EP4061587A1

EP4061587A1 - Autonomous robot

Info

Publication number: EP4061587A1
Application number: EP20803227.6A
Authority: EP
Inventors: Guillemin RAYMOND; William GUITTON
Original assignee: Meropy
Current assignee: Meropy
Priority date: 2019-11-19
Filing date: 2020-10-16
Publication date: 2022-09-28
Also published as: FR3103128A1; WO2021099705A1; AU2020385657A1; US20220410991A1; BR112022009720A2; CA3158224A1; FR3103128B1; CN114981044A

Abstract

The invention relates to an autonomous robot (1) comprising: an elongate body (3) extending along an axis running transversely to a direction of movement of the robot (1); a multi-spectral sensor that is connected to the elongate body (3); exactly two wheels (4); and a stabilizing device (9) for controlling the pitch of the elongate body (3) when the wheels (4) are in motion, the wheels (4) being in the form spoked wheels.

Description

DESCRIPTION TITLE: Autonomous robot

FIELD OF THE INVENTION

The invention relates to an autonomous robot provided with a multispectral sensor. The invention finds particular application in the agricultural field, and in particular precision agriculture. Such robots are used in particular to establish and share a mapping of plots of land in order to carry out a diagnosis of the plot.

TECHNOLOGICAL BACKGROUND OF THE INVENTION

Autonomous robots are currently used in agriculture to detect the nutritional needs of plants within a plot as well as the presence of pests such as weeds, diseases or pests.

To do this, the robots are equipped with detectors or imagers making it possible to carry out a diagnosis of the plot in the form of mapping, in order to allow the farmer to carry out precision interventions and to save on inputs and limit the impact on the environment while increasing the productivity of the crops in place.

From documents FR 3006 296 and WO 2014/202777, drones equipped with multispectral imaging devices are known. These remotely piloted drones fly over agricultural plots to collect data and generate maps relating to the state of agricultural crops overflown.

Such robots have the drawback of requiring, often due to legislative constraints, the presence of a trained operator nearby, remotely controlling the drone. These robots cannot therefore carry out the diagnosis of the plots independently. In addition, due to their movement in altitude, drones do not allow scanning the underside of the canopy, limiting the nature of the data acquired.

Document WO 2014/111387 also discloses an automated agricultural robot making it possible to collect precision agricultural data comprising displacement optimization means for moving non-randomly between the rows of plantation. Robots configured to carry out maps of agricultural plots are also presented in document RU 2633 431. However, the configuration of these robots leads to a deterioration of the crops which they pass through.

Likewise, document WO 2017/002093 relates to a robot designed for automatic treatment of weeds, comprising an image acquisition system for collecting data. Document WO 2006/063314 also describes a robot equipped with sensors for measuring parameters of the plot. However, the size and bulkiness of these robots also cause crop deterioration as they pass.

Document WO 2019/040866 describes an autonomous robot for phenotyping the terrain comprising a multispectral sensor, designed to avoid damaging the plantations. However, the mode of implementation described in the document proposes a robot comprising four wheels, which is only suitable for row crops, in particular corn, between which it can move. However, this robot is not suitable for crops that are not in a row in which it necessarily causes crop damage. OBJECT OF THE INVENTION

The object of the present invention is therefore to remedy the drawbacks of the prior art, by proposing an autonomous robot capable of scanning a plot completely with a view to carrying out a diagnosis, which is suitable for numerous types and phenological stages of crops, especially for crops that are not in row, by limiting as much as possible its impact on the crops.

BRIEF DESCRIPTION OF THE INVENTION

To do this, the present invention provides an autonomous robot comprising an elongated body along an axis transverse to a direction of movement of the robot and, connected to the elongated body:

- a multispectral sensor; exactly two wheels;

- a stabilization device to control the pitch of the elongated body when the wheels are in motion.

According to the present invention, the wheels consist of spoked wheels.

