Robotic network architecture comprising a set of labels

Abstract

The present invention relates to a robotic network architecture comprising a set of labels, at least one robot comprising at least one predefined gripper, the labels (30) being configured to be connected to an element belonging to the robotic network and containing identification information and / or information relating to the element, the elements being objects and / or persons and / or places, the robot being configured to interact with any element comprising at least one label (30) and the robot comprising means for interpreting the identification and / or location and / or characteristic information and / or the ability of the element to be gripped and / or manipulated and / or moved by the robot (10), as well as means for determining a behaviour with respect to the element, in particular in terms of gripping and / or manipulating and / or moving the element.

Description

Robotic network architecture with a set of labels

[0001] The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a robotic network architecture comprising a set of labels, at least one robot comprising at least one predefined gripper, said labels being configured to be connected to an element and the robot being configured to interact with any type of element, in particular any type of object, comprising at least one label. STATE OF THE ART

[0002] Robots are known that have a single spherical wheel on which the entire robot rests. These types of robots are commonly called "Ballbots." These robots are mobile by means of the single spherical wheel, in all directions on a flat surface, in a stable manner.

[0003] In particular, robots with a single spherical wheel are known, each comprising a trunk, two arms and an upper part. The trunk is connected to the spherical wheel and is fixed relative to it, each arm is connected to the trunk by means of a pivot connection or by means of a ball joint connection so as to allow the mobility of each of the arms relative to the trunk and the upper part is connected to an upper portion of the trunk and is fixed relative to it. The upper part of the robot comprises at least one sensor configured so that the robot can locate itself in its environment. Such a robot is configured to move in all directions and to perform tasks using its arms, such as grasping objects.

[0004] To grasp objects, these robots have a gripper. The gripper is configured to allow the robot to grasp objects of any shape.

[0005] Object-specific gripping systems are known, i.e. there are robots equipped with a gripper configured to grip a single type of object, for example, the robot is equipped with a suction cup configured to allow the robot to grip a glass plate.

[0006] However, such gripping systems make the robot single-task and specific to a single type of object.

[0007] To overcome the aforementioned problem, there are robots with gripping systems configured to grasp objects, regardless of their shape. In particular, such gripping systems consist of robotic hands configured to replicate the movements of a human hand. Such systems have a large number of parts and high mechanical complexity.

[0008] Furthermore, it is known to add a visual marker to the objects to be grasped to allow the robot to identify an object, by image recognition using image processing software and / or neural network algorithms, for example. This type of visual marker is suitable for detection and processing by the robot. However, such detection and associated processing are not possible if the visual marker is not visible, if the brightness is too low or if the robot is too far away from it. In addition, these known techniques are not always reliable, because the algorithms and software implemented may fail to recognize an object for example.

[0009] The present invention therefore aims to solve the aforementioned problems by proposing a robotic network architecture comprising a set of labels, at least one robot comprising at least one predefined gripper, said labels being configured to be connected to an element and the robot being configured to interact with any type of element comprising at least one label, so as to allow the robot to recognize any element equipped with a label, including in particular in the case of low light, to detect and identify an element not located, at least initially, in the field of vision of the robot, etc. PRESENTATION OF THE INVENTION

[0010] More specifically, the subject of the invention is the establishment of a robotic network architecture comprising a set of labels, at least one robot comprising at least one predefined gripper, said labels being configured to be respectively connected to an element belonging to the robotic network and containing information identifying said element and / or information locating said element and / or information characteristic of the element and / or information on the ability of the element to be grasped and / or manipulated and / or moved by the robot by means of the predefined gripper, the elements being objects and / or people and / or places,the robot being configured to interact with any element comprising at least one label and said robot comprising means for interpreting said identification and / or location and / or characteristic information and / or on the capacity of the element to be grasped and / or manipulated and / or moved by the robot, as well as means for determining behavior with respect to said element, in particular in terms of grasping and / or manipulation and / or movement.,

[0011] Advantageously, the robotic network architecture further comprises a set of universal gripping means devices configured to be grippable by means of the predefined gripper, the universal gripping means devices being intended to be connected respectively to a set of objects of the set of elements, the universal gripping means devices comprising at least one of said labels and said universal gripping means devices being configured to be grasped and / or manipulated and / or moved by means of the predefined gripper.

