WO2020064991A1 - Robot arm system and method for emitting an information signal in the event of a critical state being detected in said robot arm system - Google Patents

Robot arm system and method for emitting an information signal in the event of a critical state being detected in said robot arm system Download PDF

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Publication number
WO2020064991A1
WO2020064991A1 PCT/EP2019/076150 EP2019076150W WO2020064991A1 WO 2020064991 A1 WO2020064991 A1 WO 2020064991A1 EP 2019076150 W EP2019076150 W EP 2019076150W WO 2020064991 A1 WO2020064991 A1 WO 2020064991A1
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WO
WIPO (PCT)
Prior art keywords
robots
robot
forces
simulated
critical state
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Application number
PCT/EP2019/076150
Other languages
French (fr)
Inventor
Benoît FURET
Sébastien Garnier
Samuel BONNET
Guillaume GALLOT
Original Assignee
Universite De Nantes
Centre National De La Recherche Scientifique
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Publication date
Application filed by Universite De Nantes, Centre National De La Recherche Scientifique filed Critical Universite De Nantes
Priority to EP19773446.0A priority Critical patent/EP3856467A1/en
Publication of WO2020064991A1 publication Critical patent/WO2020064991A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39173—Dynamic interaction between vehicle and manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile

Definitions

  • Robot arm system and method for transmitting an information signal upon detection of a critical condition in said robot arm system
  • the present invention relates generally to robot arm systems and methods for transmitting an information signal upon detection of a critical condition in said robot arm systems.
  • It relates more particularly to the field of robot arm systems which include two robots provided with control means: - a first robot comprising a poly-articulated arm equipped with several articulations, and - a second robot of the mobile vehicle type, equipped with means for carrying said first robot.
  • Robots with polyarticulated arms are traditionally used either by being fixed to the ground, or by being mounted on a linear axis if the volume of work becomes significant.
  • the mobile vehicle robot does not generally make it possible to ensure a sufficiently rigid connection with the ground, a necessary condition for a robot with a polyarticulated arm not topple when it moves dynamically within the framework of carrying out a task. of work.
  • a control of the forces transmitted between the robot with polyarticulated arm and the mobile vehicle robot is then necessary to determine and to ensure the good stability of the system, whatever the movements carried out.
  • the stop modes of the robot system (emergency stop, braking at the end of the cycle, etc.) must be taken into account because they constitute extreme conditions in terms of dynamic stresses.
  • the objective of the present invention is thus to propose a robot system comprising, on the one hand, a first robot comprising a polyarticulated arm and, on the other hand, a second robot of the mobile vehicle type, whose stability and mechanical integrity are guaranteed.
  • the objective of the present invention is also to monitor the dynamic behavior of the two robots, regardless of the application envisaged.
  • a robot arm system which system comprises two robots provided with control means:
  • a first robot comprising a polyarticulated arm equipped with several articulations
  • a second robot of the mobile vehicle type equipped with means for carrying said first robot.
  • said system includes security means comprising: a) means for collecting physical parameters relating to the movements of said associated robots,
  • the collection means include:
  • the robot arm system advantageously includes means for assembly between said first robot and the carrying means of said second robot; and said assembly means comprise at least part of said collection means, advantageously in the form of a multi-instrumented interface.
  • the means for measuring the dynamics of the movements of said robots are chosen from:
  • means for measuring the accelerations and speed of at least one of said robots comprising for example an inertial unit, advantageously provided at the level of the assembly means between the robots, and / or
  • the means for determining the simulated forces comprise a computer program comprising program code means for determining said simulated forces from a simulated environment integrating said collected physical parameters and simulated dynamic parameters, when said computer program is implemented by said means to determine the simulated forces applied;
  • the means for determining the forces advantageously include: means for determining the simulated forces applied to said robots, means for determining the real forces applied on said robots, means for comparing said real forces and said simulated forces, and means for adapting the simulated dynamic parameters integrated by said simulated environment constituting the means for determining the simulated forces;
  • the means for detecting a critical state of said robots include a computer program comprising program code means adapted to compare the real and / or simulated efforts with pre-established critical efforts having three levels of security: immediate security, to determine an immediate critical state, predictive security, to determine a critical state in the event of braking at nominal parameters, emergency security, to determine a critical state in the event of emergency braking;
  • the means for transmitting an information signal include means for transmitting said information signal to the control means of said robots, and / or means for transmitting said information signal to an operator;
  • the control means of at least one of said robots advantageously comprise a computer program comprising program code means adapted to control said robot taking account of said information signal, when said computer program is executed by said means control ;
  • the means for determining the real and / or simulated forces, the means for detecting a critical state of said robots and the means for transmitting an information signal are grouped together within a computer connected to said robots; - Said second robot consists of a machine of the forklift type comprising a motorized rolling chassis which is equipped with carrying means in the form of lifting forks.
  • the invention also provides a method for transmitting an information signal in the event of detection of a critical state in a robot arm system according to the invention, said critical state corresponding to a stability / equilibrium defect of said associated robots. and / or to a mechanical stress greater than the mechanical resistance of said robots.
  • This process includes:
  • the determination of the simulated forces advantageously comprises a determination of the said simulated forces from a simulated environment integrating the said collected physical parameters and the simulated dynamic parameters.
  • the determination of the forces applied to said robots preferably comprises:
  • immediate security to determine an immediate critical state
  • predictive security to determine a critical state in the event of braking at nominal parameters
  • emergency security to determine a state critical in case of emergency braking
  • the information signal is transmitted to the control means of at least one of said robots and / or of an operator; the control means advantageously control at least one of said robots taking account of said information signal.
  • FIG. 1 is a general perspective view of a first embodiment of the robot arm system according to the invention, in which the two robots cooperate by means of assembly means comprising means for collecting the real forces transmitted by the first robot on the second robot;
  • FIGS. 2 and 3 are partial and enlarged views of the robot arm system according to Figure 1, showing two alternative embodiments at the level of the assembly means between the two robots;
  • FIG. 4 shows a second embodiment of the robot arm system according to the invention, which is here equipped with means for collecting physical parameters relating to the movements of the associated robots in the form of means for measuring the dynamics of the movements of said movements robots;
  • FIG. 5 is a side view of the mobile vehicle type robot, equipping the robot arm system according to Figure 4;
  • FIG. 6 is a schematic representation of the first robot of the polyarticulated arm type, belonging to the robot arm system according to Figure 4;
  • FIG. 7 is a block diagram of the physical parameter processing chain so as to detect a critical state of said robots and to issue an information signal in the event of detection of said critical state; for the sake of simplification, this FIG. 7 also schematically represents the means constituting the security means (in particular certain functional modules of computer programs).
  • the robot arm system 1 comprises a pair of robots:
  • the first robot 2 is intended to be carried by the second robot 3, above the ground.
  • the first robot 2 comprises a polyarticulated arm 21 carried by a base 22.
  • the polyarticulated arm 21 here comprises several segments 21 1 which are interconnected by motorized joints 212 (for example in the form of electric motors).
  • the poly-articulated arm 21 has a final segment 211 which carries a tool head 213.
  • This first robot 2 also includes control means 23, for example in the form of a control bay carried by the base 22 (FIG. 1).
  • the control means 23 take over the control laws allowing this first robot 2 to carry out the movements necessary for the accomplishment of its task.
  • control means 23 are advantageously equipped with an external communication device 231 (FIG. 6) making it possible to transmit the information of positions, speeds and accelerations of the motorized articulations 212 of the polyarticulated arm 21, to a IT device described below.
  • an external communication device 231 FIG. 6
  • This control bay 23 can be placed on one side of the base 22, opposite the polyarticulated arm 21, to create a counterweight and to improve stability ( Figure 1).
  • the base 22 is also equipped with assembly means 24 with the second robot 3 (shown in Figures 1 to 3).
  • these assembly means 24 are in the form of sleeves which are adapted to cooperate with a complementary fork of the second robot 3.
  • the second robot 3 advantageously consists of a vehicle of the vehicle type with automatic guidance or self-guided vehicle or VGA (in English “Automactic Guided Vehicle” or AGV).
  • VGA in English “Automactic Guided Vehicle” or AGV.
  • This second robot 3 is for example in the form of a forklift, which comprises a chassis 31 provided:
  • - carrying means 32 adapted to carry the first robot 2, for example in the form of a lifting fork
  • control means 33 adapted to control the means of locomotion and the carrying means 32, and
  • the control means 33 support the control laws allowing this second robot 3 to carry out the movements of the first robot 2 necessary for the accomplishment of its task.
  • control means 33 are also equipped with an external communication device 331 (FIG. 4) making it possible to transmit information to a computer device described below (in particular physical parameters P).
  • the robot arm system 1 comprises safety means 4 which are designed to detect a critical state of said robots 2, 3.
  • critical state is meant in particular a mechanical critical state, namely in particular:
  • the security means 4 include:
  • the collection means 5 ensure the acquisition of physical parameters P relating to the movements of the associated robots 2, 3.
  • effort is meant in particular the external force which urges a structural element and which generates constraints.
  • this notion of “force” is advantageously understood to mean the forces exerted by the first robot 2 on the second robot 3, and which generate mechanical stresses on the latter.
  • the intrinsic data of the first robot 2 of the polyarticulated arm type are advantageously identified beforehand by conventional methodologies. These intrinsic data allow, taking into account the effective displacements of this first robot 2 (polyarticulated arm), to know the forces generated by it on the second robot 3 (mobile vehicle).
  • movement dynamics is meant in particular the physical parameters relating to the movements of the two robots 2, 3 (acceleration, speed, position, etc.).
  • the collecting means 5 comprise first means 51 for collecting the forces applied by the first robot 2 to the second robot 3.
  • the collection means 51 are therefore advantageously located at the assembly means 24 provided between the first robot 2 and the second robot 3.
  • These collection means 51 are advantageously in the form of a multi-instrumented interface.
  • These collection means 51 thus participate in determining, in real time, the real forces Er which are exerted by the first robot 2 on the second robot 3, and in deducing therefrom the tilting threshold as well as the various mechanical stresses.
  • the collection means 51 advantageously comprise means for measuring displacement of the first robot 2 relative to the second robot 3.
  • These collection means 51 here comprise a tightening system with screws 51 1 and an elastomeric pad 512.
  • This pair 511/512 is disposed between, on the one hand, the base 22 of the first robot 2 and, on the other hand, the assembly means 24 (for example in the form of support plates).
  • the screws 511 then make it possible to constrain, in a calibrated manner, the elastomeric buffers 512.
  • These collection means 51 also include a displacement sensor 513 which is designed to measure the deformations of the elastomeric pads 512.
  • the collection means 51 advantageously comprise means 515 for measuring the mechanical stress of the first robot 2 relative to the second robot 3.
  • These collection means 51 comprise several strain gauges 515 located between, on the one hand, the base 22 of the first robot 2 and, on the other hand, the assembly means 24 (for example in the form of support plates).
  • the collection means 51 making it possible to capitalize the complete torsor of the resulting efforts.
  • the collecting means 5 comprise second means 52 for measuring the dynamics of the movements of at least one of the robots 2, 3.
  • the carrier means 32 of the second robot 3 can be equipped with first means for measuring the accelerations and speeds 521.
  • These first means 521 are for example in the form of an inertial unit making it possible to measure the accelerations and speeds of the first robot 2 during the movements of the second robot 3, but also during the movements of the carrier means 32.
  • the second robot 3 can be equipped with second means for measuring the speed of advance and rotation 522.
  • These second measuring means 522 are for example in the form of rotary encoders and / or tachometers.
