Patent ID: 8641970

Claim:
A clinical test apparatus comprising: a stage unit; a test station provided in the stage unit for performing a clinical test; a plurality of landmarks disposed on the top surface of the stage unit, each of the plurality of landmarks including four magnets disposed in a square shape to define a reference x-y coordinate, an origin of the reference x-y coordinate being a target position; a mobile robot comprising a diagnostic module in which a plate having samples and reagents loaded thereon is seated and a mobile module for transferring the diagnostic module to the test station; and a docking unit comprising a reference gripper fixed on the stage unit and a movement gripper for gripping the mobile robot with the reference gripper to dock the mobile robot at a reference position when the mobile robot is located between the reference gripper and the movement gripper, wherein the mobile module comprises: a base for moving on a top surface of the stage unit; a plurality of wheels for driving the base on the stage unit; four hall sensors disposed at the bottom of the base in a square shape to define a robot x-y coordinate, an origin of the robot x-y coordinate being a center position of the mobile robot, each hall sensor detecting a magnetic field of each magnet in each landmark to acquire an offset between a position of each hall sensor and x-axis or y-axis of the reference x-y coordinate; and a processor configured to initialize a position of the mobile robot with the reference position when the mobile robot is docked in the docking unit and determine a positional error (x, y) and a rotational error θ of the mobile robot based on offsets between positions of the four hall sensor and x-axis or y-axis of the reference x-y coordinate.