Autonomous system for picking up, transporting and placing an object

Abstract

The invention relates to an autonomous system (S) for transporting and placing an object, the system comprising an energy storage module (101) comprising at least one locking member and a drive system capable of driving the locking member between a locked configuration and an unlocked configuration; an autonomous device (1) comprising a cavity (103) for accommodating the energy storage module (101) comprising a complementary locking member (103.1) capable of co-operating with the locking member of the energy storage module (101) in the locked configuration; a ground-based charging device (3) comprising a receptacle (30) for accommodating the energy storage module (101) and an actuator capable of co-operating with the drive system; wherein the drive system is arranged to drive the locking member so that it moves from the locked configuration to the unlocked configuration and vice versa.

Description

Description Title of the invention: Autonomous system for picking up, transporting and placing an object Technical field.

[0001] The invention relates to the technical field of autonomous systems for picking up, transporting and placing an object, more particularly internodal and interconnected networks of autonomous vehicles, in particular drones or nomadic robots. State of the art.

[0002] Industry in general, and particularly the construction industry, is characterized by a very low level of industrialization of processes and execution methods. As environmental issues have become increasingly commonplace in recent years, the development of renewable energy sources has become urgent, but their deployment comes at a high cost during implementation. In addition, in some hard-to-reach areas, it can be difficult to bring in certain tools or construction elements, resulting in additional costs.

[0003] This is why it is increasingly known to use vehicles for the transport and movement of objects, particularly heavy loads, these vehicles being able to be aerial, terrestrial, marine or underwater. This practice is limited by an energy autonomy of the vehicles which is all the lower as the mass of the transported object is important, which imposes the need to regularly replace the on-board energy reserves, whether these are in the form of batteries or fuel tanks and / or oxidizer. Thus, this results in a limitation which is the excessive number of vehicle immobilization times called "downtime", generated by the tasks of manually replacing the on-board energy reserves.Indeed, before any human intervention within the safety perimeter of an autonomous machine, in particular a drone or an autonomous robot, said machine must be effectively stopped, kept stopped for the entire duration of the intervention and can only be restarted without any human presence nearby.

[0004] In addition, the use of these vehicles sometimes requires very specific safety standards in order to protect users present in the area of ​​use. Indeed, when a person enters a radius of a determined distance from the vehicle, in particular 5 meters, the latter detects their presence and either moves away automatically or lands and turns off. Thus, when the vehicle's on-board energy reserves are empty and a person approaches to change them, the vehicle lands and turns off, then the user changes the on-board energy reserves and leaves the safety zone, then the vehicle restarts and takes off again. This type of maneuver results in an increase in the vehicle's work completion time.

[0005] The invention is therefore placed in this context and seeks to resolve all of the aforementioned drawbacks. Thus, the invention seeks to propose an automatic system of replacement of energy reserves, in particular making it possible to avoid human intervention when changing on-board energy reserves and making it possible to keep the host vehicle running. Presentation of the invention.

[0006] The subject of the invention is an autonomous system for picking up, transporting and placing an object, comprising an energy storage module comprising at least one mobile locking member and a system for driving said mobile locking member capable of driving the mobile locking member between a locking configuration and an unlocking configuration; an autonomous device for picking up, transporting and placing an object comprising at least one cavity for receiving said energy storage module, the cavity of the autonomous device comprising a complementary locking member capable of cooperating with the mobile locking member of the energy storage module when it adopts the locking configuration;a ground-based charging device comprising at least one receptacle for receiving said energy storage module, said receptacle comprising an actuator capable of cooperating with the drive system of the energy storage module. The device is remarkable in that the drive system is arranged to cause, following a force exerted on the energy storage module by said actuator, a movement of the movable locking member from the locking configuration to the unlocking configuration, and vice versa.;

[0007] The autonomous device for picking up, transporting and placing an object can be supplied with energy, for example with electrical energy by the energy storage module. An autonomous device for picking up, transporting and placing an object is understood to be a vehicle. An energy storage module is understood to be a packaging module comprising a central compartment, a control member and a connection member. A control member is understood to be a servo-control flange. A connection member is understood to be a connection flange. In one embodiment, the autonomous system for picking up, transporting and placing can comprise several energy storage modules, for example two energy storage modules. In another embodiment, the autonomous system for picking up, transporting and placing can comprise four energy storage modules. The energy storage modules can be substantially identical.

[0008] The self-contained device may include at least one cavity. In one embodiment, the self-contained device may include two cavities, each cavity being capable of receiving an energy storage module. In one embodiment, the self-contained device may include four cavities. The receiving cavities may be substantially identical.

[0009] Receiving cavity means a housing of the energy storage module, said housing being included in the on-board module.

[0010] A receiving cavity is understood to mean an on-board module dedicated to receiving the module energy storage module, said module comprising the energy storage unit and a buffer reserve adapted to supplement the power supply of the autonomous device during the empty movement phase. The on-board module may have a geometry and dimensions capable of being integrated into the autonomous device. The on-board module may comprise a set of sensors allowing the operational management of the autonomous device. Advantageously, the autonomous device may comprise an even number of receiving cavities, each pair comprising a cavity arranged to successively deposit by unlocking an energy storage module whose energy is exhausted and a cavity arranged to successively receive by locking an energy storage module whose energy is full. This embodiment may make it possible to optimize the efficiency of said device by detaching the exhausted energy storage module simultaneously with the attachment of the charged energy storage module.This embodiment can make it possible to optimize the efficiency of said device by eliminating the empty movement phase since the device can change its energy storage module simultaneously with picking up and / or depositing an object to be transported.Advantageously, the energy storage module comprises a housing inside which is arranged at least one energy storage unit, the locking member and the drive system, and in that the housing comprises at least one orifice provided opposite the drive system and intended to be passed through by the actuator so that it cooperates with the drive system and a window provided opposite the locking member, the locking member and the drive system being arranged so that the locking member exits the housing via the window when it adopts the locking configuration and so that the locking member is retracted into the housing when it adopts the unlocking configuration.

[0011] In one embodiment, the energy storage module may comprise two locking members. The locking member may be mounted in the energy storage module and may cooperate with the drive system to adopt a locking configuration and an unlocking configuration. The locking member mounted in the energy storage module may cooperate with a complementary locking member of the autonomous device when the locking member is in the locking configuration. The complementary locking member may be provided in a wall of the cavity receiving the energy storage module.

[0012] The ground-based charging device may comprise at least one receptacle. In one embodiment, the charging device may comprise two receptacles adapted to receive the energy storage module during charging. In another embodiment, the charging device may comprise four receptacles. The receptacles may be substantially identical. Each receptacle of the ground-based charging device may comprise an actuator. Each receptacle of the charging device may comprise symmetrically two actuators to allow balancing of the mass distribution of the autonomous transport device. The actuator may be a rod or a pin provided at the bottom of the receptacle. Each actuator may be adapted to cooperate with the drive system of the energy storage module mounted in the receptacle. Each energy storage module may symmetrically comprise two drive systems to allow balancing of the mass distribution of the autonomous transport device.

[0013] A ground-based charging device is understood to mean a fixed module that can replace the refueling area. The fixed module may comprise a receiving receptacle capable of receiving the energy storage module. The fixed module may comprise a control index for the transmission member of the energy storage module and capable of driving said member alternately between a latching or locking configuration and a detaching or unlocking configuration. The control index may be retractable and be active only if the recharge level of the energy storage module is greater than a predefined threshold, thus making it possible to limit the risks of implementation below the minimum safety conditions and to limit any risk of implementation in the event of failure, i.e. to allow operation with passive safety or so-called positive safety.In one embodiment, the ground-based recharging device may comprise a system for recharging the energy storage unit. Advantageously, the ground-based recharging device may comprise an even number of receiving receptacles, each pair comprising a receptacle arranged to successively receive by locking an energy storage module whose energy is exhausted and a receptacle arranged to successively receive by unlocking an energy storage module whose energy is full, said device also comprising a movable circular plate on which said pairs of receptacles may be mounted and a control system capable of enabling said circular plate to be actuated in an intermittent rotation. This embodiment may make it possible to reduce the empty displacement movements of the autonomous device to a single vertical displacement and therefore reduce and limit the duration of this energy recharging operation.

