Multi-mode drive system with selectively engageable steering module for mobile robots

A drive system for a mobile robot, wherein the drive system comprises:

• a structural frame having a first portion and a second portion;
• a driving module arranged at the first portion of the structural frame, the driving module comprising:
• at least two driving wheels that are individually rotatable;
• and
• at least two driving motors, wherein each individual one of the at least two driving motors is mechanically coupled to respective ones of the at least two driving wheels, wherein each individual one of the at least two driving motors comprises at least one first sensor that, in operation, senses an individual driving wheel rotation;
• and
• a steering module arranged perpendicular to the driving module, at the first portion of the structural frame, the steering module comprising one of:
• a motor, a clutch actuator, wherein the one of:
• the motor, the clutch actuator comprises at least one second sensor that, in operation, senses an individual driving wheel rotation,
• wherein when the drive system is in use,
• the steering module is disengaged from the driving module to drive the mobile robot in a steer driving mode, wherein the driving module moves the mobile robot and rotates a steer of the mobile robot using the at least two driving wheels, based on the sensed individual driving wheel rotation as sensed by the at least one first sensor, or
• the steering module is engaged with the driving module to drive the mobile robot in a differential driving mode, wherein the steering module maintains a fixed steer of the mobile robot based on the sensed individual driving wheel rotation as sensed by the at least one second sensor, and the driving module moves the mobile robot using the at least two driving wheels.