• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a service delivery system comprising a plurality of modular robots able to move autonomously and to perform services according to received missions (48). This system comprises at least one mobile base (16) able to move autonomously and at least one service module (18). Each mobile base (16) comprises a base interface and each service module (18) comprises a module interface (94) adapted to cooperate with the base interface for connecting / disconnecting the service module to the mobile base, a modular robot (14) being formed by connecting a service module (18) to a mobile base (16). The system comprises at least one fixed folding base (20) able to accommodate the modular robot (14), comprising at least one unit among storage units (22), energy recharge units (26) or refueling units (24) .
    公开号:FR3037156A1
    申请号:FR1555012
    申请日:2015-06-02
    公开日:2016-12-09
    发明作者:Christian Chagny；Sebastien Lelong；Guy Caverot；Jean-Luc Thome
    申请人:Metrolab SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a system for providing services, comprising a plurality of modular robots able to move independently and to perform one or more of a plurality of modular robots capable of moving autonomously. services following predefined missions. The invention lies in the technical field of robots capable of providing services autonomously. One area of application is the field of self-cleaning services for premises and various equipment, on a given site or on several sites.
    [0002] A particular problem arises in the case of a site frequented by users, such as a metropolitan network, including trains that run between stations, accessible to users at given times. Traditionally, reception, cleaning and surveillance services are provided, at least in part, by staff teams. Important teams must be mobilized, at times of low attendance, and with a significant response time following an untimely pollution of a portion of the site to be cleaned. Thus, the usual provision of cleaning services is limited in terms of response capabilities. It is useful to seek to automate the provision of services in this context, in order to improve the quality and speed of service, as well as adaptability to specific, one-off needs. For this purpose, the invention proposes a service delivery system comprising a plurality of modular robots able to move autonomously and to perform one or more services according to missions received. This system comprises: at least one mobile base able to move autonomously, and to ensure displacements required by the mission (s) received, at least one service module capable of performing at least one service according to at least one mission received, - the or each mobile base comprising a base interface and each service module comprising a module interface adapted to cooperate with said base interface for connecting / disconnecting the service module to the mobile base, a modular robot being formed by connection of a service module to a mobile base, the system comprises at least one fixed folding base adapted to accommodate the modular robot and comprising at least one of: - a storage unit adapted to store a service module; - a basic mobile energy recharging unit; - A service module refueling unit, capable of performing at least one refueling or maintenance operation of a service module. Advantageously, the system of the invention comprises one or more modular robots, each modular robot being formed by connecting a mobile base and a service module, several types of service modules can be connected to the same mobile base via the provided interfaces. The fallback base ensures the autonomy of the system. The system according to the invention may also have one or more of the features below, taken independently or in any technically acceptable combination. The system comprises several types of service modules, each type of service module being able to perform a specific service and comprising a module interface capable of cooperating with said base interface, any type of service module being adapted to be connected to each mobile base of the system.
    [0003] Each mobile base comprises autonomous displacement means and at least one energy supply module capable of supplying energy to said moving means. Each mobile base comprises at least one sensor enabling said mobile base to be located in the space.
    [0004] Each mobile base comprises a controller, adapted to process data obtained by one or more sensors for detecting obstacles in an environment of the mobile base, the controller being able to control the autonomous displacement means so as to maintain a greater distance or equal to a predetermined distance threshold, as a function of the moving speed of the mobile base, relative to any detected obstacle. For each mobile base, the controller is able to control the means of autonomous displacement of the mobile base, the mobile base moving along a path, so as to adapt the speed and the trajectory of the mobile base to bypass any obstacle detected at a distance. distance greater than or equal to the predetermined distance threshold. The basic interface between the mobile base and the service module is standardized and comprises: a mechanical interface for fixing the service module; an electrical interface for an energy supply of the service module from the power supply module; of the mobile base, - a communication interface with the service module.
