WO2023180662A1 - Autonomous transport device with platform and on-board lifting system - Google Patents

Autonomous transport device with platform and on-board lifting system Download PDF

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Publication number
WO2023180662A1
WO2023180662A1 PCT/FR2023/050389 FR2023050389W WO2023180662A1 WO 2023180662 A1 WO2023180662 A1 WO 2023180662A1 FR 2023050389 W FR2023050389 W FR 2023050389W WO 2023180662 A1 WO2023180662 A1 WO 2023180662A1
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WO
WIPO (PCT)
Prior art keywords
capsule
platform
cylinders
rectangle
complementary
Prior art date
Application number
PCT/FR2023/050389
Other languages
French (fr)
Inventor
Patrick ARNAUD
Frederic Duvernier
Original Assignee
Psa Automobiles Sa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from FR2202664A external-priority patent/FR3133804B1/en
Priority claimed from FR2202731A external-priority patent/FR3133818B1/en
Application filed by Psa Automobiles Sa filed Critical Psa Automobiles Sa
Publication of WO2023180662A1 publication Critical patent/WO2023180662A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D24/00—Connections between vehicle body and vehicle frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D27/00—Connections between superstructure or understructure sub-units
    • B62D27/06—Connections between superstructure or understructure sub-units readily releasable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D33/00—Superstructures for load-carrying vehicles
    • B62D33/077—Superstructures for load-carrying vehicles characterised by the connection of the superstructure to the vehicle frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

Definitions

  • the invention relates to an autonomous transport device comprising an autonomous rolling platform and a capsule removably fixed to the platform, the platform comprising means for lifting the capsule.
  • the invention also relates to an autonomous platform equipped with a means for lifting a capsule.
  • Autonomous vehicles or autonomous transport device, comprising a rolling and autonomous platform, transporting a capsule which can be separated from the platform so as to place it on the ground are known.
  • Lifting means in particular on board the capsule, can be provided to raise the capsule relative to the ground and relative to the platform, allowing said platform to move under the capsule, allowing the capsule to be lowered onto the platform in a manner so that said platform transports the capsule.
  • document EP3536584 describes a vehicle comprising a motorized and autonomous platform carrying a removable capsule.
  • the capsule comprises lifting means which deploy to allow said capsule to be lifted relative to the ground and the platform.
  • the lifting means arranged on each of the lateral sides of the capsule, in the form of extendable arms, deploy in order to rest on the ground. Cylinders located at the end of the arms deploy while resting on the ground and raise the capsule above the platform.
  • the platform can move alone under the capsule, independently of the capsule, for example to fetch another capsule.
  • the capsule remains placed on the ground on its arms and cylinders, without the platform.
  • Locking means are provided between the capsule and the platform so as to allow secure holding of the capsule on the platform during movement of the autonomous vehicle thus formed by the capsule placed on the platform.
  • one of the aims of the invention is to propose an autonomous transport device comprising an automobile and autonomous platform transporting a capsule which can be placed on the ground, while being simple to produce and reducing the energy requirement of the capsule.
  • an autonomous transport device comprising a terrestrial and autonomous automobile platform, a capsule (20) comprising at least one floor (26) adapted to receive at least one passenger and/or a cargo, the capsule further comprising feet maintaining said capsule above the ground so as to allow the platform to move under the capsule when the latter rests on the ground by its feet, remarkable in that the platform comprises a means for lifting the capsule so as to lift the capsule when the platform is placed under the capsule and so that the platform moves with the capsule when said capsule is held lifted by the lifting means.
  • the capsule does not carry any lifting means to allow its lifting relative to the ground in order to allow the positioning of the platform below, and to allow it to be placed back on said platform because the lifting means are on board on the platform.
  • the design of the capsule is thus simplified and no source of energy specific to the capsule, that is to say on board the capsule, is necessary to allow its lifting.
  • the lifting means comprises at least three non-aligned cylinders and the capsule comprises interfaces of reception of the ends of the cylinders when the capsule is lifted by said cylinders.
  • the cylinders are actuated by a single motor.
  • the lifting system is simplified and made more robust by the use of a single motor producing the energy necessary to operate each of the cylinders.
  • the jacks are screw jacks connected to a single rotary type electric motor by mechanical transmission means, the transmission ratio between each jack and the motor being identical from so that the movement of each of the cylinders is identical.
  • controlling the speed and the amplitude of movement of the jacks of the lifting system is simple to carry out because it does not require means to control the speed and the amplitude of movement of each of the jacks, the control can be done simply on the movement of the single motor.
  • the lifting means comprises four jacks, each arranged at an angle of a rectangle, the motor being arranged inside the rectangle defined by the jacks, each of the pairs cylinders located respectively on a first side of the rectangle and on the side opposite the first side of the rectangle being connected respectively to a complementary return housing located between the pair of cylinders on the respective side of the rectangle, by a complementary shaft, each return housing complementary being connected to a central gearbox by a main shaft, the central gearbox being connected to the motor, so that the rotation of the electric motor moves each of the cylinders.
  • the means of transmission include the central and complementary gearboxes, and the main and complementary transmission shafts.
  • the four cylinders are arranged symmetrically with respect to a longitudinal median axis and a transverse median axis of the platform.
  • the feet of the capsule are fixed.
  • the capsule is made in a very simple manner without the need for articulation on the feet, while allowing the passage of the platform underneath.
  • the feet of the capsule are arranged beyond the length and width of the platform so as to allow the passage of said platform between the feet in the direction of width and length.
  • the platform can be placed under the capsule by entering from different sides of the capsule, passing between the feet in the width direction but also in the length direction of the capsule.
  • the autonomous transport device comprises a plurality of sensors each having a field of vision, the sensors being designed to observe a part of an environment external to the device located in their field of respective vision, all of the fields of vision forming at least one blind zone, excluded from said fields of vision, at least one foot of the capsule being arranged and extending in a blind zone when the capsule is lifted by the platform, that is to say when the lifting means of the platform lifted the capsule.
  • the feet are fixed.
  • the transport device according to the invention is capable of detecting possible obstacles present in the external environment thanks to the observation of the field of vision of each sensor.
  • the foot placed in a blind zone is not likely to be detected by the sensors and therefore to be interpreted as an obstacle when the capsule is placed on the platform and lifted by the lifting means. Therefore, the foot placed in the blind zone does not need to be retractable, and therefore can be fixed, and the transport device according to the invention is simplified by the elimination of the corresponding retraction system. Furthermore, the foot placed in the blind zone avoids the risk of masking a real obstacle, thus making it unobservable by a sensor.
  • each foot is arranged in a blind zone.
  • the capsule is delimited by a perimeter having a plurality of faces, the device comprising at least two neighboring sensors arranged facing two neighboring faces, having a common edge, so that the fields of vision of the two Neighboring sensors delimit a blind zone placed opposite the common edge.
  • the capsule has a general quadrilateral shape around it.
  • the sensors are arranged on the platform.
  • each sensor is a radar.
  • the invention also relates to an autonomous automobile platform intended to transport a capsule, said platform comprising lifting means intended to lift said capsule and comprising four screw jacks, each arranged at an angle of a rectangle, a rotary electric motor arranged inside the rectangle defined by the cylinders, the pair of cylinders located on a first side of the rectangle and the pair of cylinders located on the side opposite the first side of the rectangle each being connected respectively to a return housing complementary located between the pair of cylinders on the respective side of the rectangle, by a complementary shaft, each complementary gearbox being connected to a central gearbox by a main shaft, the central gearbox being connected to the motor so that the rotation of the electric motor moves each of the cylinders.
  • the transmission ratio of the transmission means between each cylinder and the motor is identical so that the movement of each of the cylinders is identical.
  • the means of transmission include the central and complementary gearboxes, and the main and complementary transmission shafts.
  • FIG.1 represents a side view of the autonomous transport device according to the invention, with the capsule in the raised position relative to the platform.
  • FIG.2 represents a view similar to Figure 1, the capsule being in the non-raised position and resting on the ground.
  • FIG.3 is a perspective view of the lifting device.
  • FIG.4 represents a top view of the transport device according to a variant of the invention.
  • Figure 1 illustrates an autonomous transport device 1 according to the invention, comprising a terrestrial and autonomous automobile platform 10, a capsule 20 comprising feet 21 maintaining said capsule 20 above the ground so as to allow the platform 10 to move under the capsule 20 when said capsule 20 rests on the ground. That is to say, when the capsule 20 is placed on the ground by its feet 21, a space exists between the ground and the capsule 20, allowing the platform 10 to be positioned under said capsule 20 without touching it.
  • the transport device thus forms an autonomous vehicle.
  • the X axis represents the longitudinal direction of the transport device, the Y axis the transverse direction and the Z axis the vertical direction, the up and down directions are taken in the reference frame of the transport device.
  • the platform 10 includes motorized wheels 14 allowing it to move on the ground and a control system connected to different sensors to allow autonomous movement.
  • the platform 10 is of generally rectangular shape and has four wheels, each near each corner of the platform 10.
  • the wheels 14 can be of the multidirectional type in order to allow movement in different directions of the platform 10.
  • the platform 10 comprises a lifting means 11 of the capsule 20 so as to lift the capsule 20 when the platform 10 is placed under the capsule 20.