[0012] According to one embodiment, at least a portion of said tags of said set of tags each comprise a capsule, a transmitting antenna and a battery, the transmitting antenna and the battery being housed in said capsule, and in that said robot comprises a receiving antenna configured to communicate with said transmitting antenna.

[0013] In particular, said universal gripping means device comprises a body and at least one fixing means, the body being configured to be grippable by the predefined gripper and the fixing means being configured to connect the body to said object, said body extending mainly in a longitudinal direction between a first end and a second end, and the capsule being housed in a housing provided at one of said ends of the body.

[0014] Advantageously, at least a portion of said labels further comprise at least one button arranged on an external face of the capsule and configured to activate / deactivate the label and / or to call the robot and / or to send a predefined message to the robot.

[0015] Advantageously, at least a portion of said labels further comprise at least one inertial unit configured to detect a movement or orientation of the elements equipped therewith.

[0016] Advantageously, at least part of said labels further comprise a Bluetooth chip coupled to the transmitting antenna.

[0017] According to one embodiment, the Bluetooth chip meets the 5.1 standard or higher and includes a direction finding function for determining an angle of arrival relative to an object also equipped with a Bluetooth chip meeting the 5.1 standard or higher and including a compatible direction finding function. PRESENTATION OF FIGURES

[0018] The invention will be better understood on reading the following description, given solely by way of example, and referring to the appended drawings given as non-limiting examples, in which identical references are given to similar objects and in which:

[0019] It represents a label, in the form of a tag presenting a capsule, in isometric view;

[0020] Lamontre shows a tag showing a capsule, in profile view;

[0021] This is a schematic representation, seen from the front, of a tag comprising a capsule and external electrical connectors;

[0022] The represents a universal gripping means device comprising a tag;

[0023] This is a schematic representation of a robot capable of interacting in the robotic network architecture.

[0024] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0025] The invention relates to a robotic network architecture comprising a set of labels and at least one robot comprising at least one predefined gripper. The labels are configured to be connected to an element and contain information identifying the element, as well as information allowing the location of the element and / or other information allowing the robot to determine the behavior to adopt with respect to the element. Thanks to the information contained in the label, the robot can in particular determine whether it has the possibility, in particular the capacity and / or the right, to grasp and / or manipulate and / or move, in particular by means of the predefined gripper, said element. The robot is configured to interact with any type of element comprising at least one label and said robot comprises means for interpreting said identification information, as well as other information possibly contained in the label.

[0026] The elements are in particular objects, but they can also be people or places in particular.

[0027] With reference to Figures 1 and 2, a label 30, also referred to as a “tag”, is primarily a means of identifying elements of the environment in the robotic network. For this purpose, the tag 30 includes information identifying the element with which it is associated. This identification information is, for example, a unique identifier or a name. The tag 30 allows the elements of the robot(s) of the robotic network to detect the presence of the equipped elements, and to name them. The tag 30 can also allow the robot to determine the position of the equipped elements. The tag can be a label attached to the element, for example glued, and comprising a color, a code, a particular pattern that the robot can decode by image analysis.

[0028] Also, the tag 30 may include a capsule containing means of communication with the robot, so as to trigger an action on its part, to indicate an action priority, to transmit data from sensors carried by the element, etc. For these purposes, the tag may include a memory and a transmitting antenna of the Bluetooth antenna type.

[0029] According to one embodiment, a tag 30 may in particular contain information related to the element with which it is associated, such as its descriptive name, in addition to an identifier, in particular a unique identifier. In particular, such information may include a status of the person equipped with a tag, for example giving them administrator status authorizing them to give more instructions that the robot must execute. If the person equipped with a tag is not an administrator, according to the information of the tag that they carry, then certain instructions may not be executed by the robot.

[0030] The tag 30 may include information allowing the robot to locate the element carrying it or a surrounding element, either by direct location information or by means of the AOA Bluetooth functionality described below.

