FR3051383A1 - MOBILE MOTORIZED ROBOT - Google Patents

Abstract

The invention relates to a motorized master mobile robot (1) comprising: - at least one environment sensor (5, 6, 7, 8) configured to acquire information representative of at least part of the environment of the mobile robot motorized master (1); at least one input interface (10a) configured to receive instructions from a user; a processing unit (9) configured to determine instructions representative of at least one behavior to be executed by the motorized master mobile robot (1) in response to at least one instruction of the user and / or information representative of at least part of the environment of the motorized master mobile robot (1), and configured to determine at least one behavior to be performed by at least one motorized slave mobile robot (2, 3, 4); and at least one output interface configured to transmit instructions representative of at least one behavior to be performed by at least one motorized slave mobile robot (2, 3, 4).

Description

The invention relates to a motorized mobile robot that can be used in a professional setting or in a family setting with the possibility of interactions with adults or children.

Remote-controlled mobile robots are known, such as robot vacuums, which require a large number of on-board sensors, and therefore a high cost.

In particular, when it is desired to use and control a plurality of remotely controlled mobile robots, this generates a large amount of necessary sensors and a significant complexity for a user wishing to control a plurality of these remotely controlled mobiles.

In addition, to function, these remotely controlled mobile robots require tags to ensure they do not move where they should not.

An object of the invention is to overcome the problems mentioned above, and in particular to allow a user to more easily control a set of motorized mobile robots at a lower cost.

Also, it is proposed, according to one aspect of the invention, a motorized master mobile robot comprising: at least one environment sensor configured to acquire information representative of at least part of the environment of the motorized mobile master robot ; at least one input interface configured to receive instructions from a user; a processing unit configured to determine instructions representative of at least one behavior to be executed by the motorized mobile master robot in response to at least one instruction from the user and / or information representative of at least a part of the environment the motorized master mobile robot, and configured to determine at least one behavior to be performed by at least one motorized slave mobile robot; and at least one output interface configured to transmit instructions representative of at least one behavior to be executed by at least one motorized slave mobile robot.

Thus, the user can simply give orders to the master robot, which then manages the behavior of the slave robot or robots so that the user's requests are respected.

In addition, the costs are reduced because only the master robot requires to be equipped with a certain number of sensors, whereas the slave robots may have only a very limited number or no sensors, which reduces the number of sensors. costs of slave robots.

In one embodiment, the powered master mobile robot further comprises a sensor assembly including an odometer and an accelerometer.

Thus, the motorized master mobile robot has access, in real time, to data provided by the odometer and the data provided by the accelerometer to know if it really moves or if it slides on the spot.

According to one embodiment, the motorized master mobile robot comprises an environment sensor comprising means configured to produce a visual virtual compass based on the acquisition of 2D or 3D images.

The motorized master mobile robot is thus able, in real time, to locate itself in its environment, and to be able to transmit to the user visual information on its environment.

In one embodiment, the means configured to produce a visual virtual compass comprise at least one camera, an image processing module and a module for connecting to data representative of the environment in which the motorized mobile master robot evolved.

Such an embodiment of the visual virtual compass makes it possible to obtain excellent precision at reduced cost. The representative data of the environment in which the motorized moving mobile robot evolves can be data representative of the plan of a local such as an apartment or a floor of house.

According to one embodiment, the processing unit is configured to determine instructions representative of a behavior to be executed by a motorized slave mobile robot from data comprising predetermined data representative of the environment of the powered master mobile robot.

Thus, the motorized mobile master robot can control the behavior of one or more slave mobile robots, including their movements, from predetermined data that it has in memory, representative of its environment, typically the plane of an apartment or of a floor of a house, without the motorized slave mobile robot or robots needing to be each equipped with numerous sensors allowing them to move properly avoiding obstacles and avoiding going and being stuck in a place to avoid.

Indeed, according to the invention, only the motorized master mobile robot needs to be equipped so as to be able to manage the movements in its environment, because it is he who controls the movements of the slave mobile robot or robots, which decreases substantially the cost of all motorized mobile slave robots.

