FR3056550A1 - MOTORIZED AUTONOMOUS ROBOT HAVING AN OBSTACLE CROSSING DEVICE - Google Patents

Abstract

Robot (1) motorized comprising a body (2) traversed by a longitudinal axis (LL), said robot being mounted on wheels (3) and comprising at least one locating device (6), said robot further comprising a module of obstacle clearance (10), this module comprising: - an apron (13) mounted substantially perpendicular to the longitudinal axis (LL) of the robot; - At least one arm (12) for connecting the deck (13) to the robot (1); the apron (13) being mounted movably between an obstacle clearance position (FO) in which the possible obstacles present in front of the advancing robot are pushed back from the robot's path and a robot stop position (AR) in which the apron activates the stopping of the advancement of the robot.

Description

YOUR AUTONOMOUS MOTORIZED ROBOT PROVIDED WITH A DEVICE FOR CROSSING OBSTACLES.

FR 3 056 550 - A1

Motorized robot (1) comprising a body (2) crossed by a longitudinal axis (LL), said robot being mounted on wheels (3) and comprising at least one locating device (6), said robot further comprising a module for obstacle clearance (10), this module comprising:

- an apron (13) mounted substantially perpendicular to the longitudinal axis (LL) of the robot;

- at least one arm (12) for connecting the apron (13) to the robot (1);

- the apron (13) being mounted movable between an obstacle crossing position (FO) in which any obstacles present in front of the advancing robot are pushed back from the path of the robot and a robot stop position (AR) in which the apron activates the robot's advancement stop.

i

AUTONOMOUS MOTORIZED ROBOT PROVIDED WITH A DEVICE FOR CROSSING OBSTACLES

TECHNICAL FIELD OF THE INVENTION The present invention relates to an autonomous motorized robot. It relates more particularly to a robot provided with an obstacle crossing device.

STATE OF THE PRIOR ART A robot or autonomous vehicle is a vehicle which moves automatically without human intervention. This type of vehicle must be able to avoid obstacles that are in its path.

Autonomous motorized robots are today 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. To ensure their movement independently, the robots must include locating and guiding means. Many forms of implementation exist today, with sensors and / or cameras arranged at places allowing to implement the functions of tracking, while allowing the robot to carry out its basic mission, the transport of load. Obstacles are identified by distance sensors on board the vehicle, which measure the distance to perimeter objects (such as: laser scanner, radar, ultrasound belts, stereovision cameras, 3D camera, etc.).

The document FR2994057 describes a robot intended for carrying out the harvest comprising means for capturing images comprising means for projecting at least one laser beam onto said vines and their branches, means for recording and recording of a series of images relating to the shape of said laser beam on said vines and their branches. To operate reliably and efficiently, such an arrangement must include a plurality of image sensors.

With conventional solutions, when using a robot in a natural outdoor environment, for example in an agricultural environment and more specifically in a wine-growing environment, we often find flexible vegetation such as grass or branches in alleys between the rows of vines. A traditional robot moving in this type of environment is subject to untimely stops due to the detection of branches or tall grass or flowers, even if these plants could easily be crossed without risk by the robot. One of the difficulties lies in the fact that the distance sensors are not suitable for measuring the rigidity of the objects perceived. However, a flexible object like grass should not be considered as an obstacle. Also, the robot should not stop in front of the grass.

Some known solutions aim to solve this type of problem. A first solution consists in positioning the distance sensors higher than the grass so as not to see them. However, in such an arrangement, if there is really an obstacle, there is collision with damage to the robot and the object struck.

Another solution is to keep the distance sensor at the right height while also providing software processing of the signal on the sensor measurement so as not to see fine objects or objects distributed randomly and not uniform. However, this solution does not allow all cases to be managed. For example, a wire or a thin metal pole is not identified as an obstacle. On the other hand, rocks or an obstacle just behind grasses can have a random and non-uniform distribution while they are indeed obstacles. Another solution is to install a foam bumper which is able to detect obstacles when the foam is pressed. However, this solution has a large footprint and complicates the loading / unloading operations and the implementation of the pipe in push mode. Furthermore, it is not possible to adjust the level of hardness of the foam.

To overcome these different drawbacks, the invention provides different technical means.

PRESENTATION OF THE INVENTION First of all, a first object of the invention consists in providing an autonomous motorized robot making it possible to sort the different types of obstacles present on the route to be performed, in particular if the obstacle is flexible and capable of being easily crossed, or even if the obstacle is rigid.

Another object of the invention is to provide a motorized robot for effectively identifying flexible obstacles such as flexible plants, easily crossed by the robot.

Another object of the invention is to provide a motorized robot, the implementation of which is simple.

