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(12) EUROPEAN PATENT APPLICATION

(43) Date of publication: 01.03.2017 Bulletin 2017/09

(21) Application number: 16182725.8

(22) Date of filing: 04.08.2016

(51) Int Cl.:B25J 5/00 (2006.01) B25J 9/08 (2006.01)

B25J 9/16 (2006.01) B25J 11/00 (2006.01)

B25J 15/04 (2006.01) B25J 19/02 (2006.01)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TRDesignated Extension States: BA MEDesignated Validation States: MA MD

(30) Priority: 26.08.2015 DE 102015216272

(71) Applicant: Airbus Operations GmbH21129 Hamburg (DE)

(72) Inventors: • KROHNE, Ingo

21129 Hamburg (DE)

• GOEHLICH, Robert Alexander21129 Hamburg (DE)

• BORCHERT, Tom21129 Hamburg (DE)

• FRAGA SERAFIM, Camila22765 Hamburg (DE)

(74) Representative: IsarpatentPatent- und Rechtsanwälte Behnisch Barth Charles Hassa Peckmann & Partner mbB Friedrichstrasse 3180801 München (DE)

(54) MODULAR ROBOT ASSEMBLY KIT, SWARM OF MODULARIZED ROBOTS AND METHOD OF FULFILLING TASKS BY A SWARM OF MODULARIZED ROBOTS

(57) The present invention pertains to a modularizedrobot having a robot platform configured to convey mo-bility and connectivity to external components to the mod-ularized robot, a robot workhead configured to conveythe ability to perform an operational task to the modular-

ized robot, and a robot adapter attached to either therobot platform or the robot workhead and configured tomechanically link the robot platform to the robot work-head. Moreover, a swarm of modularized robots and arobot system include such modularized robots.

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Description

TECHNICAL FIELD

[0001] The present invention relates to a modularizedrobot, a modular robot assembly kit, a swarm of modu-larized robots built up from a modular robot assembly kit,and a method of fulfilling tasks by a swarm of modularizedrobots, particularly in the assembly, construction, main-tenance and/or repair of vehicles such as aircraft orspacecraft.

TECHNICAL BACKGROUND

[0002] Unmanned robotic vehicles (URVs) are remote-ly controlled or autonomously manoeuvring vehicles thatdo not require a pilot to be on board of the vehicle. URVsmay be controlled remotely by a controller at a groundcontrol station or may fly, swim, float, drive or otherwisemove autonomously based on predefined movementroutes or dynamic routing or navigation algorithms.[0003] Such URVs may cooperate in a swarm in fulfill-ing complex tasks or chains of tasks. Often, a swarm ofrobots consists of a multitude of similarly constructed ro-bots that have one and the same functionality or the sameset of multiple functionalities. Robots in a swarm are usu-ally employed for various menial tasks which would oth-erwise cause a challenge to a human worker due to adifficult accessibility of the location of the task, which donot require high technical qualification of a worker, whichare repetitive in nature within narrow boundary condi-tions, which are to be performed in an environment haz-ardous for humans, which are dangerous in nature orwhich support a human worker in a collaborative manner.[0004] For example, document US 8,755,936 B2 dis-closes a robot system architecture which enables the cre-ation and use of service robots which have a plurality ofon-board robot functions as a shared, central resourcefor any number of robots performing functions either se-rially or simultaneously in a facility. Document US2010/0094459 A1 discloses a system for cooperation ofmultiple mobile robots that allow the multiple mobile ro-bots to cooperatively execute one complicated task, us-ing centralized control architecture and robot cooperationapplication codes on the basis of conceptual behaviorunits to execute a robot cooperation application tied toactual functions of the robots. Document WO2013/119942 A1 discloses a job management systemfor a fleet of mobile robots that automatically determinesthe actual locations and actual job operations for the jobrequests, and intelligently selects a suitable mobile robotto handle each job request based on the current statusand/or the current configuration for the selected mobilerobot.[0005] Swarms of identical or analogously built robots,however, are either inflexible due to their limited rangeof functions, or they utilize overly large robots with lotsof functions which only get put to full use during a fraction

of the time that the robots are in operation. Thus, individ-ualized and more flexible robot systems have been de-vised in the art. Documents US 7,555,363 B2, US7,720,570 B2, US 8,805,579 B2 and WO 2013/152414A1 disclose examples of robot assembly systems relyingon individual robot components with diverse functionalitywhich may be assembled to form an individualized robot.[0006] Advances in distributed robotics have also beenmade with regard to architectures, task planning capa-bilities, and control of swarms of mobile robots, in partic-ular to address the issues of action selection, delegationof authority and control, the communication structure,heterogeneity versus homogeneity of robots, achievingcoherence amidst local actions, and resolution of con-flicts. An overview in this area may for example be foundin Arai, T., Pagello, E., Parker L.E.: "Editorial: Advancesin Multi-Robot Systems"; IEEE Transactions on Roboticsand Automation, vol. 18(5), October 2002, p. 655-661.

