FR3080093A1 - INTERLOCKING SYSTEM AND AUTONOMOUS OBJECT TRANSPORT SYSTEM - Google Patents

Abstract

Interlocking system (1) comprising: - a male locking element (4) supporting a plurality of bolts (43), each bolt being movable between a retracted position and an extended position, wherein a maneuvering system (44) coupled to bolts maneuver synchronized mobility of all the bolts between their retracted positions and their respective deployed positions; and - a locking female member (5) having a plurality of locking holes (53); so that the interlock system (1) is configurable between: - an unlocked configuration in which the bolts are retracted; and - a locked configuration in the bolts (43) are deployed and engaged within the locking holes (53). The invention finds application in the locking of an energy storage unit and an object transport container on an autonomous vehicle such as a flying drone.

Description

The present invention relates to an interlocking system for reversible locking between two units, as well as to an assembly comprising two units secured to one another by means of such an interlocking system. .

The invention lies in the field of reversible locking of two units, for attaching / detaching the two units to each other, and it finds a non-limiting application in the entry and locking of a load on a unit, and in particular on a transport vehicle.

In a preferred, but not limiting, application, the interlocking system can be envisaged for an autonomous object transport system, in which an autonomous vehicle, such as a flying drone, and an object transport container are interlocked reversibly.

In the field of transporting objects, and in particular packages, using autonomous vehicles such as flying drones, there is a need for a reliable solution for fixing the package on the autonomous vehicle, so that it remains fixed on the transport time.

It is thus known from document WO 2017/053392 to use suspension links to secure the package under the drone, with many disadvantages such as the inability to automate the securing of the package.

The documents EP3089632 and JP2016153337 also propose to lock packages under drones, but they do not offer reliable solutions for lasting maintenance of the package and automatic locking / unlocking.

The present invention aims to provide an interlocking system which is reversible and which allows automation of the locking and unlocking phases.

Another object of the invention is to propose an interlocking system which makes it possible to establish an energy connection between the two units which will be locked thanks to the interlocking system.

Another object of the invention is to propose an interlocking system which effectively secures the locking between the two units.

Another object of the invention is to provide an interlocking system which is light, compact and solid.

Another object of the invention is to propose a resizable interlocking system, in order to be able to be used in numerous fields ranging from small and light units to be interlocked to large and heavy units to be interlocked.

To this end, it provides an interlocking system for reversible locking between at least two units, said interlocking system comprising a male locking element and a female locking element capable of cooperating mutually for interlocking, remarkable in that:

the male locking element comprises a chassis having an external peripheral periphery and supporting at least three bolts, where each bolt is movable between a retracted position inside the chassis and at least one position deployed outside the chassis projecting from the periphery external device, and further comprises a maneuvering system coupled to the bolts to maneuver synchronized mobility of all the bolts between their retracted positions and their respective deployed positions; and

the female locking element comprises a base provided with a central cavity bordered by an internal peripheral face of a shape complementary to the external peripheral periphery of the chassis of the male locking element, and where at least three locking holes are provided in said peripheral inner face for receiving the respective bolts;

so that the interlocking system is configurable between:

- an unlocked configuration in which the bolts are all in their retracted positions to allow insertion of the chassis of the male locking element inside the central cavity of the female locking element; and

- At least one locked configuration in which the chassis of the male locking element is inserted inside the central cavity of the female locking element, and the bolts are all in their deployed positions while being engaged in l inside the corresponding locking holes to provide inter-locking between the male locking element and the female locking element.

Thus, this inter-locking system automates the locking and unlocking operations between the male locking element and the female locking element, and therefore between the two units to be attached to each other. , using the operating system.

In an advantageous embodiment, the interlocking system allows a transport of energy between the male locking element and the female locking element, and therefore between the two units to be attached to each other, in having the following characteristics:

- The male locking element supports at least one energy transport device, said energy transport device being connected to at least one connector provided on the outside of a bolt; and

- The female locking element supports at least one additional energy transport device, said additional energy transport device being connected to at least one complementary connector provided inside a locking orifice;

where, in the locked configuration, said bolt is engaged inside said locking hole so that said connector is connected to said complementary connector, thereby establishing a connection between the energy transport device and the complementary energy transport device energy for energy transport between the male locking element and the female locking element.

Thus, with the locking of the inter-locking system, a connection is established between the energy transport device and the additional energy transport device, which provides, in addition to the mechanical connection, an energy connection, in particular to allow energy supply, energy recharging and / or data transfer.