The predetermined data representative of the environment of the motorized mobile master robot may be data representative of the plane of the local (house, apartment ...) in which the master mobile robot evolves.

In a variant, the processing unit is configured to determine instructions representative of a behavior to be executed by a motorized slave mobile robot from data comprising predetermined data representative of the environment of the powered master mobile robot and of data delivered by the means configured to produce a visual virtual compass during a path of the motorized master mobile robot corresponding to a path to be performed subsequently by the motorized slave mobile robot to perform said behavior.

In this case, the motorized master mobile robot can, in advance, carry out the movement that it intends to execute to one or more motorized slave mobile robots during a command of a behavior, so as to verify that this displacement is possible, for example by taking into account the presence or absence of an animal or an object of which it is not aware from the predetermined data representative of its environment.

In a variant, the processing unit is configured to determine instructions representative of a behavior to be executed by a motorized slave mobile robot from data comprising predetermined data representative of the environment of the powered master mobile robot and of data delivered by the means configured to produce a visual virtual compass during a path of the motorized master mobile robot corresponding to a path to be performed simultaneously by the motorized slave mobile robot to perform said behavior.

Thus, the master mobile robot can, in real time, control the movement of one or more slave mobile robots, during a command of a behavior, so as to verify in real time that this displacement is possible, for example taking into account the presence or absence of an animal or an object of which he is not aware from the predetermined data representative of his environment (object added ...)

In one embodiment, the processing unit is configured to allow the user to directly control, in real time, the motorized mobile master robot, and / or the motorized slave mobile robot or robots.

Thus, if necessary or if he wants, the user can directly take control of some or all of the robots.

It is also proposed, in another aspect of the invention, a system comprising a motorized master mobile robot as previously described, and at least one motorized slave mobile robot comprising only an odometer and an accelerometer.

According to one embodiment, at least one motorized mobile slave robot of the system further comprises a surveillance sensor, such as a sound sensor.

It is thus possible to create a network of sensors, for example to monitor an apartment, a house or any other premises.

In one embodiment, the system comprises a wireless charging station of the motorized mobile master robot, and the motorized slave robot or robots. The invention will be better understood by studying a few embodiments described by way of non-limiting examples and illustrated by the appended drawings in which: FIG. 1 schematically represents a motorized mobile master robot according to one aspect of the invention; , as well as two motorized slave mobile robots, in this case a robot vacuum cleaner and a video projector robot; FIGS. 2a and 2b schematically represent an example of a user's communication with a motorized mobile master robot and a motorized slave mobile robot, in this case a robot vacuum cleaner, according to one aspect of the invention; FIGS. 3a and 3b schematically represent an example of control by the user of a motorized master mobile robot and of two motorized mobile slave robots, in this case a robotic vacuum cleaner and a floor-washing robot, according to an aspect of the invention. 'invention; FIGS. 4a and 4b schematically represent a real-time control of a motorized slave mobile robot, in this case a robotic vacuum cleaner, by the motorized mobile master robot according to one aspect of the invention; FIGS. 5a and 5b schematically represent an example of control by a user of a motorized mobile master robot, or of a motorized slave mobile robot via the motorized master mobile robot, according to one aspect of the invention; FIGS. 6a, 6b and 6c schematically represent an example of control of a motorized slave mobile robot, in this case a video projector robot, by means of a motorized master mobile robot, according to one aspect of the invention; FIGS. 7a, 7b, 7c, 7d and 7e schematically represent examples of use of a motorized mobile master robot and of a motorized slave mobile robot, in this case a video projector robot, for various kinds of games, according to an aspect of the invention; FIGS. 8a, 8b, 8c and 8d show schematically the use of a motorized mobile master robot and three motorized mobile slave robots, each equipped with a sound sensor, as a device for monitoring and alerting a local, as a house or an apartment according to one aspect of the invention; and FIGS. 9a and 9b schematically show how a motorized mobile master robot and a plurality of slave mobile robots manage their charging, by wireless connection, to a charging terminal, according to one aspect of the invention;

In the various figures, the elements having identical references are identical.