SUMMARY OF THE DISCLOSURE

[0007] One object of the invention is thus to providesolutions for robots that are freely and flexibly configura-ble and that may be employed in a multi-tasking environ-ment in an efficient manner.[0008] This object is achieved by a modularized robothaving the features of claim 1, a modular robot assemblykit having the features of claim 6, a swarm of modularizedrobots having the features of claim 9 or 10, a robot systemhaving the features of claim 11 and a method of fulfillingtasks by a swarm of modularized robots having the fea-tures of claim 12. The aforementioned devices, systemsand methods may be particularly employed in the assem-bly, construction, maintenance and/or repair of vehiclessuch as aircraft or spacecraft.[0009] According to a first aspect of the invention, amodularized robot comprises a robot platform configuredto convey mobility and connectivity to external compo-nents to the modularized robot, a robot workhead con-figured to convey the ability to perform an operationaltask to the modularized robot, and a robot adapter at-tached to either the robot platform or the robot workheadand configured to mechanically link the robot platform tothe robot workhead.[0010] According to a second aspect of the invention,a modular robot assembly kit comprises a plurality of ro-bot platforms, each configured to convey mobility andconnectivity to external components to an assembledmodular robot, and a plurality of robot workheads, eachconfigured to convey the ability to perform one of a plu-rality of operational tasks to an assembled modular robot,wherein each of the plurality of robot workheads com-prises a robot adapter configured to mechanically linkone of the robot platforms to the respective robot work-head.[0011] According to a third aspect of the invention, aswarm of modularized robots comprises a plurality ofmodularized robots according to the first aspect of the

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invention and/or a plurality of modularized robots builtwith a modular robot assembly kit according to the sec-ond aspect of the invention.[0012] According to a fourth aspect of the invention, arobot system comprises a swarm of modularized robotsaccording to the third aspect of the invention, a central-ized task database configured to store and update a plu-rality of tasks to be performed by the swarm of modular-ized robots, and a task controller coupled to the central-ized task database and configured to manage the storedtasks in the centralized task database depending on pri-ority, hierarchy and/or importance of the tasks.[0013] According to a fifth aspect of the invention, amethod of fulfilling tasks by a swarm of modularized ro-bots comprises the steps of providing, by a centralizedtask database, a task to a plurality of robot workheads,each of the robot workheads configured to convey theability to perform one of a plurality of operational tasksto an assembled modular robot, determining, by the plu-rality of robot workheads, one of a plurality of robot plat-forms to combine with, each configured to convey mo-bility and connectivity to external components to an as-sembled modular robot, forming one or more modular-ized robots by connecting one or more of the plurality ofrobot workheads with the determined one of the pluralityof robot platforms, and performing, by the combined mod-ularized robot, the provided task.[0014] The idea on which the present invention isbased is to build robots in a modularized manner from arobot platform providing positioning and mobility, and arobot workhead providing functionality and tooling for therobot. Both platform and workhead may be designed witha universal adapter mechanism in order to combine var-ious platforms and workheads interchangeably and flex-ibly. The functional capabilities of such a modularizedrobot may be flexibly distributed over the platforms andthe workheads. The platform may provide basic mobilityand relocation capabilities to the robot which may per-form customized task due to the specialization in theworkhead with which the platform is combined. The func-tional range of an individual workhead may be advanta-geously limited to one or a low number of functions sothat the workhead may be kept small, lean and cost-ef-ficient.[0015] Different platform types may be used to formdifferent robot types: The platform may for example bea wheeled, caterpillar type, bladed, skidded, pedalled orsuction cup platform, capable of forming an unmannedmobile ground vehicle (UMGV). The platform may alter-natively be a winged, propeller type, hovering or jet/rock-et-engine platform, capable of forming an unmanned aer-ial vehicle (UAV) or flying drone. The platform may alsobe a connector platform for a stationary robotic device,such as a robotic arm, an industrial robot, pick-and-placerobot or any other automaton with limited range move-ment capability. The platform may finally also be a con-nector platform for a handheld tool, reach extensionboom or stabilizing carrier frame which may be held, car-

ried and operated by a human worker or user.[0016] Similarly, different workhead types may be usedto implement working functionality for different tasks thata robot is to perform: The workhead may be specializedfor various surveillance or monitoring tasks, such as anautonomous survey of an interior and/or exterior of anairborne vehicle to be inspected and autonomous gath-ering of state parameters. To that end, the workhead mayemploy one or more of workhead mounted sensors suchas cameras, laser scanners, ultrasonic sensors, magnet-ic sensors, infrared sensors, barcode scanners, chemicalsensors, gas sensors, metal detectors, biosensors andsimilar physical parameter detection devices. The work-head may further, additionally or alternatively, includeworking tools that provide specific interaction with theenvironment, for example in an assembly, construction,maintenance or repair setting. The workhead may for ex-ample employ cleaning devices, printing devices, fasten-ing devices, welding devices, screwing devices, electrictesting devices, clamping devices, vacuuming devices,gluing devices, stamping devices, bolting devices, drillingdevices or any other similar type of working tool.

