JP2019514103A - Autonomous Robot with Guidance in Push Mode - Google Patents

Abstract

To prepare a powered autonomous robot having an ability to cause an operator to track itself while allowing an operator to visually recognize a robot in motion. A body (2) assembled on a wheel (3), or on an endless track, or on a foot, a position specifying device (4), and a position specifying device (4) in communication state A powered autonomous robot (1) including an operating module (100) including a module for detecting relative position of an operator in an operating zone on one side of the robot, wherein the detecting module is the other of the robot It is adapted to determine the commanded position of the operator in order to cause the robot to advance and / or rotate and / or translate laterally in the forward zone (30) located on the side of the. [Selected figure] Figure 1B

Description

  The present invention relates to a powered robot. The invention relates more particularly to a robot having the ability to move in a "push" mode by the presence of an operator at one end of the robot.

  Powered autonomous robots are well known today and are used in many fields such as logistics, agriculture and industrial production. In order to move these robots autonomously, they must contain positioning and guidance means. Today, there are many embodiments in which sensors and / or cameras are disposed at locations that allow the implementation of location features that allow the robot to move under acceptable safety conditions.

  To manage movement, an autonomous robot can be programmed according to the exact path to be implemented. This mode is well adapted to the paths that have to be implemented iteratively. In other cases, such as when the operator wants to implement a unique path, the robot has sensors that allow the detection of the operator, and guidance means that allow the robot to move following the operator. This mode is well known in the term "follow me" (track me please) in English. Other solutions are presented below.

  U.S. Patent Application Publication No. 2006140450 describes a human tracking device and method. The device includes a storage medium storing a program for performing the method, and a mobile electronic system including the device. The human tracking device includes a module for detecting the location of the upper body of the human; a module for detecting the position of the human leg; a module for selecting a tracking object; a tracking speed and an orientation calculator for calculating this speed. The device can track one person.

  Chinese Patent Application Publication No. 105005247 describes a pallet lift that can be remotely controlled by the operator using wireless communication. Furthermore, this pallet lift can automatically track the operator.

  Taiwan Patent Application Publication No. 201540447 describes a sensor for detecting the posture of a human skeleton in front of a robot and moving in response to control by a human body's gesture. The robot tracks moving individuals.

  Korean Patent No. 101014531 describes a method of tracking a human by a powered robot. A sensor is assumed to detect the leg of the individual and track the movement of the individual.

  Japanese Patent Laid-Open No. 2008-149399 describes a powered robot that moves at an appropriate speed to track a person moving simultaneously. The robot moves beside the individual at the same time as the individual.

  Japanese Patent Laid-Open No. 2003-280739 describes a powered robot having the ability to track a person.

  These solutions enable the powered autonomous robot to track the operator with relatively high reliability. However, these solutions presuppose that the operator precedes the robot on the path that the operator wants the robot to travel. However, by moving in front of the robot, the operator sees what is happening behind him, that is, whether the robot is tracking the operator, whether the robot has deviated from the operator's route, and so on. There is no telling at all if the robot has fallen into a trap or if the robot has not encountered an accidental event. This situation leads to a great deal of uncertainty regarding the quality and reliability of tracking performed by the robot.

  In other cases, the operator may be forced to change the moving direction. However, in the case of a "follower" robot, the operator now has to bypass the robot to put himself on the other side to resume the tracking mode. In this case, it is strongly required to assume the operator's recognition means on both sides of the robot. Finally, in some cases, an operator who is blocked from advancing can not bypass the robot and lay on the other side. In that case, first aid measures must be envisaged to be able to manage the situation, for example by pulling or lifting the robot and rotating it 180 degrees.

  The Youtube document "Robot assistant Effibot de Effidence au Sival 2016 (Effibot as an assistant robot for Effidence in Sival 2016)" moves not only behind the operator in tracking mode but also in front of the operator by a remote control for remotely guiding the robot Drawing a robot with the ability. This mode of operation is not intuitive and the remote control can be a hindrance to the operator.

  The Youtube video "Fini les bottes, avec Effibot?" Depicts a robot that has the ability to move while tracking the operator.