To do this, the invention provides a motorized robot comprising a body crossed by a longitudinal axis (LL), said robot being mounted on wheels or tracks and comprising at least one tracking device, said robot further comprising a obstacle clearance module, this module comprising:

- an apron mounted substantially perpendicular to the longitudinal axis (LL) of the robot;

- at least one arm for connecting the deck to the robot;

- the deck being mounted movable between an obstacle crossing position (FO) in which any obstacles present in front of the advancing robot are pushed back from the path of the robot and a robot stop position (AR) in which the deck operates the stop the robot's advancement.

According to such an architecture, the obstacle clearance device makes it possible to repel the most flexible obstacles that can be crossed by the robot. The robot is only immobilized in the event of an obstacle which it cannot overcome and / or which may damage it.

According to an advantageous embodiment, the obstacle clearance module also comprises a jack or spring arranged so as to:

(i) allow the mobility of the apron between the obstacle clearance position (FO) and the robot stop position (AR);

(ii) allow a crossing force (FF) to be exerted against the obstacles to be crossed, this crossing force being limited by a fallback threshold (SR);

(iii) allow the curtain to be folded back in cases where the fallback threshold is reached or exceeded.

The obstacle location device not being able to detect if an identified obstacle is flexible and passable without risk for the robot or on the contrary rigid, the mechanical arrangement provided makes it possible to sort the types of obstacles ( passable or not) by means of a mechanical action consisting in pushing the obstacles. If the obstacle is easily removed, the robot can continue to move forward. A maximum allowable effort threshold is provided. Beyond this threshold, signifying that the obstacle is difficult to clear, the robot is stopped, to avoid any risk of damage or accident on the course. In practice, for example in a winery, small plants can be discarded without causing the robot to stop unexpectedly.

According to an advantageous embodiment, the robot also comprises a contactor, determining, depending on its position:

(i) the advancement of the robot, when the deck is in the obstacle clearance position.

(ii) stopping the robot, when the apron is in the robot stop position or in the intermediate position between the latter position and the obstacle clearance position.

Several methods of arrangement of the deck are possible when the latter is in the obstacle clearance position.

In a first example, the main plane T-T of the deck in the obstacle clearance position is substantially perpendicular to the ground. This arrangement makes it possible to push, in addition to the obstacles situated in front of the apron, the flexible obstacles which come from the side of the vehicle thanks to the upper portion of the apron very close to the field of vision of the distance sensors which identify the obstacles. It also makes it possible to detect rigid obstacles close to the ground.

According to another embodiment, the main plane T-T of the deck in the obstacle clearance position is inclined relative to the ground so that the top of the deck is prominent. This arrangement provides a greater angle of attack for the vehicle and makes it possible to cross slopes or hillocks favorably.

According to yet another embodiment, the main plane T-T of the deck in the obstacle clearance position is inclined relative to the ground so that the bottom of the deck is prominent. This arrangement is particularly suitable for detecting rigid obstacles close to the ground.

Advantageously, the deck has a retracted position allowing use of the robot in push mode. In this position, the contactor is preferably deactivated. Push mode corresponds to a robot operating mode in which the driver is positioned behind the robot. Depending on its position and / or gestures, detected by the robot's tracking module, the robot moves - in the opposite direction of the driver -, and can turn left or right. This position also facilitates loading / unloading of the robot due to access in the immediate vicinity of the robot. Retracted mode (on one or both sides of the robot) can also be used to make the robot more compact when used in places where there is little space available. Finally, this mode allows, in driving mode "robot follower", with the apron retracted from the operator's side, to have a short loading distance for the operator.

Advantageously, the position of the deck is substantially identical when the latter is in the retracted position (as described above) or in robot stop mode.

According to various embodiments, depending on the type of use intended, the width of the apron corresponds substantially to the width of the body of the robot, or to the width of the wheels of the robot or to a width going beyond the wheel width. Interchangeable or adjustable width aprons can be provided to easily adapt to various contexts of use.

According to various embodiments, the apron can consist mainly:

(i) a plurality of bars; or (ii) a plaque; or (iii) a solid panel; or (iv) a honeycomb panel.

Advantageously, the cylinder is adjustable to allow adjustment of the fallback threshold. Depending on the type of use and / or the type of robot, its robustness, and the ability to cross the wheels (or tracks), the threshold is adjusted to a higher or lower value.

DESCRIPTION OF THE FIGURES All the details of embodiment are given in the description which follows, supplemented by FIGS. 1 to 6, presented only for the purposes of nonlimiting examples, and in which:

Figure 1 is a schematic perspective view of an example of use in a winery;

Figures 2a, 2b and 2c schematically show a first embodiment of a robot provided with a crossing device;

Figures 3a and 3b schematically show a second embodiment of a robot provided with a crossing device;

Figures 4a and 4b schematically show a third embodiment of a robot provided with a crossing device;

- Figure 5 is an elevational view of a robot without crossing device;

- Figure 6 is a top view, without the loading platform, of the robot of Figure 1.