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The invention will be explained in greater detailwith reference to exemplary embodiments depicted inthe drawings as appended.[0018] The accompanying drawings are included toprovide a further understanding of the present inventionand are incorporated in and constitute a part of this spec-ification. The drawings illustrate the embodiments of thepresent invention and together with the description serveto explain the principles of the invention. Other embodi-ments of the present invention and many of the intendedadvantages of the present invention will be readily ap-preciated as they become better understood by referenceto the following detailed description. The elements of thedrawings are not necessarily to scale relative to eachother. Like reference numerals designate correspondingsimilar parts.

Fig. 1 schematically illustrates an exemplary modu-larized robot according to an embodiment.

Fig. 2 schematically illustrates an exemplary modu-larized robot according to another embodiment.

Fig. 3 schematically illustrates an exemplary modu-larized robot according to another embodiment.

Fig. 4 schematically illustrates an exemplary modu-larized robot with a user wielding it according to an-other embodiment.

Fig. 5 schematically illustrates an exemplary modu-larized robot according to another embodiment.

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Fig. 6 schematically illustrates structural details of amodularized robot according to another embodi-ment.

Fig. 7 schematically illustrates an exemplary modu-larized robot with a specific workhead according toanother embodiment.

Fig. 8 schematically illustrates an exemplary modu-larized robot with a specific workhead according toanother embodiment.

Fig. 9 schematically illustrates an exemplary modu-larized robot with a specific workhead according toanother embodiment.

Fig. 10 schematically illustrates an exemplary mod-ularized robot with a specific workhead according toanother embodiment.

Fig. 11 schematically illustrates an exemplary mod-ularized robot with a specific workhead according toanother embodiment.

Fig. 12 schematically illustrates a working environ-ment for a swarm of modularized robots accordingto another embodiment.

Fig. 13 schematically illustrates a control system ar-chitecture for a swarm of modularized robots accord-ing to another embodiment.

Fig. 14 schematically illustrates stages of a methodfor fulfilling tasks by a swarm of modularized robotsaccording to another embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

[0019] Although specific embodiments have been il-lustrated and described herein, it will be appreciated bythose of ordinary skill in the art that a variety of alternateand/or equivalent implementations may be substitutedfor the specific embodiments shown and described with-out departing from the scope of the present invention.Generally, this application is intended to cover any ad-aptations or variations of the specific embodiments dis-cussed herein.[0020] Robots within the meaning of the present dis-closure may comprise any automatic machine or artificialagent which is controlled by means of electronic circuitryor computer software. Particularly, robots with the mean-ing of the present disclosure may include mobile robotswhich comprise any automation capable of locomotion.Mobile robots within the meaning of the present disclo-sure are not bound to a single physical location and areable to propel themselves forward towards another phys-ical location. Mobile robots within the meaning of thepresent disclosure include any autonomously acting

agents ("autonomous mobile robot", AMR) and externallyguided agents ("autonomously guided vehicles", AGV).[0021] Robots may in particular include any unmannedvehicles (UMV) include airbound (UAV) and ground ve-hicles (UGV) that may be controlled without a humanpilot aboard. UAVs and UGVs may have their airbasedor groundbased movement controlled either autono-mously by onboard computers or remotely by a pilot in aground-based control station or in another vehicle.[0022] A UAV may for example comprise a quadcopter,a quadrotor helicopter, a quadrocopter, or a quad rotor.Generally, a quadcopter is an aerial rotorcraft that is pro-pelled by four rotors. In certain embodiments, control ofUAV motion may be achieved by altering the pitch orrotation rate of one or more rotors. Other configurationsare also possible for suitable UAVs, including multi-rotordesigns such as, for example, dual rotor, trirotor, hexaro-tor, and octorotor, or single-rotor designs such as heli-copters. UAVs within the meaning of the present disclo-sure may also comprise fixed-wing UAVs. UAVs mayhave vertical take-off and landing (VTOL) capabilities. Insome embodiments, the rotors of UAVs may be manu-factured from soft, energy absorbing and impact-resist-ant materials. In some embodiments, the UAVs haveframes that enclose the rotors. Enclosing the rotors canhave advantages, such as reducing the risk of damagingeither the UAV or its surroundings. The propulsion sys-tem can also be ducted. In certain embodiments, the UAVcan be a compound rotorcraft, for example, having wingsthat provide some or all of the lift in forward flight. In someembodiments, the UAV may be a tiltrotor aircraft. In an-other embodiment, the UAV may have jet engines orrocket engines and use reaction wheels for stabilization,so that they may also operate in a vacuum environmentfor tasks such as maintenance of outside locations ofspace stations or satellites.[0023] A UGV may for example include a rover, aground based drone, an omni-wheeled ground vehicle,a Mecanum wheeled vehicle and other mobile robots ca-pable of movement along or on the ground. For example,the UGV may also comprise hexapod robots, quadrupedrobots, robots with whegs, bipedal robots, robots withtransport means conveying metachronal motion or othermechanisms that allow robots to transport themselvesfrom place to place autonomously.[0024] Figs. 1 to 5 schematically illustrate the principlesof modularized robots according to embodiments of theinvention with regard to the concept of modularization.Fig. 6 schematically illustrates general structural detailsof a modularized robot which apply to any of the modu-larized robots according to the embodiments of the in-vention. Figs. 7 to 11 show conceptual sketches of var-ious modularized robots with different workheads for dif-ferent functional applications. The common details of themodularized robots as depicted in Figs. 1 to 11 will firstbe explained in conjunction with Fig. 6, particularly withrespect to the robot platform and the robot workhead ofthe modularized robots. Thereafter, various implemen-