[0014] In one embodiment, the autonomous transport system may comprise a single ground-based charging device. In another embodiment, the autonomous transport system may comprise at least two ground-based charging devices. In another embodiment, the autonomous transport system may advantageously comprise four ground-based charging devices that can form a sequential charging zone and that can be adapted for uninterrupted use since each energy storage module is used intermittently for a quarter of the operating time of the autonomous device.

[0015] The drive system may be arranged to cause movement of the drive member. mobile lock from lock configuration to unlock configuration.

[0016] When the autonomous device is placed on the energy storage module mounted in the receptacle of the ground-based charging device, the weight of the autonomous device presses on the energy storage module which itself presses on the actuator mounted in the receptacle of the ground-based charging device, causing the locking member to move from the unlocking configuration to the locking configuration. Thus, the energy storage module is locked onto the autonomous device which can take a so-called "flight" position by carrying the energy storage module.

[0017] When the autonomous device autonomous device lands with the energy storage module in the locking configuration in the receptacle of the ground charging device, the weight of the autonomous device autonomous device and the energy storage module presses on the actuator mounted in the receptacle of the ground charging device, causing the locking member to move from the locking configuration to the unlocking configuration. Thus, the energy storage module is unlocked and positioned in the receptacle of the ground charging device and the autonomous device autonomous device can assume the so-called "flight" position while leaving the energy storage module in the receptacle of the charging device.

[0018] The autonomous device can improve safety at the sampling, transport and installation site. By preventing humans from approaching the sampling, transport and installation area, the autonomous device can fly completely autonomously and continuously without any risk of accidents on the construction site.

[0019] In one embodiment, the autonomous transport system may comprise two flying devices which alternately cooperate with the same ground-based charging device. In another embodiment, the autonomous transport system may comprise two flying devices and two ground-based charging devices.

[0020] The housing may have an arcuate shape. The housing may have a shape adapted to fit into the flying device.

[0021] The housing may include two energy storage units. Each energy storage unit may, for example, be a battery, particularly a rechargeable battery. Each energy storage unit may be adapted to store electrical energy delivered by the ground-based charging device. Each energy storage unit may be adapted to deliver the stored electrical energy to the flying device.

[0022] The housing may have at least one orifice on its lower wall. The orifice may be crossed by the actuator mounted in the recharging device. The actuator, by crossing the orifice, may be able to cooperate with the drive system so that it adopts the locked configuration or the unlocked configuration. It is the actuator which may be intended to modify the configuration of the drive system of the locking member.

[0023] The housing may include a window. In another embodiment, the housing may include a pair of three windows. In another embodiment, the housing may include two pairs of three windows, each pair being provided on opposite walls, facing each other. The windows may be provided on a side wall of the housing.

[0024] The drive system can allow the transformation of a vertical movement of a part of the drive system, moved by the actuator, into a lateral movement of the locking member.

[0025] The autonomous system for picking up, transporting and placing an object can thus improve the safety of the operational site by preventing humans from approaching the operating area of ​​said system.

[0026] The autonomous transport system can also be energy autonomous by being strictly gravity-based. By strictly gravity-based, we mean that the weight of the said system can provide the pressure necessary to activate the locking and unlocking mechanism of the energy storage module.

[0027] Advantageously, the drive system comprises a bistable mechanical device, comprising a transmission member capable of cooperating with the actuator and arranged to move according to the same given elementary movement following a force exerted by the actuator, and a central column capable of adopting a first position and a second position, the transmission member being connected to the central column so that said elementary movement causes a movement of the central column from the first position to the second position or from the second position to the first position; the central column being connected to the locking member so that the locking member comes out of the housing when the central column adopts the first position and the locking member is retracted into the housing when the central column adopts the second position.

[0028] A bistable mechanical device is understood to mean a device capable of adopting two particular configurations, in the case of the invention, a locking configuration and an unlocking configuration.

[0029] The mechanical device may comprise a transmission member arranged opposite the orifice of the housing. The transmission member may be capable of cooperating with the actuator of the ground-based charging device. Thus, when the actuator passes through the orifice in a vertical movement, it can move the transmission member vertically.

[0030] The mechanical device may comprise a central column which may be arranged on the same axis as the transmission member and the actuator. The central column may move in a vertical movement substantially identical to that of the transmission member. The central column may adopt a first position in which the locking member may be in an unlocking configuration. The central column may adopt a second position in which the locking member may be in a lock configuration.

[0031] The servo-control flange of the energy storage module may comprise a plurality of elements adapted to cooperate with the transmission member. The connection flange of the energy storage module may comprise a housing, an upper plug-in energy transfer connector adapted to cooperate with the connector of the receiving cavity and a lower plug-in energy transfer connector adapted to cooperate with the connector of the ground-based charging device. The conditioning module may provide both geometric and mechanical interfacing between the energy storage unit and, on the one hand, the housing of the autonomous device and, on the other hand, the receptacle of the ground-based charging device. The conditioning module may comprise a movable locking assembly whose alternating mechanism is adapted to be actuated by the actuator of the ground-based charging device and to transmit this information to the cavity of the flying device.An actuator is a control index.

[0032] Advantageously, the housing of the energy storage module comprises an additional orifice; the energy storage module comprises at least one load-decelerator connected to the central column and being arranged to exit the housing via the additional orifice when the central column adopts the first position and to be retracted into the housing when the central column adopts the second position, and the autonomous device autonomous device for picking up, transporting and placing an object comprising at least one sensor capable of detecting the load-decelerator only when it adopts the first position and when the storage module is received in the receiving cavity.

[0033] The housing may have at least one additional hole on its top wall. The hole may be crossed by a charge-locking device. The charge-locking device, by crossing the hole, may indicate to the autonomous device that the energy storage module is in the locking configuration and therefore that the autonomous device can move into the “flight” position.

[0034] The load-decelerator can advantageously be inserted into an orifice in the central column. The housing can symmetrically comprise two load-decelerators to allow balancing of the mass distribution of the autonomous transport device. The central column can symmetrically comprise two orifices to allow balancing of the mass distribution of the autonomous transport device. When the actuator causes the vertical movement of the transmission member and the central column, the load-decelerator can pass through the additional orifice in the housing. The autonomous device can comprise a sensor capable of detecting whether the load-decelerator comes out of the housing or is retracted into the housing. Thus, when the central column adopts the first position, the load-decelerator can be retracted into the housing. From then on, the control unit of the autonomous device can prohibit the detachment of said device autonomous if no energy storage module is available. When the central column takes the second position, the load-deflector can pass through the housing, the sensor of the autonomous device is then able to detect the load-deflector, the control unit of the autonomous device can then authorize said autonomous device to take off, carrying the energy storage module.

[0035] The energy autonomy of the autonomous device can be obtained by a set of at least four batteries, used by the autonomous device so as not to stop to recharge the batteries, thus improving the autonomy of the flying device. The battery change is carried out as follows: the autonomous device includes at least four batteries numbered Bl, B2, B3 and B4. At the start of operations, all the batteries are charged to their maximum and the autonomous device charges the Bl battery. The autonomy of the batteries is 20 minutes for normal use of the flying device. After 20 minutes of use, the Bl battery is empty, the autonomous device replaces the empty Bl battery with the charged B2 battery. The time taken to recharge the batteries by the charging device is 60 minutes.Thus, with a rotation of the different batteries, that is to say the change of the empty battery B2, replaced by B3 charged, then B3 empty replaced by B4 charged and finally B4 empty replaced by Bl charged, the autonomous device can carry out its operations autonomously, in particular with regard to its electrical energy supply.