According to one characteristic, the energy transport device and the additional energy transport device are chosen from the following list:

- devices for transporting electrical energy in high current, of the electrical cable type, for establishing an electrical energy supply between the male locking element and the female locking element;

- pneumatic energy transport devices, of the pneumatic pipe type, for establishing a pneumatic energy supply between the male locking element and the female locking element;

- fluidic energy transport devices, of the fluid line type, for establishing a fluidic energy supply between the male locking element and the female locking element;

- devices for transporting electrical energy at low current, of the electric cable type, for establishing between the male locking element and the female locking element a data transport.

In the case of a transport of electrical energy in high current, it can be envisaged, in addition to the electrical power supply function, a data transfer function for example by modulating the phase of the electrical wave in order to transmit information.

According to another characteristic, each bolt is provided with at least one connector in connection with a device for transporting energy, and each locking orifice is provided with at least one complementary connector in connection with a complementary device for transporting energy so that, in the locked configuration, each bolt is engaged inside a corresponding locking hole so that the connectors are connected to the complementary connectors, thereby establishing a connection between the device (s) energy transport and the complementary energy transport device (s).

In a particular embodiment, the bolts are movable in translation along respective axes of mobility, and moreover:

- within the male locking element, the energy transport device is connected to at least a first connector and a second connector provided on the outside of a bolt at different distances along the axis of mobility said bolt; and

- within the female locking element, the complementary energy transport device is connected to at least a first complementary connector and a second complementary connector provided inside a locking orifice at different depths;

where, in the locked configuration, said bolt is selectively engaged inside said locking orifice at least between one or the other of the two following exit states according to its exit distance from the retracted position:

- A first exit state in which the bolt has been moved in translation by a first exit distance relative to the retracted position, until the first connector is connected to the first complementary connector, while the second connector n is not connected to a complementary connector and the second connector is not connected to a connector; and

a second exit state in which the bolt has been moved in translation by a second distance relative to the retracted position, this second distance being greater than the first distance, until the first connector is connected to the second connector complementary and that the second connector is connected to the first complementary connector.

In this way, the exit position of each bolt will be defined as an exit state and thus, for each exit state, it is possible to associate one or more actions; several actions can be cumulative on the same output state.

Advantageously:

- Within the male locking element, the energy transport device is connected to at least three connectors provided on the outside of a bolt at different distances along the axis of mobility of said bolt; and

- within the female locking element, the complementary energy transport device is connected to at least three complementary connectors provided inside a locking orifice at different depths;

so that, in the locked configuration, said bolt is selectively engaged inside said locking orifice at least between three distinct exit states according to its exit distance from the retracted position.

In a particular embodiment, each bolt is coupled to an elastic return device urging said bolt in the direction of its deployed position, so that said operating system is shaped to operate synchronized mobility of all the bolts from their deployed positions in direction of their retracted positions against the elastic return devices.

Thus, in the locked configuration and in the event of a cut or malfunction of the operating system, the elastic return devices will maintain the bolts in their deployed positions, thus avoiding unforeseen detachment between the male locking element and the female locking element. locking, and therefore between the two units attached to each other.

According to one possibility of the invention, the chassis of the male locking element is integral with a hinge provided for an articulated fixing on the corresponding unit.

According to another possibility of the invention, at least one locking orifice of the female locking element is associated with a secondary locking device comprising:

- a movable stopper disposed inside said locking orifice; and

- A secondary lock connected to the movable stop and movable between an unlocking position and a locking position;

where, during the transition from the interlocking system from the unlocked configuration to the locked configuration, the bolt associated with said locking orifice is configured to push said movable stopper and thus move said secondary latch from its unlocking position to its position locking.

In this way, it is possible, together with the locking between the male locking element and the female locking element, and therefore between the two units to be attached to each other, to lock and therefore to attach the 'unit associated with the female locking element with a third unit, by means of this or these secondary locking devices.

According to another advantageous characteristic of the invention, the secondary locking device further comprises an elastic return device urging the secondary lock in the direction of its unlocking position.

The present invention also relates to the characteristic according to which each locking orifice of the female locking element is associated with a secondary locking device.

According to a variant, the operating system comprises an operating actuator carried by the chassis and coupled to the bolts, said operating actuator actuating the synchronized operation of all the bolts between their retracted positions and their respective deployed positions.

According to another variant, the operating system comprises an operating actuator for each bolt, said operating actuators being controlled synchronously to actuate the synchronized operation of all the bolts between their retracted positions and their respective deployed positions.