DETAILED DESCRIPTION OF THE INVENTION Figures 5 and 6 illustrate an exemplary embodiment of a robot 1 comprising a body 2 mounted on wheels 3. In this example, the body 2 is rectangular, and substantially flat, for keep the center of gravity close to the ground and facilitate loading and unloading operations by the operator. Alternatively, the body can be designed in a wide variety of shapes and profiles, depending on the intended uses, and the aesthetic qualities required. Conventionally, the robot comprises at least one motor, electric or thermal, and means making it possible to manage the movements autonomously.

As seen in Figure 5, the robot comprises a loading plate 4 arranged above the body 2. This position allows great ease in handling the loads to be transported by the robot. Figure 1 also shows that the plate 4 is spaced from the body 2. In this example, the elevation of the plate is provided by fins 5 of separation, arranged between the top of the body 2 and the bottom of the plate.

As shown in Figure 6, the robot of this embodiment includes 6 fins distributed so as to support the entire surface of the tray, two fins at each end and two fins towards the middle area of the body . The robot is designed to advance in at least one direction, advantageously two, and preferably several angular directions. The angular direction change is ensured either by pivoting of the wheels (two or four directional wheels) or by relative speed variation between the wheels on each side of the robot.

To this end, the robot is advantageously equipped with four electric motors, located in the axes of the wheels. In variants, it includes only two motors. Other configurations are also possible, for example with a single engine and two or four wheel drive. The body 2 accommodates one or more batteries and the electronic elements required to manage and guide 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, substantially free in which a locating device 6, preferably unique, is arranged.

In the example illustrated, the fins 5 of separation consist of substantially thin plates oriented so that their main plane is substantially parallel to the axis of the beam of the locating device 6. Still in the example of Figures 5 and 6, the locating device 6 comprises a laser or a Lidar, or other distance sensor, adapted to allow locating the surrounding objects over a preferred angular range of 360 °. The fins are thin enough and spaced apart so as not to obstruct the view of the environment.

Alternatively, other types of sensors can be used, such as one or more cameras, one or more inductive sensors, or the like. Hybrid solutions, with several types of sensors, can also be implemented. Still alternatively, to scan the 360 ° range, two or more sensors are provided which are arranged in a complementary manner.

Figure 1 illustrates the general principle of the invention, using a schematic perspective representation of a robot 1 moving along an aisle lined with rows of vines 17. The robot is particularly useful for transporting heavy loads, in this example bins of grapes picked by the pickers. The robot is similar to that previously described in relation to FIGS. 5 and 6. It also includes a device 10 for crossing obstacles, adapted to act on grasses, shrubs and other flexible obstacles 16 or easily displaceable. Its mechanical action, via an apron 13, allows the robot to overcome these minor obstacles without having to stop unexpectedly. The obstacle crossing device 10 is described in more detail in the following in connection with FIGS. 2a to 4b.

Figures 2a to 4b illustrate various examples of embodiments of a device 10 for obstacle clearance for robot 1. It comprises an apron 13 clearly visible from the front in Figures 1 and 2c. In the examples illustrated, the deck 13 consists of two substantially parallel bars, oriented substantially parallel to the ground, and held together by rods oriented substantially perpendicularly. One or more arms 12 make it possible to connect the apron 13 to the robot 1. A contactor 15 makes it possible to act on the guide or driving mechanism of the robot in order to trigger the possible control modes.

Figures 2a, 2b and 2c show a first embodiment of a device 10 obstacle clearance for robot 1. According to this embodiment, as shown in Figure 2a, the main plane TT of the apron in obstacle clearance position is inclined relative to the ground so that the top of the apron is prominent. In the robot stop position, illustrated in Figure 2b, the deck is then substantially vertical, and in the immediate vicinity of the body 2 of the robot.

Figures 3a and 3b show another embodiment. According to this embodiment, as shown in Figure 3a, the main plane T-T of the deck in the obstacle clearance position is inclined relative to the ground so that the bottom of the deck is prominent. In the robot stop position, illustrated in Figure 3b, the deck is then substantially vertical, and in the immediate vicinity of the body 2 of the robot.

Figures 4a and 4b show yet another embodiment. According to this exemplary embodiment, as shown in FIG. 4a, the main plane T-T of the deck in the obstacle clearance position is substantially vertical. In the robot stop position, illustrated in Figure 4b, the deck is then still substantially vertical, and in the immediate vicinity of the body 2 of the robot. This position is used to activate the contactor in order to activate the robot stop.