Such a robot therefore has the advantage, compared to robots of the state of the art, of having only two wheels, which makes it possible to limit the impact on the crops as it passes as much as possible. This impact is all the less great as the shape of the wheels, in spokes, makes it possible to minimize the contact surface between the robot and the ground and allows the robot to step over the plants without laying them down. The imbalance generated by the two-wheel limitation is compensated by the presence of the stabilization device. According to other advantageous and non-limiting characteristics of the invention, taken alone or in any technically feasible combination:

- The elongated body has a substantially parallelepipedal or cylindrical shape, with an axis transverse to the direction of movement of the robot;

the autonomous robot also comprises at least one motor configured to set the wheels in motion;

- the motor is integrated in the elongated body;

the autonomous robot comprises two motors, each motor being associated with a wheel;

- The autonomous robot also comprises energy storage means for supplying the motor;

- the energy storage means are integrated in a sealed box provided with a cover and fixed to the elongated body;

the autonomous robot has a direction of movement in the direction of movement, and a center of gravity located at the rear of the transverse axis with respect to the direction of movement;

- the stabilization device is formed of a cane;

- The cane is a curved cane comprising a rectilinear proximal part and a curved distal part, the proximal part being connected to the elongated body, the distal part being intended to be in contact with the ground when the wheels are in motion; - the distal part of the cane includes a camera;

- the cane is a rotating cane around the axis of the proximal part;

the stabilization device comprises means for moving the center of gravity of the autonomous robot on either side of the transverse axis;

the stabilization device is formed of a rack-and-pinion system allowing the displacement of the rack in the direction of movement of the robot, the pinion being fixed to the elongated body, the rack being formed of an elongated rod;

- the spokes of the wheels are inclined relative to the axis of the elongated body;

- each spoke is fitted with a shoe to reduce the impact of the wheel on the ground.

BRIEF DESCRIPTION OF THE FIGURES

Other characteristics and advantages of the invention will emerge from the detailed description of the invention which will follow with reference to the appended figures in which:

[Fig. la] Figure la shows an isometric perspective view of an autonomous robot according to a first embodiment of the invention; [Fig. lb] Figure lb shows a side view of an autonomous robot according to the first embodiment of the invention;

[Fig. Figure 1c shows an isometric perspective view of an autonomous robot according to a second embodiment of the invention.

[Fig. 2] Figure 2 shows an isometric perspective view of the interior of an elongated body of an autonomous robot according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

For the sake of simplification of the description to come, the same references are used for elements which are identical or perform the same function in the different embodiments of the invention.

General description of the autonomous robot

Figures 1a, 1b and 1c respectively show an isometric perspective view and a side view of an autonomous robot according to a first embodiment of the invention, and an isometric perspective view of an autonomous robot according to a second. embodiment of the invention.

Such a robot 1 can in particular be used in the agricultural field to collect data from an agricultural plot. For example, it can be data making it possible to characterize the nutritional needs of the plants in the plot, or to detect the presence of pests (weeds, diseases, pests, etc.) within the plot. By autonomous, is meant in this description that the robot 1 is able to perform a certain number of automated tasks without requiring human, physical or remote-controlled intervention. The robot can in particular be programmed to move alone within a plot, and to find its way, for example by means of an integrated geolocation system, so as not to exceed the perimeter of this plot. The robot can also be programmed to locate itself in relation to surrounding objects and to avoid collisions, for example with other robots, humans or vehicles. For this purpose, it can include proximity sensors of sonar, lidar or other well known instruments. It can also be programmed to collect data at regular time intervals.

To this end, the autonomous robot 1 is provided with an on-board computer system 2, visible in FIG. 2, comprising in particular a processor, a memory unit, and all the other computer resources making it capable of interpreting and executing instructions which can be used. have been pre-established by the user. Such an on-board computer system 2 and such instructions are customary for those skilled in the art and will not be developed in this description.

The autonomous robot 1 according to the invention is designed to minimize the impact of its passage on crops and to travel long distances, typically covering 20 hectares per day, while benefiting from sufficient stability to carry out the instructions on all terrains. For this purpose, the autonomous robot 1 has a low mass, advantageously less than 20 kilograms, or even less than 15 kilograms or even 10 kilograms. A low mass has the advantage of limit both plant damage and soil compaction, responsible for smothering microbial life.

Returning to the description of Figures 1a to 1c, an autonomous robot 1 according to the invention comprises an elongated body 3 along an axis transverse to a direction of movement of the robot 1.

Advantageously, the elongated body 3 has a substantially parallelepipedal or cylindrical shape, the axis of which is the axis transverse to the direction of movement, in order to minimize its volume and its bulk.

The robot 1 also comprises, connected to the elongated body 3, two wheels 4 arranged on either side of the elongated body 3 along the transverse axis. According to the invention, the robot 1 comprises exactly two wheels, that is to say it does not have a third wheel or additional wheels liable to increase the deterioration of the ground as it passes.

According to the invention, the wheels 4 consist of spoked wheels. A spoke wheel consists of a hub 4a directly connected to the elongate body 3, a plurality of spokes 4b fixed to the hub 4a and extending radially from the hub 4a. The spoked wheel 4 is devoid of any element joining the spokes 4b with the exception of the hub 4a, such as a strapping or a tire.