FIG. 1 schematically represents a motorized master mobile robot 1 according to one aspect of the invention, as well as two motorized slave mobile robots, in this case a robot vacuum cleaner 2, a floor robot 3 and a video projector robot 4.

The master / slave terminology used is well known, and represents the fact that the robot 1 controls the robots 2, 3 and 4. Alternatively, it could have been used the butler / domestic terminology, in the sense that a butler is the one who commands all the servants.

The motorized master mobile robot 1 comprises at least one environment sensor configured to acquire information representative of at least part of the environment of the master robot 1.

In this case, in the illustrated example, an environment sensor of the master robot 1 comprises means configured to produce a visual virtual compass, in this case from at least one camera, in this example two cameras 5 6 is forming the eyes of the master robot 1, an image processing module 7 and a connection module 8 with data representative of the environment in which the master robot 1 is evolving, stored in memory of a unit of treatment 9 of the master robot 1.

Alternatively, the environmental sensor may be a 3D time-flight or structured light 3D camera, a stereoscopic camera, a plenoptic camera or an event triggered camera. The processing unit 9 of the master mobile robot 1 is configured to determine instructions representative of at least one behavior to be executed by the master robot 1 in response to at least one instruction from the user (not shown in FIG. 1). and / or information representative of at least part of the environment of the master robot 1, and configured to determine at least one behavior to be performed by at least one slave robot 2, 3, and 4.

The master robot 1 also comprises an input interface 10a configured to receive instructions from a user and at least one output interface 10b configured to transmit instructions representative of at least one behavior to be executed by at least one slave robot 2 , 3 and 4. The output interface 10 may comprise or be directly connected to a wireless communication module, for example by wi-fi link. Similarly, the slave robots 2, 3 and 4 are each equipped with a wireless communication module, for example by wi-fi connection.

The motorized master mobile robot 1 advantageously comprises a sensor assembly 11 comprising an odometer and an accelerometer, enabling it to know if it is in a situation in which it is moving or if it slides on the ground while being locked in place.

Advantageously, the motorized slave mobile robots 2, 3, and 4 can only be equipped with odometer sensors, in order to substantially limit their production cost, being controlled by the motorized master mobile robot 1.

FIGS. 2a and 2b illustrate an example of communication of a user 12 with the master robot 1, in this case by means of a software application installed on a smartphone or tablet 13, on which he selects a command corresponding to a cleaning service of the premises in which the robot operates, in this case and in a non-limiting manner the user's apartment 12.

In the illustrated example, the cleaning service consists in sucking up a first chamber, then a second chamber then the living room, and must start at 10 o'clock. The user 12 then takes care of nothing, it is the master mobile robot 1 which goes then, in particular via its processing unit 9, determine the instructions to be provided to the slave robot vacuum cleaner 2 so that it can perform the cleaning service requested by the user 12.

FIGS. 3a and 3b illustrate a scenario similar to that represented by FIGS. 2a and 2b, with the difference that the master robot 1 controls both the robot vacuum cleaner 2 and the floor robot 3. In the illustrated example the robot master 1 controls a robot vacuum cleaner 2 journey in the living room and a floor robot 3 walk in a room without user intervention 12.

The motorized master mobile robot 1 can control the behavior of one or more slave mobile robots 2, 3 and 4 directly from predetermined data that it has in memory, representative of its environment (ie of the local), typically the plane of an apartment or a floor of a house.

As a variant, the motorized master mobile robot 1 can control the behavior of one or more slave mobile robots 2, 3 and 4 directly from predetermined data that it has in memory, representative of its environment (ie of the local area), typically the plan of an apartment or floor of a house, and additional data provided by the means configured to make a visual virtual compass of the master robot 1 during a recognition in advance of the path to be performed by the or mobile slave robots to perform the behavior that it will command them to perform later.

The master robot can thus take into account additional environmental data that is not necessarily in the predetermined data that it has in memory.