  • the platform 10 moves on the ground transporting the capsule 20 with the means of lifting 11 deployed, that is to say with the capsule 20 raised so that its feet 21 no longer touch the ground.
  • the lifting means 11 comprises for example fixing means, not shown, making it possible to maintain the capsule 20 relative to the platform 10 when said capsule 20 is lifted by said lifting means 11.
  • Capsule 20 means a structure capable of receiving loads, such as passengers and/or objects.
  • the capsule 20 is for example a substantially parallelepiped volume comprising a bottom, or floor 26 visible in Figure 4, vertical walls and a roof, defining an interior space capable of receiving objects and/or people.
  • the bottom, or floor 26 When the capsule 20 rests on the ground on its feet 21, the bottom, or floor 26, is located at a distance from the ground, with an empty space between the floor 26 and the ground, so as to allow the platform 10 to be placed in position. - below the bottom of the capsule 20.
  • the floor 26, or bottom is adapted to receive at least one passenger and/or cargo.
  • the capsule 20 includes, for example, a bodywork, possibly equipped with glass surfaces, making it possible to shelter the passengers during their transport.
  • the capsule 20 is for example a passenger transport cabin.
  • the lifting means 11 is in an deployed position, that is to say a position in which the capsule 20 no longer rests on the ground by its feet 21.
  • the lifting means 11 is in a retracted position, that is to say a position in which the capsule 20 is not lifted and rests directly on the ground by its feet 21, with the platform 10 under the capsule 20. That is to say, there is no contact between the capsule 20 and the platform 10. In this position, the platform 10 can circulate under the capsule 20, between the feet 21, and move alone without moving the capsule 20.
  • the lifting means 11 comprises at least three jacks 110, or more, in order to ensure good stability of the capsule 20 on the platform 10 when it is lifted by said lifting means and the platform 10 moves by loading the capsule 20.
  • the cylinders 110 are for example actuated by a single motor 13. That is to say that a single motor 13 produces the mechanical energy necessary for the simultaneous movement of the jacks 110.
  • the jacks 110 are for example screw jacks and the motor 13 is a rotary type electric motor.
  • Mechanical transmission means 12 connect the motor 13 to the cylinders 110 so as to transmit the rotational movement of said motor 13 to said cylinders 110.
  • the transmission ratio, or gear ratio, between each cylinder 110 and the motor 13 is chosen identical so that the movement of each of the cylinders 110 is identical to each other.
  • the capsule 20 comprises reception interfaces 22 receiving the ends of the cylinders 110 when said cylinders 110 lift said capsule 20.
  • the reception interfaces 22 comprise means of fixing between the capsule 20 and the cylinders 110, so as to hold the capsule 20 to the platform 10 when said capsule 20 is lifted by the jacks 110 and moved by said platform 10.
  • the lifting means 11 comprises four cylinders 110 for better stability of the capsule 20 on the platform 10 when the lifting means 11 is deployed and lifts the capsule 20.
  • the four cylinders 110 are each arranged at an angle of a rectangle R.
  • the motor 13 is arranged inside the rectangle R defined by the four cylinders 110.
  • the pair of cylinders 110 located on a first side of the rectangle R and the pair of cylinders located on the side opposite the first side of the rectangle R are each connected respectively by a complementary shaft 123 to a complementary return housing 122 located between the pair of cylinders 110 on said side of the rectangle R.
  • Each housing complementary return gear 122 is connected to a central gearbox 120 by a main shaft 121.
  • the central gearbox 120 is connected to the motor 13.
  • the electric motor 13 rotates each of the two main shafts 121 via the central gearbox 120, each of the two main shafts 121 in turn respectively drive the two complementary shafts 123 via each of the complementary return housings 122, and the complementary shafts 123 being connected to the screw jacks, their rotational movement causes the movement of each of the jacks 110.
  • the lifting means 11 shown in Figure 3 therefore comprises the electric motor 13, a central gearbox 120, two main shafts 121, two complementary gearboxes 122, four complementary shafts 123 and four cylinders 110.
  • the transmission means 12 comprises the central gearbox 120, the two main shafts 121, the two complementary return boxes 122, and the four complementary shafts 123.
  • the platform 10 extends in a main direction X.
  • the platform 10 comprises a pair of front cylinders 110 and a pair of rear cylinders 110.
  • the two front cylinders 110 are aligned along a transverse axis Y perpendicular to the longitudinal axis X, as are the two rear cylinders 110.
  • Each front cylinder 110 is aligned with one of the rear cylinders 110 along the longitudinal axis presented in Figure 3, the two main shafts 121 are parallel to the longitudinal axis complementary shafts 123.
  • the gearboxes 120 and 122 are, for example, geared angle gear systems known to those skilled in the art.
  • Constant velocity joints or universal joints can be provided at each end of the shafts 121, 123, to allow a certain flexibility in the event of twisting of the platform 10 while allowing the transmission of rotation.
  • the four jacks 110 are arranged symmetrically with respect to a longitudinal median axis and a transverse median axis of the platform 10.
  • the entire platform 10 is symmetrical with respect to a longitudinal median axis a transverse median axis Y.
  • the platform 10 can be placed in any manner under the capsule between the front and the rear while ensuring cooperation of the cylinders 110 with the interfaces of reception 22.
  • the capsule 20 has fixed feet 21. That is to say that the feet 21 do not retract and are not mobile relative to the rest of the capsule 20.
  • the capsule 20 therefore does not carry any lifting means.
  • the feet 21 of the capsule 20 are for example arranged beyond the length and width of the platform 10.
  • the platform 10 can fit under the capsule 20 by passing indifferently between the feet 21 in the width direction, that is to say by a movement along the longitudinal axis place under the capsule 20 by entering indifferently from different sides of the capsule 20.
  • the feet 21 retract, for example partially, in order to increase the distance between the ground and the end of the feet 21 when the capsule 20 is moved by platform 10.
  • FIG. 4 illustrates a variant of the autonomous transport device 1.
  • the autonomous platform 10 is provided with lifting means, not shown in this figure 4.
  • the lifting means comprises for example a plurality of jacks, for example four jacks, not shown, arranged at the four corners of the platform 10.
  • the platform 10 is advantageously moved thanks to at least one electric motor, powered by a battery embedded in the platform 10.
  • the platform 10 comprises for example a plurality of multidirectional wheels 14 capable of rotating around two orthogonal axes A1 and A2, illustrated in Figure 4
  • the axes A2 and A1 are for example respectively parallel to the longitudinal axes sphere, thanks, for example, to motorized rollers.
  • the capsule 20 is delimited by a periphery 27 having a plurality of faces 28. As illustrated in Figure 4, the periphery 27 has a general shape of a quadrilateral, certain angles 29 of which are, for example, rounded.
  • the capsule 20 comprises a plurality of fixed feet 21 allowing the capsule 20 to rest on the ground and maintain a space between the ground and the floor 26 in order to allow the platform 10 to be positioned in the space under the floor 26 to lift it using the lifting means. In the example illustrated in Figure 4, the capsule 20 has four feet 21, each located at a corner of the capsule 20.
  • the device 1 also comprises a plurality of sensors 3 each having a field of vision 32.
  • Each field of vision 32 represents a conical or frustoconical shape whose apex is located on the corresponding sensor 3.
  • the sensors 3 are designed to observe part of an external environment 33 at device 1 located in their respective field of vision 32. Observing part of the external environment 33 makes it possible to detect possible obstacles in this part of the external environment 33.
  • each sensor 3 is a radar.
  • all of the fields of vision 32 form at least one blind zone 34, excluded from said fields of vision 32.
  • the device 1 comprises four blind zones 14, each located at one corner of the capsule 20.
  • At least one foot 21 of the capsule 20 is arranged and extends in a blind zone 34 when the capsule 20 is lifted by the platform 10. In this case each foot 21 is arranged in a blind zone 34.
  • the device 1 comprises at least two neighboring sensors 3 arranged on two neighboring faces 28, having a common edge 25, so that the fields of vision 32 of the two neighboring sensors 3 delimit a blind zone 34 placed opposite the common stop 25.
  • the sensors 3 are arranged on the platform 10.
  • the transport device 1 makes it possible to optimize the number of sensors 3 necessary to cover the external environment 33.
  • the feet 21, each located in a blind zone 34, make it possible to dispense with a system making it possible to retract the corresponding feet 21.
  • the transport device 1 is more reliable and simpler.
  • the feet 21 do not risk masking a possible obstacle in the external environment 33 of the transport device 1 according to the invention.

Abstract

The invention relates to an autonomous transport device (1) comprising an autonomous and terrestrial automotive platform (10), a capsule (20) comprising legs (21) that hold said capsule (20) above ground level so as to allow the platform (10) to move under the capsule (20) when this capsule is resting on the ground, the platform (10) and the capsule (20) being arranged in such a way that the capsule (20) can be held on the platform (10) in order to move it, notable in that the platform (10) comprises a means (11) of lifting the capsule (20) so as to lift the capsule (20) when the platform (10) is positioned under the capsule (20).