    [0005] 3037156 3 Each service module includes a radio identification transponder. The basic interface between mobile base and service module includes a module for reading the identification data of the service module. The system further comprises a supervisory system capable of defining modular robot service missions and each mobile base includes wireless communication means capable of communicating with said supervisory system. Each mobile base is able to communicate to the supervisory information system among the following group of information: mobile base identification information, spatial location information of said mobile base, maintenance information relating to said mobile base, information service module relating to the service module connected to said mobile base, identification information of the connected service module, information relating to the environment of the mobile base, detected anomaly information with respect to a previously memorized map of the environment of the mobile base.
    [0006] The supervision system is able to collect information transmitted by each mobile base, to develop missions to be executed by the modular robots and to transmit instructions defining these missions to be performed at the mobile bases of the modular robots. At least one modular robot receives instructions defining at least two missions to be performed successively. The supervision system is able to take into consideration external information relating to equipment of at least one site belonging to the network. Each modular robot is capable of performing at least one of a cleaning service, a user reception service and a monitoring service.
    [0007] In this system, implemented in a railway network comprising a plurality of sites, each modular robot is able to use moving means that can be used by wheelchair users to move about a site and / or between sites. Other features and advantages of the invention will emerge from the description given below, by way of indication and in no way limitative, with reference to the appended figures, in which: FIG. 1 schematically illustrates a system for supplying services according to the invention; FIG. 2 is a block diagram of the main modules of a mobile base according to one embodiment of the invention; FIG. 3 is a block diagram of the main subsystems of a service module according to one embodiment of the invention; FIG. 4 is a block diagram of the main modules of a supervision system according to one embodiment of the invention; FIG. 5 is a block diagram of the main modules of a storage unit of a folding base according to one embodiment of the invention; FIG. 6 is a block diagram of the main modules of a refueling unit of a folding base according to one embodiment of the invention; FIG. 7 is a block diagram of the main modules of an energy charging unit 10 of a folding base according to one embodiment of the invention. The invention implementing a system for monitoring a fleet of robots will be described below in its application to the provision of cleaning and reception services in a railway or metropolitan network type infrastructure, comprising a set of stations and a set of trains.
    [0008] In this context, the system provides cleaning services for stations and trains, as well as reception and surveillance services for users. A service delivery system 10 according to the invention is schematically illustrated in FIG. 1. The system 10 comprises a plurality 12 of modular robots 14, or a fleet of 20 modular robots, each modular robot 14 being composed by association of a base mobile 16 and a service module among the modules 18a, 18b, 18c ... 18n, which will be referenced more generally by service module 18. At a given moment, a mobile base 16 can be associated only with A single service module 18. In addition, at a given time, several mobile bases may use the same type of service module. The association of one of the mobile bases 16 and a service module 18 is done by connection via an interface of the mobile base and an interface of the service module, which are complementary and able to cooperate. Advantageously, the service modules 18 are able to be associated with any mobile base interchangeably. The system 10 also comprises a fixed folding base 20 and a supervision system 30. The fixed folding base 20 is able to accommodate the modular robots and comprises, in the example of FIG. 1: a storage unit 22 adapted to store a service module; - A refueling unit 24, capable of performing at least one refueling or maintenance operation of a service module 18; - An energy recharge unit 26, adapted to accommodate a mobile base 16 and to perform an energy recharge of the mobile base.
    [0009] It should be noted that the example of FIG. 1 is schematic and simplified, a folding base 20 typically comprising several units of each type, depending on the intended application. When several types of service modules are envisaged, the fallback base generally comprises several types of refueling and maintenance units.
    [0010] For example, for the provision of cleaning services, it is intended to use several types of service modules, each service module being able to provide a specific service, for example (non-limiting) the suction of the ground, the soil washing, waste recovery, garbage disposal, vertical surface cleaning, ozone cleaning, cleaning of equipment, for example the cleaning of train-carrying bars and seats, present on trains or in stations. The various types of cleaning service modules mentioned above have specific operations, and require specific refueling and maintenance as well. For example, modules providing washing and / or cleaning services using cleaning products require refueling by filling specific containers with the useful cleaning product. Conversely, modules providing soil suction or bin emptying services require emptying containers filled with waste or dust, or replacing containers filled with empty containers.
