• 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:
    Motorized robot (1) comprising a body (2) mounted on wheels (3), a tracking device (4), a guide module (104), said guide module being configured to allow driving by an operator ( 10) located in a driving zone (20) on one side of the robot to advance the robot in an advancement zone (30) on the opposite side.
    公开号:FR3048406A1
    申请号:FR1600390
    申请日:2016-03-07
    公开日:2017-09-08
    发明作者:Cedric Tessier；Sebastien Bonnet
    申请人:EFFIDENCE；
    IPC主号:
    专利说明:

    AUTONOMOUS ROBOT WITH GUIDING IN PUSH MODE TECHNICAL FIELD OF THE INVENTION
    The present invention relates to a motorized robot. It relates more particularly to a robot capable of moving in "push" mode by the presence of an operator at one end of the robot.
    STATE OF THE PRIOR ART
    [0002] Powered autonomous robots are now well known and used in many fields such as logistics, agriculture, industrial production, etc. To ensure their movement autonomously, the robots must include locating and guiding means. Many forms of implementation exist today, with sensors and / or cameras arranged at locations to implement the locating functions allowing the robot to move in acceptable safety conditions.
    To manage the movement, an autonomous robot can be programmed according to a specific path to perform. This mode is well suited for journeys to be made repeatedly. In other cases, for example when an operator wishes to make a single path, the robot has sensors for detecting the operator, and guiding means for the robot to move by following the operator. This mode is well known as "follow-me" (follow me). Other examples of solutions are presented below.
    US2006140450 discloses a device and a method of monitoring a human being. The device includes a storage medium storing a program for executing the method and a mobile electronic system comprising the apparatus. The pursuit apparatus of the human being comprises; a replacement detection module of the upper body of the human being; a module for detecting the position of the leg of a human being; a tracking object selection module; a tracking speed and an orientation calculator to calculate the speed. The device makes it possible to follow a human being.
    The document CN105005247 describes a pallet truck that can be remotely controlled by an operator by means of a wireless communication. In addition, the pallet truck can follow an operator automatically.
    [0006] Document TW201540447 describes a sensor for detecting the posture of the human skeleton in front of a robot and to move according to gestural commands of the human body. The robot follows the individual who is moving.
    The document KR101014531 describes a method of monitoring a human by a motorized robot. The sensor is designed to detect the legs of an individual and follow him in his movements.
    [0008] JP2008149399 discloses a motorized robot moving at a suitable speed to follow a person who moves at the same time. The robot moves next to the individual, at the same time as him.
    [0009] JP2003280739 describes a motorized robot capable of following a human person.
    These solutions allow a motorized autonomous robot to follow an operator relatively reliably. Nevertheless, these solutions imply that the operator precedes the robot on the path that he wishes to make him travel. However, when moving in front of the robot, the operator completely ignores what is happening behind him, whether the robot is following him or not, whether the robot deviates from the road followed by the operator, or even if he is in distress or if he has an incident. This situation gives rise to a great number of uncertainties as to the quality and reliability of the monitoring carried out by the robot.
    In other cases, it happens that an operator is in a situation requiring him to change direction of travel. However, with a robot "follower", the operator is then forced to bypass the robot to go to position the opposite side to resume a tracking mode. This case makes it necessary to provide means for recognizing the operator on both sides of the robot. Finally, in some cases, a blocked operator is not able to bypass the robot to go to the other side. It is then necessary to provide troubleshooting means to help manage the situation, for example by towing the robot, or by lifting it to turn 180 degrees.
    To overcome these disadvantages, the invention provides different technical means.
    SUMMARY OF THE INVENTION
    First, a first object of the invention is to provide a motorized autonomous robot capable of being followed by an operator while allowing the latter to be able to view the robot during movement.
    Another object of the invention is to provide a motorized autonomous robot of inexpensive construction.
    Another object of the invention is to provide a motorized autonomous robot whose implementation is simple and reliable.