Alternatively, the operating actuator is a rotary motor which rotates an output shaft.

According to another variant, the operating actuator is a linear motor driving in translation an output shaft.

Alternatively, the operating actuator is an electric motor.

According to another variant, the operating actuator is an electric or hydraulic or pneumatic cylinder.

According to a variant, the male locking element comprises bolts regularly distributed around a central axis.

For example, the male locking element comprises three bolts regularly distributed at 120 degrees around a central axis, or four bolts regularly distributed at 90 degrees around a central axis.

Alternatively, the male locking element three, four, five, or more bolts, and in particular between 3 and 12 bolts.

Alternatively, the male locking element includes a stage receiving the bolts.

According to another variant, the male locking element comprises at least two superposed stages each receiving bolts, so that the bolts can be superimposed one above the other.

According to a variant, the chassis of the male chassis locking element has an outer peripheral periphery of circular shape or of polygonal shape.

The invention also relates to an assembly comprising two units on which are respectively fixed the male locking element and the female locking element of an interlocking system according to the invention, where the two units are secured to each other in the locked configuration of the interlocking system and are separated from each other in the unlocked configuration of the interlocking system.

In the case of the embodiment where the interlocking system allows a transport of energy between the male locking element and the female locking element, then it is conceivable that:

- the female locking element is fixed on a first unit integrating at least one energy source which is connected to the complementary energy transport device, and the male locking element is fixed on a second unit integrating at least one energy consumer module which is connected to the energy transport device; or

- the male locking element is fixed on a first unit integrating at least one energy source which is connected to the energy transport device, and the female locking element is fixed on a second unit integrating at least one module energy consumer which is connected to the additional energy transport device;

so that, in the locked configuration of the interlocking system, the energy consumer module is connected to the power source.

Thus, the energy transport function makes it possible, once in the locked configuration, to provide an energy connection between the energy consumer module and the energy source.

Advantageously, the first unit is an energy storage unit integrating at least one energy source in the form of an energy storage module.

Such an energy storage module can be an electrical, fluidic, or pneumatic energy storage module.

In a particular embodiment, the second unit is an autonomous vehicle integrating at least one energy-consuming module in the form of a motor providing motive energy for moving the autonomous vehicle.

Thus, the interlocking system will allow a mechanical connection and an energy connection between the autonomous vehicle and the energy storage unit, which will allow energizing the vehicle engine.

In a favorite and non-limiting embodiment, the autonomous vehicle is a flying drone.

In the case of the embodiment where the interlocking system integrates into the female locking element at least one secondary locking device, then it is conceivable that:

- the female locking element is fixed on a first unit and the male locking element is fixed on a second unit;

- the set also includes a third unit;

- The secondary locking device is shaped to ensure locking of the third unit on the first unit, said third unit having at least one secondary locking orifice capable of cooperating with the secondary lock in the locking position;

where, during the transition from the interlocking system from the unlocked configuration to the locked configuration, the bolt concerned is configured to push the movable stop of the secondary locking device and thus move said secondary lock from its unlocking position to its position locking, causing the insertion of the secondary lock into the secondary locking hole and thus the locking of the third unit on the first unit.

Thus, together with the locking between the male locking element and the female locking element, and therefore between the first unit and the second unit, the inter-locking system provides a locking and therefore an attachment of the third unit on the first unit by means of this or these secondary locking devices.

In a preferred and non-limiting embodiment, this third unit is a container for transporting objects.

The invention also relates to an autonomous vehicle, in particular of the flying drone type, on which is fixed a male locking element of an interlocking system according to the invention, this autonomous vehicle incorporating at least one engine providing motive energy. to move the autonomous vehicle.

The invention also relates to a device for transporting objects, in particular packages, comprising:

- an energy storage unit on which is fixed a female locking element of an interlocking system according to the invention, wherein said energy storage unit incorporates at least one energy source having under the shape of an energy storage module; and

- a container for transporting objects;

where the secondary locking device of the female locking element is shaped to lock the object transport container on the energy storage unit.

The invention also relates to an autonomous system for transporting objects, in particular packages, comprising:

- an autonomous vehicle as described above; and

- a device for transporting objects as described above;

where the male locking element is locked on the female locking element so that the interlocking system is in the locked configuration and thus:

- the bolts lock the energy storage unit on the autonomous vehicle;

- The secondary locking device (s) of the female locking element locks the container for transporting objects on the energy storage unit; and

- the energy storage module of the energy storage unit is connected to the motor of the autonomous vehicle.