[0036] The energy storage module may comprise at least one centering member. In one embodiment, the energy storage module may comprise two centering members, each mounted on an upper face and on a lower face of said module. In another embodiment, the storage module may comprise two pairs of centering members, each pair being mounted on an upper face and on a lower face of said module. Each centering member may be capable of cooperating with a complementary centering member provided on the receiving cavity of the autonomous device and / or on the receptacle of the recharging device. The centering member may be guided by the complementary centering member so that the locking member comes opposite the window and / or the actuator comes opposite the orifice. The complementary centering member may be a groove formed on a lateral surface of the cavity and / or of the receptacle.

[0037] In another embodiment, the structure of the energy storage module, the structure of the receiving cavity of the autonomous device and the structure of the receptacle of the charging device may be such that it intrinsically ensures the centering function, so that said energy storage module can fit perfectly into the receiving cavity of the autonomous device and into the receptacle of the charging device.

[0038] Advantageously, the locking member is mounted in the housing while being guided in translation in a transverse direction of the housing; the central column is able to move from the first position to the second position, and vice versa, in an axial direction perpendicular to the transverse direction; the central column having a side wall and at least one housing provided in its side wall, and the locking member comprises at least one bearing bearing against the side wall, the locking member and the central column being arranged so that the bearing is received in the housing when the central column adopts the second position and is outside the housing when the central column adopts the first position.

[0039] The transmission member and the central column may be guided by a guide mounted in an inner wall of the housing. The guide may be a rib on the inner wall of the housing adapted to cooperate with a groove on the transmission member and on the locking column. In one embodiment, the housing has a rib on either side of the locking member and the transmission member and the central column may each have a groove opposite each other. Each rib may extend along the transverse direction. Each groove may extend along the axial direction.

[0040] The energy storage module may comprise two locking members arranged on either side of the central column. The two locking members may be connected to each other by a spring. The spring may pass through the central column. The spring may facilitate the return of each locking member to the unlocked configuration. Thus, when the central column moves from the first position to the second position, the spring may facilitate the return of the bearings to their housing. The spring may be replaced by another return member.

[0041] Advantageously, the transmission member comprises a transmission element arranged to be mounted opposite the orifice of the housing to cooperate with the actuator, said transmission element being guided in translation in the housing in the axial direction and being able to be moved from a retracted position to a deployed position by the actuator, the transmission element being equipped with a return member arranged to return it to the retracted position, said transmission element comprising a plurality of inclined cam surfaces; a cam body bearing, by a first of its ends, against the transmission element and, by a second of its ends, against said central column, said first end of the cam body comprising a plurality of complementary inclined cam surfaces each bearing against one of the inclined cam surfaces of the transmission element.

[0042] The axial displacement of the transmission member, under the effect of the actuator, can cause both axial and rotational displacement of the cam body. The rotational movement can be induced by the presence of the inclined cam surfaces of the first end of the cam body which are complementary to the inclined cam surfaces of the transmission element. The central column can be mounted in abutment on the first end of the cam body so that said first end of the cam body is against the lower surface of the central column. The cam body can be mounted between the transmission member and the central column so that said cam body is intended to transmit the movement of the transmission element to the central column. The cam body can thus be free to rotate in the housing around an axial direction. The translational guidance of the central column can be on an axis coincident with the axis of rotation of the cam body.

[0043] The transmission member may comprise a spring or any type of return member, connecting a lug of the transmission element to a lug of the housing. The spring may allow the return of the transmission element after cooperation with the actuator.

[0044] Advantageously, the autonomous picking, transporting and placing device comprises two identical receiving cavities, each being adapted to receive one of the energy storage modules and the autonomous recharging device comprises two identical receiving receptacles.

[0045] In one embodiment, the autonomous device may comprise three identical receiving cavities distributed peripherally on a chassis, in particular circular, of the flying device. In another embodiment, the autonomous device may comprise four identical receiving cavities.

[0046] In one embodiment, the ground-based charging device may comprise three identical receiving receptacles distributed peripherally on said ground-based charging device.

[0047] Each cavity being arranged to face a receptacle when the flying device, the energy storage module and the ground receptacle are aligned.

[0048] Advantageously, each receiving cavity of the autonomous picking, transporting and placing device comprises the same first electrical power supply connector; each receptacle of the ground-based charging device comprises the same second electrical power supply connector; and the energy storage module comprises a first complementary power supply connector adapted to cooperate with the first electrical power supply connector and a second complementary connector adapted to cooperate with the second electrical power supply connector. Each receiving cavity may symmetrically comprise two first electrical power supply connectors to allow balancing of the distribution of the masses of the autonomous transport device.

[0049] The first and second power supply connectors are understood to mean a compatible plug-in energy transfer connector or a charging connector, the connector of the receiving cavity being adapted to cooperate with the connector of the energy storage module.

[0050] The ground-based charging device can be adapted so that the charging time of the energy storage module can provide autonomy greater than the complete cycle of use of the autonomous device and in particular the complete cycle of picking up, transporting and placing the object.

[0051] The second power connector of the ground charging device can cooperate with the second complementary connector of the energy storage module, so that said charging device can distribute an electrical power supply to the energy storage module.

[0052] The first power supply connector of the autonomous device may cooperate with the first complementary connector of the energy storage module, so that said energy storage module may distribute power to the flying device.

[0053] The invention also relates to an autonomous device for picking up, transporting and placing an object from an autonomous transport system.

[0054] The invention also relates to an energy storage module for an autonomous collection, transport and installation system.

[0055] The invention also relates to a ground-based recharging device for an autonomous collection, transport and installation system.

[0056] The invention also relates to an energy storage module comprising a housing inside which is arranged at least one energy storage unit, a locking member and a system for driving said movable locking member capable of driving the movable locking member between a locking configuration and an unlocking configuration, the housing comprising at least one orifice provided opposite the driving system and intended to be crossed by an actuator so that it cooperates with the driving system and a window provided opposite the locking member, the locking member and the driving system being arranged so that the locking member exits the housing via the window when it adopts the locking configuration and so that the locking member is retracted into the housing when it adopts the unlocking configuration.

[0057] The mechanism of the conditioning module may comprise two mechanical members, the drive system and a follower. A drive system is understood to mean a transmitter, i.e. a mechanism which may represent a bistable indexing function, the transition from one stable state to the other of which can only take place following an action of the actuator of the ground-based charging device. The energy storage module may be guided in the receiving cavity of the ground-based charging device so that the transmission element of said energy storage module is in line with the actuator of said ground-based charging device. When the amplitude of the thrust of the actuator on the transmission element of the transmission member exceeds the preload exerted by a compression spring and a return spring of said drive system.The actuator of the receiving receptacle of the ground-based charging device can be pushed into the servo flange of the energy storage module and can thus push the drive system. The return spring can be mounted in compression, it can ensure the return of the drive system to a rest position.

[0058] The drive system may include a load-decelerator. This means load deflector an indexing rod capable of being actuated by the actuator of the receiving receptacle of the ground-based recharging device. The drive system may comprise an indexer capable of being actuated by the load deflector and capable of actuating the cam body. The indexer may be a single part. The indexer may, in another embodiment, be a module comprising several parts that move relative to each other. The indexer may be adapted to cooperate with the compression spring so that said spring is mounted in compression and can ensure constant pressure on said indexer. The term cam body refers to a bistable of the drive system, said bistable may be arranged to be actuated by the indexer and capable of actuating a switching block. The term switching block refers to the assembly formed by the load deflector and the central column of the drive system.The bistable may be formed by a single part. In another embodiment, the bistable may be a module comprising several parts. The switching block may be capable of controlling the follower.