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tation examples for both the robot platform as well as therobot workhead will be explained in conjunction with Figs.1 to 5 and Figs. 7 to 11, respectively.[0025] The general structure of a modularized robot,as illustrated in Fig. 6, involves a robot platform 10 anda robot workhead 20 that are connected via a universalrobot adapter 1. The robot platform 10 is designed as abasic chassis module for a modularized robot and is con-figured to convey mobility and connectivity to externalcomponents to the robot. The robot workhead 20, in turn,is designed as a customized functional module and isconfigured to convey the ability to perform certain oper-ational tasks to the robot. The robot adapter 1 may gen-erally be the structural, communication and/or powersupply link between the robot platform 10 and the robotworkhead 20. A modularized robot consisting of connect-ed robot platform 10 and robot workhead 20 is a fullyautonomous system which is capable of performing op-erational tasks, especially in non-ergonomic conditionsfor workers during construction, assembly, maintenanceand/or repair of aircraft or spacecraft. In exemplary em-bodiments, each modularized robot may have a maxi-mum weight of about 3 kg and a maximum width, heightor depth of about 20 cm.[0026] The robot adapter 1 may have a mechanicalconnector 2 which is designed and configured to me-chanically interlock with a corresponding mechanical re-ceptacle 6 in the counterpart robot module. For example,the robot adapter 1 may be formed as a structural elementprotruding from either the robot platform 10 or the robotworkhead 20 at a certain fixed location with respect tothe receptacle 6 in the other one of robot platform 10 androbot workhead 20, as applicable. Various locking mech-anisms may be used for the mechanical connector 2,such as a bayonet lock, a snap-fit lock, or a threadedengagement mechanism. Moreover, the robot adapter 2may have inbuilt poka-yoke mechanisms that prevent theplatform 10 and the workhead 20 to be coupled incor-rectly.[0027] The robot adapter 1 may further be configuredto form data communication link between the robot plat-form 10 and the robot workhead 20. As each of the plat-form 10 and the workhead 20 are equipped with elec-tronic circuitry forming control logic of the component,such as an ASIC ("application-specific integrated cir-cuit"), an FPGA ("field programmable gate array"), a mi-croprocessor or similar programmable logic devices, da-ta relating to the respective platform 10 and the momen-tarily connected workhead 20 may be exchanged via adata communication protocol. The robot adapter 1 mayhave a data interface 3 which is coupled with a data in-terface 7 within the adapter receptacle. The data inter-faces 3 and 7 may for example be USB ports and thedata communication may be effected via a standardizedcommunication protocol, such as USB protocols. Otherconnectors and protocols may be equally feasible as well,such as Firewire, PCI, PCIexpress, Thunderbolt, SATA,RS-232 or similar communication standards.

