, z. B. the front robot in the entry direction, from the movable object and moves to the side. The other robot then moves the movable object completely into the elevator, if this has not already been done. Subsequently, the other robot can either remain coupled to the movable object or also decouple from the movable object.

Now both robots can remain in the elevator (eg laterally next to the movable object) and drive with the movable object in the elevator. Arrived on the destination floor, the procedure described is reversed.

But it is also possible that a disconnected robot leaves the elevator before the elevator ride begins. In this case, it can be provided that a further robot waits on the target floor and couples it to the movable object before or during the retraction of the movable object from the elevator. The method can also be configured such that both robots, which have pushed the movable object into the elevator, leave the elevator before the elevator ride. In this case, it is advantageous for two further robots to be coupled to the movable object on the target floor and for the movable object to be moved out of the elevator.

The invention will be explained in more detail below with reference to the description of preferred embodiments, in part with reference to the drawings. The features described above and / or disclosed in the claims and / or in the following description may, if necessary, be combined with one another but also be implemented independently of one another, even if this is not expressly described in detail.

In the drawing shows

1 1 is a schematic side view of a preferred embodiment of a robotic system according to the invention with two robots;

2 schematically a plan view of a robot 1 .

3 schematically a plan view of the robot 1 .

4 schematically a side view of the robot system 1 with a preferred embodiment of a hospital bed according to the invention,

5 schematically a side view of an alternative embodiment of a robot of the robot system according to the invention together with the hospital bed 4 .

6 1 is a schematic longitudinal section through a further preferred embodiment of a robot of the robot system according to the invention;

7 1 is a schematic side view of another preferred embodiment of a robot of the robot system according to the invention;

8th 1 is a schematic detail of a top view of a part of a coupling device of a robot of a robot system according to the invention together with a part of a coupling device of a movable object;

9 1 is a schematic plan view of another preferred embodiment of the robot system according to the invention together with a hospital bed in a coupled state,

10 schematically a side view of an alternative embodiment of a robot system according to the invention,

11 schematically a side view of a preferred embodiment of a coupling device and the hospital bed 4 .

12 schematically a side view of an alternative embodiment of a coupling device,

13 1 is a schematic plan view of a detail of a hospital with a preferred embodiment of a robot system according to the invention and of a central control system;

14A -E schematically in a plan view of a section of a hospital with a corridor and a lift and a preferred embodiment of an inventive, coupled to a hospital bed robot system at different times before, during and after a ride on the elevator to illustrate a preferred embodiment of a method according to the invention Transporting a movable object, namely the hospital bed.

1 schematically shows a side view of a preferred embodiment of a robot system according to the invention 1 for transporting a movable object, namely a hospital bed 2 , The robot system 1 includes two robots 3 where both are robots 3 each to a coupling device of the hospital bed 2 be coupled so that a force from both robots 3 on the hospital bed 2 is transferable, so the robots 3 together the hospital bed 2 can transport.

Both robots 3 each have a chassis 4 with two driven wheels 5 and two non-powered wheels 6 on. The two unpowered wheels 6 are on a (not shown) underground, especially a floor, down and away from the ground movable. At the in 1 illustrated and preferred embodiment, the two non-drive wheels 6 of the robot 3 foldable and foldable.

The two driven wheels 5 of the robot 3 are in 2 in the horizontal direction - spaced apart and - in 2 in the vertical direction - offset from each other. The distance and offset between the driven wheels 5 are chosen so that the two driven wheels 5 from the in 2 shown position in the 3 shown position (in this case so on the left) can be rotated without the two driven wheels 5 touch but overlap (in 3 in the horizontal direction). This configuration allows a compact design and at the same time maneuvering in all required directions.

