Automatic coupling method for modular mobile robot systems and the corresponding modular mobile robot system

Modular mobile robot with automatic face-to-face coupling via laser sensor alignment

This technology is a mechanical coupling control algorithm that allows modular robots with multiple coupling surfaces to measure the distance to another robot using laser sensors and reflective surfaces, then adjust their position and alignment for automatic physical coupling.

Conventional marker-based positioning methods are highly dependent on infrastructure, while coupling methods using LEDs and optical sensors involve complex processing, increased component costs, and longer operation times.

This technology uses laser sensors and reflective surfaces placed on the edges of the coupling surface to measure the relative distance and angle between robots in real time, enabling parallel face-to-face alignment. It ensures tight coupling via connectors (such as magnets or hooks) and dynamically reconfigures idle leg functions based on control center commands upon coupling.

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Key Features:

• Configuration where first and second modular mobile robots with multiple coupling surfaces move toward a coupling partner
• Configuration for measuring the distance between the robot and its coupling partner using laser sensors and reflective surfaces on the target coupling surface
• First stage: Moving until the measured distances are equal to achieve face-to-face alignment and proximity to the target coupling surfaces
• Second stage: Engaging the coupling mechanism on the target surfaces to securely connect with the partner once the surfaces are in contact

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