[0028] Moreover, the robot adapter 1 may further beconfigured to provide an electrical power supply connec-tion between the robot platform 10 and the coupled robotworkhead 20. To that end, the robot adapter 1 may havea power connector 4 that may be coupled to a powerconnector 8 in the adapter receptacle. The robot platform10 or the robot workhead 20, or alternatively both, maybe equipped with a power supply system, such as a pow-er generation system, a fuel cell, a solar panel, an accu-mulator, a rechargeable battery or an exchangeable bat-tery. In case that one of the platform 10 and the workhead20 is not equipped with its own power supply, the respec-tive other component may provide electric power via thepower connectors 4 and 8 over the robot adapter 1. Thevoltage level of the power supply may for example be 5V and may in particular be executed via a standardizedpower supply interface. It may for example be possibleto supply power over a USB interface that is used as datainterface 3 and 7 anyway.[0029] The robot platform 10 and the robot workhead20 may both be equipped with a microprocessor 5 and9, respectively, which executes software or firmware re-sponsible for the autonomous functionality of the platform10 and the workhead 20, respectively. The microproces-sors 5 and 9 may be configured to provide wireless com-munication, network access capabilities and data ex-change capabilities as well. Moreover, the microproces-sors 5 and 9 may have inbuilt or attached data memorydevices for temporarily and/or permanently storing ap-plication software, module operating systems and/orconfiguration data for the platform 10 and the workhead20.[0030] A modularized robot as implemented accordingto the general concept given in Fig. 5 may in particularimprove the ergonomic situation for a worker by avoidingnon-ergonomic positions for the worker. It may furtherimprove the production quality by improving the repeat-ability due to the autonomy of the robot in carrying outtheir delegated tasks, even during shifts without workers.The robots may work in a collaborative modus to supporthuman workers and/or other robots in the swarm in thefulfilment of their tasks. When a multitude of modularizedrobots is employed, the development and productionleads to higher efficiency and lower costs per piece sinceall parts and components of the robots may be manufac-tured depending on the customized scope of functionalityand the robots themselves may be flexibly combined tocreate a larger variety of individual robots. Due to theflexibility and mobility, a modularized robot may use itscapacities to full extent not only within different stations,but also within several buildings/hangars. Modularizedrobot may independently move within a defined area, thebenefits are not limited to one specific hangar.[0031] Figs. 1 to 5 show exemplary embodiments ofvarious robot platforms 10. The robot platforms 10 maybe standardized "plug-and-play" platform which are re-sponsible for the displacement, relocation and move-ment of a modularized robot. Independently of the oper-

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ational function or application of the modularized robot,the robot platform 10 may be chosen according to ac-cessibility and positional requirements. The robot plat-form 10 may for example be an aerial vehicle such as adrone with helicopter or quadcopter blades 11 (Fig. 1) orcold gas nozzles 14 (Fig. 5), a ground vehicle with move-ment conveying kinematic devices such as spider legs,suction caps or wheels 12 (Fig. 2), a connector platformfor coupling to industrial robots 30 (Fig. 3), or a connectorplatform mounted on an extension boom 13 which maybe handheld and carried by a human worker 40 (Fig. 4).Modularized robots with robot platforms 10 conveyingaerial movement may in principle also be employed asdiving robots for exploration, maintenance or repair tasksunder water.[0032] Figs. 7 to 11 show exemplary embodiments ofvarious robot workheads 20 and the implementation asspecific task-bound modularized robots. The robot work-head 20 may for example be a vacuum cleaner system21 which may be used to evacuate all the chips and dustremaining from drilling processes (Fig. 7(A)). The vacu-um cleaner entry may be equipped with a grid 22 nearthe ground to avoid contact between chips and the pumpsystem of the vacuum cleaner system 21 (Fig. 7(B) - bot-tom view of Fig. 7(A)). Vacuum cleaner robots may becontrolled by a wheeled platform 10 which polices theareas already cleaned and causes them to drive to notyet cleaned remaining areas. Vacuum cleaner robotsmay evacuate chips and dust remaining from drillingprocesses, as well as screws, bolts, rivets, adhesivestrips, tapes, claims, clips, brackets or scraps of wire lefton the floor.[0033] The robot workhead 20 may further comprise amonitoring and surveillance unit containing a black light23 and a camera system 24 to inspect the surface pro-tection quality (Fig. 8). The monitoring and surveillancerobots may register positions where non-quality evidenc-es were detected and may, under control of the robotplatform 10, police the areas already inspected or relo-cate to not yet inspected remaining areas. Monitoringand surveillance robots may conveniently use aerial ro-bot platforms 10 with helicopter blades 11 in order tohave a better overview over the working environment.They may be used for a quality control of defects on sur-face protection or the painting as well as a visual inspec-tion of rivets and bolts.[0034] The robot workhead 20 may further comprise a3D-printer system 25 to print necessary brackets or otherfasteners to sustain certain systems or any other plasticcomponent which may be printed using an additive man-ufacturing technique (Fig. 9). Such printing robots mayadvantageously relieve human workers from working innon-ergonomic positions to assemble brackets on thefuselage of aircraft. The robot platforms 10 of printingrobots may control the movement of the robot, police thebrackets already printed, and relocate them in an organ-ized manner to the next positions where brackets needto be printed.