4 shows schematically in a side view the two robots 3 and a preferred one Embodiment of a hospital bed according to the invention, wherein both robots 3 to the hospital bed 2 are coupled. Both robots 3 are at a front end area 7 and at a rear end area 8th of the hospital bed 2 can be coupled and uncoupled. In 4 is the one robot 3 at a headboard 7 and the other robot 3 at a foot end 8th to a respective coupling device 9 of the hospital bed 2 coupled. Both robots 3 each have one to the coupling devices 9 of the hospital bed 2 matching coupling device 10 on. The coupling device 10 of the respective robot 3 is in terms of their height, their distance and their lateral offset relative to the respective coupling device 9 of the hospital bed 2 so alignable that the coupling device 10 of the respective robot 3 with the respective coupling device 9 of the hospital bed 2 can be coupled.

In the in the 1 to 4 illustrated and preferred embodiment are both robots 3 set up the hospital bed 2 forward (in 4 ie to the left), backwards (in 4 ie to the right) and sideways (in 4 ie in the plane of the drawing and out), without the hospital bed 2 to raise. The hospital bed 2 has four non-powered wheels 11 on top of which the hospital bed 2 remains during transport and during a coupling process.

5 schematically shows a side view of another embodiment of a robot 3 a robot system according to the invention 1 , Compared to that in the 1 to 4 illustrated embodiment, the robot 3 out 5 a sensor system, wherein at least a part 12 the sensor system by means of a telescope arrangement 13 so height adjustable is that this part 12 over the hospital bed 2 can protrude. At the in 5 illustrated embodiment is the part 12 the sensor system so height adjustable that he over a bedpost of the hospital bed 2 can protrude, so that measurement signals of the part 12 of the sensor system through the hospital bed 2 not be blocked.

6 schematically shows a section through a robot 3 a further preferred embodiment of a robot system according to the invention 1 , In 6 is only a robot 3 of the robot system 1 shown. The other robot 3 is exactly the same in this preferred embodiment.

The robot 3 has a communication device 14 on that a wireless communication with the communication device 14 another robot 3 and an elevator and a central control system.

In the transmission of a wireless signal between the communication device 14 of a robot 3 and another communication device, it should be noted that the two communication devices are typically less than 300 m apart. The transmission of the wireless signal typically takes place within a building, in the case of communication between two robots 3 typically held within a room. Important is a robust and reliable transmission even without direct line of sight, so that the wireless signal can be received correctly by the respective communication device. In principle, wireless technology and WPAN technologies are suitable as wireless technology. Bluetooth is preferably used as the wireless technology. Due to the energy-saving Bluetooth version 4.0 (Low Energy) is particularly preferred.

The robot 3 in 6 also has a controller 15 on, among other things, to control the landing gear 4 of the robot 3 and of electronic circuits of the robot 3 (like the communication device 14 ) serves.

The robot 3 is configured such that control commands of the control device 15 of a robot 3 with the control device 15 of the other robot 3 are tunable. In particular, the robot 3 designed so that control information of the one robot 3 by means of the communication device 14 of a robot 3 to the communication device 14 of the other robot 3 be transmitted wirelessly. The other robot 3 evaluates the received control information and can then control commands for its own controller 15 and / or for the control device 15 of a robot 3 to generate. The latter can in turn wirelessly to the communication device 14 of a robot 3 be transmitted.

The robot 3 has a detection device 16 for the detection and localization of both coupling devices 9 of the hospital bed 2 on. The detection device 16 has a reading unit for reading a hospital bed 2 and / or a hospital bed 2 occupant identifying identifier of a transponder is formed. The reading unit corresponds to an RFID transponder and can establish a coupling with the RFID transponder by means of magnetic alternating fields and / or high-frequency radio waves.

The robot 3 also has a distance sensor 17 , With the help of the distance sensor 17 can the robot 3 the respective distance of a reference point of the robot 3 to the hospital bed 2 and in particular to one of the two coupling devices 9 of the hospital bed 2 determine. This information can be the robot 3 use for pairing. In addition, the robot can 3 the distance sensor 17 Use to determine the distance to obstacles such as stationary objects and moving people.