Other characteristics and advantages of the present invention will appear on reading the detailed description below, of an example of non-limiting implementation, made with reference to the appended figures in which:

- Figure 1 is a schematic view of an interlocking system;

- Figure 2 is a schematic view of a male locking element with its bolts in their retracted positions (left) and in their deployed positions (right);

- Figures 3 to 6 are perspective views (Figures 3 and 4) and from above (Figures 5 and 6) of an exemplary embodiment of a male locking element with its bolts in their retracted positions (Figures 3 and 5) and in their deployed positions (Figures 4 and 6);

- Figure 7 is a perspective and exploded view of the male locking member of Figures 3 to 6;

- Figures 8 and 9 are perspective views of the male locking element of Figures 3 to 6, where this male locking element is partially disassembled to view the coupling between the bolts and the operating system, with its bolts in their retracted positions (Figure 8) and in their deployed positions (Figure 9);

- Figure 10 is a schematic view of an object transport device according to the invention, comprising an energy storage unit on which is fixed a female locking element, and an object transport container;

- Figure 11 is a schematic view of a partially dismantled energy storage unit for viewing the secondary locking devices;

- Figure 12 is a partial schematic view in section of an object transport device, illustrating the latch of a secondary locking device in the unlocked position (left) and in the locked position (right);

- Figure 13 is a view of four bolts of a male locking element with their electrical cables (forming electrical energy transport devices) and their electrical connectors;

- Figures 14 and 15 are views of an energy storage unit on which is fixed a female locking element adapted for the male locking element of Figures 3 to 6, where the latches of the secondary locking devices are in the unlocked position (Figure 14) and in the locked position (Figure 15);

- Figures 16 and 17 are views of an object transport device comprising the energy storage unit of Figures 14 and 15, and an object transport container, where a male locking element is in coupling with the female locking element carried by the energy storage unit to form an interlocking system, and where this interlocking system is in the unlocked configuration with its bolts retracted so that the locks secondary locking devices are in the unlocked position (Figure 16) and where this interlocking system is in the locked configuration with its bolts deployed so that the latches of the secondary locking devices are in the locked position (Figure 17 );

- Figures 18 and 19 are views in partial section of the object transport device of Figures 16 and 17 with the male locking element in coupling with the female locking element carried by the energy storage unit , where the interlocking system is in the unlocked configuration (Figure 18) and where the interlocking system is in the locked configuration (Figure 19);

- Figure 20 illustrates three wiring diagrams of electrical connectors for a male locking element comprising the four bolts of Figure 13;

- Figures 21 and 22 are perspective views (Figure 21) and from below (Figure 22) of an autonomous vehicle of the flying drone type according to the invention, which supports a male locking element.

Unless expressly or implicitly indicated otherwise, structurally or functionally identical or similar members, parts, devices or elements will be designated by identical references in the above-mentioned figures.

For the following description, and by way of nonlimiting example, the interlocking system 1 according to the invention will be described as being used for locking, and therefore hooking, reversible between an autonomous vehicle of the drone type. steering wheel 2 (visible in FIGS. 21 and 22) and an object transport device 3 (visible in FIGS. 16 to 20) comprising an energy storage unit 30 and an object transport container 31.

Referring to Figures 1 and 2, an interlocking system 1 according to the invention comprises a male locking element 4 and a female locking element 5 adapted to cooperate with each other for interlocking.

For the following description, and by way of nonlimiting example, the male locking element 4 will be described as being fixed on the flying drone 2 (as visible in FIGS. 21 and 22) and the female locking element 5 will be described as being fixed on the energy storage unit 30.

The male locking element 4 comprises a chassis 40 having an external peripheral periphery 41 and supporting at least three bolts 43. For the remainder of the description, and by way of nonlimiting example, the bolts 43 are four in number and are regularly distributed at 90 degrees around a central axis AM of the male locking element 4.

Although not illustrated, the chassis 40 is integral with an articulation provided for an articulated fixing on the flying drone 2, and in particular an articulation of the ball or finger ball type, with the advantage of maintaining the storage unit of energy 30 which will be attached to it in the desired plane to improve aerodynamics in flight.

The female locking element 5 comprises a base 50 provided with a central cavity 51 bordered by a peripheral internal face 52 of a shape complementary to the external peripheral periphery 41 of the chassis 40 of the male locking element 4, and where orifices locking 53 are provided in this peripheral internal face 52 for receiving the respective bolts 43; in other words the female locking element 5 has as many locking holes 53 as the male locking element 4 has bolts 43. Thus, in the example described, the locking holes 53 are four in number and are regularly distributed at 90 degrees around a central axis AF of the female locking element 5.