  In these two videos, for example, a robot is depicted that has the ability to track the operator with a positioning system that allows the robot to detect the operator's legs. However, the localization zone is limited to the front of the robot and the rear is blocked by hardware. In the push mode, a remote control is required to transmit movement instructions to the robot.

  In order to alleviate these various drawbacks, the present invention prepares various technical means.

  First, a first object of the present invention is to prepare a powered autonomous robot having the ability to cause the operator to track itself while allowing the operator to visually recognize the robot in motion.

  Another object of the present invention consists in preparing a powered autonomous robot with low manufacturing costs.

  Another object of the invention consists in preparing a powered autonomous robot that is simple to implement and reliable.

  To this end, according to the invention, the main body assembled on the wheel or in the endless track or on the foot, the positioning device and the positioning device in communication and driving on one side of the robot In a powered autonomous robot including an operation module including a module for relative position detection of an operator in a zone, the detection module determines the relative position of the operator in relation to a reference position corresponding to the stop of the robot Said relative position is itself adapted to the guiding module for advancing and / or rotating and / or laterally translating the robot within the advancing zone located on the other side of the robot. Assumes a robot used by the command module to generate a move command (consigne) to be transmitted .

  Such devices allow the operator to configure the robot in such a way as to virtually press the robot without using a remote control. This mode is referred to herein as "push-me" by analogy to the "follow-me" mode in which the robot tracks the user. In a variant, it is advantageous for the robot to be provided with two operating modes in order to obtain maximum flexibility in use.

  Such devices allow the operator to control robot movement while maintaining full visibility to the robot itself and its environment. Thus, the operator can react immediately in the face of any unexpected situations or in the face of accidental events. The operator can easily and immediately interact with the robot to modify or adapt the operation along the route, in real time, and undisturbed by the remote control. In a variant of the robot with a "follow me" operating mode, the pilot may, for example, have a robot that is sometimes impossible at certain work sites, such as, for example, between vines or in a greenhouse. It is possible to shift from one operating mode to another without having to detour.

  Advantageously, the relative position of the operator is determined by measuring the longitudinal separation and the lateral separation in relation to the reference position corresponding to the stop of the robot.

  In a variant, the relative position of the operator is determined by measuring the angular separation (α) and the radial separation (r) in relation to the reference position corresponding to the stop of the robot.

  Advantageously, the localization device comprises only one sensor. This technical feature makes it possible to obtain a simple arrangement with less wiring and high reliability. Such an arrangement makes it possible to limit the costs and simplify the production of the robot. This same sensor can help detect obstacles present along the path of the robot.

  According to an advantageous embodiment, the localization device comprises a module capable of determining the relative position of the operator in relation to the robot to be driven. Such a module may be, for example, an element selected from the list of laser, lidar, sonar, radar, camera, temperature camera, infrared ranging device, wireless (e.g. by ultra wideband UWB) measuring device, GPS.

  The localization device is preferably adapted to emit a rotary beam over an angular range of at least 300 °, more preferably 330 °, even more preferably substantially 360 °. This feature has the advantage of providing complete or near-perfect visibility for the robot with a single sensor, which greatly simplifies the implementation of the structure and system. Furthermore, in the case of a robot with a driving system having two modes (follow-me or "push-me"), the localization device easily manages the two modes in a simple and reliable configuration Make it possible.

  Positioning devices enable use in diverse environments, and under difficult conditions, and even under extreme conditions. In fact, for example, the laser can be used equally well in dark rooms or in strong sunlight outdoors. Finally, localization over 360 degrees has the advantage of providing full visibility of the robot ensuring greater security.

  According to another advantageous embodiment, the localization device is configured to detect an environmental element that can ensure a collision-free movement.

  The invention also relates to an operating system for an autonomous robot as described above, comprising a positioning device capable of communicating with an operating module comprising a microprocessor and an instruction to operate, said operating system Module includes a module for detecting the relative position of the operator, a module for movement command, and a module for guidance, and the operation system includes the robot in the advancing zone located on the other side of the robot Also envisioned is a driving system configured to allow driving by an operator located in a driving zone on one side of the robot to advance and / or rotate and / or translate laterally. ing.

  Such a system can be equipped with a number of powered autonomous robots to benefit from the "push-me" mode of operation.