[0035] The robot workhead 20 may further compriseextensible roll 26 to clean surfaces before surface pro-tection and/or after certain operations have been per-formed on the surface, such as drilling, countersinkingor similar (Fig. 10). The roll-cleaner robots may be con-trolled by a wheeled robot platform 10 which cause therobot police the areas already cleaned and cause themto drive to areas yet to be cleaned, using for examplewipes, sponges and/or liquid chemicals and detergents.[0036] The robot workhead 20 may further comprisewire fixers 27 that include a support for wires and bracketand a number of electronic screwdrivers which are con-figured to position the wires to be fixed in their correctposition and subsequently fix the bracket with screws(Fig. 11). Such wire fixing robots may be controlled byaerial platforms 10 that assure positional stability andsynchronization needed for the wire-fixing process.[0037] Other robot types may of course be combinedas well, for example for rivet head sealing, applying sur-face protection in difficult access areas, applying sealingcoating on surfaces and fasteners or screwing. Robotsmay be devised to support other robots or human worksin placing, handling and positioning components andparts in a precise location and to measure their precisepositioning.[0038] Fig. 12 exemplarily depicts a working environ-ment 100 in which a swarm of modularized robots maybe employed. The swarm of modularized robots may in-clude working robots R1 to R11 which perform differenttasks and subtasks at different locations in the vicinity ofa fuselage section 50 of an aircraft. Some robots R4, R5and R6 may for example work on the outside of the fu-selage section, for example on a scaffolding 60. Someother robots R7, R8, R9, R10 and R11 may work on theinside of the fuselage section 50, for example on a flightdeck 70 of the aircraft. Some robots R1, R2 may for ex-ample work on a cargo deck 80 of the aircraft. The swarmof robots may for example include monitoring and sur-veillance robots S1, S2 which are tasked with supervisingthe working environment, giving alarm in case of prob-lems and/or relaying task completion information to acentralized database D. The centralized database D mayinclude a hierarchical listing of tasks to be executed. Atask controller C may be responsible for managing thetasks stored in the centralized database D. The workingenvironment 100 of Fig. 12 may also be implemented ina module of a space station with swarm robots performingassembly tasks, maintenance tasks and/or experiments.[0039] Due to their modularity and flexibility, the swarmrobots may be able to work in any environment, even inareas which are difficult to gain access to, in cargo andbilge zones or in areas with contaminants or hazardousrisks such as high-voltage lines. The robot platforms 10with mobility conveying modules allow the robots tochange hangars. The mobile robots may be equippedwith an anti-collision system in order to be able to moveautonomously in the working environment with a low riskfor collision with another robot or a worker W that works

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with a connector platform R12 for a handheld and manualapplication.[0040] In suitable locations, storehouse facilities forparking, recharging and interchanging functional toolsand equipment may be provided remote from the workingsite. The robots may be directed towards such store-house facilities for a change of robot workheads 20 on agiven robot platform 10 or a change of mobility platform10 for a given robot workhead 20. The re-assembly ofmodularized robots may be performed autonomously bythe robots themselves, by using support robots and/orby human intervention.[0041] The working environment 100 may also be em-ployed for spacecraft or a space station with a humancrew, particularly. The swarm of modularized robots mayin particular comprise drones that are configured and de-signed to work in space with no or very little gravity. Robotplatforms 10 for such robots may for example comprisejet propulsion systems or rocket engines with cold gasnozzles and reaction wheels. Mobile robots that are de-signed to assist human crew members in space stationsmay be equipped with climbing legs so that their degreeof freedom in movement is restricted to the mechanicalstructure of the space station.[0042] Fig. 13 schematically illustrates a control sys-tem architecture for a swarm F of modularized robots androbot modules. The swarm F may comprise combinedrobots and/or robot platforms 10 and robot workheads20 as discrete swarm members. As each of the robotplatforms 10 and robot workheads 20 may have its ownmicroprocessor with control logic, each of those plat-forms 10 and workheads 20 may separately participatein the functional swarm intelligence as individual swarmmember.[0043] The different swarm members 10, 20 (and pos-sibly combined robots) operate in a swarm modus byhaving a decentralized intelligence due to the smart func-tionality module in each member 10, 20. The basis forthe swarm operation could be for example a multi-agentcontrol mechanism or a neuronal network. The swarmmembers may on one hand communicate with the cen-tralized database D in order to collect new tasks, deliverthe results of the fulfilment of the tasks or any updaterelated to task management to the centralized databaseD as job card progress. The task controller C may retrievethe dynamically updated information in the centralizeddatabase D, set up new tasks, delete completed tasksor re-prioritize the tasks in relation to each other. Theswarm members may, on the other hand, be able to com-municate amongst each other to commonly agree on anoptimum "team" set-up for fulfilling the required tasks.This requires some robot workheads 20 to autonomouslyassemble with certain optimum robot platforms 10 in or-der to flexibly form modularized robots as currently need-ed in the working environment.[0044] The functional intelligence (knowledge) forworkhead applications may be usually inside the micro-processor of the robot workhead 20, while the positioning