    [0011] Thus, it is useful to provide specialized types of refueling units capable of refueling and maintaining given types of service modules, either automatically or with minimal operator intervention. Preferably, the mobile bases 16 are "universal", each service module 18, regardless of the type of service provided, comprising a module interface 30 for cooperation with the interface of any mobile base. The interfaces between mobile base and service module will be described in more detail below. Advantageously, it is possible to provide more service modules 18 of different types than mobile bases 16 in the service delivery system 10, allowing the successive provision of various services by various service modules 35 connected to the same mobile base.
    [0012] The service delivery system 10 also includes a supervisory system 30, which takes into account a set of internal and external parameters to optimize the operation of all the modular robots 12. The supervision system 30 comprises interconnected computers. one or more human-machine interfaces for enabling the reception of commands and parameter values from an operator and communication means, for example wireless, in order to communicate with the mobile bases 16 and with the one or more bases of In particular, the supervisory system 30 is able to define assignments for each of the modular robots. A mission 48 is an instruction given to a robot and constituted by the association of a type of activity to be performed, for example: displacement or cleaning, with a set of specific parameters necessary for carrying out this activity, for example and depending on the activities: point of departure and arrival, area to be cleaned, type of cleaning.
    [0013] The supervision system 30 comprises a module 32 for taking into account the state of autonomy of the mobile bases 16 and the service modules 18a,..., 18n present on the site, a space positioning module 34 capable of recovering information relating to the spatial position of each of the modular robots 14 as well as the service modules 18 or mobile bases 16 present on the site, and a module 36 able to retrieve information relating to the status and the capacity of the operation of each of the service modules 18. In addition, the supervision system 30 optionally includes a module 38 for taking into account the cleaning quality automatically evaluated by means embedded in the modular robots 14, as explained in more detail. below.
    [0014] The supervision system 30 takes into account external parameters 40, for example the train schedules, the current and expected level of presence of users in the stations, information relating to the operation of the equipment in the stations, or more typically service areas, and their operating condition refreshed in real time.
    [0015] In addition, the supervisory system receives information about areas of the site requiring intervention, for example a cleaning intervention, based on images provided by surveillance cameras, or information provided by agents or by the public. Thus, advantageously, the supervision system 30 receives information relating to point-in-time pollution in real time, and can define intervention missions for a rapid cleaning intervention.
    [0016] In addition, the supervision system 30 is able to receive information and commands from a centralized control station 46. The missions 48 of the modular robots 14 are transmitted from the supervision system 30 to the mobile bases 16 of the modular robots. in a predetermined message format, by means of wireless communications 50. The mobile bases 16 of the modular robots 14 are also able to send information to the supervision system, in a predetermined message format, by means of wireless communications 50 Typically, a Wi-Fi communication network is used.
    [0017] A communication format for communicating messages containing useful information and mission information between the supervisory system and the modular robot mobile bases is previously defined. Preferably, an encrypted proprietary format is used. For example, a cleaning mission comprises at least the following information: a characterization of the activity: cleaning - parameters relating to this activity: a cleaning mode, making it possible to choose the service module to be used, an area to be cleaned, defined for example by spatial coordinates in a given coordinate system, - route and speed instructions. Optionally, the definition of a cleaning mission also includes instructions on the behavior of the robot according to the observed or predicted user inflow 25 and the context, for example cleaning in the train or in a station, and a duration target for carrying out the cleaning mission. In addition, wired communication means 52 enable data transmission, according to a predefined communication protocol, between the supervision system 30 and the folding base 20.
    [0018] Thanks to the set of calculation modules and the communication means present, the supervision system 30 is able to: plan needs and take into account the operating states and autonomy of the robots and the operating state of the equipment for defining individual robot missions, and for managing the use of the storage, refueling and refueling units of the folding base 20.
    [0019] The supervision system 30 communicates to the mobile bases 16 of the modular robots 14 of the displacement missions, comprising the displacement of the modular robot towards a given cleaning zone, or the displacement towards the folding bases 20.