The invention likewise relates to a method for operating a powered autonomous robot as described above by an operator,
The module for detecting the relative position of the operator determining the relative position of the operator by measuring the longitudinal distance and the lateral distance in relation to the reference position corresponding to the stop of the robot;
-The movement command module receives the relative position data of the operator and determines the movement command;
-The guiding module receives the movement command, and reliably moves the robot according to the movement command;
Are also envisioned.

  Advantageously, the angular orientation of the robot is determined by the command module according to the angular or lateral separation, so that the greater the separation, the tighter the curve.

  Also advantageously, the movement speed of the robot is determined by the commanding module in response to radial (r) or longitudinal separation, so that the greater the separation, the faster the speed. .

  In "push-me" mode, unlike "follow-me" mode, the user is actually active and drives the robot. The user decides his or her relative position in relation to the robot in order to drive the robot and guide it between obstacles and to the desired path. The user is able to react to any situation or event in real time, by looking continuously at the robot and its environment. Thus, this mode of operation is very reliable, very reliable and intuitive, providing high adaptability in countless places.

  According to a further advantageous embodiment, the module for detection of the relative position of the operator is envisaged to detect movement or cues of the operator corresponding to a stop command of movement of the robot. This feature allows the user to react very quickly without touching the robot in order to obtain maximum responsiveness and safety. In a variant, retraction of the operator may help to control the stop. In a further variant, the stop button can be provided on the robot or on the remote control.

  All the details of the implementation are complemented by FIGS. 1 to 6 presented for the purpose of non-limiting example only and are given in the following description.

2 is a schematic representation of an example of an autonomous robot with a driving system according to the invention. 3 is a schematic representation of an example of an autonomous robot located between a pilot and a driving zone. It is an example of movement with a curve of the power type autonomous robot concerning the present invention. It is an example of movement with a curve of the power type autonomous robot concerning the present invention. It is an example of movement with a curve of the power type autonomous robot concerning the present invention. Fig. 3 shows a functional flowchart illustrating the main steps of the driving method according to the present invention. 1 illustrates an example of a driving module for a powered autonomous robot according to the present invention.

  The purpose is to operate the robot without touching the robot while preceding the robot and without using the joystick or remote control. The robot may suddenly become immobile when its emergency stop system is triggered. In that case, the person who follows the robot should not hit the robot. The robot may suddenly become immobile when its emergency stop system is triggered. At this time, it is necessary to assume that a person who follows the robot does not collide with the robot. Furthermore, the robot must be sufficiently separated so that one's leg can take a step without the risk of hitting the robot.

  FIG. 1A illustrates one embodiment of a robot 1 that includes a body 2 assembled on wheels 3. In this example, the body 2 has a rectangular shape and is substantially flat so as to keep the center of gravity close to the floor so as to facilitate loading and unloading operations by the operator. In a variant, the body may be conceived along a wide range of shapes and cross-sectional shapes, depending on the intended application and the aesthetic quality sought. Conventionally, a robot comprises at least one electric motor or internal combustion engine and means capable of autonomously managing movement.

  In the embodiment of FIG. 1A, the robot comprises a load loading table 5 disposed on the main body 2. This position can provide a great deal of convenience in manipulating the load to be transported by the robot. FIG. 1 also shows that the table 5 is spaced from the body 2. In this example, the raising of the table is ensured by the separating spacer 6 arranged between the upper part of the body 2 and the lower part of the table.

  As shown in FIG. 1A, the robot of this embodiment has six spacers distributed in such a way as to fully support the entire surface of the table, ie two spacers at each end and in the central zone of the body Includes two spacers facing. The robot is envisioned to advance in at least one direction, in any direction, and the robot can rotate and follow a curvilinear or linear trajectory. Angular turning is ensured by the pivoting of the wheels (two or four steered wheels) or by the relative angular velocity variation between the wheels on each side of the robot.

  For this purpose, the robot is advantageously equipped with four electric motors which are arranged in the axles of the wheels. The robot may likewise be equipped with only one motor with two or four drive wheels. The body 2 can house one or more batteries and electronic components needed to ensure control and guidance of the robot.

  By raising the table 5 in relation to the upper part of the body, it is possible to form a viewing zone 7 substantially free of obstacles in which the localization device 4 which is preferably unique is disposed.