Description

Description Description
Titre de l'invention : Dispositif de transport autonome à plateforme et système de levage embarqué Title of the invention: Autonomous transport device with platform and on-board lifting system
[0001] La présente invention revendique la priorité de la demande française 2202664 déposée le 25 mars 2022 et la priorité de la demande française 2202731 déposée le 28 mars 2022 dont le contenu (texte, dessins et revendications) est ici incorporé par référence. [0001] The present invention claims the priority of French application 2202664 filed on March 25, 2022 and the priority of French application 2202731 filed on March 28, 2022, the content of which (text, drawings and claims) is here incorporated by reference.
[0002] L’invention concerne un dispositif de transport autonome comportant une plateforme roulante autonome et une capsule fixée de manière amovible à la plateforme, la plateforme comportant un moyen de levage de la capsule. L’invention porte également sur une plateforme autonome équipée d’un moyen de levage d’une capsule. [0002] The invention relates to an autonomous transport device comprising an autonomous rolling platform and a capsule removably fixed to the platform, the platform comprising means for lifting the capsule. The invention also relates to an autonomous platform equipped with a means for lifting a capsule.
[0003] Des véhicules autonomes, ou dispositif de transport autonome, comportant une plateforme roulante et autonome, transportant une capsule qui peut être séparée de la plateforme de sorte à la posée sur le sol sont connus. Des moyens de levage, notamment embarqués sur la capsule, peuvent être prévu pour surélever la capsule par rapport au sol et par rapport à la plateforme, permettant à ladite plateforme de se déplacer sous la capsule, permettre de redescendre la capsule sur la plateforme de manière à ce que ladite plateforme transporte la capsule. [0003] Autonomous vehicles, or autonomous transport device, comprising a rolling and autonomous platform, transporting a capsule which can be separated from the platform so as to place it on the ground are known. Lifting means, in particular on board the capsule, can be provided to raise the capsule relative to the ground and relative to the platform, allowing said platform to move under the capsule, allowing the capsule to be lowered onto the platform in a manner so that said platform transports the capsule.
[0004] Par exemple, le document EP3536584 décrit un véhicule comportant une plateforme motorisée et autonome embarquant une capsule amovible. La capsule comporte des moyens de levage se déployant pour permettre de lever ladite capsule par rapport au sol et à la plateforme. Lorsque la capsule est sur la plateforme, les moyens de levage disposés sur chacun des côtés latéraux de la capsule, sous la forme de bras extensibles, se déploient afin de reposer sur le sol. Des vérins disposés à l'extrémité des bras se déploient en s'appuyant sur le sol et lèvent la capsule au-dessus de la plateforme. Une fois la capsule levée, la plateforme peut se déplacer seule sous la capsule, indépendamment de la capsule, par exemple pour aller chercher une autre capsule. La capsule reste posée au sol sur ses bras et vérins, sans la plateforme. Pour récupérer une plateforme ainsi posée, la plateforme se déplace sous la capsule, puis les vérins redescendent la capsule sur la plateforme et les bras se rétractent. Des moyens de verrouillage sont prévus entre la capsule et la plateforme de manière à permettre un maintien sécurisé de la capsule sur la plateforme lors du déplacement du véhicule autonome ainsi formé par la capsule posée sur la plateforme. [0004] For example, document EP3536584 describes a vehicle comprising a motorized and autonomous platform carrying a removable capsule. The capsule comprises lifting means which deploy to allow said capsule to be lifted relative to the ground and the platform. When the capsule is on the platform, the lifting means arranged on each of the lateral sides of the capsule, in the form of extendable arms, deploy in order to rest on the ground. Cylinders located at the end of the arms deploy while resting on the ground and raise the capsule above the platform. Once the capsule is lifted, the platform can move alone under the capsule, independently of the capsule, for example to fetch another capsule. The capsule remains placed on the ground on its arms and cylinders, without the platform. To recover a platform placed in this way, the platform moves under the capsule, then the cylinders lower the capsule onto the platform and the arms retract. Locking means are provided between the capsule and the platform so as to allow secure holding of the capsule on the platform during movement of the autonomous vehicle thus formed by the capsule placed on the platform.
[0005] L'inconvénient d'une telle solution est qu'elle nécessite une alimentation en énergie de la capsule afin de permettre le déploiement des moyens de levage. De plus elle nécessite des moyens de levage d'une longueur importante afin de pouvoir prendre appui sur le sol, et qui se déploient de chaque côté de la capsule, pour permettre le passage de la capsule, complexifiant le moyen de levage et augmentant l'emprise au sol de la capsule lorsqu’elle repose au sol. The disadvantage of such a solution is that it requires an energy supply to the capsule in order to allow the deployment of the lifting means. In addition, it requires lifting means of significant length in order to be able to rest on the ground, and which deploy on each side of the capsule, to allow the passage of the capsule, making the lifting means more complex and increasing the footprint of the capsule when it rests on the ground.
[0006] L’objectif de l’invention est de remédier à ces inconvénients. En particulier, un des buts de l’invention est de proposer un dispositif de transport autonome comportant une plateforme automobile et autonome transportant une capsule qui puisse être déposée au sol, tout en étant simple à réaliser et réduisant le besoin en énergie de la capsule. [0006] The objective of the invention is to remedy these drawbacks. In particular, one of the aims of the invention is to propose an autonomous transport device comprising an automobile and autonomous platform transporting a capsule which can be placed on the ground, while being simple to produce and reducing the energy requirement of the capsule.
[0007] Ce but est atteint selon l’invention, grâce à un dispositif de transport autonome comportant une plateforme automobile terrestre et autonome, une capsule (20) comportant au moins un plancher (26) adapté à recevoir au moins un passager et/ou une cargaison, la capsule comportant en outre des pieds maintenant ladite capsule au-dessus du sol de sorte à permettre à la plateforme de se déplacer sous la capsule lorsque celle-ci repose au sol par ses pieds, remarquable en ce que la plateforme comporte un moyen de levage de la capsule de sorte à lever la capsule lorsque la plateforme est disposée sous la capsule et à ce que la plateforme se déplace avec la capsule lorsque ladite capsule est maintenue levée par le moyen de levage. [0007] This goal is achieved according to the invention, thanks to an autonomous transport device comprising a terrestrial and autonomous automobile platform, a capsule (20) comprising at least one floor (26) adapted to receive at least one passenger and/or a cargo, the capsule further comprising feet maintaining said capsule above the ground so as to allow the platform to move under the capsule when the latter rests on the ground by its feet, remarkable in that the platform comprises a means for lifting the capsule so as to lift the capsule when the platform is placed under the capsule and so that the platform moves with the capsule when said capsule is held lifted by the lifting means.
[0008] Ainsi avantageusement, la capsule n’embarque pas de moyen de levage pour permettre son levage par rapport au sol afin de permettre le positionnement de la plateforme en dessous, et permettre de la reposer sur ladite plateforme car le moyen de levage est embarqué sur la plateforme. La conception de la capsule est ainsi simplifiée et aucune source d’énergie propre à la capsule, c’est-à-dire embarquée sur la capsule, n’est nécessaire pour permettre son levage. [0008] Thus advantageously, the capsule does not carry any lifting means to allow its lifting relative to the ground in order to allow the positioning of the platform below, and to allow it to be placed back on said platform because the lifting means are on board on the platform. The design of the capsule is thus simplified and no source of energy specific to the capsule, that is to say on board the capsule, is necessary to allow its lifting.
[0009] Dans un mode de réalisation particulier de l’invention, le moyen de levage comporte au moins trois vérins non alignés et la capsule comporte des interfaces de réception des extrémités des vérins lorsque la capsule est soulevée par lesdits vérins. Ainsi avantageusement, la stabilité de la capsule par rapport à la plateforme est assurée lorsqu’elle est soulevée au-dessus du sol par les au moins trois vérins non alignés, la plateforme reposant alors uniquement sur au moins ces trois vérins. [0009] In a particular embodiment of the invention, the lifting means comprises at least three non-aligned cylinders and the capsule comprises interfaces of reception of the ends of the cylinders when the capsule is lifted by said cylinders. Thus advantageously, the stability of the capsule relative to the platform is ensured when it is lifted above the ground by the at least three non-aligned jacks, the platform then resting solely on at least these three jacks.
[0010] Dans un autre mode de réalisation de l’invention, les vérins sont actionnés par un moteur unique. Ainsi avantageusement, le système de levage est simplifié et rendu plus robuste par l’utilisation d’un unique moteur produisant l’énergie nécessaire à l’actionnant de chacun des vérins. [0010] In another embodiment of the invention, the cylinders are actuated by a single motor. Thus advantageously, the lifting system is simplified and made more robust by the use of a single motor producing the energy necessary to operate each of the cylinders.
[0011] Dans un autre mode de réalisation de l’invention, les vérins sont des vérins à vis reliés à un unique moteur électrique de type rotatif par des moyens de transmission mécanique, le rapport de transmission entre chaque vérin et le moteur étant identique de sorte à ce que le mouvement de chacun des vérins soit identique. [0011] In another embodiment of the invention, the jacks are screw jacks connected to a single rotary type electric motor by mechanical transmission means, the transmission ratio between each jack and the motor being identical from so that the movement of each of the cylinders is identical.