    To do this, the invention provides a motorized autonomous robot comprising a body mounted on wheels, a tracking device, a driving module, in communication with the tracking device and configured to allow driving by an operator located in a driving zone on one side of the robot to advance the robot in a forward zone on the opposite side.
    Such a device can configure a robot so that the driver pushes the latter virtually. In this document, this mode is called "push me", by analogy with the "follow me" mode where the robot follows the user. In a variant, a robot is advantageously provided with both modes of pipe, for maximum flexibility of use.
    With such a device, the operator can control the movement of a robot while maintaining a perfect visibility on the robot itself and its environment. The operator can react immediately to any unforeseen situation or incident. It can easily and immediately interact with the robot and modify or adapt the driving along the way, in real time. In the case of a robot variant equipped with a "follow me" driving mode, the driver can switch from one driving mode to another without having to work around the robot, which is sometimes impossible on certain sites. work like for example between vineyards.
    Advantageously, the locating device comprises a single sensor. This technical feature provides a simple layout with limited wiring and high reliability. Such an arrangement makes it possible to limit the costs and to simplify the construction of the robot. This same sensor can be used to detect obstacles present along the path of the robot.
    According to an advantageous embodiment, the tracking device comprises a laser, preferably a laser scanner or "LIDAR", an acronym in English for "Light Detection and Ranging" (designating the concept of detection and detection based on light beam emission).
    The laser is preferably adapted to emit a rotating beam over an angular range of 360 °. This feature has the advantage of providing total visibility for the robot using a single sensor, greatly simplifying the architecture and implementation of the system. In addition, for a robot with a bimodal driving system (follow me or "push me"), the LIDAR 360 degrees allows to simply manage both modes, with a simple and reliable configuration.
    The laser allows use in various conditions unlike a video camera device, for example. Indeed, the laser can be used both in a room plunged in darkness and outside in the presence of intense sun. Finally, the 360-degree laser has the advantage of offering total visibility for the robot to ensure greater safety.
    According to another advantageous embodiment, the tracking device is configured for firstly to detect the environmental elements to ensure a collisionless movement, and secondly to detect the relative position of the operator. relative to a reference position.
    The invention also provides a driving system for autonomous robot as previously described, comprising a tracking device capable of communicating with a driver module provided with a microprocessor and implementation instructions, a an operator's relative position detection module, a displacement command module and a guidance module, the driving system being configured to allow driving by an operator located in a driving zone; one side of the robot to advance the robot in a forward zone on the opposite side.
    Such a system can equip a large number of autonomous motorized robots to make them benefit from the driving mode "push me".
    The invention finally provides a method of driving an autonomous motorized robot by an operator, comprising the following steps: the operator's relative position detection module determines the relative position of the operator using data received from the robot locating device; the displacement instruction module, receives the relative position data of the operator and determines a displacement instruction comprising a curvature and a forward speed; the guidance module receives the displacement instruction and moves the robot in accordance with the displacement instruction.
    According to an advantageous embodiment, the direction of the curvature is determined by the setpoint module as a function of the relative position of the operator, so that when the operator is located on a first side of a reference position (for example a longitudinal axis AA of the robot), the turning direction is hourly, and when the operator is on a second side of the reference position, the direction of turn is counter-clockwise.
    In "push me" mode, unlike the "follow me" mode, the user is really active and drives the robot. He decides on his relative position in relation to the robot in order to drive the robot and steer it between the obstacles and towards the path it wants. The user has the opportunity to react to any situation or event in real time, since he sees the robot and its environment continuously. This mode of driving is very safe, very reliable, and provides a great ability to adapt to an infinite number of sites.
    Advantageously, the setpoint module determines the forward speed as a function of the distance d between the operator and the robot.
