Robot towing system of at least one mobile pallet

Abstract

The invention relates to an autonomous robot towing system comprising a hitching device configured to be hitched to at least one mobile trolley of the type having an articulated towing bar and a caster mechanism, a laser radar type detection device housed below the hitching device at the rear of the robot towing system, the detection device being configured to define a field of view from the robot towing system rearward, at least partially in the direction of the caster mechanism of the mobile trolley, and an angle sensor housed below the hitching device at the rear of the robot towing system, the angle sensor being configured to determine the angle between the robot towing system and the mobile trolley, wherein the robot towing system is configured to receive information representative of the position of the rear of the mobile trolley relative to the rear of the robot towing system and information representative of the angle between the robot towing system and the mobile trolley hitched to the robot towing system, these representative information being determined respectively by the detection device and the angle sensor; from which the robot towing system is configured to cause the mobile trolley to travel in reverse.

Description

Technical Field

[0001] This invention relates to the general field of logistics, and particularly to the transportation of mobile material carts.

[0002] In particular, the present invention relates to a robotic traction system configured to be attached to such a mobile material cart, and an attachment assembly formed by the system and one or more material carts.

[0003] The present invention also relates to a production site having at least one first area (e.g., a storage area), at least one second area (e.g., a production area) located away from the first area, a plurality of mobile carts, and at least one robot traction system configured to be attached to one of the mobile carts to move it from the first area to the second area and / or in the opposite direction. Background Technology

[0004] A known production site includes at least one storage area, at least one production area located away from the storage area, multiple mobile carts, and at least one robot traction system, the robot traction system including a hook-on device configured to attach to one of the mobile carts to move the cart from the storage area to the production area and / or in the opposite direction.

[0005] An automated guided vehicle (AGV) is known from European Patent EP 3 283 308 for towing a rolling material cart with four wheels and a frame. The vehicle includes drive wheels, a body mounted on the drive wheels, a control system using a navigation system, a material cart fixing mechanism mounted on the body for connecting the material cart to the vehicle, and at least one proximity sensor mounted on the body. The control system is connected to the proximity sensor for adjusting the vehicle position and detecting potential obstacles.

[0006] Typically, a robotic traction system that pulls a moving material cart is configured to operate in a forward-moving manner within the cart's configuration. Summary of the Invention

[0007] The present invention aims to provide a robot traction system configured to be attached to a mobile material cart, which is particularly simple and convenient to use and manufacture.

[0008] Therefore, according to a first aspect, the object of the present invention is a robot traction system, particularly an autonomous robot traction system, comprising a coupling device configured to be attached to at least one mobile cart having an articulated tow bar and a caster mechanism; a lidar-type detection device housed below the coupling device at the rear of the robot traction system, the detection device being configured to define a field of view at least partially facing the caster mechanism of the mobile cart from the robot traction system to the rear; and an angle sensor housed at the rear of the robot traction system, the angle sensor being configured to determine the angle between the robot traction system and the mobile cart, wherein the robot traction system is configured to receive information representing the position of the rear of the mobile cart relative to the rear of the robot traction system and information representing the angle between the robot traction system and the mobile cart attached to the robot traction system, these representative information being determined by the detection device and the angle sensor, respectively; thereby, the robot traction system is configured to cause the mobile cart to reverse.

[0009] In a robot traction system, in order to enable the mobile material cart attached to it to reverse, not only the angular position of the mobile material cart relative to the rear of the robot traction system is considered, but also the overall position of the mobile material cart, especially the rear of the mobile material cart.

[0010] This enables the robotic traction system to autonomously determine a reversing trajectory with exceptional precision.

[0011] Furthermore, placing the lidar-type detection device below the mounting device, and connecting the angle sensor, for example, to the mounting device and placing it at the rear of the robot traction system, can do so without increasing the footprint and space occupied by the robot traction system.

[0012] According to a second aspect, the present invention also relates to a mounting assembly, including such a robot traction system, particularly an autonomous robot traction system, and at least one such mobile material cart mounted to the robot traction system.

[0013] The preferred, simple, convenient and economical features of the robot traction system and attachment assembly according to the present invention are described below.

[0014] The robot traction system is configured so that the lidar-type detection device is within its field of view and can identify the positions of the caster mechanisms located at the front and rear of the moving material cart.