  • Such a rotary encoder can be chosen, for example, from incremental rotary encoders and absolute rotary encoders.
  • tachometer is meant, for example, mechanical, optical, or eddy current tachometers.
  • the first robot 2 can be equipped with third measuring means 523 for measuring the dynamics of movements which are associated with the motorized articulations 212 of the polyarticulated arm 21.
  • the third measurement means 523 consist, for example, of structures of the rotary encoder type which are integrated in each motorized articulation 212. These third measurement means 523 thus determine the positions and speeds of each motorized articulation 212 of the polyarticulated arm 21, thanks to the control means 23.
  • the different collection means 51, 52 described above in relation to Figures 1 to 6 can be used in combination (at least two means), or independently of each other.
  • the determination means 6 are able to calculate the real forces Er and / or the simulated forces Es which are applied to the robots 2, 3 and / or which are intended for apply to these robots 2, 3.
  • real effort is meant the efforts that occur in reality between the two robots 2, 3. This real effort here corresponds to the data from the measurement sensors.
  • simulated effort we mean the theoretical efforts which are calculated by techniques making it possible to imitate, as faithfully as possible, real efforts thanks to programs integrating mathematical models based on parameters which intervene in reality.
  • these physical parameters P collected by the collection means 5 are transmitted to a computer device 10 (also called a computer) for their processing.
  • a computer device 10 also called a computer
  • This computer device 10 advantageously of the automaton type, comprises:
  • processor that is to say a device which executes calculation instructions
  • the determination means 6 are then advantageously in the form of a computer program, the program code means of which are designed to determine the real forces Er and / or simulated Es which are applied to the robots 2, 3 and / or which are intended to be applied to these robots 2, 3, when said computer program is implemented by said computer device 10.
  • the computer program includes several modules ( Figure 7):
  • a first module 61 to determine the simulated forces Es
  • the first module 61 determines the simulated forces Es which are intended to be applied to these robots 2, 3, from a simulated environment (also called “simulation environment") integrating the physical parameters P collected and simulated dynamic parameters, when said computer program is implemented by said computer device 10.
  • a simulated environment also called “simulation environment”
  • the computer program is advantageously designed to adapt the simulated dynamic parameters which are integrated by the simulated environment.
  • this computer program also includes (Figure 7):
  • a third module 63 adapted to compare the real forces Er from the second module 62 and the simulated forces Es from the first module 61, and
  • a fourth module 64 adapted to adjust the simulated dynamic parameters which are integrated by the simulated environment constituting the first module 61.
  • the critical state detection means 7 are also in the form of a computer program which is intended to be executed by the computer device 10.
  • the critical state detection means 7 comprise a computer program comprising program code means adapted to compare the real forces Er and / or simulated Es with critical forces Eç pre-established, when said computer program is executed by the computer device 10.
  • the critical state detection means 7 are responsible, on the one hand, for the collection of the data coming from the determination means 6 and, on the other hand, for the software processing of these data via an algorithm stability calculation.
  • the computer program can comprise a module 71 adapted to compare the real efforts Er and / or simulated Es with critical efforts Eç pre-established chosen from efforts likely to cause a lack of stability / equilibrium of said robots 2, 3 associated ( figure 7).
  • the pre-established critical forces Ec advantageously have three levels of security:
  • the last case is where the operator triggers an emergency stop on one of the robots 2, 3.
  • the robot arm system 1 undergoes a sudden deceleration from a given speed. It must be ensured that it does not cause tilting.
  • the second robot 3 (mobile vehicle) is fixed and the first robot 2 (polyarticulated arm) is moved manually; knowing the position of the robot arm system 1, it is possible to perform a tilting calculation, and to limit the acceleration and speed of the movements of the first robot 2 (polyarticulated arm); in this case, the movement of the second robot 3 (mobile vehicle) can be prohibited;
  • the second robot 3 (mobile vehicle) is fixed, and a program of the first robot 2 (polyarticulated arm) will be executed; we can pre-calculate the stresses on the robot arm system 1 and, in the event of an overshoot, propose to execute the task in degraded mode;
  • the control is that conventional of the second robot 3 (mobile vehicle);
  • the two robots 2, 3 are executing a program; we can therefore estimate the tilting and, if necessary, prohibit or degrade the operating mode
  • the safety levels are advantageously known and expected, any overshoot inducing a deterioration in the operating conditions which may go as far as stopping the two robots 2, 3 to ensure the stability of the assembly.
  • the computer program can include a module 72 adapted to compare the real forces Er and / or simulated Es with critical forces Eç pre-established chosen from forces capable of causing a mechanical stress greater than the resistance mechanics of said robots 2, 3 ( Figure 7).
  • the means for transmitting an information signal 8 are also in the form of a computer program which is intended to be executed by the computer device 10.
  • a portable digital device 11 digital tablet, mobile phone, etc.
  • control means 23, 33 of at least one of the robots 2, 3 then advantageously comprise a computer program comprising program code means adapted to control said robot taking account of said information signal, when said program the computer is executed by said control means.
  • control means 23, 33 then control two robots 2, 3.
  • the system 1 continuously executes a safety method, which is intended to emit an information signal in the event of detection of a critical state in the system 1, said critical state corresponding:
  • This security process thus monitors the dynamic behavior of the two robots 2, 3, regardless of the application envisaged.
  • this security method comprises a succession of operations which are executed by the computer device 10, namely:
  • the operation for collecting physical parameters P includes for example:
  • This collection operation A then allows operation B for the determination of the forces which are applied to said robots 2, 3 and / or which are intended to be applied to said robots 2, 3.
  • This determination operation B allows the calculation:
  • the real environment notably uses the first collection means 51 to determine the real forces and couples exerted on the carrier means 32 of the second robot 3.
  • the simulated forces Es are preferably determined from an operation for calculating the dynamics of the first robot 2 (operation B3) in a simulated environment integrating the collected physical parameters P and simulated dynamic parameters.
  • This simulated environment is advantageously in the form of an algorithm which is designed to estimate forces as a function of the data coming from the collection means 5, or as a function of simulated data (emergency stop, maximum dynamic braking, etc.) .
  • This algorithm advantageously makes it possible to define the simulated forces and couples that the first robot 2 exerts, or will exert, on the carrier means 32 of the second robot 3.
  • a data fusion algorithm allows to take and compare the two real Er and simulated Es environments.
  • Merging involves taking the actual data envisaged at all times, and comparing them with those estimated. We run the simulation in parallel with the reality of the movements (spatially) and with the force measurements, in order to verify the smooth running of the sequence.
  • the determination of the forces applied to the robots 2, 3 advantageously comprises the following steps:
  • the stability control operation (operation C1) makes it possible to determine three levels of security:
  • - predictive safety S2 i.e. a critical state in the event of braking at nominal parameters (for example, the simulated environment makes it possible to determine stability in the event of maximum braking respecting the dynamic parameters programmed in system 1 ),
  • the C2 mechanical strength calculation operation can generate an information signal.
  • the information signal is transmitted to the control means 23, 33 of at least one of said robots 2, 3 (operation D1) and / or of an operator (operation D2).
  • control means 23, 33 control at least one of said robots 2, 3 taking account of said information signal.
  • control means 22, 33 can send information to at least one of the robots 2, 3 so that they- these adapt their operating mode (speed reduction for example).
  • corrective measures can consist of:

Abstract

The invention relates to a robot arm system comprising a first robot (2) comprising a poly-articulated arm (21) and a second robot (3) of the mobile vehicle type. The system (1) comprises safety means (4) comprising: a) means (5) for collecting physical parameters (P) relating to the movements of said associated robots (2, 3), b) means (6) for determining, at least from said physical parameters, the forces that are applied to said robots (2, 3) and/or that are intended to be applied to said robots (2, 3), c) means (7) for detecting a critical state of said robots (2, 3) by comparing said determined forces with preestablished critical forces, and d) means (8) for emitting an information signal if said critical state is detected.

Description

Système de bras robot, et procédé pour émettre un signal d’information en cas de détection d’un état critique dans ledit système de bras robot  Robot arm system, and method for transmitting an information signal upon detection of a critical condition in said robot arm system
DOMAINE TECHNIQUE AUQUEL SE RAPPORTE L'INVENTION TECHNICAL FIELD TO WHICH THE INVENTION RELATES
La présente invention concerne, de manière générale, les systèmes de bras robot et les procédés pour émettre un signal d’information en cas de détection d’un état critique dans lesdits systèmes de bras robot.  The present invention relates generally to robot arm systems and methods for transmitting an information signal upon detection of a critical condition in said robot arm systems.
Elle concerne plus particulièrement le domaine des systèmes de bras robot qui comprennent deux robots munis de moyens de commande : - un premier robot comprenant un bras polyarticulé équipé de plusieurs articulations, et - un second robot du type véhicule mobile, équipé de moyens pour porter ledit premier robot.  It relates more particularly to the field of robot arm systems which include two robots provided with control means: - a first robot comprising a poly-articulated arm equipped with several articulations, and - a second robot of the mobile vehicle type, equipped with means for carrying said first robot.
ARRIERE-PLAN TECHNOLOGIQUE TECHNOLOGICAL BACKGROUND
Les robots avec bras polyarticulé sont traditionnellement utilisés soit en étant fixés au sol, soit en étant montés sur un axe linéaire si le volume de travail devient important.  Robots with polyarticulated arms are traditionally used either by being fixed to the ground, or by being mounted on a linear axis if the volume of work becomes significant.
Cette contrainte d’utilisation limite le champ d’action de ces robots à bras polyarticulé. Cela pose notamment des problèmes dès lors qu’il est souhaité de travailler sur des éléments très volumineux (coque de bateau ou pâle d’éolienne, par exemple).  This usage constraint limits the field of action of these robots with poly-articulated arms. This poses problems in particular when it is desired to work on very large elements (boat hull or pale wind turbine, for example).
Pour remédier à cette contrainte, il est connu de charger le robot à bras polyarticulé sur un robot du type véhicule mobile (notamment une plateforme mobile).  To overcome this constraint, it is known to load the robot with a polyarticulated arm on a robot of the mobile vehicle type (in particular a mobile platform).
L’association de ces deux robots permet de combiner la dextérité du robot à bras polyarticulé et la mobilité du robot véhicule mobile.  The combination of these two robots makes it possible to combine the dexterity of the robot with polyarticulated arm and the mobility of the mobile vehicle robot.
Mais le robot véhicule mobile ne permet généralement pas d’assurer une liaison suffisamment rigide avec le sol, condition nécessaire pour qu’un robot à bras polyarticulé ne bascule pas lorsqu’il bouge de manière dynamique dans le cadre de la réalisation d’une tâche de travail.  However, the mobile vehicle robot does not generally make it possible to ensure a sufficiently rigid connection with the ground, a necessary condition for a robot with a polyarticulated arm not topple when it moves dynamically within the framework of carrying out a task. of work.
Un contrôle des efforts transmis entre le robot à bras polyarticulé et le robot véhicule mobile est alors nécessaire pour déterminer et pour assurer la bonne stabilité du système, quels que soient les mouvements réalisés.  A control of the forces transmitted between the robot with polyarticulated arm and the mobile vehicle robot is then necessary to determine and to ensure the good stability of the system, whatever the movements carried out.
En particulier, les modes d’arrêts du système robot (arrêt d’urgence, freinage en fin de cycle, etc.) doivent être pris en compte car ils constituent des conditions extrêmes sur le plan des sollicitations dynamiques.  In particular, the stop modes of the robot system (emergency stop, braking at the end of the cycle, etc.) must be taken into account because they constitute extreme conditions in terms of dynamic stresses.