[0031] Optionally, the tag 30 may include information corresponding to characteristics of the element that carries it, such as its size, its weight, or the behavior to be adopted by the robot in terms of grasping and / or manipulation and / or movement, etc.

[0032] This information can be transmitted to the robot via communication means, in particular a Bluetooth antenna housed in a capsule forming part of the tag 30, in order to enable the robot to identify the element and facilitate its interaction with it.

[0033] A tag 30 can also be connected to an external device 31, 32, in particular via I2C pins provided on the back of the tag, and thus transmit the information contained in the latter to the robot. For example, the tag 30 can comprise an external electrical connector 32, configured to allow the recharging of the battery of the tag, or even of the object equipped with the tag, or an external electrical connector 101 with four pins, configured to allow the connection of an external device to the tag, such as a sensor, a communication device, etc.

[0034] According to an embodiment shown in Figures 1 to 4, a tag 30 comprises a capsule for housing the communication means and the possible memory, as well as a button for transmitting a signal to the robot. For example, a person can activate this button present on a tag attached to an element of the robotic network, when the robot is nearby, that is to say within a radius allowing the robot to detect the tag in question.

[0035] The button may allow, for example, to activate or deactivate the tag 30, to send a signal to call a robot, to confer on the element equipped with it a particular character, such as being an object of interest for the robot, or a temporarily prohibited zone, etc.

[0036] The button can also be used to call the robot or send it a predefined message.

[0037] As already indicated, a tag can be associated with different categories of elements, such as a gripping handle for an object, an area, which can be identified as a drop-off area for example, in a building, on a wall or a door, etc., thus allowing the robot to identify these elements on a semantic level and to determine the behavior it can adopt with respect to them.

[0038] A tag 30 can also be worn by a person, allowing the robot to identify and interact with them.

[0039] A tag 30 can in particular be used to define a zone of interest in the environment in which the robotic network architecture is deployed, giving rise to a specific instruction for the robot, by means of information contained in the tag 30 and interpretable by the robot, such as: prohibited zone, authorized zone, reduced speed zone, etc.

[0040] In the robotic network architecture, the robot can thus be configured to include a database for associating a tag 30, in other words information contained in the tag, with a type of element with which it is associated. Depending on the type of element, the robot will be configured to adopt an appropriate behavior.

[0041] For example, a "handle" type element may be movable, but a "zone" type element or a "person" type element are not. On the other hand, the robot may potentially receive instructions from a "person" type element, for example, provided that it is an authorized person, depending on the instruction received, etc.

[0042] In particular, the tag 30 includes a battery, also housed in the capsule, if applicable. The battery is sized to be able to provide power to the tag 30, preferably for at least several months.

[0043] According to the invention, the possibility of "teaching" the robot to recognize and interpret a new tag 30 associated with an element of the robotic network architecture is provided. For example, to define a new association of a tag 30 with an element, the user can expose the tag 30 near the robot and associate a semantic description with it, such as: "this tag is a water bottle". The identification of the tag 30 is stored in a database of the robot, and associated with the name "water bottle". If the tag 30 is associated with a handle, the robot will know that it can move said "water bottle" because the tag 30 includes the information interpretable by the robot, according to which the element associated with the tag 30 is an element of the "handle" type and that this type of element is movable, said handle being in practice fixed or forming an integral part of the water bottle in question.

[0044] Thus, in operating the robotic network, once elements have been associated with a tag 30 (handle, drop-off zone, etc.), instructions can be given to the robot in reference to the tags, such as: "take the bottle of water, and place it on the table in the drop-off zone"; "follow me"; "go to zone A"; etc.

[0045] According to one embodiment, it is provided that the batteries of the tags 30 are rechargeable, in particular via a charging dock capable of recharging several tags simultaneously.

[0046] According to the embodiment illustrated in Figures 1 to 4, the tags 30 are composed of a Bluetooth transmitter having the AOA functionality (for Angle Of Arrival meaning angle of arrival), which allows the robot, itself equipped with an AOA Bluetooth receiving antenna, to determine the direction in which said tags 30 are located. Thus, the AOA Bluetooth chip of the tag 30 is configured to communicate with the robot and to indicate to it the angular position of the tag 30 and, for example, its unique identifier.