[0015] The robot traction system is configured such that, in the first configuration, when the robot traction system reverses to pull a moving cart that is approximately on the same axis of motion as the robot traction system, the angle sensor identifies that the angle between the robot traction system and the moving cart is zero or close to zero, and the field of view defined by the lidar-type detection device can identify the position of the caster mechanism located at the rear of the moving cart.

[0016] The field of vision is interrupted by the presence of caster mechanisms located at the front of the moving material cart, which are roughly aligned with the caster mechanisms located at the rear of the moving material cart, but do not hinder the identification of the caster mechanisms located at the rear of the moving material cart.

[0017] The robot traction system can determine the reversing trajectory based at least on information representing the position of the rear of the mobile material cart relative to the rear of the robot traction system, and optionally on information representing the angle between the robot traction system and the mobile material cart attached to it.

[0018] The robot traction system is configured such that, in the second configuration, when the robot traction system reverses to pull a moving cart on a moving axis offset relative to the robot traction system's moving axis, the angle sensor identifies that the angle between the robot traction system and the moving cart is non-zero and a definite value, and the field of view defined by the lidar-type detection device cannot identify the positions of all caster mechanisms located at the rear of the moving cart; or in other words, the field of view defined by the lidar-type detection device only identifies some of the caster mechanisms located at the rear of the moving cart or does not identify any caster mechanisms.

[0019] The field of view is interrupted by the presence of caster mechanisms located at the front of the moving material cart. These caster mechanisms are pivoted and therefore misaligned with the caster mechanisms located at the rear of the moving material cart, thus interfering with the lidar-type detection device's ability to identify at least one caster mechanism located at the rear of the moving material cart.

[0020] The robot traction system can determine the reversing trajectory based at least on information representing the angle between the robot traction system and the mobile cart attached to it, and optionally on information representing the position of the rear portion of the mobile cart relative to the rear of the robot traction system.

[0021] The robot traction system may include a support base mounted on an additional caster mechanism and system components mounted above the support base and covered by a housing.

[0022] The robot traction system may include a first recess located behind the housing, in which a hook-up device is at least partially housed, and a second recess located behind the support base, in which a lidar-type detection device and an angle sensor are at least partially housed.

[0023] The system components may consist of at least one of the following: one or more drive motors for driving the additional caster mechanism to move the robot traction system; position and / or detection sensors; one or more control and command units configured to control and command one or more motors; and one or more control and command units that process sensor information, LiDAR-type detection device and angle sensor information and command the attachment device.

[0024] The attachment device includes a main structure with an actuating arm movable between a first position and a second position, the first position corresponding to a configuration detached from the moving material cart and the second position corresponding to a configuration engaged with the moving material cart, and an attachment mechanism arranged opposite the actuating arm. The attachment device is configured such that, between its first and second positions, the actuating arm is configured to move the traction rod of the moving material cart from a default position (in which the traction rod is at a distance from the attachment mechanism and the moving material cart is in a free state) to a low position (in which the traction rod is clamped between the actuating arm and the attachment mechanism and the moving material cart is engaged with the attachment device).

[0025] The mounting mechanism may have a fixed base and a rotatable mounting bracket installed on the fixed base, and the angle sensor is connected to the rotatable mounting bracket.

[0026] The attachment mechanism may be equipped with a position reset component, which is configured to be connected to a structural element of the robot traction system on one hand and to a rotatable attachment component on the other.

[0027] The hooking mechanism may be provided with a hooking member having a central pin forming a hook. The actuating arm may be formed from a flat plate having a support surface configured to abut against a traction rod, and a hole provided in the support surface. The hole is configured to receive the central pin in a second position of the hooking device, at which time the traction rod is clamped between the hooking member and the support surface, and the traction rod has a slot through which the central pin is inserted.

[0028] The connector may also have a positioning boss formed downstream of the center pin, which defines a reference angular position for the angle sensor and is configured to be inserted into a slot in the traction rod.

[0029] The connector may also have a stop wall located upstream of the center pin and opposite to the positioning boss, with the traction rod configured to abut against the stop wall.

[0030] The main structure can be formed by two columns and a crossbeam connecting the two columns. The crossbeam is movably installed along the two columns, and the actuator arm is mechanically connected to the crossbeam.

[0031] The actuator arm can be formed from a flat plate having a support surface configured to abut against the traction rod.

[0032] The actuator arm may have a stop located below the support surface and generally at one end of the plate and close to the crossbeam, the stop being configured to form a moving stop for the drawbar.

[0033] The coupling device may include a guide structure formed by two generally vertically arranged and spaced apart vertical columns, with space defined between the two vertical columns for inducing the boom to move between a first position and a second position of the coupling device.