As a variant, as illustrated in FIGS. 4a and 4b, the master robot 1 can control the behavior, and therefore the displacement, of one or more slave robots 2, 3 and 4, in this case only the vacuum robot 2, in real time, by "holding it by the hand". Thus, the master robot can take into account real-time environment data, such as an electrical wire to be bypassed by the robot vacuum cleaner 2 in FIG. 4b.

FIGS. 5a and 5b diagrammatically illustrate the real-time control by the user 12 of the master robot 1 and of one or more slave robots 2, 3 and 4, in this case of the floor washing robot 3, by time vision real, on a smartphone or tablet 13, what the master robot 1 sees through his eyes camera 5 and 6. Thus, remotely, if the user sees, as illustrated, footprints, it can control the floor robot 3, in real time, via the master robot 1, so that the floor washing robot 3 cleans the soil of these footprints.

FIGS. 6a, 6b and 6c schematically represent a variant of FIGS. 2a and 2b and FIGS. 3a and 3b, on which the master robot 1 controls the video projector robot 4 so that, at a precise moment, the video projector robot 4 goes, in room 1, project a video of stars, above a baby in his cradle 14, so that the baby remains calm and goes to sleep in case of waking.

Figures 7a, 7b, 7c, 7d and 7e schematically illustrate a use of the present invention for games or sport.

FIG. 7a shows the control, by the master robot 1, of the video projector robot 4, so that the video projector robot 4 projects on the ground in front of two children, a girl and a boy 16, choices of activity, in the species telephoned to someone, play, or watch video.

FIG. 7b represents a case in which the girl 15 has chosen a game of hopscotch, which the master robot 1 causes to be projected on the ground by the video projector robot 4. The master robot 1 follows, thanks to its camera eyes 5 and 6, the progress of the game practiced by the girl 15, and can therefore manage the game (count the points ...).

FIG. 7c represents a case in which the boy 16 has chosen a game of hopscotch or four power that the master robot 1 has projected on the ground by the video projector robot 4. The master robot 1 follows, thanks to its camera eyes 5 and 6, the progress of the game practiced by the boy 16, and can therefore manage the game (count the points ...).

FIG. 7d shows a case in which the girl 15 and the boys 16 have chosen to play together a set of questions, managed by the master robot 1, which uses the video projector robot 4, so that it projects the questions in front of children 15 and 16. The master robot manages the progress of the game, counts the points, and asks questions orally corresponding to what is projected by the video projector robot 4. In this example, the master robot 1 asks the children, on the image projected by the videoprojector robot 4 representing three objects, a humanoid robot, a robot vacuum cleaner and a computer screen, which of these three objects is not a robot.

In Figure 7e, the boy 16 has chosen to do a sports workout, and the master robot 1 controls the video projector robot 4, to project on a wall the training program of the session. The master robot 1 can then interact with the boy 16, for example by counting aloud the number of pumps made by the boy 16 on an imposed series. In this case the master robot counts the twelfth pump in a series of thirty.

FIGS. 8a, 8b, 8c and 8d illustrate a case in which the user 12 commands the master robot 1, via an application installed on a smartphone or a tablet 13, to monitor his apartment from a precise time (or precise date and time). In this case, each robot 1, 2, 3 and 4 includes a surveillance sensor, such as a sound sensor.

FIG. 8a illustrates the user 12 giving his instructions to the master robot 1 via his tablet or smartphone 13.

In FIG. 8b, we see the master robot 1 giving the behavior instructions to the different slave robots, in this case the robot vacuum cleaner 2, the floor washing robot 3, and the video projector robot 4.

FIG. 8c represents the beginning of the execution of the surveillance with the set of robots 1, 2, 3 and 4, arranged at different locations of the apartment, as requested by the user 12, at the date and time ordered. All robots 1, 2, 3 and 4 then form a surveillance system of the apartment, and can, if necessary, alert the user through the application on his smartphone or tablet 13, when one of the robots detects a suspicious sound, interpreted by the master robot 1 as being an intrusion. In the event of an alert, the master robot 1 can then transmit in real time what it sees through its camera eyes 5 and 6, and move to the place where the suspicious noise comes from.