[0047] In a robotic network architecture comprising several fixed or mobile elements equipped with such tags 30, the robot thus carries out several measurements at different positions of the robot. The robot can thus comprise means for determining, by radiogoniometry, the position of each of the tags 30 by triangulation of the Bluetooth signal emanating from each of said tags 30, thanks to the AOA functionality and the adapted determination means.

[0048] The tag 30 may also comprise, housed in the capsule, an inertial unit for detecting the movement of the element equipped therewith. Such an inertial unit may also be configured to allow proper orientation of the element associated with the tag 30, in particular when the element is grasped, manipulated, moved by the robot, or to assist in identifying the position of the corresponding element.

[0049] Tag 30 can also be associated with one or more sensory sensors.

[0050] The tag 30 constitutes in particular a unique means of semantic recognition of the element equipped with it, from the point of view of the robot. In other words, the tag constitutes in particular a unique identification information preferably associated with other information relating to the element equipped with it, including structural and / or functional characteristics, in particular. Thanks to the tags 30, the elements equipped with them, and which are external to the robot, are part of the robotic network within which the robot will be able to determine the attitude that it can adopt with respect to these elements.

[0051] For example, elements are classified into different types, including objects, people, and places. Subtypes can be defined, for example, to form classes of objects, places, or people. This simplifies the categories of possible interactions between the robot and these elements, depending on whether the element belongs to a type of element (place, person, or object) and, for a type of element, to a class.

[0052] For example, the robot will not consider an area, a person, or an object belonging to the class of graspable objects as equivalent. A tag 30 on an area allows to identify a place to which the robot can or cannot move, a room in which the robot can or cannot enter. Or, a tag 30 on an object can be used to indicate to the robot whether the object is graspable and movable or not.

[0053] Thus, more generally, the tag 30 makes it possible to open up a generative space for the robot in the sense that the existence of the tags 30 in the robotic network architecture creates an environment allowing the automation of predefined tasks, such as rotating between different objects at given times, bringing objects back to the previously defined point when the objects were moved, etc. This is possible because these objects are elements equipped with tags 30, because the people giving instructions are equipped with tags authorizing them to do so, and because the places between which objects are moved are elements equipped with tags.

[0054] As indicated previously, in the robotic network architecture according to the invention, at least one robot is provided which is suitable for interacting with elements equipped with tags.

[0055] In particular, the robot may be a robot 10 comprising a single spherical wheel 2 intended to be in contact with the ground and a platform 3 mounted on the spherical wheel 2 by means of stabilization means, as shown in the. Said robot 10 rests on the spherical wheel 2 by means of the platform 3. This type of robot 10 is commonly called a “Ballbot”.

[0056] The robot 10 is mobile on the ground by means of the single spherical wheel 2, in all directions, in a stable manner.

[0057] The robot 10 comprises a trunk 5, at least one arm 4 and an upper part 7.

[0058] In particular, the trunk 5 is connected on the one hand to the platform 3 and on the other hand to the upper part 7 and the at least one arm 4 is connected by means of a pivot type or ball joint type connection to the trunk 5.

[0059] The robot 10 may comprise a plurality of arms 4, preferably two arms, like a humanoid robot. As seen in the, the robot 10 thus comprises two arms 4, on each side of the trunk 5, each arm 4 having a portion forming a forearm and a portion forming a hindarm, with a joint between the two. At the end of each arm 4, the robot comprises a gripper 6, in particular resembling a hand. The gripper 6 is preferably predefined and can have any shape and function: hand, clamp, suction cup, etc.

[0060] The robot 10 preferably has an upper part 7 forming a head equipped with an optical sensor, in particular a camera.

[0061] According to one embodiment of the robotic network architecture, some of the elements are associated with universal gripping means devices dedicated to the robot's grippers and comprising a tag. Each universal gripping means device is in particular intended to be connected to "any type" of object and it comprises a tag 30 containing information identifying the object and possibly other information, as described previously.