[0034] The vertical support may have an inner guide edge, the inner guide edge defining the space for the actuator arm to slide. The actuator arm may be formed of a plate with notches, each notch being opposite to an inner guide edge.

[0035] The attachment device may include a drive structure configured to drive the actuator arm to slide, the drive structure including a drive motor, a pulley and belt mechanism driven to rotate by the drive motor, and a connector that is mechanically connected to the pulley and belt mechanism on one hand and directly or indirectly connected to the actuator arm on the other.

[0036] The attachment device allows for the attachment and detachment of standard-type mobile carts or such cart attachment components with articulated traction rods via (especially autonomous) robotic traction systems.

[0037] In other words, the attachment device allows for the equipment to be used, for example, in production sites that are already equipped with standard-type mobile material carts with articulated traction rods.

[0038] This type of attachment therefore has the advantage of eliminating the need to equip such production sites with different types of new mobile carts for robots and autonomous traction systems to pull.

[0039] The material cart may include an integrally platform-shaped frame having an outer contour and being made of a metal bar welded mesh welded at intersections, and a caster mechanism located at the front and rear of the frame that supports the frame and makes the material cart movable, with a tow bar arranged at the front of the movable material cart and connected to the frame via a pivot connection.

[0040] The caster mechanism at the front of the material cart can be pivotable, while the caster mechanism at the rear of the material cart can be fixed.

[0041] When the robot traction system is attached to the mobile material cart, the lidar-type detection device is located in a roughly horizontal plane that extends below the mobile material cart's overall platform shape and is made of a metal rod welded mesh.

[0042] According to a third aspect, the present invention also relates to a production site having at least one first area (e.g., a storage area), at least one second area (e.g., a production area) located away from the first area, a plurality of mobile carts having articulated traction rods, and at least one robot traction system as described above, the robot traction system being configured to be attached to one of the mobile carts to move it from the first area to the second area and / or in the opposite direction, capable of forward and reverse travel. Attached Figure Description

[0043] Figure 1The diagram schematically and partially shows a storage area of ​​the production site, which is provided with multiple mobile carts arranged in rows one after another, and a robot traction system according to the invention, which is configured to be engaged with one of the mobile carts to form an engagement assembly.

[0044] Figure 2 The production area of ​​the production site is schematically and partially shown in a top view, in which a robot traction system places mobile carts retrieved from the storage area.

[0045] Figure 3 The robot traction system is schematically shown in perspective view, here in a configuration detached from the moving trolley.

[0046] Figure 4 and Figure 3 Similarly, this is a side view.

[0047] Figure 5 and Figure 3 and Figure 4 Similarly, this is a front view.

[0048] Figure 6 Is with Figure 3 A similar view, in the hook configuration.

[0049] Figure 7 and Figure 6 Similarly, this is a side view.

[0050] Figure 8 and Figure 6 and Figure 7 Similarly, this is a front view.

[0051] Figure 9 This is a perspective view of the mounting device shown separately, in the first position corresponding to the detached configuration.

[0052] Figure 10 The perspective view schematically and partially illustrates certain system components of the robot traction system, which specifically allow the robot traction system to move in a configuration coupled with one or more mobile carts.

[0053] Figure 11 The first configuration is schematically shown in a top view, in which the robot traction system utilizes... Figure 10 The visible system components cause one of the moving carts to reverse.

[0054] Figure 12 The second configuration is schematically shown in a top view, in which the robot traction system utilizes... Figure 10 The visible system components cause one of the moving carts to reverse. Detailed Implementation

[0055] Figure 1 and Figure 2 The production site 1 or factory is schematically and partially shown, particularly the first area referred to here as storage area 2 and the second area referred to here as production area 3, which is located away from storage area 2.

[0056] Storage area 2 is used to store components that will be used in production area 3 for manufacturing and / or assembling products.

[0057] Therefore, these components need to be transported from storage area 2 to production area 3. This storage area 2, also known as a warehouse, is usually located at the entrance of the production process in factory 1.

[0058] As a variant, the storage area can also be used to receive the final product for shipment from Factory 1.

[0059] Factory 1 includes multiple mobile carts 4 on which containers 5 (usually called bins) are placed or stacked, and parts are stored in these containers.

[0060] Storage area 2 includes multiple feed channels 6 or passages for receiving mobile carts 4, which are separated at the inlet and / or outlet by spaced guide plates 7 arranged on the ground.