  In the illustrated example, the separating spacer 6 is composed of a substantially thin platelet oriented so that the main plane is substantially parallel to the axis of the beam of the locating device 4. Continuing with the embodiment of FIGS. 1 and 2, the localization device 4 includes a radar laser (or LIDAR) adapted to locate environmental objects over an angular range of 360 °. The spacers are sufficiently thin and spaced so as not to interfere with the visibility of the environment.

  In variations, other types of sensors may be used, such as one or more cameras, one or more inductive sensors, or the like. Hybrid solutions using multiple types of sensors can be used as well.

Operation Example in "Push-Me" Mode In the embodiment of the operating system and method of the present invention illustrated in FIGS. 1B, 2, 3 and 4, an example of a robot 1 without a load carrying table is shown. , Is used for illustrative purposes. The localization device 4 advantageously enables an active laser scanner over 360 degrees to be able to simultaneously detect elements of the robot, such as objects, walls, partitions or obstacles, and the operator 10 of the robot simultaneously. (Or LIDAR). The pilot can move within an operating zone 20 located on one side of the robot 1. An advancing zone 30 in which the robot can move is on the opposite side of the driving zone 20.

  The example of FIG. 1B illustrates an example of a robot moving in a "push-me" mode along a substantially linear direction.

  The example of FIG. 2 illustrates an example of a robot moving in "push-me" mode while starting to cut the curve to the right.

  The example of FIG. 3 illustrates an example of a robot moving in "push-me" mode while starting to cut the curve to the left.

  The example of FIG. 4 illustrates an example of a robot moving in "push-me" mode while starting to cut the curve to the left by another method of measuring the commanded position.

Driving System FIG. 6 shows the position determination device 4 as described above (FIGS. 1A, 1 B, 2, 3 and 4) which can communicate with the driving module 100 by wired or wireless link. Schematically illustrates an example of a driving system for an autonomous robot including The operating module comprises, for the purpose of its implementation, at least one microprocessor 101 and instructions 102 for implementing the microprocessors of the various modules. The operating module also envisages a module 103 for detecting the relative position of the operator and a module 104 for movement command. A guiding module 105 for reliably guiding the robot along the advancing zone is also envisaged. The operation module advantageously comprises memory modules such as the data module 106 of the relative position of the operator and the movement command data module 107 of the robot. An obstacle detection module can be envisioned as well.

  The operating system is configured to enable operation by the operator 10 located in the operating zone 20 on one side of the robot 1 in order to advance the robot in the oppositely located advancing zone 30 . Thus, the driving system is of the "push-me" type since the robot precedes the operator who operates the robot without contact with the robot and without a remote control for remote control of the robot.

Method of Operation FIG. 5 presents a functional flow chart illustrating the major steps of the method of operation of a powered autonomous robot according to the present invention.

  In step 50, the operation module 100 receives a command to start or continue operation in the push mode. For example, the user presses a control button or remote lever on the robot. In step 51, the position specifying device 4 sends position data of the operator of the robot present in the operation zone 20 to the module 103 for detecting the relative position of the operator. In step 52, the module 103 measures, for example, by determining the longitudinal separation and the lateral separation (see FIG. 1B, FIG. 2 and FIG. 3) or the angular separation .alpha. And the radial separation "r". By doing (see FIG. 4), the commanded position of the operator in relation to the robot is determined.

At step 53, the movement command module 104 compares the relative position of the operator with the reference position. In this reference position, the operator is at a longitudinal and lateral separation or angular separation α and a radius “r” corresponding to the stopping of the robot in the driving zone. When the relative position of the operator is separated from the reference position, the movement command module 104 sets a command for moving the robot. Step 54 illustrates an example of the speed of the robot and possibly the criteria that are advantageously used to determine the curve. According to these criteria, the velocity is determined according to the distance from the reference position:
If the distance is 0: constant speed;
-If the distance is greater than 0: increase speed;
• If the gap is less than 0: Deceleration.

  The direction of the curve angle is determined by the command module 104 according to the relative position of the operator, thus the operator 10 is on the first side of the reference position (e.g. the longitudinal axis AA of the robot or the angle α) In this case, the direction of the curve is clockwise, and when the operator is on the second side of the reference position, the direction of the curve is counterclockwise.