This form of wheel 4 is advantageous over the wheels usually described in the documents of the state of the art in that they limit the contact surface between the robot and the ground and avoid laying the plants under the passage of the robot. , the rays spanning the plants when robot 1 is in motion. The number of spokes 4b can be variable, and can advantageously be between six and twenty, advantageously eight, ten or twelve spokes. Likewise, the size of the shelves 4b can be adjusted according to the needs and the nature of the plot, and can advantageously be between 20 cm and 1 meter. One can in particular seek to choose the size of the shelves, according to the nature of the planes, so that the elongated body 3 of the robot 1 is placed overhanging these planes and thus minimize the impact of its passage on the crops. All the spokes 4b can be of the same size in order to give a generally circular shape to the wheel 4. However, such a choice is in no way limiting of the invention, and it may appear advantageous to provide spokes 4b of different size. from each other, for example by alternating a longer spoke and a shorter one, in order to give a different shape to the wheel 4.

In general, the number and size of the combs 4b determine the space between two points of contact with the soil as well as the spanning of the plants. They can thus be adjusted according to the user's needs and the nature of the plot and the plants, as well as the phenological stage of the crop in progress on the plot. This gives the robot 1 significant modularity as well as great adaptability to different types of terrain.

Particularly advantageously, each spoke 4 can be provided with a shoe 4c to reduce the impact of the wheel 4 on the ground. Such pads 4c are thus shaped to minimize their sinking into loose soil, as shown in Figures la to le. It is also possible to provide more sophisticated pads, such as those described in document WO 94/20313.

The size of the pads 4c is also preferably chosen to limit the contact surface with the ground while avoiding to sink into the ground. Typically, the surface of the pads may be between 10 and 20 cm 2, for example with a width of 2 cm for a length of 6 cm.

It is possible to provide a counter-camber of the wheels 4, so that the plane formed by the spokes 4b of the wheels 4 is inclined relative to the axis of the elongated body 3, and that the angle formed between the inside wheels 4 and the ground is an acute angle. Such a negative camber angle, advantageously between -1 and -20 °, gives the robot 1 better support on the ground, in particular when making turns. Preferably, if the wheels 4 are driven by a motor, all the mechanical parts involved in the movement of the wheels, namely the motor, the hub 4a and the spokes 4b are inclined. This makes it possible to limit the wear of these mechanical parts when the wheels 4 are in motion.

The material for forming the spokes 4b is advantageously chosen from lightweight and inexpensive materials, for example carbon fiber, glass fiber or, preferably, aluminum. Advantageously, the material is also relatively flexible, such as aluminum, for example, in order to absorb and dampen the shocks associated with crossing obstacles. Such flexibility thus makes it possible to avoid the risk of the spoke bending or breaking as a result of an impact.

FIG. 2 represents an isometric perspective view of the interior of the elongated body 3 according to a preferred embodiment of the invention.

The robot 1 can include a motor 5 configured to set the wheels 4 in motion. When it advances, the robot 1 thus moves in a direction of movement, in a direction of movement. Advantageously, the motor can be integrated into the elongated body 3, as can be seen in FIG. 2, which allows the motor 5 to be protected from external attacks (water, dust, etc.) If the on-board computer system 2 is also integrated into the elongated body 3, it can be electrically connected to the motor 5 in order to provide it with instructions relating to the setting in motion of the wheels 4. Of course, the invention is in no way limited to such configurations, and the motor 5 can be placed outside the elongated body 5, and can for example be fixed to the wheel 4.

The robot 1 can contain a single motor 5, which simultaneously drives the two wheels 4.

However, according to a preferred embodiment of the invention, shown in FIG. 2, the robot 1 comprises two motors 5, each motor 5 being associated with a wheel 4. In this situation, the two motors 5 can drive independently. the wheels 4. Such a configuration is of particular interest in particular for allowing the robot 1 to make a turn, since it is then possible to block a wheel 4 while continuing to advance the other wheel 4, the first wheel serving pivot around which the robot will rotate 1. It is also possible for the robot 1 to make a U-turn on itself, since it is possible to rotate a wheel 4 in one direction while rotating the other wheel 4 in the other direction. Such a possibility allows the robot 1 to occupy a minimum of space to change direction, which is particularly useful in the case of crops which are not in a row.