For the remainder of the description, and by way of nonlimiting example, the external peripheral periphery 41 of the chassis 40 and the internal peripheral face 52 of the central cavity 51 are substantially circular.

Each bolt 43 is movable between:

- a retracted position inside the chassis 40 (as visible in FIG. 2 on the left and in FIGS. 3, 5 and 8 in the example of embodiment described), in which the bolt 43 is arranged at least partially ( or even almost entirely or entirely) inside the chassis 40 so that the bolt does not exceed little or does not (almost) exceed its external peripheral periphery 41, so that the bolt 43 cannot be engaged inside a locking hole 53; and

- At least one position deployed outside the chassis 40 (as visible in FIG. 2 on the right and in FIGS. 4, 6 and 9 in the example of embodiment described), in which the bolt 43 projects from the external peripheral periphery and thus protrudes externally from the chassis 40, so that the bolt 43 can be engaged inside a locking orifice 53.

The male locking element 4 further comprises an operating system 44 coupled to the bolts 43 for operating synchronized mobility of all the bolts 43 between their retracted positions and their respective deployed positions.

In the example described, the maneuvering system 44 comprises a maneuvering motor 45 mounted on the chassis 40 and actuating in rotation a maneuvering wheel 46 around the central axis AM of the male locking element 4, where each bolt 43 is connected to the maneuvering wheel 46 with a connecting rod 47 so that the rotation of the maneuvering wheel 46 is converted into synchronized sliding of the bolts 43. Each connecting rod 47 has two opposite ends pivoted on a bolt 43 and on the drive wheel 46.

Thus, the bolts 43 are movable in translation along respective axes of mobility which extend radially with respect to the central axis AM. The male locking element 4 further comprises guides 48 secured to the chassis 40 and guiding the bolts 43 in their respective slides.

In the example described, the frame 40 comprises two circular plates 49, and more precisely two plates 49 in the form of a crown, attached to each other to delimit a space between which the bolts 43 extend when they are retracted, as well as the shunting wheel 46, the connecting rods 47, the guides 48, while the shunting motor 45 is fixed to the outside of the chassis 40.

Thus, the interlocking system 1 is configurable between:

- An unlocked configuration in which the bolts 43 are all in their retracted positions to allow insertion of the chassis 40 of the male locking element 4 inside the central cavity 51 of the female locking element 5, and for also authorize a withdrawal of this chassis 40 from this central cavity 51; and

- At least one locked configuration in which the chassis 40 of the male locking element 4 is inserted inside the central cavity 51 of the female locking element 5, and the bolts 43 are all in their fully deployed positions by being engaged inside the corresponding locking holes 53 to provide interlocking between the male locking element 4 and the female locking element 5, and therefore interlocking between the flying drone 2 and the energy storage unit 30 in the example described.

Furthermore, each bolt 43 is coupled to a spring 430 forming an elastic return device urging the bolt 43 in the direction of its deployed position. Thus, the operating system 44 is configured to operate a synchronized mobility of all the bolts 43 from their deployed positions towards their retracted positions against these springs 430. In the event of a cut or malfunction of the operating motor 45 , the springs 430 make it possible to maintain the interlocking system 1 in the locked configuration, thus avoiding unwanted unlocking.

In the example described, the male locking element 4 supports several electrical cables 60, which form devices for transporting energy in strong current, where these electrical cables 60 are connected to electrical connectors 61 provided on the outside of each bolt 43, and more precisely at the ends of the bolts 43. These electrical connectors 61 are of the conductor contactor type. Preferably, these electrical connectors 61 go in pairs with a positive connector or "+" and a negative connector or "-".

These electric cables 60 are also connected, in particular via a control unit, to at least one energy-consuming module carried by the flying drone 2, and in particular to at least one motor supplying motive energy to make the flying drone 2 fly. The flying drone 2 conventionally carries its own electric battery for electrically supplying its electric motor (s) and, thanks to the interlocking system 1, it will be possible to connect to the flying drone 2 one or more additional electric batteries to provide autonomy increased.

The female locking element 5 supports electrical cables 70 (partially shown in FIGS. 14 and 15), which form complementary devices for transporting energy in strong current, where these electrical cables 70 are connected to complementary electrical connectors 71 provided inside each locking hole 53. These complementary electrical connectors 71 are of the conductor contactor type. Preferably, these complementary electrical connectors 71 go in pairs with a positive connector or “+” and a negative connector or “-”.