At the in 6 illustrated embodiment, the robot 3 a shell 18 as well as a lower part 19 on. Between the shell 18 and the lower part 19 are an electric motor 20 and a pressure sensor 21 so attached, that the robot 3 by means of the electric motor 20 is height adjustable, wherein the height adjustment by means of the pressure sensor 21 is controllable or controllable.

At the in 6 illustrated embodiment are both driven wheels 5 by means of an adjusting device 22 on a substrate, especially a floor 23 , pushable. The adjusting device 22 includes a spring 24 and a cooperating hydraulic 25 , In this way, a traction control or traction control is realized. It is also possible to have a common setting device 22 for both driven wheels 5 use.

Every driven wheel 5 is by means of an electric motor 26 and a gearbox 27 driven.

At the in 6 illustrated embodiment, the robot 3 an energy storage, namely an accumulator 28 on, which is rechargeable by means of a (not shown) charging station. The robot 3 is designed so that it is autonomously movable for recharging to a charging station. The accumulator 28 is in the lower part 19 of the robot 3 arranged. Due to the weight of the accumulator 28 thus becomes the center of mass of the robot 3 shifted down. This increases the stability and tilt stability of the robot 3 ,

At the in 6 illustrated embodiment, the robot 3 a speaker 29 , a microphone 30 and a touch screen 31 on. The robot 3 is set up so that by means of the touch screen 31 and the microphone 30 Destination input can be made by a person. By means of the touchscreen 31 and the speaker 29 Audio and video data can be played back. By coordination with the other robot 3 This playback can be done by one robot 3 in sync with the other robot 3 respectively.

In addition, at the in 6 illustrated embodiment even more sensors 32 . 33 . 34 intended.

At the in 6 illustrated embodiment, the robot 3 eight coupling elements 35 on, by means of an electric motor 36 from a decoupled position to a coupled position and vice versa.

At the in 6 illustrated embodiment, the robot 3 a deburred outer wall 37 , preferably plastic, and a coat 38 , preferably of metal. The lower part 19 of the robot 3 also has a hollow cylinder, preferably made of metal.

The coupling device 10 of the robot 3 with the eight coupling elements 35 shows 7 schematically in a side view of a robot 3 a robot system according to the invention 1 , The eight coupling elements 35 are arranged on an imaginary rectangle. At the center of this imaginary rectangle is no coupling element 35 intended. In this "gap" is in the coupled state of the robot 3 with the hospital bed 2 rather a part of the coupling device 9 of the hospital bed 2 ,

For coupling, the coupling elements 35 by means of the electric motor 36 moved to a decoupled position, z. B. inclined. The robot 3 sets up its coupling device 10 to the coupling device 9 of the hospital bed 2 accordingly and approaches the coupling device 9 of the hospital bed 2 , Is the coupling device 9 of the hospital bed 2 far enough in the "gap", moves the electric motor 36 the coupling elements 35 from the decoupled position to a coupled position. In this coupled position, the coupling elements 35 z. B. behind a projection or in a recess of the coupling device 9 of the hospital bed 2 grab it like it is in 8th is shown schematically.

9 schematically shows a plan view of another preferred embodiment of the robot system according to the invention 1 where both are robots 3 to a hospital bed 2 are coupled. The one robot 3 is at a front end in the direction of travel 7 of the hospital bed 2 (Footer) and the other robot 3 at a rear end in the direction of travel 8th of the hospital bed 2 (Head end) by means of the coupling device 10 of the respective robot 3 to one of two coupling devices 9 of the hospital bed 2 coupled. The robot system according to the invention 1 transports the hospital bed 2 here from a pick-up point to a destination and moves along with the hospital bed 2 on a curve, with in 9 a midline 40 indicates the curve.