De même, il est important de contrôler que les contraintes mécaniques associées aux différents mouvements ne risquent pas de détériorer, ou de casser, certaines pièces mécaniques. OBJET DE L’INVENTION Likewise, it is important to check that the mechanical stresses associated with the various movements do not risk damaging or breaking certain mechanical parts. OBJECT OF THE INVENTION
L’objectif de la présente invention est ainsi de proposer un système de robot comprenant, d’une part, un premier robot comprenant un bras polyarticulé et, d’autre part, un second robot du type véhicule mobile, dont la stabilité et l’intégrité mécanique sont garanties.  The objective of the present invention is thus to propose a robot system comprising, on the one hand, a first robot comprising a polyarticulated arm and, on the other hand, a second robot of the mobile vehicle type, whose stability and mechanical integrity are guaranteed.
L’objectif de la présente invention est aussi de surveiller le comportement dynamique des deux robots, et ce quel que soit l’application envisagée.  The objective of the present invention is also to monitor the dynamic behavior of the two robots, regardless of the application envisaged.
Plus particulièrement, on propose selon l’invention un système de bras robot, lequel système comprend deux robots munis de moyens de commande :  More particularly, a robot arm system is proposed according to the invention, which system comprises two robots provided with control means:
- un premier robot comprenant un bras polyarticulé équipé de plusieurs articulations, et  a first robot comprising a polyarticulated arm equipped with several articulations, and
- un second robot du type véhicule mobile, équipé de moyens pour porter ledit premier robot.  - A second robot of the mobile vehicle type, equipped with means for carrying said first robot.
Et selon l’invention, ledit système comporte des moyens de sécurité comprenant : a) des moyens pour collecter des paramètres physiques relatifs aux mouvements desdits robots associés,  And according to the invention, said system includes security means comprising: a) means for collecting physical parameters relating to the movements of said associated robots,
b) des moyens pour déterminer, au moins à partir desdits paramètres physiques, les efforts réels et/ou simulés qui sont appliqués sur lesdits robots et/ou qui sont destinés à s’appliquer sur lesdits robots,  b) means for determining, at least from said physical parameters, the real and / or simulated forces which are applied to said robots and / or which are intended to be applied to said robots,
c) des moyens pour détecter un état critique desdits robots par comparaison desdits efforts réels et/ou simulés avec des efforts critiques préétablis choisis parmi - des efforts susceptibles de provoquer un défaut de stabilité / d’équilibre desdits robots associés et/ou - des efforts susceptibles de provoquer une contrainte mécanique supérieure à la résistance mécanique desdits robots, et  c) means for detecting a critical state of said robots by comparison of said real and / or simulated forces with pre-established critical forces chosen from - forces capable of causing a lack of stability / equilibrium of said associated robots and / or - forces likely to cause mechanical stress greater than the mechanical resistance of said robots, and
d) des moyens pour émettre un signal d’information en cas de détection dudit état critique.  d) means for transmitting an information signal in the event of detection of said critical state.
De préférence, les moyens de collecte comprennent :  Preferably, the collection means include:
- des moyens pour collecter les efforts appliqués par ledit premier robot sur ledit second robot, et/ou  means for collecting the forces applied by said first robot to said second robot, and / or
- des moyens de mesure de la dynamique des mouvements de l’un au moins desdits robots.  - means for measuring the dynamics of the movements of at least one of said robots.
Dans ce cadre, le système de bras robot comporte avantageusement des moyens pour l’assemblage entre ledit premier robot et les moyens porteurs dudit second robot ; et lesdits moyens d’assemblage comportent au moins une partie desdits moyens de collecte, avantageusement sous la forme d’une interface poly-instrumentée.  In this context, the robot arm system advantageously includes means for assembly between said first robot and the carrying means of said second robot; and said assembly means comprise at least part of said collection means, advantageously in the form of a multi-instrumented interface.
Ces moyens de collecte équipant les moyens d’assemblage sont alors avantageusement choisis parmi :  These collection means equipping the assembly means are then advantageously chosen from:
- les capteurs de mesure de déplacement, et  - displacement measurement sensors, and
- les capteurs de mesure de contrainte mécanique. Toujours dans ce cadre, les moyens de mesure de la dynamique des mouvements desdits robots sont choisis parmi : - mechanical stress measurement sensors. Still within this framework, the means for measuring the dynamics of the movements of said robots are chosen from:
- des moyens de mesure des accélérations et vitesse de l’un au moins desdits robots, comprenant par exemple une centrale inertielle, avantageusement ménagés au niveau des moyens d’assemblage entre les robots, et/ou  means for measuring the accelerations and speed of at least one of said robots, comprising for example an inertial unit, advantageously provided at the level of the assembly means between the robots, and / or
- des moyens de mesure de la dynamique de mouvements qui sont associés aux articulations dudit bras polyarticulé, et/ou  means for measuring the dynamics of movements which are associated with the articulations of said polyarticulated arm, and / or
- des moyens de mesure de la vitesse d’avancement et de rotation, par exemple des codeurs et/ou tachymètres équipant le second robot.  - means for measuring the speed of advance and rotation, for example coders and / or tachometers fitted to the second robot.
D’autres caractéristiques non limitatives et avantageuses du système conforme à l’invention, prises individuellement ou selon toutes les combinaisons techniquement possibles, sont les suivantes :  Other non-limiting and advantageous characteristics of the system according to the invention, taken individually or in any technically possible combination, are the following:
- les moyens pour déterminer les efforts simulés comprennent un programme d’ordinateur comprenant des moyens de code de programme pour déterminer lesdits efforts simulés à partir d’un environnement simulé intégrant lesdits paramètres physiques collectés et des paramètres dynamiques simulés, lorsque ledit programme d’ordinateur est mis en oeuvre par lesdits moyens pour déterminer les efforts simulés appliqués ; les moyens pour déterminer les efforts comprennent avantageusement : des moyens pour déterminer les efforts simulés appliqués sur lesdits robots, des moyens pour déterminer les efforts réels appliqués sur lesdits robots, des moyens pour comparer lesdits efforts réels et lesdits efforts simulés, et des moyens pour adapter les paramètres dynamiques simulés intégrés par ledit environnement simulé constitutif des moyens pour déterminer les efforts simulés ;  the means for determining the simulated forces comprise a computer program comprising program code means for determining said simulated forces from a simulated environment integrating said collected physical parameters and simulated dynamic parameters, when said computer program is implemented by said means to determine the simulated forces applied; the means for determining the forces advantageously include: means for determining the simulated forces applied to said robots, means for determining the real forces applied on said robots, means for comparing said real forces and said simulated forces, and means for adapting the simulated dynamic parameters integrated by said simulated environment constituting the means for determining the simulated forces;
- les moyens pour détecter un état critique desdits robots comprennent un programme d’ordinateur comprenant des moyens de code de programme adaptés à comparer les efforts réels et/ou simulés avec des efforts critiques préétablis présentant trois niveaux de sécurité : une sécurité immédiate, pour déterminer un état critique immédiat, une sécurité prédictive, pour déterminer un état critique en cas de freinage aux paramètres nominaux, une sécurité d’urgence, pour déterminer un état critique en cas de freinage d’urgence ;  the means for detecting a critical state of said robots include a computer program comprising program code means adapted to compare the real and / or simulated efforts with pre-established critical efforts having three levels of security: immediate security, to determine an immediate critical state, predictive security, to determine a critical state in the event of braking at nominal parameters, emergency security, to determine a critical state in the event of emergency braking;
- les moyens pour émettre un signal d’information comprennent des moyens pour transmettre ledit signal d’information à destination des moyens de commande desdits robots, et/ou des moyens pour transmettre ledit signal d’information à destination d’un opérateur ; les moyens de commande de l’un au moins desdits robots comprennent avantageusement un programme d’ordinateur comprenant des moyens de code de programme adaptés à piloter ledit robot tenant compte dudit signal d’information, lorsque ledit programme d’ordinateur est exécuté par lesdits moyens de commande ;  - The means for transmitting an information signal include means for transmitting said information signal to the control means of said robots, and / or means for transmitting said information signal to an operator; the control means of at least one of said robots advantageously comprise a computer program comprising program code means adapted to control said robot taking account of said information signal, when said computer program is executed by said means control ;
- les moyens pour déterminer les efforts réels et/ou simulés, les moyens pour détecter un état critique desdits robots et les moyens pour émettre un signal d’information sont regroupés au sein d’un ordinateur connecté auxdits robots ; - ledit second robot consiste en un engin du type chariot élévateur comprenant un châssis roulant motorisé qui est équipé de moyens porteurs en forme de fourches de levage. the means for determining the real and / or simulated forces, the means for detecting a critical state of said robots and the means for transmitting an information signal are grouped together within a computer connected to said robots; - Said second robot consists of a machine of the forklift type comprising a motorized rolling chassis which is equipped with carrying means in the form of lifting forks.
L’invention propose également un procédé pour émettre un signal d’information en cas de détection d’un état critique dans un système de bras robot selon l’invention, ledit état critique correspondant à un défaut de stabilité / d’équilibre desdits robots associés et/ou à une contrainte mécanique supérieure à la résistance mécanique desdits robots.  The invention also provides a method for transmitting an information signal in the event of detection of a critical state in a robot arm system according to the invention, said critical state corresponding to a stability / equilibrium defect of said associated robots. and / or to a mechanical stress greater than the mechanical resistance of said robots.
Ce procédé comprend :  This process includes:
- une collecte de paramètres physiques relatifs aux mouvements des robots associés, - a collection of physical parameters relating to the movements of associated robots,
- une détermination, à partir desdits paramètres physiques, des efforts réels et/ou simulés qui sont appliqués sur lesdits robots et/ou qui sont destinés à s’appliquer sur lesdits robots, - a determination, from said physical parameters, of the real and / or simulated forces which are applied to said robots and / or which are intended to be applied to said robots,
- une détection dudit état critique desdits robots, par comparaison desdits efforts réels et/ou simulés avec des efforts critiques préétablis choisis parmi des efforts susceptibles de provoquer ledit état critique, et  a detection of said critical state of said robots, by comparison of said real and / or simulated forces with pre-established critical forces chosen from forces capable of causing said critical state, and
- l’émission dudit signal d’information en cas de détection dudit état critique. - the emission of said information signal in the event of detection of said critical state.
La détermination des efforts simulés comprend avantageusement une détermination desdits efforts simulés à partir d’un environnement simulé intégrant lesdits paramètres physiques collectés et des paramètres dynamiques simulés. The determination of the simulated forces advantageously comprises a determination of the said simulated forces from a simulated environment integrating the said collected physical parameters and the simulated dynamic parameters.
La détermination des efforts appliqués sur lesdits robots comprend de préférence : The determination of the forces applied to said robots preferably comprises:
- la détermination des efforts simulés appliqués sur lesdits robots, - determining the simulated forces applied to said robots,
- la détermination des efforts réels appliqués sur lesdits robots,  - determination of the actual forces applied to said robots,
- la comparaison desdits efforts réels et desdits efforts simulés, et  - comparing said real forces and said simulated forces, and
- l’adaptation des paramètres dynamiques simulés de l’environnement simulé.  - the adaptation of the simulated dynamic parameters of the simulated environment.