These electric cables 70 are also connected to electric batteries 32 arranged inside the energy storage unit 30, in particular with an electric battery 32 by locking orifice 53, in other words an electric battery 32 by pair of connectors. complementary electrical 71. These electric batteries 32 form modules for storing electrical energy or sources of electrical energy which will make it possible to electrically power the engine (s) of the flying drone 2 once the flying drone 2 is locked to the energy storage unit 30 thanks to the interlocking system 1.

Indeed, in the locked configuration of the interlocking system 1, each bolt 43 is engaged inside the corresponding locking orifice 53, so that the electrical connectors 61 are connected (by electrical contact) to the complementary electrical connectors 71, thus establishing a connection between the electrical cables 60 and 70, thus providing an electrical connection between the engine (s) of the flying drone 2 and the electrical battery or batteries 32 of the energy storage unit 30.

With reference to FIG. 20, several cables can be envisaged between the electrical connectors 61 and the complementary electrical connectors 71. For the following and by way of nonlimiting example, each electric battery 32 has the value 2S 5000, where S represents the number of element per electric battery 32, these elements being in parallel within the electric battery 32.

The wiring (a) of FIG. 20 corresponds to a wiring in parallel of the electric batteries 32, thus providing for the supply of the flying drone 2 a source having a value equivalent to 8S 5000.

The wiring (b) of FIG. 20 corresponds to a wiring in series of the electric batteries 32, thus providing for the power supply of the flying drone 2 a source having a value equivalent to 2S 20000.

The wiring (c) in FIG. 20 corresponds to semi-series and semi-parallel wiring of the electric batteries 32, thus providing a source for the power supply of the flying drone 2 having a value equivalent to 4S 10000.

Furthermore, each locking hole 53 of the female locking element 5 is associated with a secondary locking device comprising:

- A movable stop 81 disposed inside the locking hole 53 and slidingly mounted in this locking hole 53;

- A secondary lock 82 connected to the movable stop 81 and movable between an unlocking position and a locking position; and

- A spring 83 forming an elastic return device urging the secondary lock 82 in the direction of its unlocking position.

These secondary locks 82 pass through the energy storage unit 30 to lead to a peripheral edge 33 of this energy storage unit 30. In the unlocked position, each secondary lock 82 is retracted inside the unit energy storage 30 and does not protrude from its peripheral edge 33. In the locked position, each secondary lock 82 is deployed outside the energy storage unit 30 and protrudes externally from its peripheral edge 33.

The object transport container 31 has an inlet bordered by a peripheral internal face 34 of a shape complementary to the peripheral edge 33 of the energy storage unit 30. Thus, the energy storage unit 30 engages inside this entry in the manner of a cover which provides a closure of the object transport container 31. The object transport container 31 advantageously has an internal bearing, under the internal peripheral face 34 of the entry, so that the energy storage unit 30 can rest on it.

The object transport container 31 also has secondary locking holes 35, formed in the peripheral inner face 34 of the inlet, where these secondary locking holes 35 face the secondary latches 82 once

In operation, during the transition from the interlocking system 1 from the unlocked configuration to the locked configuration (in other words when the energy storage unit 30 is locked on the flying drone 2), the bolts 43 are configured to push the corresponding movable stops 81 and thus move the secondary locks 82 from their unlocking positions to their respective locking positions, thereby causing the insertion of the secondary locks 82 into the secondary locking holes 35 of the object transport container 31 , and thus causing the locking of the object transport container 31 and of the energy storage unit 30 together with the locking of the flying drone 2 and of the energy storage unit 30.

It should be noted that the complementary electrical connectors 71 are provided on the movable stops 81, so that the bolts 43, by pushing the movable stops 81, establish contact between the electrical connectors 61 and the complementary electrical connectors 71.