[0059] A follower is understood to mean a member that can be moved by the transmitter and can include locking members. The energy storage module can comprise several followers. In one embodiment, the transmitter can comprise a symmetrical shape that can allow a plurality of followers to be actuated simultaneously, in particular two followers positioned on either side of said transmitter. A locking member is understood to mean a set of bolts that can perform the function of latching or not between two stable states corresponding to a latching configuration and a detaching configuration. Advantageously, the locking member can comprise three bolts. Each follower can comprise several locking members. Each bolt can be a lug on the surface of the follower.The follower may also comprise a connecting or contact member, this member being able to be in the form of a roller, i.e. a ball bearing ensuring friction-free sliding against the linear cam of the body of the central column. Advantageously, each follower may comprise two rollers. The movement of the transverse faces of the central column may be capable of transversely actuating rollers of each follower. Said roller may be held in contact by an unlocking spring, i.e. a tension spring ensuring friction-free sliding against the cam body of the transmission member, with the transmitter on an internal surface of said follower. The energy storage module may be guided in the receiving cavity of the autonomous device so that the windows of said autonomous device are in line with the bolts of the transmission member.The follower can be actuated and locked in the latching position by the transmitter. The follower can move in a linear motion. The follower can move in a non-linear motion. The follower can move in a continuous motion. The follower can move in a discontinuous motion.

[0060] In one embodiment, the follower may move transversely to the walls of the receiving cavity of the autonomous device. The follower can move perpendicular to the walls of the receiving cavity of the autonomous device. The follower can comprise an unlocking spring, i.e. a spring mounted under tension and adapted to automatically return said follower to the rest position, i.e. an unlocked position. The unlocking spring can make it possible to maintain contact between said follower and the central column. The follower can be guided in translation by the bilateral sliding connection defined by the diametrically opposed triangular grooves of said follower and the transverse triangular rails of the servo flange and the central compartment of the energy storage module.

[0061] In one embodiment, the transmitter can move longitudinally and convert the axial thrust received from the ground charging device by the control index into a transverse movement transmitted to the follower.

[0062] By window is meant a latch and by locking member a bolt, said latch and said bolt being adapted to cooperate for locking the energy storage module to the receiving cavity of the flying device.

[0063] In one embodiment of the drive system, the indexer and the bistable may be substantially identical cylindrical parts comprising an axial bore providing a sliding pivot connection and two diametrically opposed grooves, a tail comprising an open torus, i.e. a ball joint connection with a concave semi-spherical end of the locking index and a head advantageously comprising four similar portions forming teeth comprising a triangular profile, diametrically opposed two by two and crossed by said grooves. The central column, the cam body, the load error preventer and the transmission element are stacked longitudinally between the coaxial bores of an upper guide and a lower guide of the servo flange. The assembly formed by the central column, the cam body, the load error preventer and the transmission element can therefore all be guided in translation and in rotation.In this embodiment, the compression spring can be mounted pre-stressed relative to the upper guide of the servo flange and the return spring can be mounted pre-stressed relative to support rings of the servo flange and of the central compartment of the energy storage module. Said support rings can serve as a base for said return spring of the locking index. Said compression spring and said return spring can keep the transmitter in contact with said lower guide of said servo flange. The transmitter and the lower guide can be pressed against each other. The rotation of the switching block can be blocked by the bilateral sliding connection defined by the diametrically opposed grooves of said block and the rails of the servo flange and of the central compartment of the energy storage module.Said bilateral sliding connections can complete the centering provided by the upper guide of the servo flange. The indexer and the bistable can be assembled head to tail, that is to say. that their connection can be helical, the angle characterizing the pitch of this connection can be between 30° and 60°, in particular between 40° and 50°. The rotation of the indexer can be blocked by the bilateral sliding connection defined by the diametrically opposed grooves of said indexer and the upper longitudinal rails of the servo flange and the central compartment of the conditioning module. Only the bistable can be subjected to a torque which continuously forces it to rotate.

[0064] In an embodiment of locking the energy storage module to the receiving cavity of the autonomous device, said energy storage module may be in an unlocked position associated with a first position of the bistable, the depression of the control index into the servo flange. This action of the control index may cause the bistable to rotate a quarter turn until the indexer tooth is blocked at the stop, the bistable may then find itself blocked in translation by the free end of the lower longitudinal trapezoidal rail, which corresponds to the locked position of the autonomous device. The locking and unlocking mechanism may be electromechanical.

[0065] The invention also relates to an autonomous device for gripping, transporting and placing an object, comprising a first chassis and a second chassis movably mounted on the first chassis, in which the first chassis supports at least one propellant of the device, in which the second chassis comprises at least one member for gripping an object, the device is remarkable in that it comprises an actuation system capable of modifying the inclination of the second chassis relative to the first chassis and in that it comprises a control unit for the gripping member and the actuation system, the control unit being capable of receiving an instruction to grip or release an object and being arranged to control the gripping member as a function of said instruction and being arranged to control the actuation system to modify the inclination of the second chassis as a function of said instruction received.

[0066] Advantageously, the actuation system is mounted between the first and second chassis.

[0067] The autonomous gripping, transport and installation device may in particular be a drone. The device may be of the automated aerodyne type without a human on board, known as a UAV or UAS, corresponding to the class of "remotely piloted aircraft systems", known as RPAS, defined by the International Civil Aviation Organization. The autonomous device may be adapted to transport any rooftop equipment, in particular solar panels or, for example, roof canopies. The autonomous device may, for example, transport objects whose dimensions are less than 5 meters, in particular less than 3 meters.

[0068] The first and second frames may comprise a hollow structure comprising housings.

[0069] The propellers of the autonomous device can be motors, particularly propellers comprising a plurality of blades. The number of blades may be between 2 and 5 blades, in particular 3 blades. The device may advantageously comprise three thrusters to enable it to be steered. In one embodiment, the autonomous device may comprise up to 12 thrusters, the number of thrusters being able to be adapted to the weight and / or volume of the object to be transported and placed.

[0070] Each gripping member may be capable of adopting a configuration for grasping or releasing the object. The instruction for grasping or releasing the object by the gripping member may be generated by an operator remote from the autonomous device or generated automatically by a computing unit remote or embedded in the device, in particular from images acquired by a camera embedded in the device or from a determined flight plan.

[0071] The control unit may be arranged to increase the inclination of the second chassis relative to the first chassis when it receives an instruction to release the object. The control unit may be arranged to control the gripping member to adopt the release configuration following the modification of the inclination of the second chassis by the actuation system.

[0072] Due to the inclination of the second chassis relative to the first chassis under the action of the actuation system, the autonomous device can remain in stationary flight while placing the object on an inclined plane, thus making it possible to optimize installation costs and reduce the difficulty of the task, in particular for placement on a surface with a significant slope.

[0073] Advantageously, the actuation system is capable of modifying the inclination of the second chassis between a first inclination, called "flight" inclination, in which the second chassis is substantially parallel to the first chassis, and a second inclination, called "gripping" inclination, in which the second chassis is substantially inclined relative to the first chassis, and the control unit is arranged to control the actuation system so that the second chassis adopts the third inclination when it receives an instruction to release the object.

[0074] Advantageously, the actuation system is capable of modifying the inclination of the second chassis between the first inclination, called "flight" inclination, in which the second chassis is substantially parallel to the first chassis, and a third inclination, called "laying" inclination, in which the second chassis is substantially inclined relative to the first chassis, and in that the control unit is arranged to control the actuation system so that the second chassis adopts the third inclination when it receives an instruction to release the object.

[0075] A so-called "laying inclination" means a position of the second chassis in which the device can lay an object. The control unit can control the actuation system so that the second chassis can adopt the second inclination when said unit receives an instruction to release the object. The control unit can control the actuation system so that the second chassis can adopt the third inclination when said unit receives an instruction to grip the object.