The robot 3 , the headboard 7 of the hospital bed 2 to the local coupling device 9 of the hospital bed 2 coupled with has This embodiment, the master role held. The master robot 3 controls its own chassis by means of control commands 4 , especially the two driven wheels 5 , as well as wirelessly to the other robot 3 (Slave robot) transmitted control commands the chassis 4 of the slave robot 3 , in particular its driven wheels 5 ,

So illustrated 9 like the two driven wheels 5 and consequently the two unpowered wheels 6 of the burl robot assume a tilt corresponding to the section of the center line 40 on which the wheels are 5 . 6 of the master robot 3 are equal. Due to the caused by control commands inclination of the wheels 5 of the master robot 3 There is a different but corresponding inclination (in the present case, a lower inclination) of the non-driven wheels 6 of the master robot 3 and the non-powered wheels 11 of the hospital bed 2 in the front end area 7 of the hospital bed 2 are attached, a.

Because of the wireless to the slave robot 3 transmitted control commands take the driven wheels 5 of the slave robot 3 a curve corresponding to the other inclination. As a result, take the non-powered wheels 6 of the slave robot 3 and the non-powered wheels 11 of the hospital bed 2 located at the far end 8th of the hospital bed 2 are another, but also the curve corresponding slope. The master robot transmits to the slave robot 3 in particular control information with regard to the curve, in particular the curve radius and the curve length, as well as with regard to any obstacles.

10 schematically shows a side view of a further preferred embodiment of the robot system according to the invention 1 , In this embodiment, both are robots 3 connectable with each other and in 10 also connected with each other. The two connected robots 3 are movable together as a unit. The two robots can be connected as one unit 3 Resources, such as As an energy storage or communication device, share. To connect together, the two unpowered wheels 6 of the respective robot 3 for example, in the respective robot 3 they moved in to connect the two robots 3 are not in the way.

The two robots linked to the unit 3 can be in this embodiment again in the two separate robot 3 divide so that both robots 3 are movable in different directions. So z. B. the unit of the two connected robots 3 Drive to a pickup location and pick up at the pickup location in the two robots 3 then divide that to the movable object 2 can be coupled.

11 schematically shows a side view of a preferred embodiment of a coupling device 9 for coupling a movable object, namely a hospital bed 2 , with a robot 3 a robot system according to the invention 1 , The coupling device 9 is at the hospital bed 2 mountable. At the in 11 illustrated embodiment, the coupling device 9 at a front end area 7 of the hospital bed 2 , on a fastener 41 of the hospital bed 2 , appropriate.

The coupling device 9 has a coupling plate 42 , a coupling element 43 and an RFID transponder (not shown) for identifying the hospital bed 2 on. By means of the RFID transponder an identifier and a position signal can be transmitted wirelessly. The identifier allows identification of the hospital bed 2 and, optionally, a patient located therein. The position signal is designed so that with it the position of the coupling device 9 at the hospital bed 2 can be determined. In addition, it can be determined on the basis of the position signal that the coupling device 9 at the front end area 7 of the hospital bed 2 is appropriate.

12 shows schematically in a side view an alternative embodiment of a coupling device 9 for coupling a hospital bed 2 with a robot 3 a robot system according to the invention 1 , In 12 is the coupling device 9 not at the hospital bed 2 appropriate. The coupling device 9 in turn has a coupling plate 42 and a coupling element 43 on. In this embodiment, the coupling element 43 compared to the embodiment of 11 shaped differently, similar to an inverted "U". In 12 under the coupling element 43 has the coupling device 9 an identification device 44 namely a barcode 44 ,

At the in 12 illustrated embodiment, a robot 3 a robot system according to the invention 1 with a corresponding coupling device 10 of the robot 3 to the illustrated coupling device 9 in that the coupling device 10 of the robot 3 from bottom to top against the coupling element 43 is moved when the robot 3 or its coupling device 10 close enough to the coupling device 9 is. When the coupling device 10 of the robot 3 the coupling device 9 touched, then a coupling element of the coupling device 10 of the robot 3 in engagement with the coupling element 43 the coupling device 9 stand, that a rigid, force and positive connection between the two coupling devices 9 . 10 consists.