D’autres caractéristiques non limitatives et avantageuses du procédé conforme à l’invention, prises individuellement ou selon toutes les combinaisons techniquement possibles, sont les suivantes :  Other non-limiting and advantageous characteristics of the process according to the invention, taken individually or in any technically possible combination, are the following:
- les efforts critiques préétablis présentent trois niveaux de sécurité : une sécurité immédiate, pour déterminer un état critique immédiat, une sécurité prédictive, pour déterminer un état critique en cas de freinage aux paramètres nominaux, et une sécurité d’urgence, pour déterminer un état critique en cas de freinage d’urgence ;  - the pre-established critical efforts have three levels of security: immediate security, to determine an immediate critical state, predictive security, to determine a critical state in the event of braking at nominal parameters, and emergency security, to determine a state critical in case of emergency braking;
- le signal d’information est transmis à destination des moyens de commande de l’un au moins desdits robots et/ou d’un opérateur ; les moyens de commande pilotent avantageusement l’un au moins desdits robots tenant compte dudit signal d’information.  - the information signal is transmitted to the control means of at least one of said robots and / or of an operator; the control means advantageously control at least one of said robots taking account of said information signal.
DESCRIPTION DETAILLEE DE L’INVENTION DETAILED DESCRIPTION OF THE INVENTION
La description qui va suivre en regard des dessins annexés, donnés à titre d’exemples non limitatifs, fera bien comprendre en quoi consiste l’invention et comment elle peut être réalisée. Sur les dessins annexés : The description which follows with reference to the appended drawings, given by way of nonlimiting examples, will make it clear what the invention consists of and how it can be implemented. In the accompanying drawings:
- la figure 1 est vue générale et en perspective d’un premier mode de réalisation du système de bras robot selon l’invention, dans lequel les deux robots coopèrent par le biais de moyens d’assemblage comportant des moyens de collecte des efforts réels transmis par le premier robot sur le second robot ;  - Figure 1 is a general perspective view of a first embodiment of the robot arm system according to the invention, in which the two robots cooperate by means of assembly means comprising means for collecting the real forces transmitted by the first robot on the second robot;
- les figures 2 et 3 constituent des vues partielles et agrandies du système de bras robot selon la figure 1 , montrant deux formes de réalisation alternatives au niveau des moyens d’assemblage entre les deux robots ;  - Figures 2 and 3 are partial and enlarged views of the robot arm system according to Figure 1, showing two alternative embodiments at the level of the assembly means between the two robots;
- la figure 4 représente un second mode de réalisation du système de bras robot selon l’invention, qui est ici équipé de moyens de collecte des paramètres physiques relatifs aux mouvements des robots associés sous la forme de moyens de mesure de la dynamique des mouvements desdits robots ;  - Figure 4 shows a second embodiment of the robot arm system according to the invention, which is here equipped with means for collecting physical parameters relating to the movements of the associated robots in the form of means for measuring the dynamics of the movements of said movements robots;
- la figure 5 est une vue de côté du robot de type véhicule mobile, équipant le système de bras robot selon la figure 4 ;  - Figure 5 is a side view of the mobile vehicle type robot, equipping the robot arm system according to Figure 4;
- la figure 6 est une représentation schématique du premier robot du type bras polyarticulé, appartenant au système de bras robot selon la figure 4 ;  - Figure 6 is a schematic representation of the first robot of the polyarticulated arm type, belonging to the robot arm system according to Figure 4;
- la figure 7 est un schéma bloc synoptique de la chaîne de traitement des paramètres physiques de sorte à détecter un état critique desdits robots et à émettre un signal d’information en cas de détection dudit état critique ; dans un souci de simplification, cette figure 7 représente également schématiquement des moyens constitutifs des moyens de sécurité (en particulier certains modules fonctionnels de programmes d’ordinateur).  - Figure 7 is a block diagram of the physical parameter processing chain so as to detect a critical state of said robots and to issue an information signal in the event of detection of said critical state; for the sake of simplification, this FIG. 7 also schematically represents the means constituting the security means (in particular certain functional modules of computer programs).
Tel que représenté de manière générale sur les figures 1 et 4, le système de bras robot 1 selon l’invention comprend un couple de robots :  As shown generally in FIGS. 1 and 4, the robot arm system 1 according to the invention comprises a pair of robots:
- un premier robot 2, du type bras polyarticulé, et  a first robot 2, of the polyarticulated arm type, and
- un second robot 3, du type véhicule mobile.  - a second robot 3, of the mobile vehicle type.
Le premier robot 2 est destiné à être porté par le second robot 3, au-dessus du sol. The first robot 2 is intended to be carried by the second robot 3, above the ground.
Le premier robot 2 comprend un bras polyarticulé 21 porté par une base 22.The first robot 2 comprises a polyarticulated arm 21 carried by a base 22.
Le bras polyarticulé 21 comprend ici plusieurs segments 21 1 qui sont reliés entre eux par des articulations motorisées 212 (par exemple sous la forme de moteurs électriques). The polyarticulated arm 21 here comprises several segments 21 1 which are interconnected by motorized joints 212 (for example in the form of electric motors).
A l’opposé de la base 22, le bras polyarticulé 21 comporte un segment 211 final qui porte une tête outil 213.  Opposite the base 22, the poly-articulated arm 21 has a final segment 211 which carries a tool head 213.
Ce premier robot 2 comporte encore des moyens de commande 23, par exemple sous la forme d’une baie de commande portée par la base 22 (figure 1 ).  This first robot 2 also includes control means 23, for example in the form of a control bay carried by the base 22 (FIG. 1).
Les moyens de commande 23 prennent en charge les lois de commandes permettant à ce premier robot 2 de réaliser les mouvements nécessaires à l’accomplissement de sa tâche.  The control means 23 take over the control laws allowing this first robot 2 to carry out the movements necessary for the accomplishment of its task.
Ces moyens de commande 23 sont avantageusement équipés d’un dispositif de communication externe 231 (figure 6) permettant de transmettre les informations de positions, vitesses et accélérations des articulations motorisées 212 du bras polyarticulé 21 , vers un dispositif informatique décrit ci-après. These control means 23 are advantageously equipped with an external communication device 231 (FIG. 6) making it possible to transmit the information of positions, speeds and accelerations of the motorized articulations 212 of the polyarticulated arm 21, to a IT device described below.
Cette baie de commande 23 peut être placée sur un côté de la base 22, à l’opposé du bras polyarticulé 21 , pour créer un contrepoids et pour améliorer la stabilité (figure 1 ).  This control bay 23 can be placed on one side of the base 22, opposite the polyarticulated arm 21, to create a counterweight and to improve stability (Figure 1).
La base 22 est encore équipée de moyens d’assemblage 24 avec le second robot 3 (représentés sur les figures 1 à 3).  The base 22 is also equipped with assembly means 24 with the second robot 3 (shown in Figures 1 to 3).
Par exemple, ces moyens d’assemblage 24 se présentent sous la forme de fourreaux qui sont adaptés à coopérer avec une fourche complémentaire du second robot 3.  For example, these assembly means 24 are in the form of sleeves which are adapted to cooperate with a complementary fork of the second robot 3.
Le second robot 3 consiste avantageusement en un véhicule du type véhicule à guidage automatique ou véhicule autoguidé ou VGA (en anglais « Automactic Guided Véhiculé » ou AGV).  The second robot 3 advantageously consists of a vehicle of the vehicle type with automatic guidance or self-guided vehicle or VGA (in English “Automactic Guided Vehicle” or AGV).
Ce second robot 3 se présente par exemple sous la forme d’un chariot élévateur, qui comprend un châssis 31 muni :  This second robot 3 is for example in the form of a forklift, which comprises a chassis 31 provided:
- de moyens de locomotion (non visibles), par exemple des roues motorisées, pour assurer son déplacement dans l’espace,  - means of transport (not visible), for example motorized wheels, to ensure its movement in space,
- de moyens porteurs 32 adaptés à porter le premier robot 2, par exemple sous la forme d’une fourche de levage,  - carrying means 32 adapted to carry the first robot 2, for example in the form of a lifting fork,
- de moyens de commande 33, adaptés à piloter les moyens de locomotion et les moyens porteurs 32, et  control means 33, adapted to control the means of locomotion and the carrying means 32, and
- de moyens de repérage 35 (figures 4 et 5), permettant de déterminer la position cartésienne de ce second robot 3 dans son environnement.  - Locating means 35 (Figures 4 and 5), to determine the Cartesian position of this second robot 3 in its environment.
Les moyens de commande 33 prennent en charge les lois de commandes permettant à ce second robot 3 de réaliser les mouvements du premier robot 2 nécessaires à l’accomplissement de sa tâche.  The control means 33 support the control laws allowing this second robot 3 to carry out the movements of the first robot 2 necessary for the accomplishment of its task.
Ces moyens de commande 33 sont également équipés d’un dispositif de communication externe 331 (figure 4) permettant de transmettre des informations vers un dispositif informatique décrit ci-après (notamment des paramètres physiques P).  These control means 33 are also equipped with an external communication device 331 (FIG. 4) making it possible to transmit information to a computer device described below (in particular physical parameters P).
De manière générale, selon l’invention, le système de bras robot 1 comporte des moyens de sécurité 4 qui sont conçus pour détecter un état critique desdits robots 2, 3.  In general, according to the invention, the robot arm system 1 comprises safety means 4 which are designed to detect a critical state of said robots 2, 3.
Par « état critique », on entend en particulier un état critique mécanique, à savoir notamment :  By "critical state" is meant in particular a mechanical critical state, namely in particular:
- des efforts susceptibles de provoquer un défaut de stabilité / d’équilibre des robots 2, 3 associés et/ou  - efforts likely to cause a lack of stability / balance in robots 2, 3 associated and / or
- des efforts susceptibles de provoquer une contrainte mécanique supérieure à la résistance mécanique de ces robots 2, 3.  - efforts likely to cause mechanical stress greater than the mechanical strength of these robots 2, 3.
A cet effet, les moyens de sécurité 4 comprennent :  To this end, the security means 4 include:
- des moyens 5 pour collecter des paramètres physiques P relatifs aux mouvements des robots 2, 3 associés,  means 5 for collecting physical parameters P relating to the movements of the associated robots 2, 3,
- des moyens 6 pour déterminer, au moins à partir des paramètres physiques P collectés, les efforts qui sont appliqués sur les robots 2, 3 et/ou qui sont destinés à s’appliquer sur ces robots 2, 3, means 6 for determining, at least from the physical parameters P collected, the forces which are applied to the robots 2, 3 and / or which are intended to be applied to these robots 2, 3,
- des moyens 7 pour détecter un état critique des robots 2, 3 par comparaison desdits efforts déterminés avec des efforts critiques Eç préétablis, et  means 7 for detecting a critical state of the robots 2, 3 by comparison of said determined forces with critical forces Eç pre-established, and
- des moyens 8 pour émettre un signal d’information en cas de détection de l’état critique précité.  - Means 8 for transmitting an information signal in the event of the detection of the aforementioned critical state.
Moyens de collecte Collection means
Les moyens de collecte 5 assurent l’acquisition de paramètres physiques P relatifs aux mouvements des robots associés 2, 3.  The collection means 5 ensure the acquisition of physical parameters P relating to the movements of the associated robots 2, 3.
Ces paramètres physiques P englobent avantageusement :  These physical parameters P advantageously include:
- les efforts appliqués par le premier robot 2 sur le second robot 3, et/ou  the forces applied by the first robot 2 to the second robot 3, and / or
- la dynamique des mouvements de l’un au moins desdits robots 2, 3.  - the dynamics of the movements of at least one of said robots 2, 3.