[0061] The mobile material carts 4 can be hooked or not hooked together on the same material channel 6 by means of the articulated traction rod 8 of one mobile material cart 4 and the hook 9 of another adjacent mobile material cart 4.

[0062] Figure 1 Thus, a storage area 2 with three feed channels 6 is shown, with two mobile carts 4 attached to each feed channel.

[0063] Plant 1 also includes a robot traction system 10, which includes a hook-on device 11 configured to cooperate with the traction bar 8 of the mobile material cart 4.

[0064] exist Figure 1 In the process, the hook-up device 11 of the robot traction system 10 is configured to hook up with the mobile material cart 4, which is located on the intermediate material channel 6 and is closest to the inlet and / or outlet of the spacer guide plate 7, thereby forming a hook-up assembly.

[0065] In this attachment configuration, the robot traction system 10 is configured to remove the mobile material cart 4 from its material channel 6, thereby removing it from the storage area 2 and transporting it to the production area 3 autonomously.

[0066] Production area 3 here has, for example, two feeding channels 12, formed by roller structures 13 configured to allow containers 5 to slide, and a central channel 14 located between the two feeding channels 12 for a moving cart 4 driven by a robot traction system 10 to pass through.

[0067] For example, the central feed channel 14 can be used to supply components whose weight and / or volume do not allow containers to be placed on the roller structure 13.

[0068] Similar to storage area 2, production area 3 is provided with spacer guide plates 7 at the entrance and / or exit of central material channel 14 and material supply channel 12.

[0069] In the attached configuration, the robot traction system 10 is therefore also configured to autonomously insert the mobile trolley 4 into the central feed channel 14.

[0070] In other words, the robot traction system 10 is configured to enable the mobile material cart 4 to move forward as well as reverse.

[0071] Figures 3 to 8 The robot traction system 10 is shown in more detail in a configuration detached from the adjacent mobile cart 4, and then in a configuration engaged with the mobile cart 4.

[0072] Mobile material cart 4 is the so-called standard material cart, which has standardized dimensions, approximately 600 mm in length and 400 mm in width.

[0073] The mobile cart 4 includes a frame 15 that is generally platform-shaped, having an outer profile 16 and being made of a metal bar welded mesh welded at intersections, and caster mechanisms 17, some of which are fixed and others are pivotable, which support the frame 15 and make the cart 4 movable.

[0074] The tow bar 8 of the mobile material cart 4 is located at the front of the mobile material cart 4 and is connected to the frame 15 via a pivot connection 18.

[0075] The tow bar 8 has a bent lower end 19, which is located below the frame 15.

[0076] The tow bar 8 is hinged to the frame 15 and can be in the default position ( Figures 3 to 5 (also known as the raised tilt position) and the low position ( Figures 6 to 8 It can move between the two positions and can be attached to the attachment device 11 of the robot traction system 10 at the lower position.

[0077] The mobile material cart 4 is also equipped with a hook 20 at the rear, opposite to the traction rod 8, for use with the traction rod 8 of another mobile material cart 4.

[0078] The mobile material cart 4 includes an elastic reset element 21, which is a tension spring. One end of the spring is attached to an anchor point fixed below the frame 15, and the other end is attached to the bent lower end 19 of the traction rod 8.

[0079] The elastic reset element 21 is used to push the traction rod 8 to the vertical position, also known as the raised storage position.

[0080] The traction rod 8 has a longitudinal slot 22, which is configured to receive a hook 20 of another moving material cart 4 attached thereto. Figure 1 (or in conjunction with the attachment device 11 of the robot traction system 10).

[0081] In the example shown, the caster mechanism 17 on the side of the traction rod 8, i.e. the front of the trolley, is pivotable, while the caster mechanism 17 on the side of the hook 20, i.e. the rear of the trolley, is fixed, so as to facilitate the operation of the trolley and the robot traction system 10.

[0082] The robot traction system 10 includes a support base 23 and additional caster mechanisms 24 connected to the support base 23, which may be fixed and / or pivotable.

[0083] The robot traction system 10 includes system components located above the support base 23 and at least partially covered by the housing 25.

[0084] These system components ( Figures 3 to 8 (Not shown) may be formed by the following components: one or more drive motors for driving the additional caster mechanism 24 to move the robot traction system 10, multiple position and / or detection sensors and / or sensors with other functions useful to the robot traction system 10, one or more control and command units configured to control and command one or more motors, and one or more control and command units for processing sensor information and controlling and commanding the hook-up device 11.