The robot 1 can also include energy storage means 6, such as a battery. It may in particular be a lead battery, a nickel battery, or a lithium battery. The battery 6 can advantageously be integrated into a sealed box 7 provided with a cover 7a allowing access to the battery 6, the sealed box 7 being fixed to the elongated body 3. Alternatively, the battery 6 can also itself form the battery. cover 7a. Preferably, the sealed box 7 is fixed to the rear of the elongated body 3 in the direction of movement, in order to shift the center of gravity of the robot 1 behind the transverse axis relative to the direction of movement. The advantage of such a characteristic will be developed in the remainder of the description.

The battery 6 makes it possible to supply the entire electrical system, and in particular the on-board computer system 2 and the engine (s) 5 with electricity.

The robot 1 can be fitted with photovoltaic panels (not shown in the figures) to supply electrical energy to the battery 6 and to recharge it, and to make it possible to increase the autonomy and the operating time of the robot 1. These panels photovoltaic cells can be placed on the elongated body 3, on the sealed box 7 or on a central zone outside the wheels 4.

The robot 1 can also include a switch 8, placed outside the elongated body 3 and connected to the on-board computer system 2, making it possible to turn the latter on or off or more generally to interact with the electrical elements. In this regard, the robot 1 may include a battery monitoring system (more usually referred to by the term BMS, acronym for the English term “Battery management System”) making it possible to display the state of charge of the battery, or more generally the operating state of the device. This system may have an interface in the form of a display system, for example of the LED or LCD type. Stabilization device

Returning to the description of Figures la to le, the autonomous robot 1 also comprises a stabilization device 9 for controlling the pitch of the elongated body 3 when the wheels 4 are in motion.

Indeed, the presence of two wheels 4, which makes it possible to limit the impact of the robot 1 on the crops, necessarily leads to an imbalance of the elongated body 3 when the robot 1 is in motion. In addition, the spoke shape of the wheels 4 makes it necessary to achieve a pitch for each spoke. The Applicant has thus noticed that the low weight of the elongated body 3, even increased by the weight of the battery 7, is not sufficient to allow the wheels to take the step. During the operation of the motor (s) 5, the Applicant has observed that it is the elongated body 3 and not the wheels 4 which turns on itself.

First embodiment of the stabilization device

According to a first embodiment, shown in Figures la and lb, the center of gravity of the autonomous robot 1 is kept fixed behind the transverse axis with respect to the direction of movement, for example by means of the fixing of the box. waterproof 7 at the back of the elongated body 3.

In this embodiment, the stabilization device 9 is a passive stabilization device formed of a rod. The rod 9 is preferably disposed at the rear of the elongated body 3, for example integrally attached to the waterproof box 7, and is intended to touch the ground when the robot 1 is in motion. In this way, the rod 9 opposes the torque created by the motor (s) 5 and makes it possible to block the elongated body 3 according to a determined pitch angle, imposing the rotation of the wheels 4 and preventing the elongated body 3 from turning on itself.

Advantageously, and as is clearly visible in FIG. 1b, the rod 9 is a curved rod comprising a rectilinear proximal part 9a and a curved distal part 9b, that is to say the end of which is oriented and raised upwards as this is clearly visible in figure lb. The proximal part 9a is connected to the elongated body 3, preferably integrally attached to the sealed box 7. The distal part 9b is intended to be in contact with the ground, in particular when the wheels 4 are in motion. The curved aspect of the part of the cane in contact with the ground makes it possible to limit its impact on the crops, and not to catch, scratch or tear the plants crossed by the robot 1. In addition, this curved shape makes it possible to prevent the rod 9 from sinking into the ground, the contact surface with the ground of the distal end 9b increasing when the latter begins to sink therein. This property is very advantageously, in particular when the soil is loose, which is frequently the case with agricultural plots.

Advantageously, the distal part of the rod, at least at the level of the curved section, has an oval or circular section in order to form a point contact (when the ground is rigid) and to slide better over obstacles.

The low weight of the robot 1 makes it possible to prevent the rod 9 from creating furrows on the ground, which would have been more the case with a third wheel. The presence of a cane also makes it possible to eliminate the phenomena of bogging down observed with the use of an additional wheel.

Preferably, the rod 9 is a rotary rod, capable of pivoting about the axis formed by the part. rectilinear proximal 9a of the rod 9. Thus, the rod 9 is not rigid during the movement of the robot 1, and can follow the movement of the latter, in particular when it makes turns, without marking the ground. The rod 9 can thus pivot freely on itself when it encounters an obstacle or when the robot 1 makes a turn instead of sliding and / or translating rigidly with the movement of the robot by mowing any plants present in its vicinity. . Stops can be provided making it possible to limit the angular movement of the rod.