[0012] Ainsi avantageusement, le contrôle de la vitesse et de l’amplitude de déplacement des vérins du système de levage est simple à réaliser car il ne nécessite pas de moyen pour contrôler la vitesse et l’amplitude de déplacement de chacun des vérins, le contrôle pouvant se faire simplement sur le mouvement de l’unique moteur. [0012] Thus advantageously, controlling the speed and the amplitude of movement of the jacks of the lifting system is simple to carry out because it does not require means to control the speed and the amplitude of movement of each of the jacks, the control can be done simply on the movement of the single motor.
[0013] Dans un autre mode de réalisation de l’invention, le moyen de levage comporte quatre vérins, disposés chacun à un angle d’un rectangle, le moteur étant disposé à l’intérieur du rectangle défini par les vérins, chacune des paires de vérins situées respectivement sur un premier côté du rectangle et sur le côté opposé au premier côté du rectangle étant reliées respectivement à un boîtier de renvoi complémentaire situé entre la paire de vérins du côté respectif du rectangle, par un arbre complémentaire, chaque boîtier de renvoi complémentaire étant relié à un boîtier de renvoi central par un arbre principal, le boitier de renvoi central étant relié au moteur, de sorte que la rotation du moteur électrique déplace chacun des vérins. Les moyens de transmission comprennent les boîtiers de renvoi central et complémentaire, et les arbres de transmission principaux et complémentaires. [0013] In another embodiment of the invention, the lifting means comprises four jacks, each arranged at an angle of a rectangle, the motor being arranged inside the rectangle defined by the jacks, each of the pairs cylinders located respectively on a first side of the rectangle and on the side opposite the first side of the rectangle being connected respectively to a complementary return housing located between the pair of cylinders on the respective side of the rectangle, by a complementary shaft, each return housing complementary being connected to a central gearbox by a main shaft, the central gearbox being connected to the motor, so that the rotation of the electric motor moves each of the cylinders. The means of transmission include the central and complementary gearboxes, and the main and complementary transmission shafts.
[0014] Dans un autre mode de réalisation de l’invention, les quatre vérins sont disposés de manière symétrique par rapport à un axe médian longitudinal et un axe médian transversal de la plateforme. [0015] Dans un autre mode de réalisation de l’invention, les pieds de la capsule sont fixes. Ainsi avantageusement, la capsule est réalisée de manière très simple sans nécessité d’articulation sur les pieds, tout en permettant le passage de la plateforme en dessous. [0014] In another embodiment of the invention, the four cylinders are arranged symmetrically with respect to a longitudinal median axis and a transverse median axis of the platform. [0015] In another embodiment of the invention, the feet of the capsule are fixed. Thus advantageously, the capsule is made in a very simple manner without the need for articulation on the feet, while allowing the passage of the platform underneath.
[0016] Dans un autre mode de réalisation de l’invention, les pieds de la capsule sont disposés au-delà de la longueur et de la largeur de la plateforme de sorte à permettre le passage de ladite plateforme entre les pieds dans le sens de la largeur et de la longueur. [0016] In another embodiment of the invention, the feet of the capsule are arranged beyond the length and width of the platform so as to allow the passage of said platform between the feet in the direction of width and length.
[0017] Ainsi avantageusement, la plateforme peut se placer sous la capsule en rentrant par différents côtés de la capsule, en passant entre les pieds dans le sens de la largeur mais aussi dans le sens de la longueur de la capsule. [0017] Thus advantageously, the platform can be placed under the capsule by entering from different sides of the capsule, passing between the feet in the width direction but also in the length direction of the capsule.
[0018] Dans un autre mode de réalisation de l’invention, le dispositif de transport autonome comprend une pluralité de capteurs présentant chacun un champ de vision, les capteurs étant conçus pour observer une partie d’un environnement extérieur au dispositif située dans leur champ de vision respectif, l’ensemble des champs de vision formant au moins une zone aveugle, exclue desdits champs de vision, au moins un pied de la capsule étant disposé et s’étendant dans une zone aveugle lorsque la capsule est levée par la plateforme, c’est-à-dire lorsque le moyen de levage de la plateforme a levé la capsule. De préférence, les pieds sont fixes. [0018] In another embodiment of the invention, the autonomous transport device comprises a plurality of sensors each having a field of vision, the sensors being designed to observe a part of an environment external to the device located in their field of respective vision, all of the fields of vision forming at least one blind zone, excluded from said fields of vision, at least one foot of the capsule being arranged and extending in a blind zone when the capsule is lifted by the platform, that is to say when the lifting means of the platform lifted the capsule. Preferably, the feet are fixed.
[0019] Ainsi, le dispositif de transport selon l’invention est capable de détecter les éventuels obstacles présents dans l’environnement extérieur grâce à l’observation du champ de vision de chaque capteur. Le pied disposé dans une zone aveugle ne risque pas d’être détecté par les capteurs et donc d’être interprété comme un obstacle lorsque la capsule est posée sur la plateforme et soulevée par le moyen de levage. Dès lors, le pied disposé dans la zone aveugle ne nécessite pas d’être rétractable, et donc peut être fixe, et le dispositif de transport selon l’invention est simplifié par la suppression du système de rétractation correspondant. Par ailleurs, le pied disposé dans la zone aveugle évite le risque de masquer un véritable obstacle le rendant ainsi non observable par un capteur. Enfin, l’ajustement de la position du pied par rapport aux champs de vision des capteurs permet d’optimiser le nombre de capteurs à utiliser afin d’obtenir une vue d’ensemble de l’environnement extérieur. [0020] Selon un mode de réalisation de l’invention, chaque pied est disposé dans une zone aveugle. [0019] Thus, the transport device according to the invention is capable of detecting possible obstacles present in the external environment thanks to the observation of the field of vision of each sensor. The foot placed in a blind zone is not likely to be detected by the sensors and therefore to be interpreted as an obstacle when the capsule is placed on the platform and lifted by the lifting means. Therefore, the foot placed in the blind zone does not need to be retractable, and therefore can be fixed, and the transport device according to the invention is simplified by the elimination of the corresponding retraction system. Furthermore, the foot placed in the blind zone avoids the risk of masking a real obstacle, thus making it unobservable by a sensor. Finally, adjusting the position of the foot in relation to the fields of vision of the sensors makes it possible to optimize the number of sensors to use in order to obtain an overview of the external environment. [0020] According to one embodiment of the invention, each foot is arranged in a blind zone.
[0021] Selon une possibilité, la capsule est délimitée par un pourtour présentant une pluralité de faces, le dispositif comportant au moins deux capteurs voisins disposés en regard de deux faces voisines, présentant une arrête commune, de sorte que les champs de vision des deux capteurs voisins délimitent une zone aveugle disposée en regard de l’arrête commune. [0021] According to one possibility, the capsule is delimited by a perimeter having a plurality of faces, the device comprising at least two neighboring sensors arranged facing two neighboring faces, having a common edge, so that the fields of vision of the two Neighboring sensors delimit a blind zone placed opposite the common edge.
[0022] Avantageusement, la capsule présente un pourtour de forme générale de quadrilatère. Advantageously, the capsule has a general quadrilateral shape around it.
[0023] Selon un mode de réalisation, les capteurs sont disposés sur la plateforme. [0023] According to one embodiment, the sensors are arranged on the platform.
[0024] Selon une possibilité, chaque capteur est un radar. [0024] According to one possibility, each sensor is a radar.
[0025] L’invention porte également sur une plateforme automobile et autonome destiné à transporter une capsule, ladite plateforme comportant un moyen de levage destiné à lever ladite capsule et comprenant quatre vérins à vis, disposés chacun à un angle d’un rectangle, un moteur électrique rotatif disposé à l’intérieur du rectangle défini par les vérins, la paire de vérins située sur un premier côté du rectangle et la paire de vérins située sur le côté opposé au premier côté du rectangle étant reliées chacune respectivement à un boîtier de renvoi complémentaire situé entre la paire de vérins du côté respectif du rectangle, par un arbre complémentaire, chaque boîtier de renvoi complémentaire étant relié à un boîtier de renvoi central par un arbre principal, le boitier de renvoi central étant relié au moteur de sorte que la rotation du moteur électrique déplace chacun des vérins. [0025] The invention also relates to an autonomous automobile platform intended to transport a capsule, said platform comprising lifting means intended to lift said capsule and comprising four screw jacks, each arranged at an angle of a rectangle, a rotary electric motor arranged inside the rectangle defined by the cylinders, the pair of cylinders located on a first side of the rectangle and the pair of cylinders located on the side opposite the first side of the rectangle each being connected respectively to a return housing complementary located between the pair of cylinders on the respective side of the rectangle, by a complementary shaft, each complementary gearbox being connected to a central gearbox by a main shaft, the central gearbox being connected to the motor so that the rotation of the electric motor moves each of the cylinders.
[0026] Dans une variante de réalisation de la plateforme, le rapport de transmission du moyen de transmission entre chaque vérin et le moteur est identique de sorte à ce que le mouvement de chacun des vérins soit identique. Les moyens de transmission comprennent les boîtiers de renvoi central et complémentaire, et les arbres de transmission principaux et complémentaires. [0026] In a variant embodiment of the platform, the transmission ratio of the transmission means between each cylinder and the motor is identical so that the movement of each of the cylinders is identical. The means of transmission include the central and complementary gearboxes, and the main and complementary transmission shafts.