[0085] These sensors can be integrated camera sensors, infrared components, or even barcode readers.

[0086] One or more control and command units are also configured to communicate with a remote system, which may be located within or even outside of Plant 1, such as a resource management system that relates to parts inventory, production processes, etc.

[0087] The robot traction system 10 includes a first recess 26 located behind the housing 25, in which the attachment device 11 is at least partially accommodated.

[0088] The robot traction system 10 includes a second recess 27 located behind the support base 23, in which the traction rod 8 of the mobile material cart 4 is at least partially accommodated in the hook-up configuration.

[0089] like Figure 5 and Figure 8 As shown, the width of the robot traction system 10 occupies space comparable to the width of the mobile material cart 4 defined by the outer contour 16 of its frame 15.

[0090] In the configuration ( Figures 3 to 5 ) and mounting configuration ( Figures 6 to 8 Between the two positions, the tow bar 8 moves from its default position to its low position with the assistance of the coupling device 11, and the coupling device 11 moves from a first position corresponding to the disengagement configuration to a second position corresponding to the coupling configuration.

[0091] Reference Figure 9 The mounting device 11 is shown separately in its first position.

[0092] The attachment device 11 includes a main structure 30, specifically for securing it to the support base 23 and / or a structural element (not shown) covered by the housing 25 of the robot traction system 10, located at the first recess 26.

[0093] The main structure 30 is formed here by two columns 31 and a crossbeam 32 that connects the two columns and is movably installed along the two columns 31.

[0094] The main structure 30 is provided with an actuating arm having a flat plate 34 from which a reinforcing plate 35 protrudes substantially vertically. Both plates are connected to a crossbeam 32 and a support surface 37 located opposite the reinforcing plate 35.

[0095] The notches 36 are located on opposite sides of the flat plate 34.

[0096] Through holes 39 are also provided in the plate 34 and the reinforcing plate 35.

[0097] The mounting device 11 also includes a guide structure 40, which is formed by two vertical pillars 41 arranged vertically and spaced apart from each other.

[0098] The vertical support 41 is provided with an inner guide edge 42, which is defined as the space 43 for the actuator arm to slide along the column 31. The notches 36 provided on the plate are respectively opposite to the corresponding inner guide edges 42.

[0099] These vertical supports 41 can be fixed to the structural elements covered by the housing 25 and / or the support base 23 of the robot traction system 10.

[0100] The mounting device 11 also includes a drive structure, which is provided, for example, a fixed plate 51 mechanically connected to a structural element covered by the housing 25, and a drive motor 52 electrically connected to the fixed plate 51; a pulley mechanism having an upper pulley 53 mounted on the rotating shaft of the drive motor 52 via the fixed plate 51, and a lower pulley 54 rotatably mounted on the structural element covered by the housing 25 and / or the support base 23 and spaced a certain distance from the upper pulley 53; a drive member formed by a belt 55 mounted around the upper pulley 53 and the lower pulley 54; and a connector 56 (not shown) mechanically connected to the belt 55 on one hand and to the crossbeam 32 of the main structure 30 on the other hand, so as to slide the crossbeam when the belt 55 is driven by the upper pulley 53, which is itself driven by the drive motor 52.

[0101] The mounting device 11 also includes a mounting mechanism 60, which has a fixed base 61 and a mounting member 62 that is rotatably mounted on the fixed base 61, for example by a bearing (not shown).

[0102] The hook member 62 has a central pin 63 forming a hook, a positioning boss 64 formed downstream of the central pin 63, and a stop wall 65 disposed upstream of the central pin 63 and opposite to the positioning boss 64.

[0103] The mounting mechanism 60 is also provided with a position reset element (not shown), for example formed by a spring, which is connected on one side to the structural element and / or the support base 23 covered by the housing 25, and on the other side to the rotatable mounting element 62.

[0104] It should be noted that when the coupling device 11 is in its first position and the moving trolley 4 is adjacent and in a disengaged configuration, the traction rod 8 of the moving trolley 4 is in its default position and is stabilized by the elastic reset element 21. In this position, the traction rod 8 is approximately vertical and inclined, in other words, inclined upwards, and located directly below the support surface 37 of the plate 34 of the actuator arm.