    According to yet another advantageous embodiment, the relative position detection module of the operator is provided to detect a movement or sign of the operator corresponding to a stop instruction of the movement of the robot. This feature allows the user to react very quickly, without having to touch the robot, for maximum responsiveness and security. Alternatively, a retreat of the operator can be used to control a stop. Still alternatively, a stop button can be provided on the robot or a remote control.
    DESCRIPTION OF THE FIGURES
    All the details of embodiment are given in the description which follows, supplemented by FIGS. 1 to 5, presented solely for purposes of non-limiting examples, and in which: FIG. 1A is a schematic representation of an example of a robot autonomous with driving system according to the invention; FIG 1B is a schematic representation of an example of autonomous robot located between the driver and the driving zone; FIGS. 2 and 3 are examples of movements with turns of a motorized autonomous robot according to the invention; FIG. 4 presents a functional flowchart illustrating the main steps of a driving method according to the invention; FIG. 5 illustrates an example of a motorized autonomous robot driving module according to the invention.
    DETAILED DESCRIPTION OF THE LMNVENTION
    The objective is to manipulate a robot by preceding it but without touching it and without using a joystick. The robot can come to a sudden stop if its emergency stop system is triggered. In this case, the person following the robot must not hit the robot. The robot can come to a sudden stop if its emergency stop system is triggered. It is then necessary to foresee that the person who follows the robot does not strike this last one. In addition, the robot must be far enough for the person to take a step without risk of hitting the robot with his leg.
    FIG. 1A illustrates an exemplary embodiment of a robot 1 comprising a body 2 mounted on wheels 3. In this example, the body 2 is of rectangular shape, and substantially flat, to maintain the center of gravity close to the ground and facilitate loading and unloading operations by the operator. Alternatively, the body can be designed according to a wide range of shapes and profiles, depending on the intended uses, and aesthetic qualities required. In a conventional manner, the robot comprises at least one motor, electric or thermal, and means for managing the movements autonomously.
    In the embodiment of Figure 1A, the robot comprises a loading plate 5 arranged above the body 2. This position allows great ease to handle the loads to be transported by the robot. Figure 1 also shows that the plate 5 is spaced from the body 2. In this example, the elevation of the plate is provided by fins 6 of separation, arranged between the top of the body 2 and the underside of the plate.
    As shown in Figure 1A, the robot of this embodiment comprises six fins distributed so as to support the entire surface of the tray, two fins at each end and two fins towards the median area of the body . The robot is designed to advance in at least one direction, preferably two, and preferably several angular directions. The angular direction change is ensured either not pivoting of the wheels (two or four directional wheels) or by relative angular velocity variation between the wheels on each side of the robot.
    For this purpose, the robot is advantageously equipped with four electric motors, located in the axes of the wheels. The robot can also be equipped with a single engine with two or four driving wheels. The body 2 can accommodate one or more batteries and the electronic elements required for the management and guidance of the robot.
    The elevation of the plate 5 relative to the top of the body allows to form a zone 7 of vision, substantially free in which a registration device 4, preferably single, is arranged.
    In the example shown, the separation fins 6 consist of substantially thin plates oriented so that their main plane is substantially parallel to the axis of the beam of the tracking device 4. Still in the example of Figures 1 and 2, the tracking device 4 comprises a radar laser (or LIDAR) adapted to locate the surrounding objects over an angular range of 360 °. The fins are thin enough and spaced so as not to hinder the vision of the environment.
    Alternatively, other types of sensors may be used, such as one or more cameras, one or more inductive sensors, or the like. Hybrid solutions, with several types of sensors, can also be implemented. EXAMPLES OF PUSH-MODE DRIVING [0040] In the exemplary embodiments of the system and method of driving the invention illustrated in FIGS. 1 B, 2 and 3, an example of a robot 1 without a load-carrying tray is used for illustrative purposes. The tracking device 4 is advantageously a laser scanner (or LIDAR) active 360 degrees, which can detect both the surrounding elements of the robot such as objects, walls, walls or obstacles and the driver of the robot 10. The The conductor is movable in a driving zone 20 located on one side of the robot 1. A feed zone 30, in which the robot is able to move, is on the opposite side to the driving zone 20.
