Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
  • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
  • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser

Definitions

• the present invention relates to a motorized autonomous robot. It relates more particularly to an autonomous robot with tracking means.
• Powered autonomous robots are now well known and used in many fields such as logistics, agriculture, industrial production, etc.
• a large part of the robots used is intended to transport loads over short distances.
• the robots must include locating and guiding means.
• One of the most used solutions to date is to provide a mast or other arm system for positioning one or more sensors in height. The elevated position relative to the robot and the load handling area protects the sensors.
• Other examples of solutions are presented below.
• Document FR2994057 discloses a vine-sized robot comprising image-capturing means comprising means for projecting at least one laser beam onto said vines and their branches, recording and recording means a series of images relating to the shape of said laser beam on said vines and their branches.
• image-capturing means comprising means for projecting at least one laser beam onto said vines and their branches
• recording and recording means a series of images relating to the shape of said laser beam on said vines and their branches.
• the document CN204733244 describes a camera for robot with a sealed lens. The camera has a 360 ° viewing angle. The use of this camera does not allow reliable detection of obstacles. In addition, the camera is sensitive to light variations and therefore does not allow multimodal use.
• CN204173040 describes a forklift with a laser navigation system.
• the laser navigation system is installed on the navigation column.
• CN204440168 describes a high security automatic guided vehicle (AGV) comprising a vehicle body, driving wheels, a control device, a navigation laser sensor, an air pump and a transport platform. goods installed on the body of the vehicle.
• the laser device is installed at the height of the vehicle.
• US2005246065 discloses a volumetric sensor for the navigation of a robot to avoid obstacles in its path.
• the sensor is installed on a platform with a laser and a detector directed to a rotating mirror in a cylinder that can rotate 360 ° by a motor.
• a rotating cam tilts the mirror to provide laser scanning and obstacle distance measurements.
• the presence of a sensor disposed in height does not guarantee the obtaining of reliable information for the robot, especially when used in rough terrain.
• the inclination of the laser detector installed at height distorts the results which are presented in a reference mark on flat ground while the readings are made from another, unknown, and constantly changing marker. depending on soil conditions.
• the erroneous information obtained may cause collisions or robot lock-up situations.
• the Youtube video "Finish the boots with Effibot? Describes a robot with a laser sensor adapted to detect only what is in front of the robot, for example the legs of an operator.
• the Youtube video «Discover the follower robot of IRSTEA! “Describes the same robot as in the video” Finish the boots with Effibot? ".
• the area behind the sensor is occupied by hardware.
• the robot can not make recognition on a wider area than that in front of the robot.
• the reduction of the detection field of the laser sensor decreases the information obtained and collisions or jamming situations of the robot are very likely.
• the invention provides different technical means.
• a first object of the invention is to provide an autonomous motorized robot for the transport of goods whose movement is ensured in a reliable and simple manner.
• Another object of the invention is to provide a motorized robot inexpensive construction.
• Another object of the invention is to provide a motorized robot whose implementation is simple.
• the invention provides a motorized robot comprising a body mounted on wheels or tracks defining a running surface PR, a loading plate arranged above said body, the plate being spaced from the body by means of spacers separation, so as to form a viewing zone in a PV viewing plane substantially parallel to the running surface PR, the viewing zone being substantially free over a range of at least 300 °, and more preferably at least 330 ° and even more preferably of substantially 360 ° with respect to a central zone of the robot, at least one marking device adapted to emit a panoramic beam over a corresponding angular range being arranged in said zone of vision.
• the tracking device is protected against the risks associated with the conditions of use, such as glare of the sun or rain that may affect the operation of the device.
• the sensor is particularly well protected against rain runoff, which could disrupt the laser beam.
• the preferential position substantially in the center of the robot body or load plate limits dust deposits which also affect laser performance.
• the device is also protected from any direct shocks including with branches and or any other obstacle likely to put it out of use. Separating spacers help provide this protection and also protect against shocks that could damage the sensor glass.
• the marking device thanks to the viewing zone, has a range of at least 300 °, and more preferably at least 330 ° and even more preferably of substantially 360 ° with respect to a central zone. of the robot.
• This feature has the advantage of offering virtually total or total visibility for the robot, greatly simplifying the architecture and implementation of the system, and allowing to set up multiple guiding and security features.
• the position of the sensor in the lower zone, under load, near the ground allows to maintain good reliability even on uneven ground.
• such an architecture is simple and inexpensive to implement.
• the tracking device is disposed in a central portion of the viewing zone. This arrangement allows an ideal viewing position to allow optimal performance over a wider angular range, for example 360 degrees.
• the PV viewing plane extends angularly at least 15 degrees and more preferably at least 30 degrees relative to the PV axis so as to form a CV vision cone.
