FR3103128B1 - Robot autonome - Google Patents

Robot autonome Download PDF

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Publication number
FR3103128B1
FR3103128B1 FR1912919A FR1912919A FR3103128B1 FR 3103128 B1 FR3103128 B1 FR 3103128B1 FR 1912919 A FR1912919 A FR 1912919A FR 1912919 A FR1912919 A FR 1912919A FR 3103128 B1 FR3103128 B1 FR 3103128B1
Authority
FR
France
Prior art keywords
wheels
elongated body
autonomous robot
robot
abstract
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1912919A
Other languages
English (en)
Other versions
FR3103128A1 (fr
Inventor
Guillemin Raymond
William Guitton
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meropy
Original Assignee
Meropy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1912919A priority Critical patent/FR3103128B1/fr
Application filed by Meropy filed Critical Meropy
Priority to AU2020385657A priority patent/AU2020385657A1/en
Priority to CA3158224A priority patent/CA3158224A1/fr
Priority to PCT/FR2020/051873 priority patent/WO2021099705A1/fr
Priority to BR112022009720A priority patent/BR112022009720A2/pt
Priority to US17/756,161 priority patent/US20220410991A1/en
Priority to CN202080079962.4A priority patent/CN114981044A/zh
Priority to EP20803227.6A priority patent/EP4061587A1/fr
Publication of FR3103128A1 publication Critical patent/FR3103128A1/fr
Application granted granted Critical
Publication of FR3103128B1 publication Critical patent/FR3103128B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B1/00—Spoked wheels; Spokes thereof
    • B60B1/06—Wheels with compression spokes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B15/00—Wheels or wheel attachments designed for increasing traction
    • B60B15/18—Wheels with ground-engaging plate-like shoes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Robotics (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L’invention présente un robot autonome (1) comprenant un corps allongé (3) selon un axe transversal à une direction de déplacement du robot (1) et, reliés au corps allongé (3), un capteur multi-spectral ; exactement deux roues (4) ; un dispositif de stabilisation (9) pour contrôler le tangage du corps allongé (3) lorsque les roues (4) sont en mouvement, les roues (4) étant constituées de roues en rayons. Figure à publier avec l’abrégé : Fig. 1a
FR1912919A 2019-11-19 2019-11-19 Robot autonome Active FR3103128B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
FR1912919A FR3103128B1 (fr) 2019-11-19 2019-11-19 Robot autonome
CA3158224A CA3158224A1 (fr) 2019-11-19 2020-10-16 Robot autonome
PCT/FR2020/051873 WO2021099705A1 (fr) 2019-11-19 2020-10-16 Robot autonome
BR112022009720A BR112022009720A2 (pt) 2019-11-19 2020-10-16 Robô autônomo
AU2020385657A AU2020385657A1 (en) 2019-11-19 2020-10-16 Autonomous robot
US17/756,161 US20220410991A1 (en) 2019-11-19 2020-10-16 Autonomous robot
CN202080079962.4A CN114981044A (zh) 2019-11-19 2020-10-16 自主机器人
EP20803227.6A EP4061587A1 (fr) 2019-11-19 2020-10-16 Robot autonome

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1912919 2019-11-19
FR1912919A FR3103128B1 (fr) 2019-11-19 2019-11-19 Robot autonome

Publications (2)

Publication Number Publication Date
FR3103128A1 FR3103128A1 (fr) 2021-05-21
FR3103128B1 true FR3103128B1 (fr) 2022-07-29

Family

ID=69903313

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1912919A Active FR3103128B1 (fr) 2019-11-19 2019-11-19 Robot autonome

Country Status (8)

Country Link
US (1) US20220410991A1 (fr)
EP (1) EP4061587A1 (fr)
CN (1) CN114981044A (fr)
AU (1) AU2020385657A1 (fr)
BR (1) BR112022009720A2 (fr)
CA (1) CA3158224A1 (fr)
FR (1) FR3103128B1 (fr)
WO (1) WO2021099705A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210129617A1 (en) * 2019-10-30 2021-05-06 The Florida State University Research Foundation, Inc. Systems and methods for multi-axially force/torque controlled rotating leg assemblies for a vehicle drive and suspension
CN114161404B (zh) * 2021-11-09 2023-07-21 绍兴文理学院 一种太阳能供电滑块的6杆曲杆张拉整体机器人

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2037431C1 (ru) 1993-03-03 1995-06-19 Магомет Салиханович Сагов Способ повышения проходимости колеса транспортного средства и колесо транспортного средства
US6160902A (en) 1997-10-10 2000-12-12 Case Corporation Method for monitoring nitrogen status using a multi-spectral imaging system
US7765780B2 (en) 2003-12-12 2010-08-03 Vision Robotics Corporation Agricultural robot system and method
SG172061A1 (en) * 2008-12-09 2011-07-28 Reconrobotics Inc Two-wheeled robot with enhanced climbing features
WO2012071098A2 (fr) * 2010-09-03 2012-05-31 Reconrobotics, Inc. Systèmes et procédés pour robotiser un équipement de charge utile
US20120137862A1 (en) * 2010-11-30 2012-06-07 Reconrobotics, Inc. Robotic payload delivery device
FR3001101B1 (fr) 2013-01-18 2015-07-17 Naio Technologies Dispositif agricole automatise autonome
FR3006296B1 (fr) 2013-05-31 2016-11-11 Airinov Drone comprenant un dispositif imageur multispectral pour la generation de cartes representant un etat vegetal d'une culture
FR3007295A1 (fr) 2013-06-21 2014-12-26 Airinov Drone equipe d'un dispositif imageur et de moyens de protection du dispositif imageur
PL3316673T3 (pl) 2015-07-02 2021-06-14 Ecorobotix Sa Zrobotyzowany pojazd i sposób stosowania robota do automatycznego traktowania organizmów roślinnych
RU2633431C2 (ru) 2016-03-01 2017-10-12 Федеральное государственное бюджетное научное учреждение "Федеральный научный агроинженерный центр ВИМ" (ФГБНУ ФНАЦ ВИМ) Беспилотный робот для картирования урожайности
US10124483B1 (en) * 2016-04-26 2018-11-13 Sebastien Cotton All terrain ground robot with compliant leg system, energy recycling features and zero turn capabilities
FR3059272B1 (fr) * 2016-11-28 2020-11-13 Univ Versailles Saint Quentin En Yvelines Vehicule a gyropode
US10100968B1 (en) * 2017-06-12 2018-10-16 Irobot Corporation Mast systems for autonomous mobile robots
BR112020003713A2 (pt) 2017-08-25 2020-11-17 The Board Of Trustees Of The University Of Illinois aparelho e método para coleta de dados agrícolas e operações agrícolas

Also Published As

Publication number Publication date
BR112022009720A2 (pt) 2022-09-06
AU2020385657A1 (en) 2022-07-07
US20220410991A1 (en) 2022-12-29
FR3103128A1 (fr) 2021-05-21
WO2021099705A1 (fr) 2021-05-27
CA3158224A1 (fr) 2021-05-27
EP4061587A1 (fr) 2022-09-28
CN114981044A (zh) 2022-08-30

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