    The example of Figure IB illustrates an example of a robot moving in "push me" mode in a substantially rectilinear direction.
    The example of Figure 2 illustrates an example of a robot moving in "push me" mode by initiating a right turn.
    The example of Figure 3 illustrates an example of a robot moving in "push me" mode by initiating a left turn.
    DRIVING SYSTEM
    FIG. 5 schematically illustrates an exemplary autonomous robot driving system comprising a tracking device 4 (shown in FIGS. 1A, 1B, 2 and 3) as previously described, able to communicate by wire link or without wire with a driving module 100. For its implementation, the driving module comprises at least one microprocessor 101 and implementation instructions 102 of the microprocessor of the various modules. The driving module also provides a module 103 for detecting the relative position of the operator and a displacement instruction module 104. A guiding module 105 guiding the robot along the advancement zone is also provided. The driving module advantageously comprises memory modules such as a module 106 of relative position data of the driver, and a module 107 of the robot's movement reference data. An obstacle detection module can also be provided.
    The driving system is configured to allow driving by an operator 10 located in a driving zone 20 on one side of the robot 1 to advance the robot in a forward zone 30 located on the opposite side. The driving system is therefore of the "push me" type, since the robot precedes the driver, who drives the robot, without contact with it.
    DRIVING METHOD
    FIG. 4 presents a functional flowchart showing the main steps of the method of driving a powered autonomous robot according to the invention.
    In step 50, the driving module 100 receives a command to initiate or continue driving in push mode. For example, a user presses a command button on the robot or on a remote controller. In step 51, the tracking device 4 sends to the operator position detection module 103, the position data of the robot driver present in the driving zone 20. In step 52, the same module 103 determines the relative position of the conductor relative to the robot, for example by determining a longitudinal and a lateral deviation (see Figures IB, 2 and 3).
    In step 53, the displacement instruction module 104 compares the relative position of the conductor with a reference position. At this reference position, the driver is in the driving zone at a longitudinal and lateral distance corresponding to the stop of the robot. If the relative position of the driver deviates from the reference position, the displacement instruction module 104 sets a set point for moving the robot. Step 54 illustrates an example of criteria advantageously used to determine the speed of the robot and any bends. According to these criteria, the speed is determined according to the difference with the reference position; - if the difference = 0: constant speed; - if the difference> 0: the speed increases; - if the difference <0; the speed decreases.
    The direction of the turning angle is determined by the setpoint module 104 as a function of the relative position of the operator, so that when the operator 10 is located on a first side of a position of reference (for example a longitudinal axis AA of the robot), the turning direction is hourly, and when the operator is on a second side of the reference position, the direction of turn is counterclockwise.
    As an option, to quickly stop the robot, the module 103 for detecting the relative position of the operator is provided to detect a movement or sign of the operator corresponding to an instruction to stop the movement of the robot. This instruction can also correspond to a retreat of the user or to a command via a button provided for this purpose.