[0027] L'invention sera mieux comprise à la lecture de la description qui va suivre, donnée uniquement à titre d'exemple et faite en se référant aux dessins annexés, sur lesquels : [0028] [Fig.1 ] représente une vue latérale du dispositif de transport autonome suivant l’invention, avec la capsule en position soulevée par rapport à la plateforme. The invention will be better understood on reading the description which follows, given solely by way of example and made with reference to the appended drawings, in which: [0028] [Fig.1] represents a side view of the autonomous transport device according to the invention, with the capsule in the raised position relative to the platform.
[0029] [Fig.2] représente une vue similaire à la figure 1 , la capsule étant en position non soulevée et reposant sur le sol. [0029] [Fig.2] represents a view similar to Figure 1, the capsule being in the non-raised position and resting on the ground.
[0030] [Fig.3] est une vue en perspective du dispositif de levage. [0030] [Fig.3] is a perspective view of the lifting device.
[0031] [Fig.4] représente une vue de dessus du dispositif de transport selon une variante de l’invention. [0031] [Fig.4] represents a top view of the transport device according to a variant of the invention.
[0032] Les dessins sont des représentations schématiques pour faciliter la compréhension de l’invention. Les composants ne sont pas forcément représentés à l’échelle. Les mêmes références correspondent aux mêmes composants d’une figure à l’autre. [0032] The drawings are schematic representations to facilitate understanding of the invention. The components are not necessarily represented to scale. The same references correspond to the same components from one figure to another.
[0033] La figure 1 illustre un dispositif de transport autonome 1 suivant l’invention, comportant une plateforme 10 automobile terrestre et autonome, une capsule 20 comportant des pieds 21 maintenant ladite capsule 20 au-dessus du sol de sorte à permettre à la plateforme 10 de se déplacer sous la capsule 20 lorsque ladite capsule 20 repose au sol. C’est-à-dire que lorsque la capsule 20 est posée au sol par ses pieds 21 , un espace existe entre le sol et la capsule 20, permettant à la plateforme 10 de venir se positionner sous ladite capsule 20 sans la toucher. Le dispositif de transport forme ainsi un véhicule autonome. [0033] Figure 1 illustrates an autonomous transport device 1 according to the invention, comprising a terrestrial and autonomous automobile platform 10, a capsule 20 comprising feet 21 maintaining said capsule 20 above the ground so as to allow the platform 10 to move under the capsule 20 when said capsule 20 rests on the ground. That is to say, when the capsule 20 is placed on the ground by its feet 21, a space exists between the ground and the capsule 20, allowing the platform 10 to be positioned under said capsule 20 without touching it. The transport device thus forms an autonomous vehicle.
[0034] L’axe X représente la direction longitudinale du dispositif de transport, l’axe Y la direction transversale et l’axe Z la direction verticale, les directions haut, bas sont prises dans le référentiel du dispositif de transport. The X axis represents the longitudinal direction of the transport device, the Y axis the transverse direction and the Z axis the vertical direction, the up and down directions are taken in the reference frame of the transport device.
[0035] La plateforme 10 comporte des roues 14 motorisées permettant son déplacement sur le sol et un système de contrôle relié à différents capteurs pour permettre un déplacement autonome. Par exemple, la plateforme 10 est de forme générale rectangulaire et comporte quatre roues, chacune à proximité de chaque angle de la plateforme 10. Les roues 14 peuvent être de type multidirectionnelle afin de permettre un déplacement dans différentes directions de la plateforme 10. The platform 10 includes motorized wheels 14 allowing it to move on the ground and a control system connected to different sensors to allow autonomous movement. For example, the platform 10 is of generally rectangular shape and has four wheels, each near each corner of the platform 10. The wheels 14 can be of the multidirectional type in order to allow movement in different directions of the platform 10.
[0036] La plateforme 10 comporte un moyen de levage 11 de la capsule 20 de sorte à lever la capsule 20 lorsque la plateforme 10 est disposée sous la capsule 20. La plateforme 10 se déplace au sol en transportant la capsule 20 avec le moyen de levage 11 déployé, c’est-à-dire avec la capsule 20 soulevée de sorte à ce que ses pieds 21 ne touchent plus le sol. Le moyen de levage 11 comporte par exemple des moyens de fixation, non représentés, permettant de maintenir la capsule 20 par rapport à la plateforme 10 lorsque ladite capsule 20 est levée par ledit moyen de levage 11 . The platform 10 comprises a lifting means 11 of the capsule 20 so as to lift the capsule 20 when the platform 10 is placed under the capsule 20. The platform 10 moves on the ground transporting the capsule 20 with the means of lifting 11 deployed, that is to say with the capsule 20 raised so that its feet 21 no longer touch the ground. The lifting means 11 comprises for example fixing means, not shown, making it possible to maintain the capsule 20 relative to the platform 10 when said capsule 20 is lifted by said lifting means 11.
[0037] On entend par capsule 20 une structure apte à recevoir des charges, tels que des passagers et/ou des objets. La capsule 20 est par exemple un volume sensiblement parallélépipédique comportant un fond, ou plancher 26 visible en figure 4, des parois verticales et un toit, définissant un espace intérieur apte à recevoir les objets et/ou les personnes. Lorsque la capsule 20 repose au sol sur ses pieds 21 , le fond, ou plancher 26, est situé à distance du sol, avec un espace vide entre le plancher 26 et le sol, de sorte à permettre à la plateforme 10 de se placer en- dessous du fond de la capsule 20. Le plancher 26, ou fond, est adapté à recevoir au moins un passager et/ou une cargaison. La capsule 20 comporte par exemple une carrosserie, munie éventuellement de surfaces vitrées, permettant d’abriter les passagers lors de leur transport. La capsule 20 est par exemple une cabine de transport de passager. [0037] Capsule 20 means a structure capable of receiving loads, such as passengers and/or objects. The capsule 20 is for example a substantially parallelepiped volume comprising a bottom, or floor 26 visible in Figure 4, vertical walls and a roof, defining an interior space capable of receiving objects and/or people. When the capsule 20 rests on the ground on its feet 21, the bottom, or floor 26, is located at a distance from the ground, with an empty space between the floor 26 and the ground, so as to allow the platform 10 to be placed in position. - below the bottom of the capsule 20. The floor 26, or bottom, is adapted to receive at least one passenger and/or cargo. The capsule 20 includes, for example, a bodywork, possibly equipped with glass surfaces, making it possible to shelter the passengers during their transport. The capsule 20 is for example a passenger transport cabin.
[0038] En figure 1 , le moyen de levage 11 est dans une position déployée, c’est-à- dire une position dans laquelle la capsule 20 ne repose plus sur le sol par ses pieds 21 . En figure 2, le moyen de levage 11 est dans une position rétractée, c’est-à-dire une position dans laquelle la capsule 20 n’est pas levée et repose directement sur le sol par ses pieds 21 , avec la plateforme 10 sous la capsule 20. C’est-à-dire qu’il n’y a pas de contact entre la capsule 20 et la plateforme 10. Dans cette position, la plateforme 10 peut circuler sous la capsule 20, entre les pieds 21 , et se déplacer seule sans déplacer la capsule 20. [0038] In Figure 1, the lifting means 11 is in an deployed position, that is to say a position in which the capsule 20 no longer rests on the ground by its feet 21. In Figure 2, the lifting means 11 is in a retracted position, that is to say a position in which the capsule 20 is not lifted and rests directly on the ground by its feet 21, with the platform 10 under the capsule 20. That is to say, there is no contact between the capsule 20 and the platform 10. In this position, the platform 10 can circulate under the capsule 20, between the feet 21, and move alone without moving the capsule 20.
[0039] Le moyen de levage 11 comporte au moins trois vérins 110, ou plus, afin d’assurer une bonne stabilité de la capsule 20 sur la plateforme 10 lorsqu’elle est levée par ledit moyen de levage et que la plateforme 10 se déplace en embarquant la capsule 20. Les vérins 110 sont par exemple actionnés par un moteur 13 unique. C’est-à-dire qu’un unique moteur 13 produit l’énergie mécanique nécessaire au déplacement simultané des vérins 110. Les vérins 110 sont par exemple des vérins à vis et le moteur 13 est un moteur électrique de type rotatif. Des moyens de transmission mécanique 12 relient le moteur 13 aux vérins 110 de sorte à transmettre le mouvement de rotation dudit moteur 13 auxdits vérins 110. Le rapport de transmission, ou rapport de démultiplication, entre chaque vérin 110 et le moteur 13 est choisi identique de sorte à ce que le mouvement de chacun des vérins 110 soit identique entre eux. The lifting means 11 comprises at least three jacks 110, or more, in order to ensure good stability of the capsule 20 on the platform 10 when it is lifted by said lifting means and the platform 10 moves by loading the capsule 20. The cylinders 110 are for example actuated by a single motor 13. That is to say that a single motor 13 produces the mechanical energy necessary for the simultaneous movement of the jacks 110. The jacks 110 are for example screw jacks and the motor 13 is a rotary type electric motor. Mechanical transmission means 12 connect the motor 13 to the cylinders 110 so as to transmit the rotational movement of said motor 13 to said cylinders 110. The transmission ratio, or gear ratio, between each cylinder 110 and the motor 13 is chosen identical so that the movement of each of the cylinders 110 is identical to each other.