    [0020] It should be noted that for a site or a large railway network, several fallback bases may be provided, in which case the supervision system indicates to the mobile bases, in the displacement missions, the location of the fallback base at use, for example the nearest base in distance, or the base having available units, in the same station, or in another station, in which case the robot 10 borrows the train to get there. More generally, the robots are able to move between stations or station using all the means used by wheelchair users (UFR). According to one embodiment, the supervision system 30 transmits fallback missions to the modular robots 14, via the wireless communication means 50, indicating the movement towards the folding base 20 for energy recharge or refueling. FIG. 2 is a block diagram schematically illustrating the main modules of a mobile base 16. A mobile base 16 comprises autonomous displacement means 60, comprising for example a motor, a motor-steering wheel connected to the motor and two fixed wheels, and a module 62 for supplying associated electrical energy. In a preferred embodiment, the stationary wheels are located at lateral sides of the movable base 16, and the motor-steering wheel is centered with respect to the lateral sides, and located at one end of the movable base. The electrical energy supply module 62 comprises, for example, high capacity accumulators, for example lithium-ion or lithium-iron-phosphate, preferably with fast charging. The module 62 is able to supply energy to both the mobile base 16 and the service module (not shown in Figure 2) connected to the mobile base. Pads or an induction charging system located under the mobile base 30 allow the recharging of the power supply module 62. The mobile base comprises a programmable controller 64, comprising calculation processors and including program codes for controlling the other modules present. In particular, the controller 64 controls the autonomous movement means 60 of the mobile base, depending on the missions effector.
    [0021] The mobile base 16 comprises a set of sensors 66, comprising laser sensors 66a, image acquisition sensors 66b and various sensors 66c: temperature, noise. Preferably, the laser sensors 66a are capable of forming a laser beam, also called a laser layer, making it possible to scan the near and far environment of the mobile base 16, and to detect the presence of obstacles or the fixed elements of the infrastructures. for localization. The sensors 66a serve both to locate the mobile base and to calculate security data. The location of the mobile base is, in one embodiment, performed by the controller 64, using data provided by the sensors 66 and a site map, stored in a data storage module 68. The image acquisition sensors 66b also enable the location of the mobile base, as well as the supervision of the environment, making it possible, for example, to acquire information making it possible to evaluate the cleaning quality or the intervention needs. . The cleaning quality of a surface is for example controlled by analyzing acquired images of a portion of the cleaned area. It is understood that the list of sensors listed above is not exhaustive, other types of sensors can be embedded.
    [0022] The data acquired by these sensors is transmitted to the controller 64 for processing. In addition, the controller 64 is able to control and control the operation of certain sensors, for example to control an orientation of an image acquisition sensor.
    [0023] Optionally, the mobile base 16 also comprises man-machine interface means 70, comprising in particular one or more screens, possibly tactile, means for transmitting sound and / or light, to enable communication with the environment. close. The human-machine interface means 70 are connected to the sensors 66 and the controller 64.
    [0024] In one embodiment, the robot has interaction means (sound and / or light) with the people nearby in order to indicate their presence and trajectory and to encourage them to adapt their behavior. The mobile base 16 also includes a wireless communication module 72, for communicating with the supervision system 30. Preferably, Wi-Fi communication means are used.
    [0025] Alternatively, any other radio communication mode is usable for communications with the supervisory system 30. The mobile base 16 includes a base interface 74 for connection and cooperation with one of the service modules 18a to 18n.
    [0026] The base interface 74 includes a mechanical interface 76, allowing a mechanical connection with a service module to form a modular robot, and automatic removal of a service module into a unit of a fold base. A vertical displacement device 78 complements the mechanical interface 76, allowing the height of the service module connected to the mobile base to be adjusted to perform various tasks, for example the cleaning of surfaces at height and to participate in the laying operations. removal of the module. The base interface 74 also includes an electrical power interface 80 for the power supply of the service module, easily disconnectable at the time of removal of the service module in the fold base.