[0105] In the second position of the mounting device 11 (not shown separately), the crossbeam 32 moves downward along the column 31 of the main structure 30 because the drive motor 51 drives the upper pulley 53, thereby driving the belt 55, and thus the connector simultaneously connected to the belt 55 and the crossbeam 32. Therefore, the actuating arm also moves in the space 43, so as to be opposite and adjacent to the mounting mechanism 60. The notch 36 provided in the plate 34 receives the inner guide edge 42 of the vertical column 41 of the guide structure 40, and the center pin 63 passes through the hole 39 provided in the plate 34 and the reinforcing plate 35.

[0106] It should be noted that when the coupling device 11 is in its second position, with the moving trolley 4 adjacent and in the coupling configuration, the traction rod 8 of the moving trolley 4 moves from its default stable position to its low position due to the force exerted by the actuating arm over the elastic reset element 21. In this low position, the traction rod 8 is approximately horizontal and engages with the coupling mechanism 60 of the coupling device 11. The center pin 63 passes through the slot 22 of the traction rod 8 and is inserted into the hole 39 provided in the plate 34 and reinforcing plate 35 of the actuating arm. The positioning boss 64 is also inserted into the slot 22 of the traction rod 8. The traction rod 8 is thus clamped between the coupling member 62 and the support surface 37 of the plate 34, with the free end of the traction rod 8 abutting against the stop wall 65 of the coupling mechanism 60.

[0107] With this attachment configuration, the robot traction system 10 is thus able to move the mobile material cart 4, as described above. Figure 1 and Figure 2 As stated above.

[0108] Specifically, the robot traction system 10 can make the mobile material cart 4 move forward and backward as needed.

[0109] In order to enable the mobile material cart 4 to move, the robot traction system 10 is configured to continuously determine the driving trajectory, in particular by means of one or more control and command units configured to control and command one or more motors and process sensor information.

[0110] In order for the robot traction system 10 to enable the mobile cart 4 to reverse, it is specified that one or more control and command units of the robot traction system 10 receive information representing the position of the rear of the mobile cart 4 relative to the rear of the robot traction system 10 and information representing the angle between the robot traction system 10 and the mobile cart 4 attached thereto.

[0111] like Figure 10 As shown, the robot traction system 10 includes a detection device of the type of LiDAR 70 and an angle sensor 80, which are housed in a second recess in the support base at the rear of the robot traction system 10.

[0112] The lidar 70 is generally positioned below the mounting mechanism 60 and configured to define a field of view 75 extending rearward from the robot traction system 10.

[0113] Angle sensor 80 is at least partially arranged in mounting mechanism 60, without obstructing lidar 70 and not within its field of view 75, and is connected to rotatably mounted mounting bracket 62, particularly below center pin 63.

[0114] In particular, the positioning boss 64 formed downstream of the center pin 63 and received in the moving trolley traction rod allows a reference angle to be defined for the angle sensor 80 at a predetermined position of the positioning boss 64.

[0115] It should be noted that when the robot traction system is attached to the mobile cart, the lidar 70 is located in a generally horizontal plane that extends below the mobile cart's overall platform shape and is made of a metal rod welded mesh frame.

[0116] Therefore, the lidar 70, within its field of view, can identify the positions of the caster mechanisms 17 located at the front and rear of the moving material cart.

[0117] Figure 11 The first configuration of the robot traction system 11 is shown, which enables the mobile material cart 4 to reverse.

[0118] In this first configuration, the robot traction system 11 reverses and pulls a mobile cart 4 that is approximately on the same axis of motion as the robot traction system 11. An angle sensor identifies that the angle between the robot traction system 11 and the mobile cart 4 is zero or close to zero, and the field of view 75 defined by the lidar 70 can identify the position of the caster mechanism 17 located at the rear of the mobile cart 4.

[0119] It should be noted that the field of view 75 is interrupted by the presence of caster mechanisms 17 located at the front of the moving material cart 4. These caster mechanisms are roughly aligned with the caster mechanisms 17 located at the rear of the moving material cart 4, but this does not impede the identification of the caster mechanisms 17 located at the rear of the moving material cart 4.

[0120] Therefore, one or more control and command units of the robot traction system 11 can determine the reversing trajectory based at least on information representing the position of the rear of the mobile trolley 4 relative to the rear of the robot traction system 11, and optionally on information representing the angle between the robot traction system 11 and the mobile trolley 4 attached thereto.

[0121] Figure 12 A second configuration is shown where the robot traction system 11 enables the mobile material cart 4 to reverse.

