Method of Handling Carrier by Means of Mobile Robot, Control System and Mobile Robot

A control system for controlling a mobile robot to handle a carrier, 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 by means of the at least one manipulator;
• wherein the mobile robot is configured to perform an omnidirectional motion of the base relative to the surface;
• the control system comprising at least one data processing device and at least one memory having a computer program stored thereon, the computer program including program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:
• receiving, from an environment sensor, environment data of a carrier positioned on the surface;
• determining a handle position of at least one handle of the carrier based on the environment data;
• commanding the at least one manipulator to position each end effector in relation to at least one handle based on the one or more handle positions;
• commanding the at least one end effector to secure to the at least one handle;
• and
• commanding the mobile robot to move in common with the carrier over the surface.

A mobile robot comprising:

• a body having a base;
• a traction arrangement configured to move the body over a surface;
• at least one manipulator connected to the base;
• at least one end effector movable relative to the base by means of the at least one manipulator;
• and
• a control system to handle a carrier,
• the control system including at least one data processing device and at least one memory having a computer program stored thereon, the computer program including program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:
• receiving, from an environment sensor, environment data of a carrier positioned on the surface;
• deterring a handle position of at least one handle of the carrier based on the environment data;
• commanding the at least one manipulator to position each end effector in relation to at least one handle based on the one or more handle positions;
• commanding the at least one end effector to secure to the at least one handle;
• and
• commanding the mobile robot to move in common with the carrier over the surface;
• and
• wherein the mobile robot is configured to perform an omnidirectional motion of the base relative to the surface.