Par « effort », on entend en particulier la force externe qui sollicite un élément de structure et qui engendre des contraintes. En l’espèce, on entend avantageusement par cette notion d’« effort », les forces exercées par le premier robot 2 sur le second robot 3, et qui engendrent des contraintes mécaniques sur ce dernier.  By "effort" is meant in particular the external force which urges a structural element and which generates constraints. In this case, this notion of "force" is advantageously understood to mean the forces exerted by the first robot 2 on the second robot 3, and which generate mechanical stresses on the latter.
En particulier, les données intrinsèques du premier robot 2 du type bras polyarticulé (par exemple masse des corps, centre de gravité, inertie) sont avantageusement préalablement identifiées par des méthodologies classiques. Ces données intrinsèques permettent, en prenant en compte les déplacements effectifs de ce premier robot 2 (bras polyarticulé), de connaître les efforts générés par celui-ci sur le second robot 3 (véhicule mobile).  In particular, the intrinsic data of the first robot 2 of the polyarticulated arm type (for example mass of the bodies, center of gravity, inertia) are advantageously identified beforehand by conventional methodologies. These intrinsic data allow, taking into account the effective displacements of this first robot 2 (polyarticulated arm), to know the forces generated by it on the second robot 3 (mobile vehicle).
Par « dynamique des mouvements », on entend notamment les paramètres physiques relatifs aux mouvements des deux robots 2, 3 (accélération, vitesse, position, etc.).  By “movement dynamics” is meant in particular the physical parameters relating to the movements of the two robots 2, 3 (acceleration, speed, position, etc.).
Des exemples de moyens de collecte 5 sont décrits plus en détails ci-dessous en relation avec les figures 1 à 6.  Examples of collection means 5 are described in more detail below in relation to FIGS. 1 to 6.
Selon un premier mode de réalisation illustré sur les figures 1 à 3, les moyens de collecte 5 comprennent des premiers moyens 51 pour collecter les efforts appliqués par le premier robot 2 sur le second robot 3.  According to a first embodiment illustrated in FIGS. 1 to 3, the collecting means 5 comprise first means 51 for collecting the forces applied by the first robot 2 to the second robot 3.
Les moyens de collecte 51 sont pour cela avantageusement implantés au niveau des moyens d’assemblage 24 prévus entre le premier robot 2 et le second robot 3.  The collection means 51 are therefore advantageously located at the assembly means 24 provided between the first robot 2 and the second robot 3.
Ces moyens de collecte 51 se présentent avantageusement sous la forme d’une interface poly-instrumentée.  These collection means 51 are advantageously in the form of a multi-instrumented interface.
Ces moyens de collecte 51 participent ainsi à déterminer, en temps réel, les efforts réels Er qui s’exercent par le premier robot 2 sur le second robot 3, et à en déduire le seuil de basculement ainsi que les différentes contraintes mécaniques.  These collection means 51 thus participate in determining, in real time, the real forces Er which are exerted by the first robot 2 on the second robot 3, and in deducing therefrom the tilting threshold as well as the various mechanical stresses.
Selon une première forme de réalisation illustrée sur la figure 2 pour ce premier mode, les moyens de collecte 51 comprennent avantageusement des moyens de mesure de déplacement du premier robot 2 par rapport au second robot 3. According to a first embodiment illustrated in FIG. 2 for this first mode, the collection means 51 advantageously comprise means for measuring displacement of the first robot 2 relative to the second robot 3.
Ces moyens de collecte 51 comprennent ici un système de serrage par vis 51 1 et un tampon élastomère 512.  These collection means 51 here comprise a tightening system with screws 51 1 and an elastomeric pad 512.
Ce couple 511 / 512 est disposé entre, d’une part, la base 22 du premier robot 2 et, d’autre part, les moyens d’assemblage 24 (par exemple sous la forme de plaques supports).  This pair 511/512 is disposed between, on the one hand, the base 22 of the first robot 2 and, on the other hand, the assembly means 24 (for example in the form of support plates).
Les vis 511 permettent alors de contraindre, de manière calibrée, les tampons élastomères 512.  The screws 511 then make it possible to constrain, in a calibrated manner, the elastomeric buffers 512.
Ces moyens de collecte 51 comprennent encore un capteur de déplacement 513 qui est conçu pour mesurer les déformations des tampons élastomères 512.  These collection means 51 also include a displacement sensor 513 which is designed to measure the deformations of the elastomeric pads 512.
Selon une seconde forme de réalisation illustrée sur la figure 3 pour le premier mode, les moyens de collecte 51 comprennent avantageusement des moyens 515 pour la mesure de contrainte mécanique du premier robot 2 par rapport au second robot 3.  According to a second embodiment illustrated in FIG. 3 for the first mode, the collection means 51 advantageously comprise means 515 for measuring the mechanical stress of the first robot 2 relative to the second robot 3.
Ces moyens de collecte 51 comprennent plusieurs jauges de contrainte 515 situées entre, d’une part, la base 22 du premier robot 2 et, d’autre part, les moyens d’assemblage 24 (par exemple sous la forme de plaques supports).  These collection means 51 comprise several strain gauges 515 located between, on the one hand, the base 22 of the first robot 2 and, on the other hand, the assembly means 24 (for example in the form of support plates).
Les moyens de collecte 51 permettant de capitaliser le torseur complet des efforts résultants.  The collection means 51 making it possible to capitalize the complete torsor of the resulting efforts.
Selon un second mode de réalisation illustré sur les figures 4 à 6, les moyens de collecte 5 comprennent des seconds moyens 52 pour la mesure de la dynamique des mouvements de l’un au moins des robots 2, 3.  According to a second embodiment illustrated in FIGS. 4 to 6, the collecting means 5 comprise second means 52 for measuring the dynamics of the movements of at least one of the robots 2, 3.
En l’espèce, les moyens porteurs 32 du second robot 3 peuvent être équipés de premiers moyens de mesure des accélérations et vitesses 521.  In this case, the carrier means 32 of the second robot 3 can be equipped with first means for measuring the accelerations and speeds 521.
Ces premiers moyens 521 se présentent par exemple sous la forme d’une centrale inertielle permettant de mesurer les accélérations et vitesses du premier robot 2 lors des déplacements du second robot 3, mais aussi lors des déplacements des moyens porteurs 32.  These first means 521 are for example in the form of an inertial unit making it possible to measure the accelerations and speeds of the first robot 2 during the movements of the second robot 3, but also during the movements of the carrier means 32.
De même, le second robot 3 peut être équipé de seconds moyens de mesure de la vitesse d’avancement et de rotation 522.  Similarly, the second robot 3 can be equipped with second means for measuring the speed of advance and rotation 522.
Ces seconds moyens de mesure 522 se présentent par exemple sous la forme de codeurs rotatifs et/ou de tachymètres.  These second measuring means 522 are for example in the form of rotary encoders and / or tachometers.
Un tel codeur rotatif peut être choisi par exemple parmi les codeurs rotatifs incrémentales et les codeurs rotatifs absolus.  Such a rotary encoder can be chosen, for example, from incremental rotary encoders and absolute rotary encoders.
Par tachymètre, on englobe par exemple les tachymètres mécaniques, optiques, ou à courant de Foucault.  By tachometer is meant, for example, mechanical, optical, or eddy current tachometers.
De son côté, le premier robot 2 peut être équipé de troisièmes moyens de mesure 523 pour la mesure de la dynamique de mouvements qui sont associés aux articulations motorisées 212 du bras polyarticulé 21.  For its part, the first robot 2 can be equipped with third measuring means 523 for measuring the dynamics of movements which are associated with the motorized articulations 212 of the polyarticulated arm 21.
Les troisièmes moyens de mesure 523 consistent par exemple en des structures de type codeurs rotatifs qui sont intégrés dans chaque articulation motorisée 212. Ces troisièmes moyens de mesure 523 déterminent ainsi les positions et vitesses de chaque articulation motorisée 212 du bras polyarticulé 21 , grâce aux moyens de commande 23. The third measurement means 523 consist, for example, of structures of the rotary encoder type which are integrated in each motorized articulation 212. These third measurement means 523 thus determine the positions and speeds of each motorized articulation 212 of the polyarticulated arm 21, thanks to the control means 23.
De manière générale, les différents moyens de collecte 51 , 52 décrits ci-dessus en relation avec les figures 1 à 6 peuvent être utilisés en combinaison (au moins deux moyens), ou indépendamment les uns des autres.  In general, the different collection means 51, 52 described above in relation to Figures 1 to 6 can be used in combination (at least two means), or independently of each other.
Une utilisation en combinaison permet d’ajuster la fiabilité de la détermination des efforts et d’apporter de la redondance d’information.  Use in combination makes it possible to adjust the reliability of the determination of the efforts and to provide redundancy of information.
Moyens de détermination des efforts Means of determining effort
A partir des paramètres physiques P issus des moyens de collecte 5 précités, les moyens de détermination 6 sont aptes à calculer les efforts réels Er et/ou les efforts simulés Es qui sont appliqués sur les robots 2, 3 et/ou qui sont destinés à s’appliquer sur ces robots 2, 3.  From the physical parameters P coming from the abovementioned collection means 5, the determination means 6 are able to calculate the real forces Er and / or the simulated forces Es which are applied to the robots 2, 3 and / or which are intended for apply to these robots 2, 3.
De manière générale, par « effort », on entend en particulier les forces externes qui sollicitent les robots 2, 3 et qui engendrent des contraintes sur ces derniers.  In general, by "effort" is meant in particular the external forces which stress the robots 2, 3 and which generate stresses on the latter.
Par « effort réel », on entend les efforts qui interviennent dans la réalité entre les deux robots 2, 3. Cet effort réel correspond ici aux données issues des capteurs de mesure.  By "real effort" is meant the efforts that occur in reality between the two robots 2, 3. This real effort here corresponds to the data from the measurement sensors.
Par « effort simulé », on entend les efforts théoriques qui sont calculés par des techniques permettant d'imiter, aussi fidèlement que possible, des efforts réels grâce à des programmes intégrant des modèles mathématiques fondés sur des paramètres qui interviennent dans la réalité.  By “simulated effort”, we mean the theoretical efforts which are calculated by techniques making it possible to imitate, as faithfully as possible, real efforts thanks to programs integrating mathematical models based on parameters which intervene in reality.
Comme précisé précédemment, ayant connaissance des répartitions de masse de l’ensemble et en prenant en compte les vitesse et accélération prévues le long de la trajectoire, il est possible d’évaluer l’ensemble des quantités de mouvement et donc des efforts qui seront vus par les moyens de collecte 5.  As previously specified, having knowledge of the mass distributions of the assembly and taking into account the speed and acceleration expected along the trajectory, it is possible to evaluate all the amounts of movement and therefore the forces that will be seen by collection means 5.
Pour cela, ces paramètres physiques P collectés par les moyens de collecte 5 sont transmis vers un dispositif informatique 10 (dit encore ordinateur) pour leur traitement.  For this, these physical parameters P collected by the collection means 5 are transmitted to a computer device 10 (also called a computer) for their processing.
Ce dispositif informatique 10, avantageusement de type automate, comprend :  This computer device 10, advantageously of the automaton type, comprises:
- un processeur, c’est-à-dire un dispositif qui exécute des instructions de calcul, - a processor, that is to say a device which executes calculation instructions,
- des moyens mémoire dans laquelle sont enregistrés des programmes d’ordinateur,- memory means in which computer programs are stored,
- des dispositifs d’entrée, pour son raccordement aux différents moyens de collecte 5 (moyens de communication filaires ou moyens de communication sans fil), - input devices, for its connection to the various collection means 5 (wired communication means or wireless communication means),
- des dispositifs de sortie, notamment pour l’émission d’un signal d’information en cas de détection de l’état critique.  - output devices, in particular for the transmission of an information signal in the event of detection of the critical state.