[0040] La capsule 20 comporte des interfaces de réception 22 accueillant les extrémités des vérins 110 lorsque lesdits vérins 110 soulèvent ladite capsule 20. Dans une variante, les interfaces de réception 22 comportent des moyens de fixation entre la capsule 20 et les vérins 110, de sorte à maintenir la capsule 20 à la plateforme 10 lorsque ladite capsule 20 est soulevée par les vérins 110 et déplacée par ladite plateforme 10. [0040] The capsule 20 comprises reception interfaces 22 receiving the ends of the cylinders 110 when said cylinders 110 lift said capsule 20. In a variant, the reception interfaces 22 comprise means of fixing between the capsule 20 and the cylinders 110, so as to hold the capsule 20 to the platform 10 when said capsule 20 is lifted by the jacks 110 and moved by said platform 10.
[0041] Dans le mode de réalisation de la figure 3, le moyen de levage 11 comporte quatre vérins 110 pour une meilleure stabilité de la capsule 20 sur la plateforme 10 lorsque le moyen de levage 11 est déployée et lève la capsule 20. Dans ce mode de réalisation, les quatre vérins 110 sont disposés chacun à un angle d’un rectangle R. Le moteur 13 est disposé à l’intérieur du rectangle R défini par les quatre vérins 110. La paire de vérins 110 située sur un premier côté du rectangle R et la paire de vérins située sur le côté opposé au premier côté du rectangle R, sont reliées chacun respectivement par un arbre complémentaire 123 à un boîtier de renvoi complémentaire 122 situé entre la paire de vérins 110 dudit côté du rectangle R. Chaque boîtier de renvoi complémentaire 122 est relié à un boîtier de renvoi central 120 par un arbre principal 121 . Le boitier de renvoi central 120 est relié au moteur 13. Ainsi, la rotation du moteur électrique 13 déplace de manière identique chacun des vérins 110. Le moteur électrique 13 entraîne en rotation chacun des deux arbres principaux 121 via le boîtier de renvoi central 120, chacun des deux arbres principaux 121 entraînent à leur tour respectivement les deux arbres complémentaires 123 via chacun des boîtiers de renvoi complémentaire 122, et les arbres complémentaires 123 étant reliés aux vérins à vis, leur mouvement de rotation entraîne le déplacement de chacun des vérins 110. Le moyen de levage 11 représenté en figure 3 comporte donc le moteur électrique 13, un boîtier de renvoi central 120, deux arbres principaux 121 , deux boîtiers de renvoi complémentaires 122, quatre arbres complémentaires 123 et quatre vérins 110. Les moyens de transmission 12 comporte le boîtier de renvoi central 120, les deux arbres principaux 121 , les deux boîtiers de renvoi complémentaires 122, et les quatre arbres complémentaires 123. [0041] In the embodiment of Figure 3, the lifting means 11 comprises four cylinders 110 for better stability of the capsule 20 on the platform 10 when the lifting means 11 is deployed and lifts the capsule 20. In this embodiment, the four cylinders 110 are each arranged at an angle of a rectangle R. The motor 13 is arranged inside the rectangle R defined by the four cylinders 110. The pair of cylinders 110 located on a first side of the rectangle R and the pair of cylinders located on the side opposite the first side of the rectangle R, are each connected respectively by a complementary shaft 123 to a complementary return housing 122 located between the pair of cylinders 110 on said side of the rectangle R. Each housing complementary return gear 122 is connected to a central gearbox 120 by a main shaft 121. The central gearbox 120 is connected to the motor 13. Thus, the rotation of the electric motor 13 moves each of the cylinders 110 in an identical manner. The electric motor 13 rotates each of the two main shafts 121 via the central gearbox 120, each of the two main shafts 121 in turn respectively drive the two complementary shafts 123 via each of the complementary return housings 122, and the complementary shafts 123 being connected to the screw jacks, their rotational movement causes the movement of each of the jacks 110. The lifting means 11 shown in Figure 3 therefore comprises the electric motor 13, a central gearbox 120, two main shafts 121, two complementary gearboxes 122, four complementary shafts 123 and four cylinders 110. The transmission means 12 comprises the central gearbox 120, the two main shafts 121, the two complementary return boxes 122, and the four complementary shafts 123.
[0042] Dans le mode de réalisation des figures 1 à 3, la plateforme 10 s’étend dans une direction principal X. En considérant l’avant de la plateforme 10 comme l’une des extrémités de la plateforme 10 et l’arrière l’autre extrémité suivant la direction longitudinale X, la plateforme 10 comporte une paire de vérins 110 avant et une paire de vérins 110 arrière. Les deux vérins avant 110 sont alignés suivant un axe transversal Y perpendiculaire à l’axe longitudinal X, ainsi que les deux vérins 110 arrières. Chaque vérin avant 110 est aligné avec l’un des vérins arrière 110 suivant l’axe longitudinal X. Les directions longitudinale X et transversale Y du rectangle R sont parallèles aux directions longitudinale X et transversale Y de la plateforme 10. Dans le mode de réalisation présenté en figure 3, les deux arbres principaux 121 sont parallèles à l’axe longitudinal X et les arbres complémentaires 123 sont parallèles à l’axe transversal Y. Chaque boîtier de renvoi complémentaire 122 est entre les deux vérins 110 auxquels il est relié par les arbres complémentaires 123. Il y a donc un boîtier de renvoi complémentaire 122 avant, entre les vérins 110 avant, et un boitier de renvoi complémentaire 122 arrière entre les vérins 110 arrière. [0042] In the embodiment of Figures 1 to 3, the platform 10 extends in a main direction X. Considering the front of the platform 10 as one of the ends of the platform 10 and the rear l At the other end in the longitudinal direction X, the platform 10 comprises a pair of front cylinders 110 and a pair of rear cylinders 110. The two front cylinders 110 are aligned along a transverse axis Y perpendicular to the longitudinal axis X, as are the two rear cylinders 110. Each front cylinder 110 is aligned with one of the rear cylinders 110 along the longitudinal axis presented in Figure 3, the two main shafts 121 are parallel to the longitudinal axis complementary shafts 123. There is therefore a complementary front return housing 122, between the front cylinders 110, and a complementary rear return housing 122 between the rear cylinders 110.
[0043] Les boitiers de renvoi 120 et 122 sont par exemple des systèmes de renvoi d’angle par engrenages connus de l’homme du métier. [0043] The gearboxes 120 and 122 are, for example, geared angle gear systems known to those skilled in the art.
[0044] Des joints homocinétiques ou des cardans peuvent être prévus à chacune des extrémités des arbres 121 , 123, pour permettre une certaine flexibilité en cas de torsion de la plateforme 10 tout en permettant la transmission de la rotation. Constant velocity joints or universal joints can be provided at each end of the shafts 121, 123, to allow a certain flexibility in the event of twisting of the platform 10 while allowing the transmission of rotation.
[0045] Les quatre vérins 110 sont disposés de manière symétrique par rapport à un axe médian longitudinal et un axe médian transversal de la plateforme 10. Par exemple, l’ensemble de la plateforme 10 est symétrique par rapport à un axe médian longitudinal X et un axe médian transversal Y. Par cette symétrie de la position des vérins 110, la plateforme 10 peut se placer de manière indifférente sous la capsule entre l’avant et l’arrière tout en s’assurant une coopération des vérins 110 avec les interfaces de réception 22. [0045] The four jacks 110 are arranged symmetrically with respect to a longitudinal median axis and a transverse median axis of the platform 10. For example, the entire platform 10 is symmetrical with respect to a longitudinal median axis a transverse median axis Y. By this symmetry of the position of the cylinders 110, the platform 10 can be placed in any manner under the capsule between the front and the rear while ensuring cooperation of the cylinders 110 with the interfaces of reception 22.
[0046] Comme illustré en figure 1 et 2, la capsule 20 comporte des pieds 21 fixes. C’est-à-dire que les pieds 21 ne se rétractent pas et ne sont pas mobile par rapport au reste de la capsule 20. La capsule 20 n’embarque donc aucun moyen de levage. Les pieds 21 de la capsule 20 sont par exemple disposés au-delà de la longueur et de la largeur de la plateforme 10. Ainsi la plateforme 10 peut rentrer sous la capsule 20 en passant indifféremment entre les pieds 21 dans le sens de la largeur, c’est-à- dire par un déplacement selon l’axe longitudinal X, ou dans le sens de la longueur, c’est-à-dire par un déplacement selon l’axe transversal Y. Autrement dit, la plateforme 10 peut se placer sous la capsule 20 en rentrant indifféremment par différents côtés de la capsule 20. En variante non représentée, les pieds 21 se rétractent, par exemple partiellement, afin d’augmenter la distance entre le sol et l’extrémité des pieds 21 lorsque la capsule 20 est déplacée par la plateforme 10. As illustrated in Figures 1 and 2, the capsule 20 has fixed feet 21. That is to say that the feet 21 do not retract and are not mobile relative to the rest of the capsule 20. The capsule 20 therefore does not carry any lifting means. The feet 21 of the capsule 20 are for example arranged beyond the length and width of the platform 10. Thus the platform 10 can fit under the capsule 20 by passing indifferently between the feet 21 in the width direction, that is to say by a movement along the longitudinal axis place under the capsule 20 by entering indifferently from different sides of the capsule 20. In a variant not shown, the feet 21 retract, for example partially, in order to increase the distance between the ground and the end of the feet 21 when the capsule 20 is moved by platform 10.