    DEFINITIONS AND FUNCTIONS OF CALCULATION -The length_pas: length of a step during a walk (80cm); -Fct_longueur_pas (speed): function that returns the length of a step according to the speed of movement of the person. If the speed is one step, then the value returned will be 80cm (length_not). If the speed is that of a race, the length is much greater; -Ecart: distance in meters to longitudinally distance the robot from the person to take into account that the length of a step is not the same for all people; -Fct_paston_stitchingdistance (speed): function that returns the theoretical stopping distance of the pedestrian according to its walking speed; -Fct_pump_stitchingdistance (velocity) = speed * reaction_time + velocity '^ 2 / (2 * theoretical_axon deceleration); -Fct_Robot Emergency Stop (speed): function that returns the theoretical stopping distance of the robot according to its speed of movement during an emergency braking; -Fct_robot emergency stop distance (speed) = speed * time_of_latency + speed '^ 2 / (2 * emergency_robot deceleration); - Set distance: desired distance for the longitudinal distance between the pedestrian and the robot; - Set distance = max (max (Length_out, Fct_length_not (speed_robot)) + deviation, max (0, Fct_distance_stop_stitch_stand (speed_robot) -fct_distance_stop_robot_offence_robot (speed_robot))) -Consignatory orientation of the vehicle: this is a setpoint and not an order sent to the engine because the next obstacle avoidance can modify this instruction; -If it is a steering train vehicle; Setpoint = turning radius (or curvature or steering angle of the wheels); -Braking the wheels to the left when the person is shifted to the right. -Braking the wheels to the right when the person is shifted to the left. -If the person is roughly in the axis of the robot plus or minus a delta value in cm, then the robot has the wheels right. This last feature allows the robot to advance in a straight line even if the person does not walk rigorously straight or if the person's detection module is inaccurate in lateral detection. -If it is a stationary vehicle (type char): Setpoint = speed of rotation (or curvature).
    The vehicle turns on itself in such a way that the person is always in the longitudinal axis of the robot. If the person is roughly in the axis of the robot plus or minus a delta value in cm then the robot does not rotate. This last point allows the robot to advance in a straight line even if the person does not walk rigorously straight or if the detection module of the person is imprecise in the lateral detection. -Conigne of speed of the vehicle: it is about a deposit and not of an order sent to the engine because the avoidance of obstacle which comes then will be able to modify this instruction. -Consigne = linear speed of advancement; -The robot accelerates or slows to enslave the longitudinal deviation to the set distance but can not move back.
    REACTIVE OBSTACLE EXPOSURE
    It is predicted the position of the robot in the future with the instructions defined above to see if it will hit an obstacle: -the robot has a given shape (usually a rectangle). -previous = we define the position where the robot will be 100ms later, then we define the position where the robot will be 200ms later, etc., until the robot has reached its desired speed and we continue to predict robot positions by decelerating until it stops. -This last step is planned to be certain that if the instruction is to move at 10km / h, that the robot can accelerate up to 10km / h and that there is then enough distance in front of him to slow down and s immobilize safely. we check that for each predicted position, that there is not an obstacle in the predicted robot, otherwise we consider that there is a collision. -If there is a collision, we evaluate if we can change the orientation of the robot to avoid the obstacle without changing the speed required. We define a search window for the new orientation. This window is centered on the orientation instruction requested. If you ask the robot to go straight, then the window extends from the maximum orientation on the left to the maximum orientation on the right. If the robot is asked to turn, then the window is narrower and narrower as the robot is asked to turn. -This last step is planned so that if a driver asks his robot to turn to the left thoroughly, he does not want him to go to the right and even if there is an obstacle in front of him. In this case, it is preferred that the robot slow down. For each box inside the window, the trajectory of the robot is predicted with the set speed and the orientation of the box tested. -We select the box that is "OK" and the closest to the desired setpoint. -If no box in the window is "OK", then we do the same thing for a slightly lower speed.
    Reference numbers used in figures 1 Robot 2 Robot body 3 Wheels 4 Tracking device 5 Loading tray or load plate 6 Separation fins 7 Viewing zone 10 Operator or driver 20 Driving zone 30 Progress zone 100 Operating module 101 Microprocessor 102 Instructions 103 Relative position sensor module 104 Position reference module 105 Guiding module 106 Relative position data 107 Setpoint data 108 Data bus
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    A motorized autonomous robot (1) comprising a wheel-mounted body (2), a tracking device (4), a driving module (100), in communication with the tracking device and configured to allow an operator conduit (10) located in a conduit area (20) on one side of the robot for advancing the robot in an advancement zone (30) on the opposite side.