Les moyens de détermination 6 se présentent alors avantageusement sous la forme d’un programme d’ordinateur dont les moyens de code programme sont conçus pour déterminer les efforts réels Er et/ou simulés Es qui sont appliqués sur les robots 2, 3 et/ou qui sont destinés à s’appliquer sur ces robots 2, 3, lorsque ledit programme d’ordinateur est mis en oeuvre par ledit dispositif informatique 10. En particulier, le programme d’ordinateur comporte plusieurs modules (figure 7) :The determination means 6 are then advantageously in the form of a computer program, the program code means of which are designed to determine the real forces Er and / or simulated Es which are applied to the robots 2, 3 and / or which are intended to be applied to these robots 2, 3, when said computer program is implemented by said computer device 10. In particular, the computer program includes several modules (Figure 7):
- un premier module 61 , pour déterminer les efforts simulés Es, et a first module 61, to determine the simulated forces Es, and
- un deuxième module 62, pour déterminer les efforts réels Er,  a second module 62, to determine the real forces Er,
lorsque ledit programme d’ordinateur est mis en oeuvre par ledit dispositif informatique 10  when said computer program is implemented by said computer device 10
Dans un mode de réalisation particulier, le premier module 61 détermine les efforts simulés Es qui sont destinés à s’appliquer sur ces robots 2, 3, à partir d’un environnement simulé (dit encore « environnement de simulation ») intégrant les paramètres physiques P collectés et des paramètres dynamiques simulés, lorsque ledit programme d’ordinateur est mis en oeuvre par ledit dispositif informatique 10.  In a particular embodiment, the first module 61 determines the simulated forces Es which are intended to be applied to these robots 2, 3, from a simulated environment (also called "simulation environment") integrating the physical parameters P collected and simulated dynamic parameters, when said computer program is implemented by said computer device 10.
Dans ce mode de réalisation particulier, le programme d’ordinateur est avantageusement conçu pour adapter les paramètres dynamiques simulés qui sont intégrés par l’environnement simulé.  In this particular embodiment, the computer program is advantageously designed to adapt the simulated dynamic parameters which are integrated by the simulated environment.
Pour cela, ce programme d’ordinateur comprend encore (figure 7) :  For this, this computer program also includes (Figure 7):
- un troisième module 63, adapté à comparer les efforts réels Er issus du deuxième module 62 et les efforts simulés Es issus du premier module 61 , et  a third module 63, adapted to compare the real forces Er from the second module 62 and the simulated forces Es from the first module 61, and
- un quatrième module 64, adapté à ajuster les paramètres dynamiques simulés qui sont intégrés par l’environnement simulé constitutif du premier module 61.  a fourth module 64, adapted to adjust the simulated dynamic parameters which are integrated by the simulated environment constituting the first module 61.
Moyens de détection d’état critique Critical state detection means
Les moyens de détection d’état critique 7 se présentent également sous la forme d’un programme d’ordinateur qui est destiné à être exécuté par le dispositif informatique 10.  The critical state detection means 7 are also in the form of a computer program which is intended to be executed by the computer device 10.
Les moyens de détection d’état critique 7 comprennent un programme d’ordinateur comprenant des moyens de code de programme adaptés à comparer les efforts réels Er et/ou simulés Es avec des efforts critiques Eç préétablis, lorsque ledit programme d’ordinateur est exécuté par le dispositif informatique 10.  The critical state detection means 7 comprise a computer program comprising program code means adapted to compare the real forces Er and / or simulated Es with critical forces Eç pre-established, when said computer program is executed by the computer device 10.
En d’autres termes, les moyens de détection d’état critique 7 sont chargés, d’une part, de la récolte des données provenant des moyens de détermination 6 et, d’autre part, du traitement logiciel de ces données via un algorithme de calcul de stabilité.  In other words, the critical state detection means 7 are responsible, on the one hand, for the collection of the data coming from the determination means 6 and, on the other hand, for the software processing of these data via an algorithm stability calculation.
Le programme d’ordinateur peut comprendre un module 71 adapté à comparer les efforts réels Er et/ou simulés Es avec des efforts critiques Eç préétablis choisis parmi des efforts susceptibles de provoquer un défaut de stabilité / d’équilibre desdits robots 2, 3 associés (figure 7).  The computer program can comprise a module 71 adapted to compare the real efforts Er and / or simulated Es with critical efforts Eç pre-established chosen from efforts likely to cause a lack of stability / equilibrium of said robots 2, 3 associated ( figure 7).
Dans ce cas, les efforts critiques Eç préétablis présentent avantageusement trois niveaux de sécurité :  In this case, the pre-established critical forces Ec advantageously have three levels of security:
- une sécurité immédiate, pour déterminer un état critique immédiat,  - immediate security, to determine an immediate critical state,
- une sécurité prédictive, pour déterminer un état critique en cas de freinage aux paramètres nominaux, - une sécurité d’urgence, pour déterminer un état critique en cas de freinage d’urgence. - predictive safety, to determine a critical state in the event of braking at nominal parameters, - emergency safety, to determine a critical state in the event of emergency braking.
Afin de définir les niveaux de sécurité, différents critères sont estimés de sorte à déterminer le choix du plus sécurisant.  In order to define the security levels, different criteria are estimated so as to determine the choice of the most secure.
En particulier, connaissant les limites de l’espace de basculement, il est possible de définir des espaces de plus en plus restreints par paliers d’iso-vitesse qui imposent, au système de bras robot 1 , sa limite de vitesse de déplacement. On assure ainsi une possibilité d’arrêter le système de bras robot 1 de manière prédictive.  In particular, knowing the limits of the tilting space, it is possible to define spaces that are increasingly restricted by iso-speed steps which impose, on the robot arm system 1, its speed limit for movement. This provides a possibility of stopping the robot arm system 1 in a predictive manner.
Il faut ajouter à ce premier contrôle le cas d’une collision du système de bras robot 1. On considère alors, pour chacun des axes, les couples transmissibles dans la direction potentiel afin que la limite de stabilité ne soit pas franchie. En effet, dans ce cas, le système de bras robot 1 détectera une surpuissance et donc stoppera sont déplacement avant d’atteindre sa limite de basculement. On a ici une sécurité immédiate.  We must add to this first check the case of a collision of the robot arm system 1. We then consider, for each of the axes, the transmissible torques in the potential direction so that the stability limit is not crossed. Indeed, in this case, the robot arm system 1 will detect an overpower and therefore stop its movement before reaching its tilt limit. We have immediate security here.
Le dernier cas est celui où l’opérateur déclenche un arrêt d’urgence sur l’un des robots 2, 3. Dans cas, le système de bras robot 1 subit une décélération brutale depuis une vitesse donnée. Il faut s’assurer que celle-ci n’entraine pas de basculement.  The last case is where the operator triggers an emergency stop on one of the robots 2, 3. In this case, the robot arm system 1 undergoes a sudden deceleration from a given speed. It must be ensured that it does not cause tilting.
Les efforts critiques Eç englobent encore avantageusement les situations suivantes : Eç critical efforts still advantageously include the following situations:
- le second robot 3 (véhicule mobile) est fixe et le premier robot 2 (bras polyarticulé) est déplacé manuellement ; connaissant la position du système de bras robot 1 , il est possible d’effectuer un calcul de basculement, et de limiter en accélération et en vitesse les déplacements du premier robot 2 (bras polyarticulé) ; dans ce cas, le déplacement du second robot 3 (véhicule mobile) peut être proscrit ; - the second robot 3 (mobile vehicle) is fixed and the first robot 2 (polyarticulated arm) is moved manually; knowing the position of the robot arm system 1, it is possible to perform a tilting calculation, and to limit the acceleration and speed of the movements of the first robot 2 (polyarticulated arm); in this case, the movement of the second robot 3 (mobile vehicle) can be prohibited;
- le second robot 3 (véhicule mobile) est fixe, et un programme du premier robot 2 (bras polyarticulé) va être exécuté ; on peut au préalable pré-calculer les sollicitations sur le système de bras robot 1 et, dans le cas d’un dépassement, proposer d’exécuter la tâche en mode dégrade ;  - the second robot 3 (mobile vehicle) is fixed, and a program of the first robot 2 (polyarticulated arm) will be executed; we can pre-calculate the stresses on the robot arm system 1 and, in the event of an overshoot, propose to execute the task in degraded mode;
- le second robot 3 (véhicule mobile) se déplace et le premier robot 2 (bras polyarticulé) est fixe ; le contrôle est celui classique du second robot 3 (véhicule mobile) ;  - the second robot 3 (mobile vehicle) moves and the first robot 2 (polyarticulated arm) is fixed; the control is that conventional of the second robot 3 (mobile vehicle);
- le second robot 3 (véhicule mobile) et le premier robot 2 (bras polyarticulé) fonctionnent simultanément ; dans cette configuration, les deux robots 2, 3 sont en cours d’exécution d’un programme ; on peut donc estimer le basculement et, le cas échéant, interdire ou dégrader le mode de fonctionnement  - the second robot 3 (mobile vehicle) and the first robot 2 (polyarticulated arm) operate simultaneously; in this configuration, the two robots 2, 3 are executing a program; we can therefore estimate the tilting and, if necessary, prohibit or degrade the operating mode
Dans l’ensemble de ces cas, les niveaux de sécurité sont avantageusement connus et attendus, tout dépassement induisant une dégradation des conditions opératoires pouvant aller jusqu’à l’arrêt des deux robots 2, 3 pour assurer la stabilité de l’ensemble.  In all of these cases, the safety levels are advantageously known and expected, any overshoot inducing a deterioration in the operating conditions which may go as far as stopping the two robots 2, 3 to ensure the stability of the assembly.
Le programme d’ordinateur peut comprendre un module 72 adapté à comparer les efforts réels Er et/ou simulés Es avec des efforts critiques Eç préétablis choisis parmi des efforts susceptibles de provoquer une contrainte mécanique supérieure à la résistance mécanique desdits robots 2, 3 (figure 7). The computer program can include a module 72 adapted to compare the real forces Er and / or simulated Es with critical forces Eç pre-established chosen from forces capable of causing a mechanical stress greater than the resistance mechanics of said robots 2, 3 (Figure 7).
Moyens d’émission d’un signal d’information Means of transmitting an information signal
Les moyens d’émission d’un signal d’information 8 se présentent encore sous la forme d’un programme d’ordinateur qui est destiné à être exécuté par le dispositif informatique 10.  The means for transmitting an information signal 8 are also in the form of a computer program which is intended to be executed by the computer device 10.
Ces moyens d’émission d’un signal d’information 8 comprennent (figure 7) : These means of transmitting an information signal 8 include (FIG. 7):
- des moyens 81 pour transmettre le signal d’information à destination des moyens de commande 23, 33 des robots 2, 3, et/ou - Means 81 for transmitting the information signal to the control means 23, 33 of the robots 2, 3, and / or
- des moyens 82 pour transmettre le signal d’information à destination d’un opérateur, par exemple via un dispositif numérique portatif 11 (tablette numérique, téléphone portable, etc.).  - Means 82 for transmitting the information signal to an operator, for example via a portable digital device 11 (digital tablet, mobile phone, etc.).