[0076] The placing and / or gripping of the object can be precise since the control unit can control the inclination of the second chassis relative to the first chassis so as to obtain a slope substantially identical to that of the surface on which the object is to be placed and / or picked up.

[0077] Advantageously, the device comprises a calculation unit equipped with a memory in which is stored a flight plan defining at least one gripping position of the object and one release position of the object, in that the calculation unit is arranged to generate instructions for moving the device;the control unit is capable of controlling the at least one propellant to cause the device to move between the gripping position and the release position according to the movement instructions generated by the calculation unit, and the control unit is arranged to control the actuation system so that the second chassis adopts the second inclination when the device is in the picking position, to control the actuation system so that the second chassis adopts the first inclination, when the device is moving between the gripping position and the release position and to control the actuation system so that the second chassis adopts the third inclination when the device is in the release position. ;

[0078] In the memory of the computing unit, a flight plan can be retained following the calibration of the sampling site and the installation site and the sequencing of the take-off, flight and installation of the autonomous device. For the calibration of the site and therefore of the environment in which the autonomous device can operate, the site can be scanned in three dimensions and the building on which the objects are to be installed can be vectorized. This vectorization can allow a three-dimensional modeling of the building on which the objects are to be installed and can make it possible to delimit in particular a storage and collection area for the objects to be installed, the reloading areas of said autonomous device as well as the installation areas. A layout, that is to say, an organization of the rooms and an optimization of the arrangement of the objects on the surface of the building to install as many as possible on the surface, is carried out from the three-dimensional model of the building.A sequencing can then be generated to integrate the order of installation of the panels into the flight plan. Generally speaking, the flight plan for the installation of a set of objects on the building may include, after takeoff of the autonomous device, the following sequence of steps: positioning at the right of the sampling zone, tilting of the second chassis by means of the actuation system, gripping of the object by the gripping member, raising on the Z axis, so as to reach the correct obstacle avoidance height, translation along the X axis and / or along the Y axis to the right of the exact position of installation of the object, tilting of the second chassis by means of the actuation system, positioning of the object, release of the object by. the gripping member and the return to the sampling area to start a new cycle. The supply of the sampling area can be carried out when the autonomous device is in flight, in particular in flight on the building and can be carried out before the return of said autonomous device to the loading area.

[0079] Using a flight plan and preparing with the calibration of the landing site can allow autonomous piloting with systematic precision.

[0080] When the autonomous device is in the gripping position, the computing unit can generate a gripping instruction for the control unit and when the device is in the release position, the computing unit can generate a release instruction for the control unit. The defined flight plan can include several release positions of the object, in particular with a trajectory between the gripping position and the release position. Each gripping position causes the computing unit to generate a gripping instruction for the control unit and each release position causes the computing unit to generate a release instruction for the control unit.

[0081] The thruster may be a propeller engine. In another embodiment, the thruster may be a microturbine. In another embodiment, the thruster may be a microjet.

[0082] Advantageously, the device comprises at least one camera capable of acquiring at least one image of the environment of the device and comprises a calculation unit capable of generating, from one or more images acquired by said camera, instructions for moving the device; the control unit is arranged to control the at least one thruster to cause the device to move and / or to control the actuation system to modify the inclination of the second chassis relative to the first chassis, as a function of the movement instructions generated by the calculation unit.

[0083] Cameras can be mounted on the first chassis and arranged to capture images of the environment.

[0084] Cameras can enable real-time tracking of flight plan traceability and thus improve safety.

[0085] The cameras can be mixed, meaning they can record daytime images as well as nighttime images, particularly via infrared.

[0086] Instructions generated from camera data can take priority over instructions generated from the flight plan to ensure safety.

[0087] Advantageously, the device comprises a member for adjusting the inclination of the second chassis relative to the first chassis when it adopts the second inclination.

[0088] In one embodiment, the adjustment member can be adjusted before the flight of the flying device. In another embodiment, the adjustment member can be automatic and itself adjust the inclination from the data transmitted by the computing unit to the control unit.

[0089] Advantageously, the device comprises a member for adjusting the inclination of the second chassis relative to the first chassis when it adopts the third inclination.

[0090] In one embodiment, the adjustment member can be adjusted before the flight of the autonomous device. In another embodiment, the adjustment member can itself adjust the inclination from the data transmitted by the calculation unit to the control unit.

[0091] Advantageously, the second chassis is mounted on the first chassis by a pivot connection provided at a first end of the second chassis and the actuation system is connected to a second end of the second chassis, opposite the first end.

[0092] In another embodiment, the first frame may include two actuation systems each connecting one end of the first frame to one end of the second frame. Each of the actuation systems may then retract one end of the second frame movable relative to the first frame.

[0093] Thus, it may be possible to tilt the object to be placed without having to tilt the stand-alone device.

[0094] Advantageously, the actuation system comprises a cylinder comprising a cylinder and a rod slidably mounted in the cylinder, one end of the cylinder and the rod being connected to the first frame and the other of the cylinder and the rod being connected to the second end of the second frame.

[0095] The cylinder can be a pull cylinder. The cylinder can be a push cylinder. The cylinder can be a rotary cylinder. The cylinder can be a double-acting cylinder, i.e., push and pull. The cylinder can be replaced by a pulley system.

[0096] In one embodiment, the cylinder may be connected to the first frame by a pivot connection and the rod may be connected to the second frame by a pivot or ball joint connection. In another embodiment, the cylinder may be connected to the first frame by a pivot or ball joint connection and the rod may be connected to the second frame by a pivot connection.

[0097] Advantageously, the rod is adapted to slide in the cylinder between a retracted position and at least one deployed position; the cylinder is a traction type gas spring arranged to return the rod to the retracted position and the cylinder is equipped with a member for locking the rod in the retracted position, the control unit being arranged to control the locking member to unlock the rod when it receives an instruction to grip or place the object.

[0098] The retracted position of the rod in the cylinder may correspond to the reference inclination, called "flight", in which the second chassis is substantially parallel to the first chassis. The deployed position of the rod relative to the cylinder may correspond to the second inclination, called "gripping", in which the second chassis is substantially inclined relative to the first chassis. The deployed position of the rod relative to the cylinder may correspond to the third inclination, called "laying", or to the third inclination, called “laying”, in which the second chassis is substantially inclined relative to the first chassis.

[0099] The cylinder of the jack may contain a gas, for example nitrogen. Under the force created by the gas of the jack when it is compressed by a piston of the rod in the extended position, the rod is returned to the retracted position. The lock can be released by simply pressing on the ratchet mechanism.

[0100] The locking member may provide automatic mechanical locking, for example by snapping the rod into the retracted position. The automatic locking may be reversible and controllable, in particular by the use of an electromagnet.

[0101] This locking organ system can inhibit human intervention in the process of placing the object by the autonomous device.

[0102] Advantageously, each gripping member comprises a suction cup and a vacuum pump controllable by the control unit.

[0103] The use of the suction cup can limit the weight of the gripping member as well as the energy consumption. The gripping member can be of the vacuum gripper type in which the vacuum pump can be embedded. In another embodiment, the gripping member can be of the magnetic type, in particular an electromagnet. In another embodiment, the gripping member can be of the clamp type.

[0104] Each gripping member can hold loads of up to 170 kg, including up to 200 kg.

[0105] Advantageously, the device comprises at least a first electrical energy storage module adapted to electrically supply the propellant and the gripping member, said energy storage and supply module being removably mounted in an interior housing of said device.

[0106] The device may include at least one pair of electrical energy storage modules. The energy storage modules may be mounted alternatively on the standalone device. Thus, when one energy storage module is mounted on the standalone device, the other energy storage module may be charging. In another embodiment, the pair of energy storage modules may be mounted simultaneously on the standalone device.

[0107] Each energy storage module can advantageously include several batteries, in particular three batteries.