[0047] La figure 4 illustre une variante du dispositif 1 de transport autonome. La plateforme 10 autonome est munie du moyen de levage, non représenté dans cette figure 4. Le moyen de levage comporte par exemple une pluralité de vérins, par exemple quatre vérins, non représentés, disposés aux quatre coins de la plateforme 10. La plateforme 10 est avantageusement mue grâce à au moins un moteur électrique, alimenté par une batterie embarquée dans la plateforme 10. La plateforme 10 comporte par exemple une pluralité de roues 14 multidirectionnelles capables de tourner autour de deux axes orthogonaux A1 et A2, illustrés sur la figure 4. Les axes A2 et A1 sont par exemple respectivement parallèles aux axes longitudinal X et transversal Y. De telles roues 14 sont, par exemple, de forme sphérique et chacune est montée dans une cage 15 conçue pour accueillir la sphère et imprimer une rotation à la sphère, grâce, par exemple, à des rouleaux motorisés. [0047] Figure 4 illustrates a variant of the autonomous transport device 1. The autonomous platform 10 is provided with lifting means, not shown in this figure 4. The lifting means comprises for example a plurality of jacks, for example four jacks, not shown, arranged at the four corners of the platform 10. The platform 10 is advantageously moved thanks to at least one electric motor, powered by a battery embedded in the platform 10. The platform 10 comprises for example a plurality of multidirectional wheels 14 capable of rotating around two orthogonal axes A1 and A2, illustrated in Figure 4 The axes A2 and A1 are for example respectively parallel to the longitudinal axes sphere, thanks, for example, to motorized rollers.
[0048] La capsule 20 est délimitée par un pourtour 27 présentant une pluralité de faces 28. Comme illustré sur la figure 4, le pourtour 27 présente une forme générale de quadrilatère, dont certains angles 29 sont, par exemple, arrondis. La capsule 20 comporte une pluralité de pieds 21 fixes permettant à la capsule 20 de reposer sur le sol et de maintenir un espace entre le sol et le plancher 26 afin de permettre à la plateforme 10 de se positionner dans l’espace sous le plancher 26 pour la lever à l’aide des moyens de levage. Dans l’exemple illustré sur la figure 4, la capsule 20 comporte quatre pieds 21 , chacun situé à un coin de la capsule 20. The capsule 20 is delimited by a periphery 27 having a plurality of faces 28. As illustrated in Figure 4, the periphery 27 has a general shape of a quadrilateral, certain angles 29 of which are, for example, rounded. The capsule 20 comprises a plurality of fixed feet 21 allowing the capsule 20 to rest on the ground and maintain a space between the ground and the floor 26 in order to allow the platform 10 to be positioned in the space under the floor 26 to lift it using the lifting means. In the example illustrated in Figure 4, the capsule 20 has four feet 21, each located at a corner of the capsule 20.
[0049] Le dispositif 1 comporte également une pluralité de capteurs 3 présentant chacun un champ de vision 32. Chaque champ de vision 32 représente une forme conique ou tronconique dont le sommet est situé sur le capteur 3 correspondant. Les capteurs 3 sont conçus pour observer une partie d’un environnement extérieur 33 au dispositif 1 située dans leur champ de vision 32 respectif. L’observation d’une partie de l’environnement extérieur 33 permet de détecter d’éventuels obstacles dans cette partie de l’environnement extérieur 33. Par exemple, chaque capteur 3 est un radar. Comme illustré sur la figure 4, l’ensemble des champs de vision 32 forme au moins une zone aveugle 34, exclue desdits champs de vision 32. Dans l’exemple illustré sur la figure 4, le dispositif 1 comporte quatre zones aveugles 14, chacune située à un coin de la capsule 20. Au moins un pied 21 de la capsule 20 est disposé et s’étend dans une zone aveugle 34 lorsque la capsule 20 est levée par la plateforme 10. En l’occurrence chaque pied 21 est disposé dans une zone aveugle 34. The device 1 also comprises a plurality of sensors 3 each having a field of vision 32. Each field of vision 32 represents a conical or frustoconical shape whose apex is located on the corresponding sensor 3. The sensors 3 are designed to observe part of an external environment 33 at device 1 located in their respective field of vision 32. Observing part of the external environment 33 makes it possible to detect possible obstacles in this part of the external environment 33. For example, each sensor 3 is a radar. As illustrated in Figure 4, all of the fields of vision 32 form at least one blind zone 34, excluded from said fields of vision 32. In the example illustrated in Figure 4, the device 1 comprises four blind zones 14, each located at one corner of the capsule 20. At least one foot 21 of the capsule 20 is arranged and extends in a blind zone 34 when the capsule 20 is lifted by the platform 10. In this case each foot 21 is arranged in a blind zone 34.
[0050] Le dispositif 1 comporte au moins deux capteurs 3 voisins disposés sur deux faces 28 voisines, présentant une arrête commune 25, de sorte que les champs de vision 32 des deux capteurs 3 voisins délimitent une zone aveugle 34 disposée en regard de l’arrête commune 25. The device 1 comprises at least two neighboring sensors 3 arranged on two neighboring faces 28, having a common edge 25, so that the fields of vision 32 of the two neighboring sensors 3 delimit a blind zone 34 placed opposite the common stop 25.
[0051] Dans le mode de réalisation illustré en figure 4, les capteurs 3 sont disposés sur la plateforme 10. [0051] In the embodiment illustrated in Figure 4, the sensors 3 are arranged on the platform 10.
[0052] Ainsi, le dispositif 1 de transport permet d’optimiser le nombre de capteurs 3 nécessaires pour couvrir l’environnement extérieur 33. Les pieds 21 , situés chacun dans une zone aveugle 34 permettent de s’affranchir d’un système permettant de rétracter les pieds 21 correspondants. Ainsi, le dispositif 1 de transport est plus fiable et plus simple. Enfin, les pieds 21 ne risquent pas de masquer un obstacle éventuel dans l’environnement extérieur 33 du dispositif 1 de transport selon l’invention. [0052] Thus, the transport device 1 makes it possible to optimize the number of sensors 3 necessary to cover the external environment 33. The feet 21, each located in a blind zone 34, make it possible to dispense with a system making it possible to retract the corresponding feet 21. Thus, the transport device 1 is more reliable and simpler. Finally, the feet 21 do not risk masking a possible obstacle in the external environment 33 of the transport device 1 according to the invention.
[0053] L’invention ne se limite pas au mode de réalisation du dispositif de transport décrit ci-avant, seulement à titre d’exemple, mais d’autres modes de réalisation peuvent être conçus par l’homme de métier sans sortir du cadre et de la portée de la présente invention. [0053] The invention is not limited to the embodiment of the transport device described above, only by way of example, but other embodiments can be designed by those skilled in the art without departing from the scope and the scope of the present invention.

Claims

Revendications Claims
[Revendication 1] Dispositif (1) de transport autonome comportant une plateforme (10) automobile terrestre et autonome, une capsule (20) comportant au moins un plancher (26) adapté à recevoir au moins un passager et/ou une cargaison, et une pluralité de pieds (21 ) maintenant ladite capsule (20) au-dessus du sol de sorte à permettre à la plateforme (10) de se déplacer sous la capsule (20) lorsque celle-ci repose au sol par ses pieds (21), caractérisé en ce que la plateforme (10) comporte un moyen de levage (11 ) de la capsule (20) de sorte à lever la capsule (20) lorsque la plateforme (10) est disposée sous la capsule (20) et à ce que la plateforme (10) se déplace avec la capsule (20) lorsque ladite capsule (20) est maintenue levée par les moyens de levage (11 ). [Claim 1] Autonomous transport device (1) comprising a terrestrial and autonomous automobile platform (10), a capsule (20) comprising at least one floor (26) adapted to receive at least one passenger and/or cargo, and a plurality of feet (21) maintaining said capsule (20) above the ground so as to allow the platform (10) to move under the capsule (20) when the latter rests on the ground by its feet (21), characterized in that the platform (10) comprises a lifting means (11) of the capsule (20) so as to lift the capsule (20) when the platform (10) is placed under the capsule (20) and that the platform (10) moves with the capsule (20) when said capsule (20) is held lifted by the lifting means (11).
[Revendication 2] Dispositif (1 ) suivant la revendication précédente, dont le moyen de levage (11 ) comporte au moins trois vérins (110) non alignés et la capsule (20) comporte des interfaces de réception (22) des extrémités des vérins (110) lorsque la capsule (20) est soulevée par lesdits vérins (110). [Claim 2] Device (1) according to the preceding claim, the lifting means (11) of which comprises at least three non-aligned cylinders (110) and the capsule (20) comprises receiving interfaces (22) of the ends of the cylinders ( 110) when the capsule (20) is lifted by said cylinders (110).
[Revendication 3] Dispositif (1 ) suivant la revendication précédente, dont les vérins (110) sont actionnés par un moteur (13) unique. [Claim 3] Device (1) according to the preceding claim, the cylinders (110) of which are actuated by a single motor (13).