Claims (21)

1. Interlocking system (1) for reversible locking between at least two units (2, 30, 31), said interlocking system (1) comprising a male locking element (4) and an element locking female (5) capable of cooperating with each other for interlocking, characterized in that: - the male locking element (4) comprises a frame (40) having an external peripheral periphery (41) and supporting at least three bolts (43), where each bolt (43) is movable between a retracted position inside of the chassis (40) and at least one position deployed outside the chassis (40) projecting from the external peripheral periphery (41), and further comprises an operating system (44) coupled to the bolts (43) for operating synchronized mobility of all the bolts (43) between their retracted positions and their respective deployed positions; and - The female locking element (5) comprises a base (50) provided with a central cavity (51) bordered by an internal peripheral face (52) of a shape complementary to the external peripheral periphery (41) of the chassis (40) of the male locking element (4), and where at least three locking holes (53) are formed in said inner peripheral face (52) to receive the respective bolts (43); so that the interlocking system (1) is configurable between: - An unlocked configuration in which the bolts (43) are all in their retracted positions to allow insertion of the frame (40) of the male locking element (4) inside the central cavity (51) of the female locking element (5); and - at least one locked configuration in which the frame (40) of the male locking element (4) is inserted inside the central cavity (51) of the female locking element (5), and the bolts (43) are all in their deployed positions while being engaged inside the corresponding locking holes (53) to provide interlocking between the male locking element (4) and the female locking element (5). 2. Interlocking system (1) according to claim 1, in which: - the male locking element (4) supports at least one energy transport device (60), said energy transport device (60) being connected to at least one connector (61) provided on the outside of 'a bolt (43); and - the female locking element (5) supports at least one additional energy transport device (70), said additional energy transport device (70) being connected to at least one complementary connector (71) provided at the 'interior of a locking hole (53); where, in the locked configuration, said bolt (43) is engaged inside said locking hole (53) so that said connector (61) is connected to said complementary connector (71), thereby establishing a connection between the locking device energy transport (60) and the additional energy transport device (70) for energy transport between the male locking element (4) and the female locking element (5). 3. Interlocking system (1) according to claim 2, in which the energy transport device (60) and the complementary energy transport device (70) are chosen from the following list: - devices for transporting electrical energy in high current, of the electrical cable type, for establishing between the male locking element (4) and the female locking element (5) a supply of electrical energy; - pneumatic energy transport devices, of the pneumatic line type, for establishing a pneumatic energy supply between the male locking element (4) and the female locking element (5); - devices for transporting fluidic energy, of the fluid line type, for establishing a supply of fluidic energy between the male locking element (4) and the female locking element (5); - low current electrical energy transport devices, of the electric cable type, for establishing between the male locking element (4) and the female locking element (5) a data transport. 4. Interlocking system (1) according to any one of claims 2 and 3, in which each bolt (43) is provided with at least one connector (61) in connection with an energy transport device (60), and each locking hole (53) is provided with at least one complementary connector (71) in connection with a complementary energy transport device (70) so that, in the locked configuration, each bolt ( 43) is engaged inside a corresponding locking orifice (53) so that the connectors (61) are connected to the complementary connectors (71), thus establishing a connection between the transport device (s) energy (60) and the complementary energy transport device (s) (70). 5. Interlocking system (1) according to any one of claims 2 to 4, in which the bolts (43) are movable in translation along respective axes of mobility, and moreover: - within the male locking element (4), the energy transport device (60) is connected to at least a first connector and a second connector provided on the outside of a bolt (43) at different distances along the axis of mobility of said bolt (43); and - within the female locking element (5), the complementary energy transport device (70) is connected to at least a first complementary connector and a second complementary connector provided inside a locking orifice (53) at different depths; where, in the locked configuration, said bolt (43) is selectively engaged inside said locking orifice (53) at least between one or the other of the two following exit states according to its exit distance from the retracted position: - A first exit state in which the bolt (43) has been moved in translation by a first exit distance relative to the retracted position, until the first connector is connected to the first complementary connector, while the second connector is not connected to a complementary connector and the second connector is not connected to a connector; and - A second exit state in which the bolt (43) has been moved in translation by a second distance relative to the retracted position, this second distance being greater than the first distance, until the first connector is connected to the second complementary connector and that the second connector is connected to the first complementary connector. 6. Interlocking system (1) according to claim 5, in which: - within the male locking element (4), the energy transport device (60) is connected to at least three connectors provided on the outside of a bolt (43) at different distances along the 'axis of mobility of said bolt (43); and - within the female locking element (5), the complementary energy transport device (70) is connected to at least three complementary connectors provided inside a locking orifice (53) at different depths ; so that, in the locked configuration, said bolt (43) is selectively engaged inside said locking orifice (53) at least between three distinct exit states according to its exit distance from the retracted position. 