    [2" id="c-fr-0002]
    2. Robot (1) according to claim 1, wherein the locating device (4) comprises a single sensor.
    [3" id="c-fr-0003]
    3. Robot (1) according to claim 2, wherein the tracking device (4) comprises a Lidar.
    [4" id="c-fr-0004]
    4. Robot (1) according to claim 3, wherein the Lidar is adapted to emit a rotating beam over an angular range of 360 °.
    [5" id="c-fr-0005]
    5. Robot (1) according to one of the preceding claims, wherein the locating device is configured to firstly to detect the environmental elements to ensure a collisionless movement, and secondly to detect the position relative of the operator with respect to a reference position.
    [6" id="c-fr-0006]
    6. autonomous robot driving system (1) according to one of claims 1 to 5, comprising a tracking device (4) adapted to communicate with a conduit module (100) provided with a microprocessor (101) and implementation instructions (102), a module (103) for detecting the relative position of the operator, a displacement instruction module (104) and a guide module (105), the a driving system being configured to allow operator (10) to drive in a driving zone (20) on one side of the robot (1) to advance the robot in a feed zone (30) located on the opposite side.
    [7" id="c-fr-0007]
    7. A method of driving by an operator (10) of a motorized autonomous robot (1) according to one of claims 1 to 5, comprising the following steps: a module (103) relative position detection of the operator determines the relative position of the operator with the aid of data received from the tracking device (4) of the robot; a displacement instruction module (104) receives the relative position data of the operator and determines a movement instruction including a turning angle and a driving speed; a guide module (105) receives the displacement instruction and moves the robot in accordance with the displacement instruction.
    [8" id="c-fr-0008]
    The method of driving a powered autonomous robot (1) according to claim 7, wherein the direction of the turning angle is determined by the setpoint module (104) as a function of the relative position of the operator, so that when the operator (10) is on a first side of a reference position, the turning direction is hourly, and when the operator is on a second side of the reference position, the direction of turn is anti-clockwise.
    [9" id="c-fr-0009]
    9. A method of driving a powered autonomous robot (1) according to one of claims 7 or 8, wherein the setpoint module (104) determines the forward speed as a function of the distance between the operator (10). ) and the robot (1).
    [10" id="c-fr-0010]
    10. A method of driving a powered autonomous robot (1) according to one of claims 7 to 9, wherein the module (103) of the relative position detection of the operator is provided to detect a movement or sign of the operator corresponding to an instruction to stop the movement of the robot.
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    同族专利:
    公开号 | 公开日
    JP2019514103A|2019-05-30|
    WO2017153897A1|2017-09-14|
    EP3427118A1|2019-01-16|
    FR3048406B1|2019-08-16|
    引用文献:
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    法律状态:
    2017-01-31| PLFP| Fee payment|Year of fee payment: 2 |
    2017-09-08| PLSC| Publication of the preliminary search report|Effective date: 20170908 |
    2018-03-20| PLFP| Fee payment|Year of fee payment: 3 |
    2019-04-01| PLFP| Fee payment|Year of fee payment: 4 |
    2020-03-04| PLFP| Fee payment|Year of fee payment: 5 |
    2021-03-24| PLFP| Fee payment|Year of fee payment: 6 |
    2022-02-14| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1600390|2016-03-07|
    FR1600390A|FR3048406B1|2016-03-07|2016-03-07|AUTONOMOUS ROBOT WITH GUIDED PUSH MODE|FR1600390A| FR3048406B1|2016-03-07|2016-03-07|AUTONOMOUS ROBOT WITH GUIDED PUSH MODE|
    EP17712238.9A| EP3427118A1|2016-03-07|2017-03-06|Autonomous robot guided in the pushed mode|
    JP2018548036A| JP2019514103A|2016-03-07|2017-03-06|Autonomous Robot with Guidance in Push Mode|
    PCT/IB2017/051302| WO2017153897A1|2016-03-07|2017-03-06|Autonomous robot guided in the pushed mode|
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