intelligence (knowledge) may be usually inside the mi-croprocessor of the robot platform 10. An intermodulecommunication between platforms 10 and workheads 20may be possible to exchange functional and positionaldata and information. The robot workheads 20 may beable to autonomously select the next task to be performedeither from the centralized task database D or by beingdirectly queried by the task controller C.[0045] The suitable robot platform 20 may be foundautonomously and/or by requesting it. If the task requiresit, additional supporting swarm robot units may be re-quested in aid. For example, a drilling workhead mayassemble with an aerial platform and additionally requestaid from a vacuum cleaner workhead which may for thispurpose assemble with a wheeled platform. A metrologyworkhead may be requested after the drilling task of thedrilling robot has been completed in order to register de-tailed measurements of the work of the drilling robot forpurposes of quality control.[0046] When currently not in use or idle, any robot plat-form 10 or robot workhead 20 may indicate itself to thetask controller C and/or the remaining swarm membersas being available. Additionally, when a robot platform10 or robot workhead 20 needs to be recharged orcleaned, it may indicate itself to the task controller Cand/or the remaining swarm members as being out oforder. The swarm F may be setup/assembled either au-tonomously, for example due to its self-conferred mobil-ity, or with the support of a human operator. Each of therobot platforms 10 and robot workheads 20 may beequipped with some degree of autonomation mechanismallowing an interruption of the working process swiftlyand in-time for maintenance, inspection and repair of theplatforms 10 and workheads 20 themselves. The remain-ing swarm members may independently continue withtheir assigned tasks so that the temporary failure of someswarm members will not bring the whole task executionto a halt.[0047] As exemplarily illustrated in Fig. 14, stages ofa method M for fulfilling a task using a swarm of modu-larized robots is exemplarily shown. The method M mayin particular be used in a working environment 100 asshown and explained in conjunction with Fig. 12 and itmay employ one or more modularized robots as shownand explained in conjunction with Figs. 1 to 11. The meth-od M may be particularly advantageous in performingtasks during the construction, assembly, maintenance,disassembly, operation and/or repair of an aircraft orspacecraft. Aircraft and spacecraft may for example com-prise airplanes, drones, helicopters, carrier rockets,boosters, spaceships, satellites, and space stations.[0048] The method M comprises at M1 providing, by acentralized task database D, a task to a plurality of robotworkheads 20. Each of the robot workheads 20 is con-figured to convey the ability to perform one of a pluralityof operational tasks to an assembled modular robot. De-pending on the provided task, the plurality of robot work-heads 20 then determine at M2 which one of a plurality

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of robot platforms 10 to combine with. The robot platforms10 are each configured to convey mobility and connec-tivity to external components to an assembled modularrobot. At M3, one or more modularized robots may thenbe formed by connecting one or more of the plurality ofrobot workheads 20 with the determined one of the plu-rality of robot platforms 10. Those modularized robotsare then able, at M4 to perform the provided task.[0049] When the task has been completed, the cen-tralized task database D may be updated by the respec-tively assigned robot at MS. Then, the robot may disas-semble again, by disconnecting, at M6, the robot work-head 20 from the combined robot platform 10. The dis-connected parts - workhead 20 and platform 10 - are thenfree again to take on another task from the centralizedtask database D.[0050] In the foregoing detailed description, variousfeatures are grouped together in one or more examplesor examples with the purpose of streamlining the disclo-sure. It is to be understood that the above description isintended to be illustrative, and not restrictive. It is intend-ed to cover all alternatives, modifications and equiva-lents. Many other examples will be apparent to one skilledin the art upon reviewing the above specification.[0051] The embodiments were chosen and describedin order to best explain the principles of the invention andits practical applications, to thereby enable others skilledin the art to best utilize the invention and various embod-iments with various modifications as are suited to theparticular use contemplated. In the appended claims andthroughout the specification, the terms "including" and"in which" are used as the plain-English equivalents ofthe respective terms "comprising" and "wherein," respec-tively. Furthermore, "a" or "one" does not exclude a plu-rality in the present case.

List of reference numerals and signs

[0052]

1 Robot adapter2 Mechanical connector3 Data interface4 Power connector5 Microprocessor6 Mechanical receptacle7 Data interface8 Power connector9 Microprocessor10 Robot platform11 Helicopter blades12 Wheels13 Extension boom14 Cold gas nozzles20 Robot workhead21 Vacuum cleaner device22 Grid23 Black light

24 Camera unit25 3D-printing system26 Roll cleaner27 Wire fixer30 Industrial robot40 Human worker50 Fuselage section60 Scaffolding70 Passenger deck80 Cargo deck100 Working environmentC Task controllerD Centralized task databaseF SwarmM MethodM1 Method stepM2 Method stepM3 Method stepM4 Method stepM5 Method stepM6 Method stepR1 Modularized robotR2 Modularized robotR4 Modularized robotR5 Modularized robotR6 Modularized robotR7 Modularized robotR8 Modularized robotR9 Modularized robotR10 Modularized robotR11 Modularized robotR12 Connector platformS1 Surveillance robotS2 Surveillance robotW Worker

Claims

1. Modularized robot, comprising:

a robot platform (10) configured to convey mo-bility and connectivity to external componentsto the modularized robot;a robot workhead (20) configured to convey theability to perform an operational task to the mod-ularized robot; anda robot adapter (1) attached to either the robotplatform (10) or the robot workhead (20) andconfigured to mechanically link the robot plat-form (10) to the robot workhead (20).