13 shows schematically in a plan view a part of a hospital with a corridor, a patient room and a lift 45 , The elevator 45 has a communication device 46 ,

13 also shows a preferred embodiment of a hospital bed according to the invention 2 and a robot system according to the invention 1 with two robots 3 attached to the hospital bed 2 coupled and transport this in the corridor of the hospital.

In the hallway are two radio beacons 47 arranged. At the radio beacons 47 are stationary radio transmitters with a known position, the orientation or navigation of the robot 3 or the robot system 1 serve.

13 further shows four markings 48 on the floor of the patient's room. Such markings 48 can also be arranged at a pick-up location on a corridor or a bed station. These marks 48 serve for orientation and navigation for the robots 3 or the robot system 1 , In particular, the markers border 48 a target area in which a hospital bed to be transported 2 should be parked or picked up.

In addition shows 13 a preferred embodiment of a central control system for the robot system 1 with the two robots 3 , The central tax system 49 can be implemented on a data processing system.

The central tax system 49 know at least one communication device and at least one control unit. The robot system 1 can by means of the communication device 14 of the respective robot 3 with the communication device 46 of the elevator 45 and with the communication device of the central control system 49 communicate as it is in 13 indicated by dashed lines. The central tax system 49 is to control the robot 3 of the robot system 1 , to monitor the functions of the robots 3 , for reporting disturbances of the robot 3 , for the evaluation and documentation of robot processes 3 and to update software of the robots 3 educated. In addition, the central control system 49 for controlling the elevator 45 educated.

In the following, a preferred embodiment of the method according to the invention for transporting a movable object, namely a hospital bed 2 , with a robot system according to the invention 1 explained.

Before transporting the hospital bed 2 couple the two robots 3 of the robot system 1 so to the hospital bed 2 namely, to a coupling device 9 of the hospital bed 2 that a force from both robots 3 on the hospital bed 2 is transferable, so the robots 3 together the hospital bed 2 can transport.

The one robot 3 is at a front end area 7 of the hospital bed 2 and the other robot 3 at a rear end area 8th of the hospital bed 2 coupled. The robots 3 transport the hospital bed 2 by pushing, pulling and moving sideways to a destination, without the hospital bed 2 to raise.

Both robots 3 Detect and locate by means of a detection device each have a coupling device 9 of the hospital bed 2 , Both robots 3 each approach one of the two coupling devices 9 of the hospital bed 2 and directing for coupling with the respective coupling device 9 of the hospital bed 2 one to the respective coupling device 9 of the hospital bed 2 matching coupling device 10 in terms of their height, their distance and their lateral offset relative to the respective coupling device 9 of the hospital bed 2 out. The two robots 3 move their coupling device 10 , in particular a coupling element 35 , By means of an electric motor from a decoupled position to a coupled position, so that the coupling device 10 of the respective robot 3 , in particular its coupling elements 35 , with the respective coupling device 9 of the hospital bed 2 engaged.

The one robot 3 communicates by means of a communication device 14 wirelessly with the communication device 14 of the other robot 3 and, optionally, with the communication device of an elevator and / or a central control system.

The one robot 3 agrees control commands of a control device 15 of a robot 3 for controlling a chassis 4 of a robot 3 with the control device 15 of the other robot 3 from. In particular, the transmitted a robot 3 Control information by means of the communication device 14 of a robot 3 to the communication device 14 of the other robot 3 wireless.

Both robots 3 are linked together before the start of transportation and move together as one unit to a pickup location. Both robots 3 share at the pickup location. For sharing and / or uncoupling from the hospital bed 2 Both robots move 3 to support the respective robot 3 two unpowered wheels 6 of the landing gear 4 on a substrate, especially a floor, down.

The one robot 3 transmits information input to the other robot via an input device 3 wireless. The one robot 3 takes an audio and video playback in sync with the other robot 3 in front.