  Optionally, in order to stop the robot suddenly, the module 103 for detecting the relative position of the operator is assumed to detect the movement or cue of the operator corresponding to the stop command of the movement of the robot (step 55) ). This command may also correspond to user's backward control or control via a dedicated button.

Calculation definitions and functions:
-La longueur_pas: stride for walking (80 cm);
-Fct_longueur_pas (vitesse): A function that returns a stride according to the moving speed of a person. If the speed is a walking speed, then the value returned will be 80 cm (longueur_pas). If the speed is a running speed, the stride will be much larger.
-Ecart: distance in meters to bring the robot longitudinally away from the person, to take into account that the stride is not the same for all people;
-Fct_distance_arret_pieton (vitesse): a function that returns the pedestrian's theoretical stopping distance according to the pedestrian's walking speed;
− Fct_distance_arret_pieton (vitesse) = vitesse ^* temps_de_reaction + vitesse ^ 2 / (2 ^* deceleration_theorique_pieton);
-Fct_distance_arret_urgence_robot (vitesse): a function that returns the theoretical stopping distance of the robot according to the moving speed of the robot during emergency braking;
− Fct_distance_arret_urgence_robot (vitesse) = vitesse ^* temps_de_latence + vitesse ^ 2 / (2 ^* deceleration_urgence_robot);
Commanded distance: the desired distance for the longitudinal separation between the pedestrian and the robot;
− Distance_consigne = max (max (Longueur_pas, Fct_longueur_pas (vitesse_robot)) + ecart, max (0, Fct_distance_arret_pieton (vitesse_robot) −
fct_distance_arret_urgence_robot (vitesse_robot)))
-Vehicle orientation command: this is a command rather than an (ordre) sent to the motor, as this command can be corrected by avoiding the coming obstacles;
-In the case of a vehicle with a steering system: command = turning radius (or the curvature of the wheel or the angle de braquage);
-If the person is off to the right, turn the wheel to the left.
-If the person is shifted to the left, turn the wheel to the right.
If a person is approximately within the robot axis ± cm delta value then the robot's wheels are straight. This property allows the robot to advance linearly even if the person does not walk exactly straight or if the human detection module is not accurate in lateral detection.
If the vehicle has a fixed system (car type): command = rotational speed (or curvature).
The vehicle rotates in such a way that a person is always in the longitudinal axis of the robot. If the person is approximately within the robot axis ± cm unit delta value, then the robot does not rotate. This allows the robot to advance linearly even if the person does not walk exactly straight or if the human detection module is not accurate in lateral detection.
-Vehicle speed command: This is a command rather than a command sent to the motor, as this command could be corrected by the next obstacle avoidance.
-Command = forward linear velocity;
-The robot accelerates or decelerates to suppress the longitudinal gap on the commanded distance, but can not retract.

Reactive obstacle avoidance:
In order to see if the robot collides with obstacles, use the commands defined above to predict the position of the robot in the future:
The robot has a given shape (generally rectangular).
-Predict = Define the position where the robot will be after 100 ms, then define the position where the robot will be after 200 ms, etc. until the robot reaches its commanded velocity, and so on Continue to predict the robot's position while decelerating until it stops.
-This step allows the robot to accelerate up to 10 km / h if the command travels at 10 km / h and that there is then enough free distance in front of the robot to safely decelerate and become immobile. It is supposed to confirm.
-For each position predicted, make sure that there are no obstacles in the predicted robot, and if there is, consider a collision.
-If there is a collision, evaluate whether it is possible to change the robot's orientation to avoid obstacles without correcting the determined speed. Define a search window for the new orientation. This window is centered on the determined orientation command. If the robot is required to go straight, then the window will extend from the left maximum orientation to the right maximum orientation. If the robot is required to rotate, then the window will be narrower and as narrow as the robot is required to rotate.
-In this step, if the pilot asks his robot to turn to the left as far as possible, the robot will not particularly try to go to the right even if there is an obstacle in front of the robot Is assumed. In this case, it is preferable for the robot to decelerate.
-For each frame inside the window, the robot's trajectory is predicted using the orientation of the frame under test and the commanded speed.
-"OK" and the frame closest to the desired command is selected.
-If none of the windows in the window are "OK", then do the same for the slightly lower speed again.