    [0027] The base interface 74 also comprises a communication interface 82 with a service module 18, for example via an Ethernet link or "all or nothing" communication signals. Finally, a reader RFID radio tags (or radio tags) is present, allowing the reading of RFID data, transmitted by an RFID transponder of a service module 18. In particular, each service module 18 can thus communicate to the mobile base 16 its unique identification number, to identify the module among all the modules of the system 10 for providing services. The controller 64 is programmable and makes it possible in particular to carry out: the command control and the control of the mobile base; The location of the mobile base in connection with the sensors 66 and the stored map 68; the safety of the modular robot and the safety of the users, in cooperation with the sensors 66, implementing for example the maintenance of a safety distance greater than or equal to a predetermined distance threshold with respect to any obstacle encountered. Preferably, the predetermined distance threshold takes into account the moving speed of the modular robot 14. In one embodiment, the controller controls an adaptation of the speed and the trajectory of the mobile base to bypass any obstacle detected at a distance. greater than or equal to the predetermined distance threshold. ; The implementation of missions received from the supervision system 30 via the communication module 72; The interface and control command of the service module, preferably taking into account the operating specificities of the module type; the collection of information from sensors 66 and the storage of data; the detection of anomalies and intervention needs, for example by performing image processing on acquired images and comparing the results of the processing with nominal data previously received and stored, for example anomalies with respect to the cartography of the previously memorized environment; the transmission to the information monitoring system 30 comprising information relating to: identification and location information: identification number of the mobile base, spatial location of the mobile base; - maintenance information: state of autonomy, defects of the mobile base; type, identification number and maintenance information (e.g. faults) of the connected service module; - information about the environment: videos and sounds of the environment. The controller 64 is also adapted to locate the closest folding base, for example from the location of the mobile base and the on-board mapping, and is able to control an autonomous movement towards the folding base.
    [0028] Alternatively, the position of the fold base is communicated by the supervisory system. FIG. 3 is a block diagram schematically illustrating the main modules of a service module 18. A service module 18 comprises a module 90 of automations that are specific to it, depending on the type of service module and the type of service. to implement, and which activates specific means 92, for example suction means and brushes for a sweeping / suction cleaning module. The specific automation module 90 receives commands via the module interface 94.
    [0029] The module interface 94 comprises a mechanical interface 96, complementary to the mechanical interface 76 of a mobile base and allowing a mechanical connection of the service module 18 with the mobile base, as well as automatic removal in a unit of a folding base. The module interface 94 also includes an electrical power interface 98 for the power supply of the service module, easily disconnectable at the time of removal of the service module in the fold base.
    [0030] The module interface 94 also comprises a communication interface 100, able to receive control and control signals, via an Ethernet link or an "all or nothing" connection, as well as an RFID radio transponder 102. , which stores the type of service module 18 and the identification number of the service module 18. In addition, a service module 18 comprises a mechanical and / or electrical interface 104 with a refueling unit, allowing the setting up of the service module 18. implementation of refueling actions, related to specific means, for example the filling or emptying of containers 106.
    [0031] In one embodiment, a container 106 is a container of cleaning liquid, or other useful liquid or dust to contribute to the specific cleaning function of the service module. A service module 18 optionally contains a mechanical interfacing module 108 with a basic backup storage unit. Alternatively, the mechanical interface 96 can also be used as a mechanical interface with a basic foldback storage unit 26. Specialization by types of specific activity is not detailed here. A modular robot 14 according to the invention, formed by combining a mobile base 16 and a service module 18 is able to provide several types of services, including a wide variety of cleaning services. In addition, the controller 64 of a mobile base 16 is able to implement other services, such as reception services and user assistance, via the human-machine interface module 70. In addition, a monitoring service may also be provided, on a specific mission or combined with a cleaning activity. Thus, the data provided by the sensors 66 can be used by the controller 64 to detect static objects, liquids on the ground, suspicious presence or suspicious movements / noises. This information is sent to the supervision system 30 and / or can be used to generate direct alerts, transmitted by the mobile base to its direct environment via its man-machine interface 70. A modular robot 14 is able to intervene, in the application scenario to the provision of services in a metro type infrastructure, both in trains and in stations.
    [0032] 3037156 13 Modular robots have autonomous access to areas of different sites accessible to wheelchair users, using any bridge / lift or other suitable means available, including trains. The configuration of the site and the presence of available equipment is known in advance, and accessible at the supervision system 30. The modular robots 14 are able, via the communication means 72 of the mobile base, to communicate their spatial location in real time to the supervision system 30 in the station or in the trains. Figure 4 schematically illustrates the functional architecture of a supervision system 30 according to one embodiment of the invention. In this embodiment, the supervision system 30 is organized according to two levels, a first centralized supervision level comprising a centralized subsystem 120 and a second local supervision level comprising at least one subsystem 130.