Of course, alternatively, slave robots 2, 3 and 4 may have additional sensors to increase their capabilities.

In addition, it can be interesting that each of the robots 1, 2, 3 and 4 are equipped with an odometer, allowing at any time to know if they move, are immobilized by sliding place.

FIGS. 9a and 9b illustrate a wall-mounted wireless charging terminal 17 of the motorized master mobile robot 1 and the powered slave robot 2, 3, and 4. When the master robot 1 or the slave robots 2 , 3 and 4 are almost discharged, the master robot 1 commands to recharge at the wireless charging station 17.

Claims (13)

A motorized master mobile robot (1) comprising: at least one environment sensor (5, 6, 7, 8) configured to acquire information representative of at least part of the environment of the powered master mobile robot ( 1); at least one input interface (10a) configured to receive instructions from a user (12); a processing unit (9) configured to determine instructions representative of at least one behavior to be executed by the motorized master mobile robot (1) in response to at least one instruction of the user (12) and / or information representative of at least part of the environment of the motorized master mobile robot (1), and configured to determine at least one behavior to be performed by at least one motorized slave mobile robot (2, 3, 4); and at least one output interface configured to transmit instructions representative of at least one behavior to be performed by at least one motorized slave mobile robot (2, 3, 4). The powered master mobile robot (1) according to claim 1, further comprising a sensor assembly (11) comprising an odometer and an accelerometer. The powered master mobile robot according to claim 1 or 2, wherein an environment sensor comprises means configured to realize a visual virtual compass based on the acquisition of 2D or 3D images. The powered master mobile robot according to claim 3, wherein the means configured to realize a visual virtual compass comprises at least one camera (5, 6), an image processing module (7) and a linking module. (8) with data representative of the environment in which the motorized master mobile robot (1) evolves. 5. Motorized master mobile robot (1) according to one of claims 1 to 4, wherein the processing unit (9) is configured to determine instructions representative of a behavior to be performed by a motorized slave mobile robot (2). , 3, 4) from data comprising predetermined data representative of the environment of the powered master mobile robot (1). 6. Motorized mobile master robot (1) according to one of claims 1 to 4, wherein the processing unit (9) is configured to determine instructions representative of a behavior to be performed by a motorized slave mobile robot (2). , 3, 4) from data comprising predetermined data representative of the environment of the motorized master mobile robot (1) and of data delivered by the means configured to produce a visual virtual compass during a path of the motorized mobile master robot (1) corresponding to a path to be performed later by the motorized slave mobile robot (2, 3, 4) to perform said behavior. 7. Motorized mobile master robot (1) according to one of claims 1 to 4, wherein the processing unit (9) is configured to determine instructions representative of a behavior to be performed by a motorized slave mobile robot (2). , 3, 4) from data comprising predetermined data representative of the environment of the motorized master mobile robot (1) and of data delivered by the means configured to produce a visual virtual compass during a path of the motorized mobile master robot (1) corresponding to a path to be performed simultaneously by the motorized slave mobile robot (2, 3, 4) to perform said behavior. 8. Motorized master mobile robot (1) according to one of the preceding claims, wherein the processing unit (9) is configured to allow the user (12) to directly control, in real time, the master mobile robot motorized (1) and / or the motorized slave mobile robot or robots (2, 3, 4). 9. System comprising a motorized master mobile robot (1) according to one of the preceding claims, and at least one motorized slave mobile robot (2, 3, 4) comprising only an odometer and an accelerometer. 10. System according to claim 9, wherein at least one motorized slave mobile robot (2, 3, 4) further comprises a monitoring sensor. The system of claim 10, wherein the powered master mobile robot (1) further comprises a monitoring sensor. The system of claim 10 or 11, wherein a monitoring sensor comprises at least one sound sensor. 13. System according to one of claims 9 to 12, comprising a wireless charging terminal (17) of the motorized mobile master robot (1), and the motorized slave robot or robots (2, 3, 4).