As an alternative to this mode of implementation in which the rod can pivot freely on itself, the rotation of the rod 9 can be controlled by the on-board computer system 2 in order to control the position of the rod 9, as will be detailed in the remainder of this description.

The proximal part 9a can be fixed perpendicularly to the sealed casing 7 and maintained substantially vertical when the robot 1 is in motion, in order to guarantee a substantially horizontal maintenance of the casing 7 and of the elongated body 3, protecting the elements integrated inside it. too great a pitch angle and amplitude. The proximal part 9a can also be tilted backwards in the direction of movement in order to soften the contact between the distal part 9b and the ground, the angle between the proximal part 9a and the elongated body 3 having to be close to 90 ° so as not to force excessively on the connecting parts, such as ball bearings in particular, between the sealed housing 7 and the rod 9.

Second embodiment of the stabilization device According to a second embodiment, shown in FIG. 1c, the stabilization device 9 is an active stabilization device, comprising means for moving the center of gravity of the autonomous robot 1 on either side of the transverse axis, in the direction of travel.

This embodiment makes it possible to adjust at any time the position of the center of gravity of the robot 1 relative to the elongated body 3, in order to control the pitch of the latter.

In particular, when the robot 1 is set in motion, the stabilization device 9 can move the center of gravity away from the transverse axis in the direction of movement to unbalance the robot 1 and allow it to move. Once set in motion, the center of gravity is reestablished backwards, towards the transverse axis, to find a new balance.

Then, when the robot 1 is in motion, the stabilization device 9 forms the counterweight necessary for the spokes 4b to take the step, the dynamic offset of the counterweight allowing the setting in motion. During the movement, the center of gravity thus oscillates permanently between the front of the robot 1 in the direction of movement, to allow it to move forward, and the rear of the robot 1 in order to limit its runaway.

The offset of the counterweight towards the rear of the robot, in the usual direction of movement of the robot 1, combined with a change in the direction of rotation of the wheels 4 controlled by the motor (s) 5, can also make it possible to operate a setting in motion of the robot 1 in the opposite direction. This operation allows the robot 1 to reverse on the same line, without having to make a turn, in order to reverse its direction of movement.

Preferably, the stabilization device 9 is formed by a pinion-rack system 9 allowing the movement of the rack in the direction of movement of the robot 1. In this situation, the pinion is fixed to the elongated body 3. The rack is formed of an elongated rod forming a counterweight.

The movement of the rack along the direction of movement of the robot 1 makes it possible to control the offset of the counterweight and the distance of the center of gravity from the transverse axis of the elongated body 3.

This movement can be mechanical in order to maintain a position of equilibrium and to keep the body stretched out in a determined pitch angle. But this movement can also be automated, the movement of the rack being controlled by the on-board computer system 2, either according to pre-established instructions, or according to the parameters of the situation. For example, the on-board computer system 2 can be instructed to control a slight imbalance of the elongated body 3 when it is set in motion and then a dynamic balance during the movement. This dynamic balance can in particular take into account the irregularities of the terrain or the slopes liable to unbalance the robot 1. For this purpose, the on-board computer system 2 can be associated with an inertial unit (not shown), consisting of an inclinometer, d 'an accelerometer and / or a gyroscope, and attached to the elongated body 3.

Data collection

The autonomous robot 1 according to the invention is intended to collect data from the environment which surrounds it, for example to detect the presence of weeds or insects, or to capture the radiation emitted by the plants. The analysis of the radiation emitted by the plants makes it possible to monitor the nutritional needs of the plant, in particular the water need and the nitrogen content. This last aspect is in particular known from document WO 99/19824 and will not be developed in more detail in the present description.

To enable it to collect data, the autonomous robot 1 comprises at least one multispectral sensor 10.

The use of multispectral sensors in the field of precision agriculture is well known per se, and will therefore not be developed within the framework of this description.

This multispectral sensor 10 can be placed inside the elongated body 3, and can be connected to the on-board computer system 2 to receive instructions and to the battery 6 to be electrically powered. Advantageously, the multispectral sensor 10 is placed on a lower face of the elongated body 3 in order to be able to analyze the canopy that it overhangs. Of course, the invention is in no way limited to such a location. In addition, the robot 1 can include a plurality of multispectral sensors.