    [0033] The first level of supervision is the general level of supervision for the entire railway network, while the second level of supervision comprises several localized supervision subsystems, for example in each station for a set of stations. The first level of centralized supervision 120 consists, for example, of a set of computers connected via a communications network, which uses information 122 relating to all the modular robots present, in particular the identification number of the base. module and the identification number of the associated module, as well as position information of all modular robots. In addition, the information 122 contains location / location information, status and level of autonomy of each mobile base and each service module of the system, information on the fallback bases and information of access (infrastructure plan, access location accessible to modular robots). The first level of supervision also uses information relating to train schedules, the level of user presence in the stations and presence forecasts, updated in real time. For all the stations, the first level of supervision 120 takes into account information 126 relating to the operation of the equipment in the stations, the state of filling, the functional state of the lifts, as well as cleaning quality information. punctual alerts requiring intervention.
    [0034] A calculation module 128 uses the information 122, 124 and 126 to determine displacement, cleaning or other missions for each of the modular robots. The first level of supervision 120 ensures the overall coordination of the use of all the resources: mobile bases, service modules, units of the 5 fallback bases. These mission orders are transmitted to the supervision subsystems 130 of the second supervision level, located for example in the station. Each supervisory subsystem 130 includes modules 132 for real-time monitoring of the state of the local equipment, and 134 for real-time location of the modular robots present. Each supervision subsystem 130 comprises a module 136 for generating the displacement orders of the modular robots, sent to the respective mobile bases, a module 138 for controlling local equipment (elevators, locks, access doors), and relative commands. at the fallback bases 140.
    [0035] FIG. 5 schematically illustrates the main modules of a storage unit 22 of a folding base 20, adapted to store a service module 18. A storage unit 22 comprises a mechanical interface 142, able to cooperate with an interface mechanical 108, 96 of a service module, for the reception and storage of a service module, communication means 144 capable of communicating with the supervision system, for example with the local supervision subsystem , and a reader RFID radio markers 146, for reading RFID data, for example the identification number of a stored service module. A storage unit 22 is able to transmit to the supervision system its free-state or occupied status for planning the storage of the service modules, and the identification number of the stored service module when there is one. A storage unit 22 is able to store a service module ready to be installed on a mobile base or waiting for refueling. FIG. 6 schematically illustrates the main modules of a refueling unit 24, capable of performing at least one refueling or maintenance operation of a service module 18. The refueling unit 24 comprises a refueling interface 24. electrical connection 148 to a service module, a maintenance / refueling module 150 specific, dedicated to one or more types of modules, capable of performing automatically maintenance operations, for example emptying and / or filling containers. The module 150 is able to communicate with the automation module 90 of a service module via a communication module 152.
    [0036] The refueling unit 24 comprises communication means 154 able to communicate with a supervision system and a reader 156 of contactless radio markers, RFID or NFC or any other equivalent technology, allowing the reading of data, for example the number identification of a stored service module.
    [0037] A refueling unit 24 is able to transmit to the supervision system its free or busy status and the identification number of the stored service module when there is one. Such a unit 24 also optionally has internal sensors to monitor its state of autonomy, and it is able to communicate 10 to the supervision system its operational and maintenance needs. FIG. 7 schematically illustrates the main modules of an energy recharging unit 26, able to receive a mobile base 16 of the system and to perform an energy recharge of the mobile base 16. Such a unit 26 is an equipment on which the mobile base This is used to recharge the on-board accumulators, either by means of ground contacts and pads on the mobile base, or by means of a charging device 160 without induction contact. The charging unit 26 comprises a communication module 158 able to communicate with the supervision system, which controls its operation. Thanks to this communication module 158, the recharging unit 26 is able to communicate its state of availability and its operational and maintenance requirements to the supervision system. The service delivery system has been described above in its operation involving a centralized supervision system.