[0122] In this second configuration, the robot traction system 11 reverses and pulls a mobile cart 4 on a moving axis offset from the moving axis of the robot traction system 11. An angle sensor identifies that the angle between the robot traction system 11 and the mobile cart 4 is non-zero and a definite value, and the field of view 75 defined by the lidar 70 cannot identify the position of the two caster mechanisms 17 located at the rear of the mobile cart 4.

[0123] In fact, the field of view 75 is interrupted by the presence of caster mechanisms 17 located at the front of the moving material cart 4. These caster mechanisms are pivoted and therefore misaligned with the caster mechanisms 17 located at the rear of the moving material cart 4, causing interference to the lidar 70 when identifying one of the two caster mechanisms 17 located at the rear of the moving material cart 4.

[0124] Therefore, one or more control and command units of the robot traction system 11 can determine the reversing trajectory based at least on information representing the angle between the robot traction system 11 and the mobile cart 4 attached thereto, and optionally on information representing the position of the rear portion of the mobile cart 4 relative to the rear of the robot traction system 11.

[0125] The following describes variations not shown.

[0126] The lidar may include at least one rear plate mounted under the frame of the mobile material cart within its field of view, as a supplement to and / or replacement of the caster mechanism, to determine the position of the rear of the material cart.

[0127] The material cart may have a base plate instead of a welded metal mesh.

[0128] The material cart may have a drawbar without a slot.

[0129] Material carts may have different sizes than those mentioned above.

[0130] Robotic traction systems may have different lengths and / or widths than mobile material carts.

[0131] More generally, the invention is not limited to the examples described and illustrated.

Claims

1. A particularly autonomous robot traction system comprising a coupling device (11) configured to be coupled to at least one mobile trolley (4) having an articulated tow bar (8) and a caster mechanism (17); a lidar-type detection device (70) housed below the coupling device at the rear of the robot traction system (10), the detection device being configured to define a field of view (75) at least partially facing the caster mechanism of the mobile trolley from the robot traction system to the rear; and an angle sensor (80) housed at the rear of the robot traction system, the angle sensor being configured to determine the angle between the robot traction system and the mobile trolley, wherein the robot traction system is configured to receive information representing the position of the rear of the mobile trolley relative to the rear of the robot traction system and information representing the angle between the robot traction system and the mobile trolley coupled to the robot traction system, the representative information being determined by the detection device and the angle sensor, respectively; thereby, the robot traction system is configured to cause the mobile trolley to reverse.

2. The robot traction system according to claim 1, configured such that the lidar detection device (70) is in its field of view capable of identifying the positions of the caster mechanisms (17) located at the front and rear of the mobile material cart (4).

3. The robot traction system according to claim 2, configured such that, in a first configuration, when the robot traction system (10) reverses to pull a mobile cart (4) that is approximately on the same axis of motion as the robot traction system, the angle sensor (80) identifies that the angle between the robot traction system and the mobile cart is zero or close to zero, and the field of view (75) defined by the lidar detection device (70) can identify the position of the caster mechanism (17) located at the rear of the mobile cart.

4. The robot traction system according to claim 3, characterized in that, The field of view (75) is interrupted by the presence of caster mechanisms located at the front of the mobile material cart (4), which are generally aligned with the caster mechanisms located at the rear of the mobile material cart, but do not impede the identification of the caster mechanisms located at the rear of the mobile material cart.

5. The robot traction system according to claim 3 or 4, characterized in that, Its configuration is to determine the reversing trajectory based at least on information representing the position of the rear of the mobile material cart (4) relative to the rear of the robot traction system (10), and optionally on information representing the angle between the robot traction system and the mobile material cart attached thereto.

6. The robot traction system according to any one of claims 2 to 5, configured such that, in a second configuration, when the robot traction system (10) reverses to pull a mobile cart (4) on a moving axis offset relative to the moving axis of the robot traction system, the angle sensor (80) identifies that the angle between the robot traction system and the mobile cart is non-zero and a definite value, and the field of view (75) defined by the lidar-type detection device (70) identifies only a portion of the caster mechanism located at the rear of the mobile cart or does not identify any caster mechanism.

7. The robot traction system according to claim 6, characterized in that, The field of view (75) is interrupted by the presence of caster mechanisms located at the front of the moving material cart, which are pivoted and therefore misaligned with at least one caster mechanism located at the rear of the moving material cart, thus interfering with the lidar detection device (70) in identifying at least one caster mechanism located at the rear of the moving material cart.