Les moyens de commande 23, 33 de l’un au moins des robots 2, 3 comprennent alors avantageusement un programme d’ordinateur comprenant des moyens de code de programme adaptés à piloter ledit robot tenant compte dudit signal d’information, lorsque ledit programme d’ordinateur est exécuté par lesdits moyens de commande.  The control means 23, 33 of at least one of the robots 2, 3 then advantageously comprise a computer program comprising program code means adapted to control said robot taking account of said information signal, when said program the computer is executed by said control means.
Procédé Process
Deux robots 2, 3 sont associés pour former le système de bras robots 1 (figures 1 à Two robots 2, 3 are associated to form the robot arm system 1 (Figures 1 to
6). 6).
En fonctionnement, les moyens de commande 23, 33 assurent ensuite le pilotage de deux robots 2, 3.  In operation, the control means 23, 33 then control two robots 2, 3.
Au cours de ce pilotage, le système 1 exécute en continu un procédé de sécurité, qui est destiné à émettre un signal d’information en cas de détection d’un état critique dans le système 1 , ledit état critique correspondant :  During this piloting, the system 1 continuously executes a safety method, which is intended to emit an information signal in the event of detection of a critical state in the system 1, said critical state corresponding:
- à un défaut de stabilité / d’équilibre des robots 2, 3 associés, et/ou  - a defect in stability / balance of robots 2, 3 associated, and / or
- à une contrainte mécanique supérieure à la résistance mécanique de ces robots 2, 3.  - a mechanical stress greater than the mechanical resistance of these robots 2, 3.
Ce procédé de sécurité surveille ainsi le comportement dynamique des deux robots 2, 3, et ce quel que soit l’application envisagée.  This security process thus monitors the dynamic behavior of the two robots 2, 3, regardless of the application envisaged.
En l’espèce, comme illustré schématiquement sur la figure 7, ce procédé de sécurité comprend une succession d’opérations qui sont exécutés par le dispositif informatique 10, à savoir :  In this case, as illustrated diagrammatically in FIG. 7, this security method comprises a succession of operations which are executed by the computer device 10, namely:
- une collecte de paramètres physiques P relatifs aux mouvements des robots associés 2, 3 (opération A), ladite collecte étant effectuée via les moyens de collecte 5,  a collection of physical parameters P relating to the movements of the associated robots 2, 3 (operation A), said collection being carried out via the collection means 5,
- une détermination, à partir desdits paramètres physiques P, des efforts qui sont appliqués sur lesdits robots 2, 3 et/ou qui sont destinés à s’appliquer sur lesdits robots 2, 3 (opération B), via les moyens de détermination 6, - une détection dudit état critique desdits robots 2, 3, par comparaison desdits efforts réels Er et/ou simulés Es avec des efforts critiques Eç préétablis choisis parmi des efforts susceptibles de provoquer ledit état critique (opération C), via les moyens de détection 7, et a determination, from said physical parameters P, of the forces which are applied to said robots 2, 3 and / or which are intended to be applied to said robots 2, 3 (operation B), via the determination means 6, a detection of said critical state of said robots 2, 3, by comparison of said real forces Er and / or simulated Es with critical forces E ç pre-established chosen from efforts capable of causing said critical state (operation C), via the detection means 7 , and
- l’émission dudit signal d’information en cas de détection dudit état critique (opération D), via les moyens d’émission 8.  - the transmission of said information signal in the event of detection of said critical state (operation D), via the transmission means 8.
L’opération de collecte de paramètres physiques P comprend par exemple : The operation for collecting physical parameters P includes for example:
- une opération de collecte, via les premiers moyens de collecte 51 , des efforts appliqués par le premier robot 2 sur le second robot 3 (opération A1 ), a collection operation, via the first collection means 51, of the forces applied by the first robot 2 to the second robot 3 (operation A1),
- une opération de collecte de la dynamique des mouvements de l’un au moins des robots 2, 3, par exemple une mesure de la dynamique des mouvements du second robot 3 (opération A2) et/ou du premier robot 2 (opération A3) par les seconds moyens de collecte 52 dédiés.  an operation for collecting the dynamics of the movements of at least one of the robots 2, 3, for example a measurement of the dynamics of the movements of the second robot 3 (operation A2) and / or the first robot 2 (operation A3) by the second dedicated collection means 52.
Cette opération de collecte A permet ensuite l’opération B pour la détermination des efforts qui sont appliqués sur lesdits robots 2, 3 et/ou qui sont destinés à s’appliquer sur lesdits robots 2, 3.  This collection operation A then allows operation B for the determination of the forces which are applied to said robots 2, 3 and / or which are intended to be applied to said robots 2, 3.
Cette opération de détermination B permet le calcul :  This determination operation B allows the calculation:
- des efforts réels Er (opération B1 ), de préférence à partir des données d’effort issues de l’opération A1_, au sein d’un environnement réel, et/ou  - real efforts Er (operation B1), preferably from the effort data from operation A1_, within a real environment, and / or
- des efforts simulés Es (opération B2), de préférence à partir de la dynamique des mouvements issue des opérations A2 et A3, au sein d’un environnement simulé.  - simulated forces Es (operation B2), preferably based on the dynamics of the movements resulting from operations A2 and A3, within a simulated environment.
L’environnement réel utilise notamment les premiers moyens de collecte 51 pour en déterminer les efforts et couples réels exercés sur les moyens porteurs 32 du second robot 3.  The real environment notably uses the first collection means 51 to determine the real forces and couples exerted on the carrier means 32 of the second robot 3.
Les efforts simulés Es sont de préférence déterminés à partir d’une opération de calcul de la dynamique du premier robot 2 (opération B3) dans un environnement simulé intégrant les paramètres physiques P collectés et des paramètres dynamiques simulés.  The simulated forces Es are preferably determined from an operation for calculating the dynamics of the first robot 2 (operation B3) in a simulated environment integrating the collected physical parameters P and simulated dynamic parameters.
Cet environnement simulé se présente avantageusement sous la forme d’un algorithme qui est conçu pour estimer des efforts en fonction des données provenant des moyens de collecte 5, ou en fonction de données simulées (arrêt d’urgence, freinage dynamique maximum, etc.).  This simulated environment is advantageously in the form of an algorithm which is designed to estimate forces as a function of the data coming from the collection means 5, or as a function of simulated data (emergency stop, maximum dynamic braking, etc.) .
Cet algorithme permet avantageusement de définir les efforts et couples simulés que le premier robot 2 exerce, ou va exercer, sur les moyens porteurs 32 du second robot 3.  This algorithm advantageously makes it possible to define the simulated forces and couples that the first robot 2 exerts, or will exert, on the carrier means 32 of the second robot 3.
Partant de ces efforts déterminés, l’opération de détection (opération C) exécute : Starting from these determined efforts, the detection operation (operation C) performs:
- une opération de contrôle de stabilité (opération C1 ), et/ou - a stability control operation (operation C1), and / or
- une opération de calcul de la résistance mécanique des différents éléments (opération C2),  - an operation to calculate the mechanical resistance of the different elements (operation C2),
qui sont avantageusement réalisés par combinaison des deux environnements précités (opération C3).  which are advantageously produced by combining the two aforementioned environments (operation C3).
Un algorithme de fusion de données permet de prendre et comparer les deux environnements réel Er et simulé Es. A data fusion algorithm allows to take and compare the two real Er and simulated Es environments.
La fusion consiste à prendre à tout instant les données réelles envisagées, et à les comparer avec celles estimées. On déroule parallèlement la simulation avec la réalité des mouvements (spatialement) et avec les mesures d’efforts, afin de vérifier le bon déroulement de la séquence.  Merging involves taking the actual data envisaged at all times, and comparing them with those estimated. We run the simulation in parallel with the reality of the movements (spatially) and with the force measurements, in order to verify the smooth running of the sequence.
Partant de cette analyse, une adaptation des paramètres dynamiques de l’environnement simulé peut être réalisée pour que celui-ci soit le plus proche possible du réel (opération C4).  On the basis of this analysis, an adaptation of the dynamic parameters of the simulated environment can be carried out so that it is as close as possible to reality (operation C4).
A cet égard, la détermination des efforts appliqués sur les robots 2, 3 comprend avantageusement les étapes suivantes :  In this regard, the determination of the forces applied to the robots 2, 3 advantageously comprises the following steps:
- la détermination des efforts simulés Es appliqués sur les robots 2, 3 (opération B2), - the determination of the simulated forces Es applied to the robots 2, 3 (operation B2),
- la détermination des efforts réels Er appliqués sur les robots 2, 3 (opération B1 ),- the determination of the real forces Er applied on the robots 2, 3 (operation B1),
- la comparaison des efforts réels Er et desdits efforts simulés Es (opération C3) etthe comparison of the real forces Er and of said simulated forces Es (operation C3) and
- l’adaptation des paramètres dynamiques simulés de l’environnement simulé (opération C4). - the adaptation of the simulated dynamic parameters of the simulated environment (operation C4).
En particulier, l’opération de contrôle de stabilité (opération C1 ) permet de déterminer trois niveaux de sécurité :  In particular, the stability control operation (operation C1) makes it possible to determine three levels of security:
- une sécurité immédiate S1 , c’est-à-dire un état critique immédiat (par exemple le système 1 est sur le point de basculer),  - immediate security S1, that is to say an immediate critical state (for example system 1 is about to fail over),
- une sécurité prédictive S2, c’est-à-dire un état critique en cas de freinage aux paramètres nominaux (par exemple, l’environnement simulé permet de déterminer la stabilité en cas de freinage maximum respectant les paramètres dynamiques programmés dans le système 1 ),  - predictive safety S2, i.e. a critical state in the event of braking at nominal parameters (for example, the simulated environment makes it possible to determine stability in the event of maximum braking respecting the dynamic parameters programmed in system 1 ),
- une sécurité d’urgence S3, c’est-à-dire un état critique en cas de freinage d’urgence (le comportement est le même que pour la sécurité prédictive mais avec des paramètres dynamiques de freinage plus sévères).  - S3 emergency safety, i.e. a critical state in the event of emergency braking (the behavior is the same as for predictive safety but with more severe dynamic braking parameters).
L’opération de calcul de la résistance mécanique C2 peut générer un signal d’information.  The C2 mechanical strength calculation operation can generate an information signal.
Le signal d’information est transmis à destination des moyens de commande 23, 33 de l’un au moins desdits robots 2, 3 (opération D1 ) et/ou d’un opérateur (opération D2).  The information signal is transmitted to the control means 23, 33 of at least one of said robots 2, 3 (operation D1) and / or of an operator (operation D2).
De préférence, dans le cas de l’opération D1 , les moyens de commande 23, 33 pilotent l’un au moins desdits robots 2, 3 tenant compte dudit signal d’information.  Preferably, in the case of operation D1, the control means 23, 33 control at least one of said robots 2, 3 taking account of said information signal.
Ainsi, en cas de problème(s) détecté(s) (risque de basculement ou risque de casse mécanique), les moyens de commande 22, 33 peuvent envoyer des informations à l’un au moins des robots 2, 3 pour que ceux-ci adaptent leur mode de fonctionnement (réduction de la vitesse par exemple).  Thus, in the event of a problem (s) detected (risk of tilting or risk of mechanical breakage), the control means 22, 33 can send information to at least one of the robots 2, 3 so that they- these adapt their operating mode (speed reduction for example).