7. Interlocking system (1) according to any one of the preceding claims, in which each bolt (43) is coupled to an elastic return device (430) urging said bolt (43) towards its deployed position. , so that said operating system (44) is configured to operate a synchronized mobility of all the bolts (43) from their deployed positions towards their retracted positions against the elastic return devices (430). 8. Interlocking system (1) according to any one of the preceding claims, in which the frame (40) of the male locking element (4) is integral with a joint provided for an articulated fixing on the 'corresponding unit (2). 9. Interlocking system (1) according to any one of the preceding claims, in which at least one locking orifice (53) of the female locking element (5) is associated with a secondary locking device ( 8) including: - a movable stop (81) disposed inside said locking orifice (53); and - a secondary lock (82) connected to the movable stop (81) and movable between an unlocking position and a locking position; where, during the transition from the interlocking system (1) from the unlocked configuration to the locked configuration, the bolt (43) associated with said locking orifice (53) is configured to push said movable stop (81) and thus move said secondary lock (82) from its unlocking position to its locking position. 10. Interlocking system (1) according to claim 9, in which the secondary locking device (8) further comprises an elastic return device (83) urging the secondary lock (82) towards its position. unlocking. 11. Interlocking system (1) according to any one of claims 9 and 10, in which each locking orifice (53) of the female locking element (5) is associated with a secondary locking device ( 8). 12. Assembly comprising two units (2, 30) on which are fixed respectively the male locking element (4) and the female locking element (5) of an interlocking system (1) according to any one of the preceding claims, in which the two units (2, 30) are secured to one another in the locked configuration of the interlocking system (1) and are separated from each other in the unlocked configuration interlocking system (1). 13. An assembly according to claim 12, in which the interlocking system (1) is in accordance with claim 2 and: - the female locking element (5) is fixed on a first unit (30) integrating at least one energy source (32) which is connected to the complementary energy transport device (70), and the male element locking (4) is fixed on a second unit (2) incorporating at least one energy consuming module which is connected to the energy transport device (60); or - the male locking element (4) is fixed on a first unit incorporating at least one energy source which is connected to the energy transport device (60), and the female locking element (5) is fixed on a second unit incorporating at least one energy consuming module which is connected to the complementary energy transport device (70); so that, in the locked configuration of the interlocking system (1), the energy consumer module is connected to the power source (32). 14. The assembly of claim 13, wherein the first unit is an energy storage unit (30) integrating at least one energy source in the form of an energy storage module (32). 15. The assembly of claim 14, wherein the second unit is an autonomous vehicle (2) incorporating at least one energy consuming module in the form of a motor providing motive energy for moving the autonomous vehicle (2) . 16. The assembly of claim 15, wherein the autonomous vehicle is a flying drone (2). 17. Assembly according to any one of claims 12 to 16, in which the interlocking system (1) is in accordance with any one of claims 9 to 11, where: - the female locking element (5) is fixed on a first unit (30) and the male locking element (4) is fixed on a second unit (2); - the assembly also includes a third unit (31); - The secondary locking device (8) is shaped to lock the third unit (31) on the first unit (30), said third unit (31) having at least one secondary locking orifice (35) capable of cooperating with the secondary lock (82) in the locked position; where, during the transition from the interlocking system (1) from the unlocked configuration to the locked configuration, the bolt (43) concerned is configured to push the movable stop (81) of the secondary locking device (8) and thus moving said secondary lock (82) from its unlocked position to its locked position, causing the insertion of the secondary lock (82) in the secondary locking hole (35) and thus the locking of the third unit (31) on the first unit (30). 18. The assembly of claim 17, wherein the third unit is an object transport container (31). 19. Autonomous vehicle (2), in particular of the flying drone type, on which is fixed a male locking element (4) of an interlocking system (1) according to claim 2, said autonomous vehicle (2) incorporating at least one motor providing motive energy for moving the autonomous vehicle (2). 20. Device for transporting objects, especially packages, comprising: - an energy storage unit (30) on which is fixed a female locking element (5) of an interlocking system (1) according to claims 2 and 9, wherein said energy storage unit (30) integrates at least one energy source in the form of an energy storage module (32); and - an object transport container (31); where the secondary locking device (8) of the female locking element (5) is shaped to lock the object transport container (31) on the energy storage unit (30). 21. Autonomous system for transporting objects, especially packages, comprising: - an autonomous vehicle (2) according to claim 19; and - an object transport device according to claim 20; where the male locking element (4) is locked on the female locking element (5) so that the interlocking system (1) is in the locked configuration and thus: - the bolts (43) lock the energy storage unit (30) on the autonomous vehicle (2); - The secondary locking device (8) of the female locking element (5) locks the object transport container (31) on the energy storage unit (30); and - the energy storage module (32) of the energy storage unit (30) is connected to the engine of the autonomous vehicle (2).