8. The robot traction system according to claim 6 or 7, characterized in that, It can determine the reversing trajectory based at least on information representing the angle between the robot traction system (10) and the mobile cart (4) attached thereto, and optionally on information representing the position of the rear portion of the mobile cart relative to the rear of the robot traction system.

9. The robot traction system according to any one of claims 1 to 8, characterized in that, It includes a support base (23) mounted on an additional caster mechanism and system components mounted above the support base and covered by a housing (25).

10. The robot traction system according to claim 9, characterized in that, It includes a first recess (26) located behind the housing (25) in which the hooking device (11) is at least partially housed, and a second recess (27) located behind the support base (23) in which the lidar detection device (70) and the angle sensor (80) are at least partially housed.

11. The robot traction system according to claim 9 or 10, characterized in that, The system components are formed by at least one of the following: one or more drive motors for driving the additional caster mechanism to move the robot traction system (10), position and / or detection sensors, one or more control and command units configured to control and command one or more motors, process sensor information, information from the lidar-type detection device (70) and the angle sensor (80) and command the hook-up device (11).

12. The robot traction system according to any one of claims 1 to 11, characterized in that, The attachment device (11) includes a main structure (30) with an actuating arm movable between a first position and a second position, the first position corresponding to a configuration detached from the moving material cart and the second position corresponding to a configuration engaged with the moving material cart, and an attachment mechanism (60) arranged opposite the actuating arm. The attachment device is configured such that, between its first and second positions, the actuating arm is configured to move the traction rod of the moving material cart from a default position to a low position, wherein, in the default position, the traction rod is kept at a distance from the attachment mechanism and the moving material cart is in a free state, and in the low position, the traction rod is clamped between the actuating arm and the attachment mechanism and the moving material cart is engaged with the attachment device.

13. The robot traction system according to claim 12, characterized in that, The mounting mechanism (60) is provided with a fixed base (61) and a rotatable mounting piece (62) mounted on the fixed base (61), and the angle sensor (80) is connected to the rotatably mounted mounting piece.

14. The robot traction system according to claim 13, characterized in that, The attachment mechanism (60) is provided with a position reset member (66), which is configured to be connected to the structural element of the robot traction system (10) on one hand and to the rotatable attachment member (62) on the other hand.

15. The robot traction system according to claim 14, characterized in that, The hooking mechanism (60) is provided with a hook member (62) having a center pin (63) forming a hook. The actuating arm is formed by a plate (34) having a support surface (37) configured to abut against a traction rod (8) and having a hole (39) in the support surface configured to receive the center pin in a second position of the hooking device (11), at which time the traction rod (8) is clamped between the hook member (62) and the support surface (37), and the traction rod has a slot (22) through which the center pin is inserted.

16. The robot traction system according to claim 15, characterized in that, The hook (62) also has a positioning boss (64) formed downstream of the center pin (63), which defines a reference angle position for the angle sensor (80) and is configured to be inserted into the slot (22) of the traction rod (8).

17. The robot traction system according to any one of claims 15 and 16, characterized in that, The hook (62) also has a stop wall (65) located upstream of the center pin (63) and opposite to the positioning boss (64), and the traction rod is configured to abut against the stop wall.

18. A mounting assembly comprising a robot traction system according to any one of claims 1 to 17, and at least one mobile trolley (4) mounted to the robot traction system (10).

19. The mounting assembly according to claim 18, characterized in that, The mobile material cart (4) includes a frame (15) that is generally platform-shaped, having an outer contour (16) and being made of a metal rod welded mesh at the intersection, and a caster mechanism (17) located at the front and rear of the frame, which supports the frame and makes the cart movable. The tow bar (8) is arranged at the front of the mobile material cart and connected to the frame via a pivot connection (18).

20. The mounting assembly according to claim 19, characterized in that, The caster mechanism at the front of the mobile material cart (4) is pivotable, while the caster mechanism at the rear of the material cart is fixed.

21. The mounting assembly according to claim 19 or 20, characterized in that, When the robot traction system is attached to the mobile material cart, the lidar detection device (70) is located in a generally horizontal plane that extends below the frame (15) of the mobile material cart (4).

22. A production site comprising at least one first area (2), at least one second area (3) located away from the first area, a plurality of mobile carts (4) having articulated traction rods (8) of the type, and at least one robot traction system (10) according to any one of claims 1 to 17, the robot traction system comprising a hook-on device (11) configured to hook onto one of the mobile carts to move it from the first area to the second area and / or in the opposite direction, and capable of forward and reverse travel.

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