When transporting the hospital bed 2 through the robot system 1 by means of an elevator are at a preferred, in 14A -E schematically illustrated embodiment of the method according to the invention provided the following steps.

14A : First, both are robots 3 at the hospital bed 2 coupled, the one robot 3 at a front end area 7 of the hospital bed 2 and the other robot 3 at a rear end area 8th of the hospital bed 2 , The robots 3 together with the hospital bed 2 are in front of a lift 45 in a hallway of the hospital. The robot system 1 or the central tax system 49 have by means of a communication device wirelessly with a communication device 46 of the elevator 45 communicates to the elevator 45 to drive to and to hold on the floor on which the robotic system 1 together with the hospital bed 2 is to cause.

14B : The elevator 45 has on the floor on which the robots 3 together with the hospital bed 2 are held, and his door or doors open. Both robots 3 move the hospital bed 2 together in the elevator 45 , At a sufficient distance to a rear wall of the elevator 45 hold the robots 3 together with the hospital bed 2 at. The robot 3 which is closer to the rear wall of the elevator 45 located end portion (here at the front end portion 7 ) at the hospital bed 2 docked, docked from the hospital bed 2 and moves to the side (in 14B to the left) and stay in the elevator 45 stand.

14C : The other robot 3 (at the rear end area 8th coupled) moves the hospital bed 2 so in the elevator 45 that it is completely in the elevator 45 located. Then this other robot stops 3 the hospital bed 2 and causes a determination of the hospital bed 2 ,

14D : The other robot 3 also disconnects from the hospital bed 2 and moves to the side (in 14D to the left) in the elevator 45 and stay in the elevator 45 stand. Now the door closes or close the doors of the elevator 45 and the elevator 45 moves up or down along with the two

robots 3 and the hospital bed 2 , Both robots 3 remain laterally next to the hospital bed 2 in the elevator 45 during the elevator ride.

14E : Arrived on a destination floor, the door opens or the doors of the elevator open 45 on the side through which the entry was made. The other robot 3 connects again to the hospital bed 2 on, at the front end 7 ,

The other robot 3 moves part of the hospital bed 2 from the elevator 45 out and then stop. Then the one robot couples 3 at the hospital bed 2 on, at the rear end 8th , Then both robots move 3 the hospital bed 2 completely out of the elevator 45 out and transport the hospital bed 2 to the destination.

The aspects described above are preferably combinable with each other.

LIST OF REFERENCE NUMBERS

1

robot system

2

hospital bed

3

robot

4

Suspension of 3

5

powered wheel of 3

6

non-driven wheel of 3

7

front end area of 2

8th

rear end area of 2

9

Coupling device of 2

10

Coupling device of 3

11

Wheel of 2

12

Part of a sensor system of 3

13

Telescope arrangement of 3

14

Communication device of 3

15

Control device of 3

16

Detection device of 3

17

Distance sensor of 3

18

Top of 3

19

Lower part of 3

20

Electric motor of 3

21

Pressure sensor of 3

22

Setting device for 5

23

underground

24

Spring from 22

25

Hydraulics of 22

26

Electric motor for 5

27

Gear for 5

28

Accumulator of 3

29

Speaker from 3

30

Microphone from 3

31

Touchscreen from 3

32

Sensor from 3

33

Sensor from 3

34

Sensor from 3

35

Coupling element of 10

36

Electric motor for 35

37

Outer wall of 3

38

Coat of 3

39

Hollow cylinder of 3

40

Centerline of a curve

41

Fastener of 2

42

Coupling plate of 9

43

Coupling element of 9

44

Identification device of 9

45

elevator

46

Communication device of 45

47

radiobeacon

48

mark

49

central tax system

Claims (14)