[0108] Another aspect of the invention relates to a system for transporting and placing a set of objects comprising at least a first autonomous device and several other flying devices substantially identical to the first autonomous device, in particular two or three.

[0109] The use of several flying devices in the same multi-agent and / or collaborative system can help optimize the duration of the project with an autonomous device.

[0110] The invention also relates to an autonomous device for picking up, transporting and placing an object, comprising a first chassis supporting at least one propellant of the device, at least one first electrical energy storage module adapted to electrically power the propellant, and at least one connection element adapted for recharging the first storage and power supply module, the connection element comprising an electrical connection surface supported by the first chassis and having the shape of a developable surface portion whose generator is substantially perpendicular to the first chassis.

[0111] The stand-alone device may comprise at least two energy storage modules, in particular at least four energy storage modules. The energy storage modules may all be mounted simultaneously on the stand-alone device.

[0112] The autonomous device can improve safety at the collection, transport, and installation site. By preventing humans from approaching the collection, transport, and installation area, the drone can fly completely autonomously without the risk of accidents on the construction site.

[0113] At least one connection element means a pair of elements embedded in the device, called "receivers". The pair of receivers can be electrically connected to the phase and phase return of the energy storage system. The pair of receivers can be adapted to electrically power the at least one thruster.

[0114] Advantageously, the developable surface portion of the connection element has a concave shape.

[0115] The connecting element may have a concave V or U shape.

[0116] Advantageously, the connection element comprises a suspension element extending from the first chassis, said suspension element comprising the electrical connection surface.

[0117] The suspension member may extend beyond the frame. In another embodiment, the suspension member may be merged with the first frame.

[0118] The connection element may comprise an articulated suspension element and a bow comprising said portion of developable surface whose generator is substantially perpendicular to the first chassis of the device.

[0119] Advantageously, the suspension element is fixed.

[0120] The connecting element may comprise at least one return member adapted to connect the suspension element to the first chassis, so that the suspension element can be subjected to constant mechanical tension from said at least one return member.

[0121] Advantageously, the suspension element comprises a joint adapted so that the suspension element adopts an unfolded configuration and a folded configuration from the first chassis.

[0122] Depending on the position of the autonomous device in a plane this flight, the element of suspension can be adapted to assume an unfolded configuration for carrying a load or be adapted to assume a folded configuration in flight condition.

[0123] In this embodiment, the suspension element may be of the pantograph type.

[0124] Advantageously, the device comprises two connection elements arranged on either side of the first chassis.

[0125] In one embodiment, the two connecting elements may each comprise a fixed arm. In another embodiment, the two connecting elements may each comprise an articulated arm capable of assuming the unfolded configuration and the folded configuration from the first chassis. The pair of connecting elements may be positioned symmetrically on either side of the self-contained device.

[0126] The invention also relates to a system for recharging an autonomous device for picking up, transporting and placing an object comprising at least one base supporting a catenary, said catenary extending vertically from the base and an electrical power source electrically connected to the catenary.

[0127] The catenary can be linear and flexible.

[0128] A recharging system is understood to mean a pair of fixed elements, called a "transmitter", electrically connected to a phase and a phase return of the electrical power source. The transmitter may include a base anchored to the ground and adapted to ensure the stability of the catenary.

[0129] The recharging system may comprise an electrical connection member for the receivers and an electrical connection member for the emitters. In an out-of-phase state, i.e. a passive state, the electrical connection member for the receivers to the phase and phase return of the electrical power source may be adapted so that the impedance between the two bows is zero. In an out-of-phase state, the electrical connection member for the emitters to the phase and phase return of the electrical power source may be adapted so that the voltage between the conductive strips may be continuous, constant and low, between 3 volts and 7 volts, in particular 5 volts. The effective and simultaneous contact of the pair of bows with the pair of conductive strips may make it possible to switch the recharging circuit from the passive state to an active state.The effective and simultaneous loss of contact of the pair of bows with the pair of conductive strips can make it possible to switch the recharging circuit from the active state to the passive state.

[0130] A catenary is understood to mean an elastic and flexible rod, called a "whip". The whip may comprise an insulating material. The whip may comprise a conductive strip over a height of said whip, adapted to cooperate with the connection element of the autonomous device.

[0131] Advantageously, the catenary comprises a first end fixed to the base and a second free end, said recharging system comprising a fixing means adapted to connect said second free end and the base so as to bend the catenary.

[0132] The fixing means may include a tensioner allowing an arc to be formed with the catenary.

[0133] By means of attachment is meant at least one sling. The sling may be attached to a ground anchor. The sling may be attached to the base of the whip. The whip may be held under mechanical tension by the at least one sling. The tension provided by the at least one sling may be adjusted to give the whip a parabolic shape.

[0134] Advantageously, the system comprises two bases and two catenaries, each arranged on either side of a loading area for objects intended to be transported by the autonomous device.

[0135] The recharging of the autonomous device can take place in parallel with the gripping of the object, thus allowing continuous operation of the autonomous device for picking, transporting and placing.

[0136] Advantageously, the catenary is configured to comprise a shape complementary to the connection element of the autonomous device and configured to cooperate with said connection element.

[0137] The catenary may have a substantially cylindrical or oval section with a diameter smaller than the diameter of the connection surface of the autonomous device.

[0138] The catenary and the connecting element may be adapted to cooperate so that the electricity supplied by the electrical power source is transmitted to each of the electrical energy storage modules via the catenary on the one hand and the connecting element on the other hand.

[0139] Recharging means a transfer of current from the catenary to the autonomous device. Recharging can be ensured by rubbing the receiver's bow against the conductive strip of the whip. Recharging can take place as soon as the connecting element's bow is in contact with the conductive strip of the catenary. Recharging can stop as soon as the connecting element's bow is detached from the conductive strip of the catenary. Optimization of the electrical contact between the bow and the conductive strip can be ensured by pairing between each pair of receivers and each pair of transmitters that are associated.Pairing means a plurality of mechanical criteria, in particular the distance which characterizes the gap between two bows of the same pair, called "maximum opening" and dependent on the dimensions of the autonomous device, or even the maximum amplitude of movement of the bow which can be admitted and dependent on the characteristics of the return members, or in particular, the dimensions of the conductive strip of the catenary.

[0140] In one embodiment, the receivers may be rigid and the transmitters may be elastic. In another embodiment, the receivers may be elastic and the transmitters may be rigid.

[0141] The recharging system can be adapted so that the charging time can provide autonomy greater than the complete cycle of use of the autonomous device and in particular the complete cycle of picking up, transporting and placing the object and return to the gripping area.

[0142] This recharging system can be an alternative to manual battery replacement and thus improve the safety of the site where the autonomous device is used.

[0143] This recharging system can be concomitant with another action of the autonomous device, in particular gripping an object. Brief description of the figures.

[0144] Other advantages and characteristics of the present invention are now described with the aid of examples which are purely illustrative and in no way limitative of the scope of the invention, and from the appended drawings, drawings in which the various figures represent:

[0145] [Fig. 1] schematically represents an autonomous transport system comprising an autonomous device and a ground recharging device, each cooperating with two energy storage modules according to one embodiment.

[0146] [Fig. 2] schematically represents a front view of an energy storage module according to one embodiment.

[0147] [Fig. 3] schematically represents a top view of an energy storage module according to one embodiment.

[0148] [Fig. 4] schematically represents a bottom view of an energy storage module according to one embodiment.

[0149] [Fig. 5] schematically represents an exploded front view of an energy storage module according to one embodiment.

[0150] [Fig. 6] schematically represents an exploded perspective view of a drive system according to one embodiment.

[0151] [Fig. 7] schematically represents a perspective view from above of a ground-based charging device on which two energy storage modules are being recharged according to one embodiment.

[0152] [Fig. 8] schematically represents a perspective view from below of a stand-alone device on which two energy storage modules are in a locked configuration according to one embodiment.