• the tracking device comprises at least one of the following: a laser, a Lidar, a sonar, a radar, a camera, a thermal camera, an infrared distance measuring device , a radio measurement device (for example UWB: Ultra Wide Band).
• the tracking device allows use in very varied conditions, often extreme.
• the laser for example, can be used both in a room plunged in darkness and outside in the presence of intense sun.
• the separation struts consist of substantially thin wafers, for example metal alloy or composite material.
• the separation spacers are oriented so that the main plane of each of them is substantially parallel to the axis of a beam emitted by the tracking device.
• This architecture maximizes the area of vision by avoiding interruptions in the beam of the tracking device.
• the separation spacers consist of longitudinal plates disposed on each side of the tracking device on the side edges of the robot.
• the tracking device comprises a single sensor.
• This technical feature provides a simple layout with limited wiring and high reliability. Such an arrangement makes it possible to limit the costs and to simplify the construction of the robot.
• the robot comprises legs instead of wheels or caterpillars.
• FIG. 1 is an elevational view of an example of a robot according to the invention.
• FIG. 2 is a view from above, without the loading platform, of the robot of FIG. 1;
• FIG. 3 is an elevational view of an exemplary robot according to the invention with a variant of the shape of the spacers;
• FIG. 4 is a view from above, without the loading platform, of the robot of FIG. 3.
• Figures 1 and 2 illustrate an embodiment of a robot 1 comprising a body 2 mounted on wheels 3 defining a running plane PR.
• the body 2 is rectangular in shape, and substantially flat, to maintain the center of gravity close to the ground and facilitate the loading and unloading operations by the operator.
• the body can be designed according to a wide range of shapes and profiles, depending on the intended uses, and aesthetic qualities required.
• the robot comprises at least one motor, electric or thermal, and means for managing the movements autonomously.
• the robot comprises a loading plate 4 arranged above the body 2. This position allows great ease to handle the loads to be transported by the robot.
• Figures 1 and 3 also show that the plate 4 is spaced from the body 2.
• the elevation of the plate is ensured by separating struts 5, which can be arranged in different ways as can be seen for example in the figure 1 on the one hand, and Figure 2 on the other hand, between the top of the body 2 and the underside of the tray.
• the robot of this embodiment comprises six spacers distributed so as to support the entire surface of the plate, two spacers at each end and two spacers to the middle zone of the body .
• the separation struts 5 consist of substantially thin wafers oriented so that the main plane of each of them is substantially parallel to the axis of a wide-angle beam emitted from the central zone of the robot. .
• the robot comprises two longitudinal spacers arranged on each side of the locating device on the lateral edges of the robot. They are sufficiently long and rigid to support the entire weight of the plate, even when the plate is loaded to full capacity.
• the robot is designed to move forward and / or rotate and / or translate laterally.
• the change of angular direction is ensured either by pivoting the wheels (two or four directional wheels) or by relative angular velocity variation between the wheels on each side of the robot.
• the robot is advantageously equipped with four electric motors, located in the axes of the wheels.
• it comprises only two motors.
• Other configurations are also possible, for example with a single motor and two or four drive wheels.
• the body 2 can accommodate one or more batteries and the electronic elements required for the management and guidance of the robot.
• the elevation of the plate 4 relative to the top of the body makes it possible to form a zone 7 of vision in a plane of vision PV substantially parallel to the rolling plane PR, the zone of vision being substantially free over a range of at least 300 °, and more preferably at least 330 ° and even more preferably substantially 360 ° with respect to a central zone of the robot.
• the viewing zone makes it possible on the one hand to provide an available location for positioning a tracking device 6, and on the other hand enables this tracking device to have a catchment area, or very wide field of view.
• This capture zone is as wide as possible, for example greater than 300 °, and more preferably at least 330 ° and even more preferably substantially 360 °.
• the marking device is arranged in a central portion 8 of the vision area.
• the PV viewing plane can extend angularly by at least 15 degrees and more preferably by at least 30 degrees with respect to the PV axis so as to form a cone. CV vision.
• the tracking device 6 comprises at least one of the following: a laser, a Lidar, a sonar, a radar, a camera, a thermal camera, a device of distance measurement by infrared, a radio measurement device (for example UWB: Ultra Wide Band).
• the spacers are sufficiently thin and spaced apart so as not to hinder the operation of the tracking device.
• the locating device 6 is disposed in a central portion of the viewing zone 7.
• hybrid solutions with several types of sensors can also be implemented. Still alternatively, to scan the range of 360 °, there are two or more sensors arranged in a complementary manner.

Landscapes

• Physics & Mathematics (AREA)
• Engineering & Computer Science (AREA)
• Optics & Photonics (AREA)
• Electromagnetism (AREA)
• Aviation & Aerospace Engineering (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Manipulator (AREA)
• Handcart (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=56101530

Family Applications (1)

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Cited By (1)

Families Citing this family (2)

Family Cites Families (8)

• 2016
  • 2016-03-07 FR FR1600388A patent/FR3048405B1/fr active Active
• 2017
  • 2017-03-06 WO PCT/IB2017/051300 patent/WO2017153895A1/fr active Application Filing
  • 2017-03-06 JP JP2018548026A patent/JP2019519013A/ja active Pending
  • 2017-03-06 EP EP17710622.6A patent/EP3427117A1/de not_active Withdrawn

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