The autonomous robot 1 can also include other data collection instruments, such as visible or infrared cameras. Cameras can thus be integrated in the elongated body 3, in the waterproof case 7, or even attached to one of the spokes 4b.

Advantageously, if the stabilization device 9 is formed by a curved rod, the distal part 9b of the rod 9, and more particularly its free end, can also include a camera 9c. This location makes it possible to have a camera very close to the ground and oriented upwards, and thus to collect data from below the canopy. In addition, the rotary nature of the rod 9 allows, if it is commanded by the on-board computer system 2, to carry out a very broad exploration of the environment around the robot 1.

Optionally, the distal part 9b of the rod 9 can also include an LED or other light source in order to illuminate the underside of the canopy to improve the quality of the images acquired by the camera 9c, for example by reducing any effects. shade.

The robot 1 can also include a device for recording the data collected by the data collection instruments. This recording device can be integrated into the elongated body 3 and coupled to the on-board computer system 2 to receive the recording instructions. The recording device can be, or be associated with, a removable recording card, such as an SD card for example, that the user can remove from the robot 1 to recover the data collected and analyze them, or directly recover. data analyzed by a data analysis device.

The robot 1 can therefore also include a data analysis device, coupled to the recording device or to the on-board computer system 2, making it possible to analyze the data collected and recorded and to record the analysis carried out on the device. recording.

Alternatively, or in addition, the recording device can include remote communication means using radio frequencies, such as Bluetooth®, Wi-Fi ™, 2G, 3G, 4G, 4G +, 5G, ZigBee ™, LoRa® means. and / or Sigfox ™ for example, in order to be able to remotely transmit to the user the data collected or the data analyzed. Of course, the invention is not limited to the embodiments described and it is possible to provide alternative embodiments without departing from the scope of the invention as defined by the claims.

In particular, the invention is not limited to the embodiments of the stabilization devices described. It is quite possible to envisage stabilization devices other than a rod or a rack and pinion system, such as an active gyroscope or a balance for example.

Claims

1. Autonomous robot (1) comprising an elongated body (3) along an axis transverse to a direction of movement of the robot (1) and, connected to the elongated body (3):

- a multispectral sensor (10);

- exactly two wheels (4), the wheels comprising spokes and being devoid of any element joining these spokes with the exception of the hub;

- a stabilization device (9) for controlling the pitch of the elongated body (3) when the wheels (4) are in motion.

2. Autonomous robot (1) according to the preceding claim, also comprising at least one motor (5) configured to set the wheels (4) in motion.

3. Autonomous robot (1) according to the preceding claim wherein the motor (5) is integrated in the elongated body (3).

4. Autonomous robot (1) according to one of claims 2 and 3 comprising two motors (5), each motor (5) being associated with a wheel (4).

5. Autonomous robot (1) according to one of claims 2 to 4 also comprising energy storage means (6) for powering the motor (s) (5), the energy storage means ( 6) being integrated into a sealed box (7) provided with a cover (7a) and fixed to the elongated body (3).

6. Autonomous robot (1) according to one of the preceding claims having a direction of movement in the direction of movement, and a center of gravity located behind the transverse axis relative to the direction of movement.

7. Autonomous robot (1) according to the preceding claim wherein the stabilization device (9) is formed of a rod.

8. Autonomous robot (1) according to the preceding claim wherein the rod (9) is a curved rod comprising a proximal portion (9a) rectilinear and a distal portion (9b) curved, the proximal portion (9a) being connected to the elongated body (3), the distal part (9b) being intended to be in contact with the ground when the wheels (4) are in motion.

9. Autonomous robot (1) according to the preceding claim wherein the distal part (9b) of the rod (9) comprises a camera (9c).

10. Autonomous robot (1) according to one of claims 7 to

9 in which the cane (9) is a rotating cane around the axis of the proximal part (9a).

11. Autonomous robot (1) according to one of claims 1 to

5 in which the stabilization device (9) comprises means for moving the center of gravity of the autonomous robot (1) on either side of the transverse axis.

12. Autonomous robot (1) according to the preceding claim wherein the stabilization device (9) is formed of a rack and pinion system allowing the movement of the rack in the direction of movement of the robot (1), the pinion being fixed. the elongated body (3), the rack being formed of an elongated rod.

13. Autonomous robot (1) according to one of the preceding claims wherein the plane formed by the spokes (4b) of the wheels (4) is inclined relative to the axis of the elongated body (3).

14. Autonomous robot (1) according to one of the preceding claims wherein each spoke (4b) is provided with a pad (4c) to reduce the impact of the wheel (4) on the ground.