[0153] In the following description, elements which are identical, by structure or by function, appearing in different figures retain, unless otherwise specified, the same references. Description of the embodiments.

[0154] [Fig. 1] describes an autonomous transport system S comprising an autonomous device 1, a ground-based recharging device 3 and a plurality of energy storage modules 101. [Fig. 2] to [Fig. 5] describe the energy storage module 101. The operation of the autonomous transport system S being described in connection with [Fig. 6] to [Fig- 8],

[0155] According to the invention and as illustrated in [Fig. 1], the autonomous system S for picking up, transporting and placing an object, comprises an energy storage module 101 comprising at least one movable locking member 130.4 and a drive system 13 for said movable locking member 130.4 capable of driving the movable locking member 130.4 between a locking configuration and an unlocking configuration.

[0156] The system S also comprises an autonomous device 1 for picking up, transporting and placing an object comprising at least one receiving cavity 103 of said energy storage module 101, the cavity 103 of the autonomous device 1 comprising a complementary locking member 103.1 capable of cooperating with the movable locking member 130.4 of the energy storage module 101 when it adopts the locking configuration.

[0157] Finally, the system S comprises a ground-based charging device 3 comprising at least one receiving receptacle 30 for said energy storage module 101, said receptacle 30 comprising an actuator 300 capable of cooperating with the drive system 13 of the energy storage module 101.

[0158] Thus, the battery change system allows to increase the autonomy of the flying device, while reducing the number of operations requiring human intervention and consequently reducing the risks associated with this type of maneuver.

[0159] In a preferred embodiment and as illustrated in figures [Fig.2] to [Fig.5], the energy storage module 101 comprises a housing 101.1 inside which two energy storage units 101.4 are arranged. Two pairs of locking members 130.4 are provided on either side of the units 101.4, each being associated with a drive system 13 of its own. For each pair of members 130.4, the housing 101.1 comprises an orifice 101.1a provided on a lower wall and facing the drive system 13, this orifice being intended to be crossed by the actuator 300 during the descent of the autonomous device 1 so that it cooperates with the drive system 13. Finally, for each pair of members 130.4, the housing comprises three windows 101.1b provided facing each of the locking members 130.4 of this pair.

[0160] The energy storage module 101 comprises a first complementary power connector 101.5 adapted to cooperate with the first electrical power connector 103.2 and a second complementary connector 101.6 adapted to cooperate with the second electrical power connector 301.

[0161] Preferably and as illustrated [Fig. 6], the drive system 13 is arranged to cause, following a force exerted on the energy storage module 101 by said actuator 300, a movement of each of the locking members 130.4 from the locking configuration to the unlocking configuration, and vice versa.

[0162] In a preferred embodiment, the drive system 13 comprises a bistable mechanical device, comprising a transmission member 130 capable of cooperating with the actuator 300 and arranged to move according to the same given movement following a force exerted by the actuator 300, the drive system 13 also comprises a central column 131. The transmission member 130 being connected to the central column 131 so that said movement causes a displacement of the central column 131.

[0163] Preferably, each locking member 130.4 is mounted in the housing 101.1 while being guided in translation in a transverse direction of the housing 101.1. The locking members 130.4 of the same pair are arranged on either side of the central column 131 while being connected to each other by a spring passing through a window provided in the central column 131, the spring being arranged to exert a force on each of these members 130.4 towards the other of these members 130.4.

[0164] The central column 131 is capable of moving in an axial direction perpendicular to the transverse direction, and has two substantially planar side walls 131.1, each comprising at least one housing 131.2. The central column 131 is furthermore provided with grooves provided on other side walls, mechanically cooperating with axial ribs arranged in the housing 101.1 so as to guide the central column 131 in translation in the axial direction and to prevent any movement or rotation of the central column in another direction.

[0165] Each locking member 130.4 comprises at least one bearing 130.4a bearing against the side wall 131.1 and intended to be housed in the housing 131.2, as will be described later.

[0166] In a preferred embodiment, the transmission member 130 comprises a transmission element 130.1 arranged to be mounted opposite the orifice 101.1a of the housing 101.1 to cooperate with the actuator 300, said transmission element 130.1 being guided in translation in the housing 101.1 in the axial direction and being able to be moved from a retracted position to a deployed position by the actuator 300. In a manner equivalent to the central column 131, the transmission element 130.1 is furthermore provided with grooves provided on other side walls, mechanically cooperating with axial ribs arranged in the housing 101.1 so as to guide the transmission element 130.1 in translation in the axial direction and to prevent any movement or rotation of the central column in another direction.

[0167] The transmission element 130.1 is equipped with a return member 130.2 arranged to return it to the retracted position. Furthermore, said transmission element 130.1 comprises a plurality of inclined cam surfaces 130.1a.

[0168] The transmission member 130 further comprises a cam body 130.3 bearing, by a first of its ends, against the transmission element 130.1 and, by a second of its ends, against said central column 131. Said first end of the cam body 130.3 comprises a plurality of complementary inclined cam surfaces 130.3a each bearing against one of the inclined cam surfaces 130.1a of the transmission element 130.1.

[0169] Preferably and as illustrated in [Fig. 7], the autonomous charging device 3 comprises four identical receiving receptacles 30.

[0170] Each receptacle 30 comprises a power connector 301 capable of connecting with a power supply connector 103.2 of the stand-alone device 1.

[0171] In a particular embodiment and as illustrated in [Fig. 8], the autonomous device 1 comprises four identical receiving cavities 103, each being adapted to receive one of the energy storage modules 101.

[0172] In a particular embodiment, the autonomous device 1 comprises four receiving cavities 103, two empty receiving cavities 103 and two receiving cavities 103 each receiving an energy storage module 101.

[0173] Thus, when the two storage modules 101 reach a charge threshold causing the autonomous device 1 to have to change its energy storage modules 101. The autonomous device 1 approaches the ground-based recharging device 3, in order to exchange the two discharged energy storage modules 101 for two other recharged energy storage modules 101.

[0174] To guide the approach of the autonomous device 1 towards the ground-based recharging device 3, the energy storage module 101 comprises two centering members, each mounted on an upper face and on a lower face of said module 101. Each centering member is capable of cooperating with the complementary centering member provided on the receiving cavity 103 of the autonomous device 1 and on the receptacle 30 of the recharging device 3. The centering member can be guided by the complementary centering member so that the actuator 300 comes opposite the orifice 101.1a.

[0175] The autonomous device 1 also comprises a sensor for detecting a load-decelerator 101.2 mounted on the central column 131, when the storage module 101 is received in the receiving cavity 103.

[0176] Preferably, each receiving cavity 103 of the autonomous device 1 comprises the same first electrical power supply connector 103.2, and each receptacle 30 of the ground-based charging device 3 comprises the same second electrical power supply connector 301.

[0177] The battery change can thus be carried out autonomously, because the housing 101.1 of the energy storage module 101 comprises the locking member 130.4 and the drive system 13.

[0178] Thus, when the autonomous device 1 is placed on the ground-based charging device 3, for each energy storage module 101 housed in a receiving cavity 103, the actuator 300 enters an orifice 101.1a of the housing 101.1 to come into abutment against the transmission element 130.1, which then moves vertically upwards under the force of the weight of the autonomous device 1 pushing this module 101 onto this actuator 300.

[0179] The transmission member 130, following the pressure force exerted transversely towards the actuator 300 by the autonomous device 1, causes the axial displacement of the transmission element 130.1 causing both axial and rotary displacement of the cam body 130.3, but also the stretching of the return members 130.2 of the element transmission 130.1 and the compression of return members, arranged on an upper part of the central column 131 (not shown).