DESCRIPTION OF SYMBOLS 1 robot 2 robot body 3 wheels 4 positioning device 5 load loading table or load carrying table 6 separation spacer 7 visual zone 10 operator or operator 20 operation zone 30 forward zone 100 operation module 101 microprocessor 102 instruction 103 Module for detecting relative position of operator 104 Module for movement command 105 Module for guidance 106 Relative position data 107 Movement command data 108 Data bus

U.S. Patent Application Publication No. 2006140450 Chinese Patent Application Publication No. 105005247 Taiwan Patent Application Publication No. 201540447 Korean Patent No. 101014531 Specification JP, 2008-149399, A Japanese Patent Application Publication No. 2003-280739

Claims (11)

  The robot is in communication with the body (2), the positioning device (4) and the positioning device (4) assembled on the wheel (3), on an endless track or on the foot-like part In the powered autonomous robot (1) including the operation module (100) including the relative position detection module (103) of the operator in the operation zone on one side, the detection module corresponds to the stop of the robot Are adapted to determine the relative position of the operator in relation to the reference position, said relative position advancing and / or / or moving the robot within the advancing zone (30) located on the other side of the robot The commanding module (104) for the purpose of generating a movement command which is itself transmitted to the guiding module (105) for rotational and / or lateral translational movement. Thus used, the robot (1).   The robot (1) according to claim 1, wherein the relative position of the operator is determined by measuring longitudinal and lateral gaps in relation to a reference position corresponding to a stop of the robot.   The robot according to claim 1, wherein the relative position of the operator is determined by measuring the angular separation (α) and the radial separation (r) in relation to a reference position corresponding to a stop of the robot. ).   Robot (1) according to claim 1 or 2, wherein the locating device (4) comprises only one sensor.   The positioning device (4) according to any one of the preceding claims, wherein the positioning device (4) comprises an element selected from the list laser, lidar, sonar, radar, camera, temperature camera, infrared ranging device, wireless measuring device, GPS. The robot (1) described in or one. A positioning device (4) according to any one of the preceding claims, comprising a locating device (4) capable of communicating with an operating module (100) comprising a microprocessor (101) and an instruction for implementation (102). In the operation system for the autonomous robot (1), the operation module includes a module (103) for detecting the relative position of the operator, a module (104) for movement command, and a module (105) for guidance. Including
For driving one side of the robot (1) to move the robot forward and / or rotate and / or translate laterally within the advancing zone (30) located on the other side of the robot A driving system configured to allow operation by an operator (10) located in a zone (20). The method of operating a powered autonomous robot (1) according to any one of claims 1 to 5 by an operator (10),
The module for detecting the relative position of the operator (103) determines the relative position of the operator by measuring the longitudinal distance and the lateral distance in relation to the reference position corresponding to the stop of the robot Step and;
-The movement command module (104) receives the relative position data of the operator and determines the movement command;
-The guidance module (105) receives the movement command and reliably moves the robot according to the movement command;
Method including. The method of operating a powered autonomous robot (1) according to any one of claims 1 to 5 by an operator (10),
The module for detecting the relative position of the operator (103) measures the angular gap (α) and the radial gap (r) in relation to the reference position corresponding to the stop of the robot so that the operator's relative position Determining the position;
-The movement command module (104) receives the relative position data of the operator and determines the movement command;
-The guidance module (105) receives the movement command and reliably moves the robot according to the movement command;
Method including.   8. The robot according to claim 7, wherein the angular orientation of the robot is determined by the command module (104) according to the angular or lateral separation, so that the greater the separation, the tighter the curve. The operating method of the motive power type autonomous robot (1) as described in 8.   The movement speed of the robot is determined by the command module (104) according to radial separation (r) or longitudinal separation, so that the greater the separation, the faster the speed. The operating method of the motive power type autonomous robot (1) as described in 7 or 8.   The module according to any of claims 7 to 10, wherein the module (103) for detecting the relative position of the operator is envisaged to detect the operator's movement or cue corresponding to a stop command of movement of the robot. How to operate a powered autonomous robot (1).

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