[0062] The gripper 6 of the robot 10 is thus adapted to interact with said elements of suitable type, in particular elements of “object” type, by means of the universal gripping means device 1, integrating a tag 30 or to which a tag is attached. In particular, the universal gripping means device 1 is specially configured to be easily graspable by means of the predefined gripper 6 of the robot 10.

[0063] For example, such a universal gripping means device is as shown in the. The universal gripping means device 1 is configured to be grippable by means of a predefined robotic gripper 6. The universal gripping means device 1 is in particular intended to be connected to a set of objects and comprises a tag 30 which is housed in a housing at one end of the universal gripping means device 1.

[0064] A universal gripping means device 1 comprises for example a body and at least one fixing means, the body being configured to be grippable by the predefined gripper 6 and the fixing means being configured to connect the body to said object, said body extending mainly in a longitudinal direction between a first end and a second end, and the capsule being housed in a housing provided at one of said ends of the body.

[0065] According to one embodiment, the robotic network architecture comprises a regularly updated database. The database contains, for example, the location of the tags 30. It is updated during the movements of the robot 10. The robot 10 is notably configured to detect, using an on-board antenna, the presence, the direction and to estimate the distance of the active tags 30 in the vicinity. The robot 10 can then be configured to ensure the updating of the database during its movements within the robotic network, which allows it to move towards a given tag 30 if it receives the instruction. Once nearby, the location will allow the robot 10 to move towards and approach said tag 30 at an interaction distance.

[0066] The invention is not limited to the embodiments previously described but extends to any equivalent embodiment.

Claims

Robotic network architecture comprising a set of labels, at least one robot (10) comprising at least one predefined gripper (6), said labels (30) being configured to be respectively connected to an element belonging to the robotic network and containing identification information for said element and / or location information for said element and / or characteristic information for the element and / or information on the ability of the element to be grasped and / or manipulated and / or moved by the robot (10) by means of the predefined gripper (6), the elements being objects and / or people and / or places, the robot (10) being configured to interact with any element comprising at least one label (30) and said robot (10) comprising means for interpreting said identification and / or location and / or characteristic information and / or on the ability of the element to be grasped and / or manipulated and / or moved by the robot (10),as well as means of determining behavior with respect to said element, in particular in terms of seizure and / or manipulation and / or movement., Robotic network architecture according to claim 1, characterized in that it further comprises a set of universal gripping means devices (1) configured to be grippable by means of the predefined gripper (6), the universal gripping means devices (1) being intended to be connected respectively to a set of objects of the set of elements, the universal gripping means devices (1) comprising at least one of said labels (30) and said universal gripping means devices (1) being configured to be grasped and / or manipulated and / or moved by means of the predefined gripper (6). Robotic network architecture according to any one of claims 1 to 2, characterized in that at least a portion of said tags (30) of said set of tags each comprise a capsule, a transmitting antenna and a battery, the transmitting antenna and the battery being housed in said capsule, and in that said robot (10) comprises a receiving antenna configured to communicate with said transmitting antenna. Network architecture according to claims 2 and 3, characterized in that said universal gripping means device (1) comprises a body and at least one fixing means, the body being configured to be grippable by the predefined gripper (6) and the fixing means being configured to connect the body to said object, said body extending mainly in a longitudinal direction between a first end and a second end, and the capsule being housed in a housing provided at one of said ends of the body. Network architecture according to claim 3 or 4, characterized in that at least a portion of said labels (30) further comprise at least one button arranged on an external face of the capsule and configured to activate / deactivate the label (30) and / or to call the robot (10) and / or to send a predefined message to the robot (10). Network architecture according to one of claims 3 to 5, characterized in that at least a portion of said labels (30) further comprise at least one inertial unit configured to detect a movement or an orientation of the elements equipped therewith. Network architecture according to one of claims 3 to 6, characterized in that at least part of said labels (30) further comprise a Bluetooth chip coupled to the transmitting antenna. Network architecture according to claim 7, wherein the Bluetooth chip meets the 5.1 standard or higher and includes a direction finding function for determining an angle of arrival relative to an object also equipped with a Bluetooth chip meeting the 5.1 standard or higher and including a compatible direction finding function.

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