2. Modularized robot according to claim 1, wherein therobot adapter (1) comprises a mechanical connector(2) configured to mechanically interlock with a cor-responding mechanical receptacle (6) in either therobot workhead (20) or the robot platform (10).

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3. Modularized robot according to claim 2, wherein therobot adapter (1) is further configured to form a datacommunication link between the robot platform 10and the robot workhead 20.

4. Modularized robot according to one of the claims 1to 3, wherein each of the robot platform (10) and therobot workhead (20) comprises a microprocessor (5)which executes software or firmware responsible forthe autonomous functionality of the robot platform(10) and the robot workhead (20), respectively.

5. Modularized robot according to one of the claims 1to 4, wherein the robot adapter (1) is further config-ured to provide an electrical power supply connec-tion between the robot platform (10) and the robotworkhead (20).

6. Modular robot assembly kit, comprising:

a plurality of robot platforms (10), each config-ured to convey mobility and connectivity to ex-ternal components to an assembled modular ro-bot; anda plurality of robot workheads (20), each config-ured to convey the ability to perform one of aplurality of operational tasks to an assembledmodular robot,wherein each of the plurality of robot workheads(20) comprises a robot adapter (1) configuredto mechanically link one of the robot platforms(10) to the respective robot workhead (20).

7. Modular robot assembly kit according to claim 6,wherein the plurality of robot platforms (10) compriseat least two of a drone with helicopter or quadcopterblades (11) or cold gas nozzles (14), a ground vehiclewith movement conveying kinematic devices (12), aconnector platform for coupling to industrial robots(30) and a connector platform mounted on an hand-held extension boom (13).

8. Modular robot assembly kit according to claim 6,wherein the plurality of robot workheads (20) com-prise at least two of a vacuum cleaner system (21),a camera system (24), a 3D-printer system (25) anda roll cleaner system (26).

9. Swarm of modularized robots, comprising a pluralityof modularized robots according to one of the claims1 to 5.

10. Swarm of modularized robots, comprising a pluralityof modularized robots built with a modular robot as-sembly kit according to one of the claims 6 to 8.

11. Robot system, comprising:

a swarm of modularized robots according to oneof the claims 9 and 10;a centralized task database (D) configured tostore and update a plurality of tasks to be per-formed by the swarm of modularized robots; anda task controller (C) coupled to the centralizedtask database (D) and configured to manage thestored tasks in the centralized task database (D)depending on priority, hierarchy and/or impor-tance of the tasks.

12. Method (M) of fulfilling tasks by a swarm of modu-larized robots, particularly a swarm of modularizedrobots according to one of the claims 9 and 10, themethod (M) comprising:

providing (M1), by a centralized task database(D), a task to a plurality of robot workheads (20),each of the robot workheads (20) configured toconvey the ability to perform one of a pluralityof operational tasks to an assembled modularrobot;determining (M2), by the plurality of robot work-heads (20), one of a plurality of robot platforms(10) to combine with, each configured to conveymobility and connectivity to external compo-nents to an assembled modular robot;forming (M3) one or more modularized robotsby connecting one or more of the plurality of ro-bot workheads (20) with the determined one ofthe plurality of robot platforms (10); andperforming (M4), by the combined modularizedrobot, the provided task.

13. Method (M) according to claim 12, further compris-ing:

updating (M5), upon completion of the providedtask, the centralized task database (D); anddisconnecting (M6) the plurality of robot work-heads (20) from the determined robot platforms(10).

14. Use of a method (M) according to one of the claims12 and 13 for assembly, maintenance, operation, re-pair or disassembly of aircraft or spacecraft.

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REFERENCES CITED IN THE DESCRIPTION

This list of references cited by the applicant is for the reader’s convenience only. It does not form part of the Europeanpatent document. Even though great care has been taken in compiling the references, errors or omissions cannot beexcluded and the EPO disclaims all liability in this regard.

Patent documents cited in the description

• US 8755936 B2 [0004]• US 20100094459 A1 [0004]• WO 2013119942 A1 [0004]• US 7555363 B2 [0005]

• US 7720570 B2 [0005]• US 8805579 B2 [0005]• WO 2013152414 A1 [0005]

Non-patent literature cited in the description

• ARAI, T. ; PAGELLO, E. ; PARKER L.E. Editorial:Advances in Multi-Robot Systems. IEEE Transac-tions on Robotics and Automation, October 2002, vol.18 (5), 655-661 [0006]