In all these exemplary embodiments, one or more jacks 11, and / or springs, make it possible to manage the mechanical force exerted by the deck 13 against the obstacles 16. The jack optionally makes it possible to be able to adjust the level of the threshold of SR fold, corresponding to the level of effort at which the apron begins to retract when pushing obstacles that are too heavy or bulky to be crossed. The folding of the apron continues until reaching the stop position of the robot. As soon as the apron begins to fold, the apron (or any adjacent part) then actuates the contactor 15 to effect a shutdown of the robot. Once the robot has stopped, the driver can then intervene, for example to clear the path of the robot. He then returns the robot to obstacle clearance mode. The apron then returns to the obstacle clearance position. This replacement can be carried out manually or automatically, depending on the embodiments.

To adjust the level of mechanical force, you adjust the hardness of the cylinder depending on the type of obstacle that you want to ignore or the jolts that the robot suffers when it moves. Either we change the thrust model (for example with a harder cylinder), or simply position the bottom of the cylinder a little higher (so we compress it more for the examples of Figures 2a, 2b, 2c and 4a, 4b, or lower for the example of FIGS. 3a and 3b, and a harder system is obtained.

Alternatively, one can provide a spring at the ball joint, but in this case it is not possible to adjust the hardness (need to change the spring to put another hardness) and to make the system retractable, it is necessary to add a hook to keep it retracted.

The Figures and their descriptions made above illustrate the invention rather than limiting it. In particular, the invention and its various variants have just been described in relation to a particular example in which the robot is equipped with a single obstacle clearance device.

However, it is obvious to a person skilled in the art that the invention can be extended to other embodiments in which, as a variant, a robot advantageously has another obstacle clearance device, mounted on the opposite side. The robot is then able to move in both directions, for example along an alley between two rows of vines, as in the example in Figure 1.

Reference numbers used in the figures

Robot

Robot body

wheels

Load plate or load plate

Separation fins

Tracking device

Viewing area

Obstacle clearance device

cylinder

Arms

Apron

patella

contactor

Obstacles

Vine rows

Claims (11)

1. Motorized robot (1) comprising a body (2) crossed by a longitudinal axis (LL), said robot being mounted on wheels (3) or tracks and comprising at least one locating device (6), said robot comprising by also an obstacle clearance module (10), this module comprising: - an apron (13) mounted substantially perpendicular to the longitudinal axis (LL) of the robot; - at least one arm (12) for connecting the apron (13) to the robot (1); - the apron (13) being mounted movable between an obstacle crossing position (FO) in which any obstacles present in front of the advancing robot are pushed back from the path of the robot and a robot stop position (AR) in which the apron activates the robot's advancement stop. 2. Robot according to claim 1, in which the obstacle clearance module also comprises a jack (11) or spring, arranged so as to: (i) allow the mobility of the apron (13) between the obstacle clearance position (FO) and the robot stop position (AR); (ii) allow a crossing force (FF) to be exerted against the obstacles to be crossed, this crossing force being limited by a fallback threshold (SR); (iii) allow the apron (13) to be folded back in cases where the fold-back threshold is reached or exceeded. 3. Robot according to one of claims 1 or 2, further comprising a contactor (15) determining, depending on its position: (i) the advancement of the robot, when the deck is in the obstacle clearance position. (ii) stopping the robot, when the apron (13) is in the stop position of the robot or in an intermediate position between the latter position and the obstacle clearance position. 4. Robot according to one of claims 1 to 3, in which the main plane (T3056550 T of the deck (13) in the obstacle clearance position is substantially perpendicular to the ground. 5. Robot according to one of claims 1 to 3, wherein the main plane (TT) of the deck (13) in obstacle clearance position is inclined relative to the ground so that the top of the deck is prominent . 6. Robot according to one of claims 1 to 3, wherein the main plane (TT) of the deck (13) in obstacle clearance position is inclined relative to the ground so that the bottom of the deck is prominent . 7. Robot according to one of the preceding claims, in which the deck (13) has a retracted position allowing use of the robot in push mode. 8. Robot according to one of the preceding claims, wherein the position of the apron (13) is substantially identical when the latter is in the retracted position of the apron or in robot stop mode. 9. Robot according to one of the preceding claims, in which the width of the apron corresponds substantially to the width of the body (2) of the robot, or to the width of the wheels (3) of the robot or to a width going beyond the width of the wheels (3). 10. Robot according to one of the preceding claims, in which the deck (13) consists mainly: (i) a plurality of bars; or (ii) a plaque; or (iii) a solid panel; or (iv) a honeycomb panel. 11. Robot according to one of the preceding claims, in which the jack (11) is adjustable to allow adjustment of the fallback threshold.