Robot system ( 1 ) for transporting a movable object ( 2 ), in particular a hospital bed, wherein the robot system ( 1 ) at least two robots ( 3 ) and both robots ( 3 ) each to the movable object ( 2 ) are coupled so that a force from both robots ( 3 ) on the movable object ( 2 ) is transferable, so that the robots ( 3 ) together the movable object ( 2 ), characterized in that both robots ( 3 ) are set up so that they move the movable object ( 2 ) can move forwards, backwards and sideways, without the movable object ( 2 ). Robot system according to claim 1, characterized in that both robots ( 3 ) each one speaker ( 29 ), a microphone ( 30 ), a display, an input device and / or a touchscreen ( 31 ) and are set up such that an audio and / or image reproduction synchronously with the respective other robot ( 3 ) he follows. Robot system according to claim 1 or 2, characterized in that both robots ( 3 ) and then together as a unit are movable and the unit back into both robots ( 3 ) is divisible so that both robots ( 3 ) are movable in different directions. Robot system according to one of the preceding claims, characterized in that both robots ( 3 ) each a chassis ( 4 ) with at least one driven wheel ( 5 ) and the driven wheel ( 5 ) by means of an adjusting device ( 22 ) on a substrate ( 23 ) is depressible. Robot system according to claim 4, characterized in that the chassis ( 4 ) at least one more, on a surface ( 23 ) down and from the underground ( 23 ) moveable wheel ( 6 ) having. Robot system according to one of the preceding claims, characterized in that at least one robot ( 3 ) has a sensor system and at least a part of the sensor system is adjustable in height such that this part on the movable object ( 2 ) can protrude. Hospital bed ( 2 ) with two coupled robots ( 3 ), each to the hospital bed ( 2 ) are coupled in such a way that a force from both robots ( 3 ) on the hospital bed ( 2 ) is transferable, so that the robots ( 3 ) together the hospital bed ( 2 ) can transport. Method for transporting a movable object ( 2 ), in particular a hospital bed, with a robot system ( 1 ), in particular according to one of claims 1 to 6, wherein at least two robots ( 3 ) of the robot system ( 1 ) to the movable object ( 2 ) such that a force from both robots ( 3 ) on the movable object ( 2 ) is transferable, so that the robots ( 3 ) together the movable object ( 2 ), characterized in that one of the robots ( 3 ) at a front end region ( 7 ) of the movable object ( 2 ) and the other robot at a rear end region ( 8th ) of the movable object ( 2 ) and the robots ( 3 ) the movable object ( 2 ) by pushing and / or pulling and / or moving sideways to a destination, without the movable object ( 2 ). Method according to claim 8, characterized in that the one robot ( 3 ) Control commands of a control device ( 15 ) of a robot ( 3 ) for controlling a chassis ( 4 ) of a robot ( 3 ) with a control device ( 15 ) of the other robot ( 3 ) and a robot ( 3 ) Control information by means of a communication device ( 14 ) of a robot ( 3 ) to a communication device ( 14 ) of the other robot ( 3 ) transmitted wirelessly. Method according to claim 8 or 9, characterized in that the one robot ( 3 ) an audio and / or image reproduction synchronously with the other robot ( 3 ), wherein, preferably, a robot ( 3 ) input information to the other robot by means of an input device ( 3 ) transmitted wirelessly. Method according to one of claims 8 to 10, characterized in that both robots ( 3 ) are connected to each other before the start of transportation and together as a unit to a Move pickup location to pickup location in both robots ( 3 ) share. A method according to claim 11, characterized in that for dividing and / or uncoupling of the movable object ( 2 ) both robots ( 3 ) to support the respective robot ( 3 ) at least one wheel ( 6 ) of a chassis ( 4 ) on a substrate ( 23 ) move down. Method according to one of claims 8 to 12, characterized in that at least part of a sensor system of a robot ( 3 ) is adjusted in height so that this part of the movable object ( 2 protrudes). Method according to one of claims 8 to 13, characterized in that the one robot ( 3 ) determines whether the movable object ( 2 ), in particular a chassis of the movable object ( 2 ) is blocked.

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