FR3037156B1 - Systeme de fourniture de services, comprenant une pluralite de robots modulaires aptes a se deplacer de maniere autonome - Google Patents

Systeme de fourniture de services, comprenant une pluralite de robots modulaires aptes a se deplacer de maniere autonome Download PDF

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Publication number
FR3037156B1
FR3037156B1 FR1555012A FR1555012A FR3037156B1 FR 3037156 B1 FR3037156 B1 FR 3037156B1 FR 1555012 A FR1555012 A FR 1555012A FR 1555012 A FR1555012 A FR 1555012A FR 3037156 B1 FR3037156 B1 FR 3037156B1
Authority
FR
France
Prior art keywords
mobile base
service module
service providing
providing system
moving independently
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
FR1555012A
Other languages
English (en)
Other versions
FR3037156A1 (fr
Inventor
Christian Chagny
Sebastien Lelong
Guy Caverot
Jean-Luc Thome
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Metrolab SAS
Original Assignee
Metrolab SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Metrolab SAS filed Critical Metrolab SAS
Priority to FR1555012A priority Critical patent/FR3037156B1/fr
Priority to PCT/EP2016/062088 priority patent/WO2016193177A1/fr
Publication of FR3037156A1 publication Critical patent/FR3037156A1/fr
Application granted granted Critical
Publication of FR3037156B1 publication Critical patent/FR3037156B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de fourniture de services comprenant une pluralité de robots modulaires aptes à se déplacer de manière autonome et à effectuer des services suivant des missions (48) reçues. Ce système comprend au moins une base mobile (16) apte à se déplacer de manière autonome et au moins un module de service (18). Chaque base mobile (16) comprend une interface de base et chaque module de service (18) comprend une interface de module (94) apte à coopérer avec l'interface de base pour connecter/déconnecter le module de service à la base mobile, un robot modulaire (14) étant formé par connexion d'un module de service (18) à une base mobile (16). Le système comprend au moins une base de repli (20) fixe apte à accueillir le robot modulaire (14), comprenant au moins une unité parmi des unités de stockage (22), de recharge énergétique (26) ou d'avitaillement (24).
FR1555012A 2015-06-02 2015-06-02 Systeme de fourniture de services, comprenant une pluralite de robots modulaires aptes a se deplacer de maniere autonome Expired - Fee Related FR3037156B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1555012A FR3037156B1 (fr) 2015-06-02 2015-06-02 Systeme de fourniture de services, comprenant une pluralite de robots modulaires aptes a se deplacer de maniere autonome
PCT/EP2016/062088 WO2016193177A1 (fr) 2015-06-02 2016-05-27 Système de fourniture de services, comprenant une pluralité de robots modulaires aptes à se déplacer de manière autonome

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1555012 2015-06-02
FR1555012A FR3037156B1 (fr) 2015-06-02 2015-06-02 Systeme de fourniture de services, comprenant une pluralite de robots modulaires aptes a se deplacer de maniere autonome

Publications (2)

Publication Number Publication Date
FR3037156A1 FR3037156A1 (fr) 2016-12-09
FR3037156B1 true FR3037156B1 (fr) 2020-05-15

Family

ID=53776809

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1555012A Expired - Fee Related FR3037156B1 (fr) 2015-06-02 2015-06-02 Systeme de fourniture de services, comprenant une pluralite de robots modulaires aptes a se deplacer de maniere autonome

Country Status (2)

Country Link
FR (1) FR3037156B1 (fr)
WO (1) WO2016193177A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107272633A (zh) * 2017-08-18 2017-10-20 中车南京浦镇车辆有限公司 一种列车无人驾驶模式下的列车清洗机控制方法
US11704954B2 (en) * 2018-03-14 2023-07-18 Fedex Corporate Services, Inc. Methods and systems for navigating to a designated shipping location as part of a multi-leg logistics operations using a wireless node network and multiple node-enabled autonomous transport vehicles in the network
DE102018114476B3 (de) * 2018-06-15 2019-08-14 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Reinigungssystem, umfassend Versorgungsroboter und Reinigungssatelliten, und Verfahren zur Reinigung
CN112801622A (zh) * 2021-02-01 2021-05-14 上海高仙自动化科技发展有限公司 工作站的状态管理方法及装置、工作站及可读存储介质

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6611738B2 (en) * 1999-07-12 2003-08-26 Bryan J. Ruffner Multifunctional mobile appliance
SE0004465D0 (sv) * 2000-12-04 2000-12-04 Abb Ab Robot system
US7610122B2 (en) * 2005-08-16 2009-10-27 Deere & Company Mobile station for an unmanned vehicle

Also Published As

Publication number Publication date
WO2016193177A1 (fr) 2016-12-08
FR3037156A1 (fr) 2016-12-09

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