    [0038] Each mobile base 16 is able to carry out various services autonomously and individually, and to carry out direct communications with the folding base 20 and the units of the folding base (22, 24 or 26), without intervention of the supervision system. In addition, each mobile base 16 implements modules for automatically detecting a need for reloading, which has the consequence of interrupting a mission in progress and moving to a reloading unit of a fallback base, such available unit being for example indicated by communication with the fallback base. The mobile base is also able to monitor the connected service module, and to detect the need for reloading such a module.
    [0039] In a variant, each mobile base is able to take into account and memorize several missions to be executed successively.
    [0040] In addition, a mobile base is in another variant capable of dynamically modifying a mission plan, depending on the determination of local cleaning quality level or detection of a polluted area by means of onboard sensors. The number of mobile bases and the number of modules per type of services required is adapted according to the service provision needs, the size and number of the sites concerned and the number of services to be provided. Advantageously, the service modules are interchangeable, all connectable to "universal" mobile bases, the generation of mechanical and electrical interfaces is simplified.
    [0041] Advantageously, the service delivery system according to the invention makes it possible to adjust the number of modular robots required for a given service according to the local conditions, as well as the type of services, for example cleaning, to be provided. Advantageously, a homogeneous treatment of the entire site in question is provided by means of the proposed system. Advantageously, the modular robots are able to use the means usable by wheelchair users, for example trains and lifts, to move within a site (eg station) or between several sites, which makes it possible to optimize the implementation of fallback bases and to facilitate the organization and optimization of the overall operation of the overall cleaning system, multi-station and multi-site.
    权利要求:
    Claims (16)
    [0001]
    CLAIMS1.- A service delivery system comprising a plurality of modular robots able to move autonomously and to perform one or more services according to missions (48) received, characterized in that it comprises: - at least one mobile base (16) able to move autonomously, and to ensure displacements required by the mission or missions received, - at least one service module (18) capable of performing at least one service according to at least one mission received, - the or each mobile base (16) comprising a base interface (74) and each service module (18) comprising a module interface (94) adapted to cooperate with said base interface (74) for connecting / disconnecting the service module at the mobile base, a modular robot (14) being formed by connecting a service module (18) to a mobile base (16), the system comprising at least one fixed folding base (20) able to accommodate the robot modular (14) and comprising at at least one of: a storage unit (22) adapted to store a service module (18); an energy recharging unit (26) with a mobile base (16); a refueling unit (24) for a service module (18) capable of performing at least one refueling or maintenance operation of a service module (18).
    [0002]
    2. System according to claim 1, characterized in that it comprises several types of service modules (18a-18n), each type of service module being able to perform a specific service and comprising a module interface (94) adapted to cooperate with said base interface (74), any type of service module (18a-18n) being adapted to be connected to each mobile base (16) of the system.
    [0003]
    3.- System according to one of claims 1 or 2, characterized in that each movable base (16) comprises autonomous displacement means (60) and at least one module (62) for supply of energy capable of providing the energy at said moving means (60).
    [0004]
    4. System according to claim 3, characterized in that each mobile base (16) comprises at least one sensor (66) for said mobile base to locate in space. 3037156 18
    [0005]
    5. System according to claim 4, characterized in that each mobile base (16) comprises a controller (64), adapted to process data obtained by one or more sensors (66a, 66b, 66c) for detecting obstacles in a environment of the mobile base (16), the controller (64) being adapted to control the autonomous displacement means (60) so as to maintain a distance greater than or equal to a predetermined distance threshold, as a function of the traveling speed of the mobile base, with respect to any obstacle detected.
    [0006]
    6. - System according to claim 5, characterized in that, for each mobile base (16), the controller (64) is able to control the means of autonomous displacement (60) of the mobile base, the mobile base (16). ) moving in a path, so as to adapt the speed and the path of the movable base to bypass any obstacle detected at a distance greater than or equal to the predetermined distance threshold. 15
    [0007]
    7.- System according to any one of claims 3 to 6, characterized in that the base interface (74) between mobile base (16) and service module (18) is standardized and comprises: - a mechanical interface ( 76) for fixing the service module, - an electrical interface (80) for an energy supply of the service module 20 from the power supply module (62) of the mobile base, - a communication interface (82) with the service module.