Dans le cas de l’opération D2, les informations calculées sont remontées à l’opérateur pour que celui-ci puisse prendre les mesures adéquates à la situation. De manière générale, les mesures correctrices peuvent consister en : In the case of operation D2, the calculated information is sent back to the operator so that he can take the appropriate measures for the situation. In general, corrective measures can consist of:
- une demande de ralentissement des vitesses pour limiter la dynamique de l’ensemble,  - a request to slow down speeds to limit the dynamics of the whole,
- un arrêt de sécurité,  - a safety stop,
- un avertissement à l’opérateur d’une impossibilité de mouvements car les instructions de manoeuvre du système 1 feraient passer par des points non-stables pour le premier robot 2 et/ou le second robot 3.  - a warning to the operator of an impossibility of movements because the operating instructions of system 1 would pass through non-stable points for the first robot 2 and / or the second robot 3.

Claims

REVENDICATIONS
1. Système de bras robot, lequel système (1 ) comprend deux robots (2, 3) munis de moyens de commande (23, 33) :  1. Robot arm system, which system (1) comprises two robots (2, 3) provided with control means (23, 33):
- un premier robot (2) comprenant un bras polyarticulé (21 ) équipé de plusieurs articulations (212), et  a first robot (2) comprising a polyarticulated arm (21) equipped with several articulations (212), and
- un second robot (3) du type véhicule mobile, équipé de moyens (32) pour porter ledit premier robot (2),  a second robot (3) of the mobile vehicle type, equipped with means (32) for carrying said first robot (2),
caractérisé en ce que ledit système (1 ) comporte des moyens de sécurité (4) comprenant :  characterized in that said system (1) comprises security means (4) comprising:
a) des moyens (5) pour collecter des paramètres physiques (P) relatifs aux mouvements desdits robots (2, 3) associés,  a) means (5) for collecting physical parameters (P) relating to the movements of said associated robots (2, 3),
b) des moyens (6) pour déterminer, au moins à partir desdits paramètres physiques (P), les efforts réels (Er) et/ou simulés (Es) qui sont appliqués sur lesdits robots (2, 3) et/ou qui sont destinés à s’appliquer sur lesdits robots (2, 3),  b) means (6) for determining, at least from said physical parameters (P), the real forces (Er) and / or simulated (Es) which are applied to said robots (2, 3) and / or which are intended to be applied to said robots (2, 3),
c) des moyens (7) pour détecter un état critique desdits robots (2, 3) par comparaison desdits efforts réels (Er) et/ou simulés (Es) avec des efforts critiques (Ec) préétablis choisis parmi - des efforts susceptibles de provoquer un défaut de stabilité / d’équilibre desdits robots (2, 3) associés et/ou - des efforts susceptibles de provoquer une contrainte mécanique supérieure à la résistance mécanique desdits robots (2, 3), et  c) means (7) for detecting a critical state of said robots (2, 3) by comparison of said real forces (Er) and / or simulated (Es) with pre-established critical forces (Ec) chosen from - forces capable of causing a lack of stability / equilibrium of said associated robots (2, 3) and / or - efforts liable to cause a mechanical stress greater than the mechanical resistance of said robots (2, 3), and
d) des moyens (8) pour émettre un signal d’information en cas de détection dudit état critique.  d) means (8) for transmitting an information signal in the event of detection of said critical state.
2. Système de bras robot, selon la revendication 1 , caractérisé en ce que les moyens de collecte (5) comprennent :  2. Robot arm system according to claim 1, characterized in that the collecting means (5) comprise:
- des moyens (51 ) pour collecter les efforts appliqués par ledit premier robot (2) sur ledit second robot (3), et/ou  - Means (51) for collecting the forces applied by said first robot (2) on said second robot (3), and / or
- des moyens (52) de mesure de la dynamique des mouvements de l’un au moins desdits robots (2, 3).  - Means (52) for measuring the dynamics of the movements of at least one of said robots (2, 3).
3. Système de bras robot, selon la revendication 2, caractérisé en ce qu’il comporte des moyens (24) pour l’assemblage entre ledit premier robot (2) et les moyens porteurs (32) dudit second robot (3),  3. robot arm system according to claim 2, characterized in that it comprises means (24) for assembly between said first robot (2) and the carrying means (32) of said second robot (3),
et en ce que lesdits moyens d’assemblage (24) comportent au moins une partie desdits moyens de collecte (5).  and in that said assembly means (24) comprise at least part of said collection means (5).
4. Système de bras robot, selon l’une quelconque des revendications 1 à 3, caractérisé en ce que les moyens (61 ) pour déterminer les efforts simulés (Es) comprennent un programme d’ordinateur comprenant des moyens de code de programme pour déterminer lesdits efforts simulés (Es) à partir d’un environnement simulé intégrant lesdits paramètres physiques (P) collectés et des paramètres dynamiques simulés, lorsque ledit programme d’ordinateur est mis en oeuvre par lesdits moyens pour déterminer les efforts simulés (61 ). 4. robot arm system according to any one of claims 1 to 3, characterized in that the means (61) for determining the simulated forces (Es) comprise a computer program comprising program code means for determining said simulated forces (Es) from a simulated environment integrating said collected physical parameters (P) and simulated dynamic parameters, when said computer program is implemented by said means to determine the simulated forces (61).
5. Système de bras robot, selon l’une quelconque des revendications 1 à 4, caractérisé en ce que les moyens (7) pour détecter un état critique desdits robots (2, 3) comprennent un programme d’ordinateur comprenant des moyens de code de programme adaptés à comparer les efforts réels (Er) et/ou simulés (Es) avec des efforts critiques (Ec) préétablis présentant trois niveaux de sécurité : 5. robot arm system according to any one of claims 1 to 4, characterized in that the means (7) for detecting a critical state of said robots (2, 3) comprise a computer program comprising code means of programs adapted to compare the real (Er) and / or simulated (Es) forces with pre-established critical forces (Ec) presenting three levels of safety:
- une sécurité immédiate, pour déterminer un état critique immédiat,  - immediate security, to determine an immediate critical state,
- une sécurité prédictive, pour déterminer un état critique en cas de freinage aux paramètres nominaux,  - predictive safety, to determine a critical state in the event of braking at nominal parameters,
- une sécurité d’urgence, pour déterminer un état critique en cas de freinage d’urgence,  - emergency safety, to determine a critical state in the event of emergency braking,
lorsque ledit programme d’ordinateur est mis en oeuvre par un ordinateur. when said computer program is implemented by a computer.
6. Système de bras robot, selon l’une quelconque des revendications 1 à 5, caractérisé en ce que les moyens (8) pour émettre un signal d’information comprennent : 6. robot arm system according to any one of claims 1 to 5, characterized in that the means (8) for transmitting an information signal comprise:
- des moyens (81 ) pour transmettre ledit signal d’information à destination des moyens de commande (23, 33) desdits robots (2, 3), et/ou  - means (81) for transmitting said information signal to the control means (23, 33) of said robots (2, 3), and / or
- des moyens (82) pour transmettre ledit signal d’information à destination d’un opérateur.  - means (82) for transmitting said information signal to an operator.
7. Système de bras robot, selon la revendication 6, caractérisé en ce que les moyens de commande (23, 33) de l’un au moins desdits robots (2, 3) comprennent un programme d’ordinateur comprenant des moyens de code de programme adaptés à piloter ledit robot (2, 3) tenant compte dudit signal d’information, lorsque ledit programme d’ordinateur est exécuté par lesdits moyens de commande (23, 33).  7. robot arm system according to claim 6, characterized in that the control means (23, 33) of at least one of said robots (2, 3) comprise a computer program comprising code means for program adapted to control said robot (2, 3) taking into account said information signal, when said computer program is executed by said control means (23, 33).
8. Procédé pour émettre un signal d’information en cas de détection d’un état critique dans un système de bras robot (1 ) selon l’une quelconque des revendications 1 à 7, ledit état critique correspondant à un défaut de stabilité / d’équilibre desdits robots (2, 3) associés et/ou à une contrainte mécanique supérieure à la résistance mécanique desdits robots (2, 3),  8. Method for transmitting an information signal in the event of detection of a critical state in a robot arm system (1) according to any one of claims 1 to 7, said critical state corresponding to a stability defect / d balance of said robots (2, 3) associated and / or with a mechanical stress greater than the mechanical resistance of said robots (2, 3),
lequel procédé comprend :  which process comprises:
- une collecte de paramètres physiques (P) relatifs aux mouvements des robots (2, 3) associés,  - a collection of physical parameters (P) relating to the movements of the associated robots (2, 3),
- une détermination, à partir desdits paramètres physiques (P), des efforts réels (Er) et/ou simulés (Es) qui sont appliqués sur lesdits robots (2, 3) et/ou qui sont destinés à s’appliquer sur lesdits robots (2, 3),  - a determination, from said physical parameters (P), of the real forces (Er) and / or simulated (Es) which are applied to said robots (2, 3) and / or which are intended to be applied to said robots (2, 3),
- une détection dudit état critique desdits robots (2, 3), par comparaison desdits efforts réels (Er) et/ou simulés (Es) avec des efforts critiques préétablis (Ec) choisis parmi des efforts susceptibles de provoquer ledit état critique, et  a detection of said critical state of said robots (2, 3), by comparison of said real forces (Er) and / or simulated (Es) with pre-established critical forces (Ec) chosen from forces capable of causing said critical state, and
- l’émission dudit signal d’information en cas de détection dudit état critique. - the emission of said information signal in the event of detection of said critical state.
9. Procédé selon la revendication 8, caractérisé en ce que la détermination des efforts simulés (Es) comprend une détermination desdits efforts simulés à partir d’un environnement simulé intégrant lesdits paramètres physiques collectés (P) et des paramètres dynamiques simulés. 9. Method according to claim 8, characterized in that the determination of the simulated forces (Es) comprises a determination of said simulated forces from a simulated environment integrating said collected physical parameters (P) and simulated dynamic parameters.
10. Procédé selon l’une quelconque des revendications 8 ou 9, caractérisé en ce que les efforts critiques préétablis (Ec) présentent trois niveaux de sécurité :  10. Method according to any one of claims 8 or 9, characterized in that the preset critical forces (Ec) have three levels of security:
- une sécurité immédiate, pour déterminer un état critique immédiat,  - immediate security, to determine an immediate critical state,
- une sécurité prédictive, pour déterminer un état critique en cas de freinage aux paramètres nominaux,  - predictive safety, to determine a critical state in the event of braking at nominal parameters,
- une sécurité d’urgence, pour déterminer un état critique en cas de freinage d’urgence.  - emergency safety, to determine a critical state in the event of emergency braking.
1 1. Procédé selon l’une quelconque des revendications 8 à 10, caractérisé en ce que le signal d’information est transmis à destination des moyens de commande (22, 23) de l’un au moins desdits robots (2, 3) et/ou d’un opérateur.  1 1. Method according to any one of claims 8 to 10, characterized in that the information signal is transmitted to the control means (22, 23) of at least one of said robots (2, 3) and / or an operator.
PCT/EP2019/076150 2018-09-28 2019-09-27 Robot arm system and method for emitting an information signal in the event of a critical state being detected in said robot arm system WO2020064991A1 (en)

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FR1859024A FR3086571B1 (en) 2018-09-28 2018-09-28 ROBOT ARM SYSTEM, AND PROCESS FOR SENDING AN INFORMATION SIGNAL IN THE EVENT OF DETECTION OF A CRITICAL STATE IN THIS ROBOT ARM SYSTEM

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US20180236666A1 (en) * 2017-02-20 2018-08-23 Irobot Defense Holdings, Inc. Robotic gripper camera

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US6430473B1 (en) * 1999-10-13 2002-08-06 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Power assist apparatus and control method for same
EP2546711A2 (en) * 2011-07-14 2013-01-16 KUKA Roboter GmbH Method for programming a robot
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