[Revendication 4] Dispositif (1 ) suivant la revendication précédente, dont les vérins (110) sont des vérins à vis reliés à un unique moteur électrique (13) de type rotatif par des moyens de transmission mécanique (12), le rapport de transmission entre chaque vérin (110) et le moteur (13) étant identique de sorte à ce que le mouvement de chacun des vérins (110) soit identique. [Claim 4] Device (1) according to the preceding claim, the jacks (110) of which are screw jacks connected to a single electric motor (13) of rotary type by mechanical transmission means (12), the transmission ratio between each cylinder (110) and the motor (13) being identical so that the movement of each of the cylinders (110) is identical.
[Revendication 5] Dispositif (1 ) suivant la revendication précédente, dont le moyen de levage (11 ) comporte quatre vérins (110), disposés chacun à un angle d’un rectangle (R), le moteur (13) étant disposé à l’intérieur du rectangle (R) défini par les vérins (110), chacune des paires de vérins (110) situées respectivement sur un premier côté du rectangle et sur le côté opposé au premier côté du rectangle (R) étant reliées respectivement à un boîtier de renvoi complémentaire (122) situé entre la paire de vérins (110) du côté respectif du rectangle (R) par un arbre complémentaire (123), chaque boîtier de renvoi complémentaire (122) étant relié à un boîtier central de renvoi (120) par un arbre principal (121 ), le boitier de renvoi central (120) étant relié au moteur (13) de sorte que la rotation dudit moteur (13) entraîne en rotation chaque arbre (121 , 123) et déplace chacun des vérins (110), les moyens de transmission (12) comprenant les boîtiers de renvoi central (120) et complémentaire (122) et les arbres de transmission principaux (121 ) et complémentaires (123). [Claim 5] Device (1) according to the preceding claim, the lifting means (11) of which comprises four cylinders (110), each arranged at an angle of a rectangle (R), the motor (13) being arranged at the inside the rectangle (R) defined by the jacks (110), each of the pairs of jacks (110) located respectively on a first side of the rectangle and on the side opposite the first side of the rectangle (R) being connected respectively to a housing complementary return unit (122) located between the pair of cylinders (110) on the respective side of the rectangle (R) by a complementary shaft (123), each complementary return unit (122) being connected to a central return unit (120) by a main shaft (121), the central gearbox (120) being connected to the motor (13) so that the rotation of said motor (13) rotates each shaft (121, 123) and moves each of the cylinders (110), the transmission means (12) comprising the central (120) and complementary (122) return housings and the main transmission shafts (121) and complementary (123).
[Revendication 6] Dispositif (1 ) suivant la revendication précédente, dont les quatre vérins (110) sont disposés de manière symétrique par rapport à un axe médian longitudinal et un axe médian transversal de la plateforme (10). [Claim 6] Device (1) according to the preceding claim, the four cylinders (110) of which are arranged symmetrically with respect to a longitudinal median axis and a transverse median axis of the platform (10).
[Revendication 7] Dispositif (1 ) suivant l’une des revendications précédentes dont les pieds (21 ) de la capsule (20) sont fixes. [Claim 7] Device (1) according to one of the preceding claims whose feet (21) of the capsule (20) are fixed.
[Revendication 8] Dispositif (1 ) suivant la revendication précédente dont les pieds (21) de la capsule (20) sont disposés au-delà de la longueur et de la largeur de la plateforme (10) de sorte à permettre le passage de ladite plateforme (10) entre les pieds (21 ) dans le sens de la largeur et de la longueur. [Claim 8] Device (1) according to the preceding claim, the feet (21) of the capsule (20) of which are arranged beyond the length and width of the platform (10) so as to allow the passage of said platform (10) between the feet (21) in the width and length directions.
[Revendication 9] Dispositif (1 ) de transport autonome suivant l’une des revendications précédentes, comprenant une pluralité de capteurs (3) présentant chacun un champ de vision (32), les capteurs (3) étant conçus pour observer une partie d’un environnement (33) extérieur au dispositif située dans leur champ de vision (32) respectif, l’ensemble des champs de vision (32) formant au moins une zone aveugle (34), exclue desdits champs de vision (32), au moins un pied (21 ) de la capsule (20) étant disposé et s’étendant dans une zone aveugle (34) lorsque la capsule (20) est levée par la plateforme (10), de préférence les pieds (21 ) étant fixes par rapport à la capsule (20). [Claim 9] Device (1) for autonomous transport according to one of the preceding claims, comprising a plurality of sensors (3) each having a field of vision (32), the sensors (3) being designed to observe a part of an environment (33) external to the device located in their respective field of vision (32), all of the fields of vision (32) forming at least one blind zone (34), excluded from said fields of vision (32), at least a foot (21) of the capsule (20) being arranged and extending in a blind zone (34) when the capsule (20) is lifted by the platform (10), preferably the feet (21) being fixed relative to to the capsule (20).
[Revendication 10] Dispositif (1 ) selon la revendication précédente, caractérisé en ce que chaque pied (21 ) est disposé dans une zone aveugle (34). [Claim 10] Device (1) according to the preceding claim, characterized in that each foot (21) is arranged in a blind zone (34).
[Revendication 11 ] Dispositif (1 ) de transport selon l’une des revendications 9 ou 10, caractérisé en ce que la capsule (20) est délimitée par un pourtour (27) présentant une pluralité de faces (28), le dispositif (1) comportant au moins deux capteurs (3) voisins disposés en regard de deux faces (28) voisines présentant une arrête commune (25), de sorte que les champs de vision (32) des deux capteurs (3) voisins délimitent une zone aveugle (34) disposée en regard de l’arrête commune [Claim 11] Transport device (1) according to one of claims 9 or 10, characterized in that the capsule (20) is delimited by a periphery (27) having a plurality of faces (28), the device (1 ) comprising at least two neighboring sensors (3) arranged facing two neighboring faces (28) having a common edge (25), so that the fields of vision (32) of the two neighboring sensors (3) delimit a blind zone ( 34) placed opposite the common edge
[Revendication 12] Dispositif (1 ) de transport selon la revendication précédente, caractérisé en ce que la capsule (20) présente un pourtour (27) de forme générale de quadrilatère. [Claim 12] Transport device (1) according to the preceding claim, characterized in that the capsule (20) has a periphery (27) of general quadrilateral shape.
[Revendication 13] Dispositif (1 ) de transport selon l’une des revendications 9 à 12, caractérisé en ce que les capteurs (3) sont disposés sur la plateforme (10). [Claim 13] Transport device (1) according to one of claims 9 to 12, characterized in that the sensors (3) are arranged on the platform (10).
[Revendication 14] Dispositif (1 ) de transport selon l’une des revendications 9 à 13, caractérisé en ce que chaque capteur (3) est un radar. [Claim 14] Transport device (1) according to one of claims 9 to 13, characterized in that each sensor (3) is a radar.
[Revendication 15] Plateforme (10) automobile et autonome destiné à transporter une capsule (20), caractérisé en ce qu’elle comporte un moyen de levage (12) destiné à lever ladite capsule (20), le moyen de levage (20) comprenant quatre vérins (110) à vis, disposés chacun un angle d’un rectangle (R), un moteur (13) électrique rotatif disposé ©’intérieur du rectangle (R) défini par les vérins (110), chacune des paires de vérins (110) situées sur un premier côté du rectangle (R) et chacune des paires de vérins situées sur le côté opposé au premier côté du rectangle (R) étant reliées chacune respectivement à un boîtier de renvoi complémentaire (122) situé entre la paire de vérins (110) du côté respectif du rectangle (R), par un arbre complémentaire (123), chaque boîtier de renvoi complémentaire (122) étant relié à un boîtier central de renvoi (120) par un arbre principal (121 ), le boitier de renvoi central (120) étant relié au moteur (13) de sorte que la rotation du moteur électrique (13) déplace chacun des vérins (110). [Claim 15] Automotive and autonomous platform (10) intended to transport a capsule (20), characterized in that it comprises lifting means (12) intended to lift said capsule (20), the lifting means (20) comprising four screw jacks (110), each arranged at an angle of a rectangle (R), a rotary electric motor (13) arranged inside the rectangle (R) defined by the jacks (110), each of the pairs of jacks (110) located on a first side of the rectangle (R) and each of the pairs of cylinders located on the side opposite the first side of the rectangle (R) each being connected respectively to a complementary return housing (122) located between the pair of cylinders (110) on the respective side of the rectangle (R), by a complementary shaft (123), each complementary return housing (122) being connected to a central return housing (120) by a main shaft (121), the housing central return (120) being connected to the motor (13) so that the rotation of the electric motor (13) moves each of the cylinders (110).
PCT/FR2023/050389 2022-03-25 2023-03-20 Autonomous transport device with platform and on-board lifting system WO2023180662A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
FRFR2202664 2022-03-25
FR2202664A FR3133804B1 (en) 2022-03-25 2022-03-25 Autonomous transport device comprising a capsule transported by an autonomous platform.
FRFR2202731 2022-03-28
FR2202731A FR3133818B1 (en) 2022-03-28 2022-03-28 Autonomous vehicle with platform and on-board lifting system

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