    [0008]
    8. System according to claim 7, characterized in that each service module (18) comprises a radio identification transponder.
    [0009]
    9.- System according to claim 8 characterized in that the base interface (74) between mobile base (16) and service module (18) comprises a module (84) for reading the identification data of the module of service. 30
    [0010]
    10. System according to any one of claims 1 to 9, characterized in that it further comprises a supervision system (30), able to define modular robot service missions (14) and in that each mobile base (16) comprises wireless communication means (72), able to communicate with said supervisory system (30). 3037156 19
    [0011]
    11. System according to claim 10, characterized in that each mobile base (16) is able to communicate to the monitoring system (30) information from the following group of information: identification information of the mobile base, information spatial location of said mobile base, maintenance information relating to said mobile base, maintenance information relating to the service module connected to said mobile base, identification information of the connected service module, information relating to the environment of the mobile base, anomaly information detected with respect to a previously stored map of the mobile base environment. 10
    [0012]
    12. System according to claim 11, characterized in that the supervision system (30) is able to collect information transmitted by each mobile base (16), to develop missions to be executed by the modular robots (14) and to transmit instructions defining these missions to be performed to the mobile bases (16) of the modular robots (14).
    [0013]
    13.- System according to any one of claims 10 to 12, characterized in that at least one modular robot (14) receives instructions defining at least two missions to be executed successively.
    [0014]
    14.- System according to any one of claims 10 to 13, characterized in that the supervision system (30) is capable of taking into consideration external information relating to equipment of at least one site belonging to the network.
    [0015]
    15.- System according to any one of claims 1 to 14, characterized in that each modular robot (14) is adapted to perform at least one of a cleaning service, a user reception service and a service monitoring. 30
    [0016]
    16.- System according to any one of claims 1 to 15, implemented in a railway network comprising a plurality of sites, characterized in that each modular robot (14) is able to use displacement means usable by users in a wheelchair to move in a site and / or between sites. 20 25
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    同族专利:
    公开号 | 公开日
    WO2016193177A1|2016-12-08|
    FR3037156B1|2020-05-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20020156556A1|1999-07-12|2002-10-24|Ruffner Bryan J.|Multifunctional mobile appliance|
    WO2002045915A1|2000-12-04|2002-06-13|Abb Ab|Robot system|
    EP1754405A1|2005-08-16|2007-02-21|Deere & Company|Mobile station for an unmanned vehicle|
    CN107272633A|2017-08-18|2017-10-20|中车南京浦镇车辆有限公司|A kind of train cleaning machine control method under the unmanned pattern of train|
    JP6974627B2|2018-03-14|2021-12-01|フェデックス コーポレイト サービシズ，インコーポレイティド|Modular autonomous bot device assembly for transporting goods to be shipped|
    DE102018114476B3|2018-06-15|2019-08-14|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.|Cleaning system, including supply robots and cleaning satellites, and methods of cleaning|
    法律状态:
    2016-03-30| PLFP| Fee payment|Year of fee payment: 2 |
    2016-12-09| PLSC| Search report ready|Effective date: 20161209 |
    2017-04-28| PLFP| Fee payment|Year of fee payment: 3 |
    2018-03-30| PLFP| Fee payment|Year of fee payment: 4 |
    2019-05-23| PLFP| Fee payment|Year of fee payment: 5 |
    2020-05-14| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1555012|2015-06-02|
    FR1555012A|FR3037156B1|2015-06-02|2015-06-02|SERVICE PROVIDING SYSTEM COMPRISING A PLURALITY OF MODULAR ROBOTS SUITABLE FOR MOVING INDEPENDENTLY|FR1555012A| FR3037156B1|2015-06-02|2015-06-02|SERVICE PROVIDING SYSTEM COMPRISING A PLURALITY OF MODULAR ROBOTS SUITABLE FOR MOVING INDEPENDENTLY|
    PCT/EP2016/062088| WO2016193177A1|2015-06-02|2016-05-27|System for providing services, comprising a plurality of modular robots capable of moving in an autonomous manner|
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