[0180] The cam body 130.3 comprises on its lower part, inclined cam surfaces 130.3a, so as to cooperate with cam surfaces 130.1a arranged at an upper end of the transmission element 130.1. The axial displacement of the transmission element 130.1 towards the central part 131, causes the rotary movement, according to 45 degrees, of the cam body 130.3 and is induced by the mechanical cooperation of the cam surfaces 130.1a and 130.3a.

[0181] The cam body 130.3 can thus be free to rotate in the housing 101.1 about an axial direction. The translational guidance of the central column 131 is on an axis coincident with the axis of rotation of the cam body 130.3.

[0182] The central column 131 comprises two housings 131.2 arranged in each of its side walls 131.1, and the fact that the locking member 130.4 each comprises two bearings 130.4a bearing against the side wall 131.1, the locking member 130.4 and the central column 131 being arranged so that the bearing 130.4a is received in the housing 131.2 when the central column 131 adopts the unlocking configuration and is outside the housing 131.2 when the central column 131 adopts the locking configuration.

[0183] The axial movement of the transmission element 130.1 towards the central column 131 causes the axial movement of the central column 131 by means of the cam body 130.3, which induces, for each bearing 130.4a of each locking member 130.4, an axial movement involving a dislodgement of the bearings 130.4a from their housing 131.2.

[0184] The locking members 130.4 therefore move, according to a translational movement in a transverse direction of the housing 101.1, so as to be inserted into the windows 101.1b of the housing 101.1, making it possible to lock the energy storage module 101 in an empty location of the autonomous device 1.

[0185] Once the energy storage module 101 is locked in an empty location of the autonomous device 1 by means of the locking member 130.4, the autonomous device 1, moving away from the ground recharging device 3, no longer exerts a pressure force exerted transversely towards the actuator 300, which decompresses the return members attached to the upper end of the central column 131, exerting a transverse thrust force towards the cam body 130.3, forcing the cam body 130.3 to perform a new rotation of 45 degrees against the stop of the transmission element 130.1, blocking the locked configuration during the flight of the autonomous device 1.

[0186] In this position, the bearings 130.4a are locked out of the housings 131.2 of the central column 131 and lock the locking members 130.4 in the windows 101.1b, keeping the energy storage modules 101 locked, during the flight of the autonomous device 1.

[0187] Simultaneously and symmetrically with the locking of the recharged energy storage modules 101, the unlocking of the discharged energy storage modules 101 takes place, by depositing the energy storage modules 101 on the recharging device 3.

[0188] Thus, when the autonomous device 1 is positioned to discharge the energy storage modules 101 into an empty receiving receptacle 30 of the ground-based charging device 3, the actuator 300 enters an orifice 101.1a of the housing 101.1 to come into abutment against the transmission element 130.1, which then moves vertically upwards under the force of the weight of the autonomous device 1 pushing this module 101 onto this actuator 300.

[0189] The transmission member 130, following the pressure force exerted transversely towards the actuator 300 by the autonomous device 1, causes the axial displacement of the transmission element 130.1 causing both axial and rotary displacement of the cam body 130.3, but also the stretching of the return members 130.2 and the compression of the return members, arranged on the upper part of the central column 131.

[0190] The axial displacement of the transmission element 130.1 towards the central part 131 causes the rotary movement, according to 45 degrees, of the cam body 130.3 and is induced by the mechanical cooperation of the cam surfaces 130.1a and 130.3a.

[0191] The axial movement of the transmission element 130.1 towards the central column 131 causes the axial movement of the central column 131 by means of the cam body 130.3, which induces, for each bearing 130.4a of each locking member 130.4, an axial movement involving the movement of the bearings 130.4a in their housing. 131.2.

[0192] The locking members 130.4 therefore move in a translational movement in a transverse direction from the housing 101.1 towards the central column 131 by means of return members arranged in a recess provided on either side of a substantially central part of the central column. This movement makes it possible to retract the locking member 130.4 by causing said locking member 130.4 to come out of the windows 101.1b of the housing 101.1, making it possible to unlock the energy storage module 101 in an empty location of the ground-based charging device 3.

[0193] Once the energy storage module 101 is unlocked in an empty location of the ground-based charging device 3 by removing the locking member 130.4 from the windows 101.1b of the housing 101.1, the autonomous device 1, when moving away from the ground-based charging device 3, no longer exerts a pressure force exerted transversely towards the actuator 300, which decompresses the return members attached to the upper end of the central column 131, exerting a transverse thrust force towards the cam body. 130.3, forcing the cam body 130.3 to perform a further rotation of 45 degrees against the stop of the transmission element 130.1, locking the configuration locked during theft of the autonomous device 1.

[0194] In this position, the bearings 130.4a are locked in housings 131.2 of the central column 131 and lock the locking members 130.4 outside the windows 101.1b, which allows the energy storage modules 101 of the autonomous device 1 to be placed on the ground-based charging device 3.

[0195] The operations are repeated when changing the energy storage modules 101, so that the autonomous device 1 is never without power supply, involving the connection at a given time of the four energy storage modules 101 to the autonomous device 1.

[0196] The preceding description clearly explains how the invention makes it possible to achieve the objectives it has set itself, namely to propose a battery changing system making it possible to increase the autonomy of the autonomous device and in particular making it possible to avoid human intervention when changing batteries comprising an energy storage module comprising at least one mobile locking member and a system for driving said mobile locking member capable of driving the mobile locking member between a locking configuration and an unlocking configuration;an autonomous device for picking up, transporting and placing an object comprising at least one cavity for receiving said energy storage module, the cavity of the autonomous device comprising a complementary locking member capable of cooperating with the mobile locking member of the energy storage module when it adopts the locking configuration and a ground-based recharging device comprising at least one receptacle for receiving said energy storage module, said receptacle comprising an actuator capable of cooperating with the drive system of the energy storage module.;

[0197] In any event, the invention cannot be limited to the embodiments specifically described in this document, and extends in particular to any equivalent means and to any technically effective combination of these means. In particular, it may be envisaged: the storage and power supply modules 101 can be mounted alternatively in pairs, one by one or even two by two on the autonomous device 1; the autonomous device 1 comprises two, four or six energy storage modules 101; the autonomous device 1 can be a drone

Claims

Claims

1. Autonomous system (S) for picking up, transporting and placing an object, comprising: a. An energy storage module (101) comprising at least one movable locking member (130.4) and a drive system (13) for said movable locking member (130.4) capable of driving the movable locking member (130.4) between a locking configuration and an unlocking configuration; b. An autonomous device (1) for picking up, transporting and placing an object comprising at least one receiving cavity (103) for said energy storage module (101), the cavity (103) of the autonomous device (1) comprising a complementary locking member (103.1) capable of cooperating with the movable locking member (130.4) of the energy storage module (101) when it adopts the locking configuration; c.A ground-based charging device (3) comprising at least one receiving receptacle (30) for said energy storage module (101), said receptacle (30) comprising an actuator (300) capable of cooperating with the drive system (13) of the energy storage module (101); characterized in that the drive system (13) is arranged to cause, following a force exerted on the energy storage module (101) by said actuator (300), a movement of the movable locking member (130.4) from the locking configuration to the unlocking configuration, and vice versa.

2. Autonomous system (S) according to the preceding claim, characterized in that the energy storage module (101) comprises a housing (101.1) inside which is arranged at least one energy storage unit (101.4), the locking member (130.4) and the drive system, and in that the housing (101.1) comprises at least one orifice (101.1a) provided opposite the drive system (13) and intended to be crossed by the actuator (300) so that it cooperates with the drive system (13) and a window (101.1b) provided opposite the locking member (130.4), the locking member (130.4) and the drive system (13) being arranged so that the locking member (130.4) comes out of the housing (101.1) via the window (101.1b) when it adopts the locking configuration and so that the locking member (130.4) is retracted into the housing (101.1) when it adopts the unlocking configuration.

3. Autonomous system (S) for picking, transporting and laying according to the preceding claim, characterized in that the drive system (13) comprises: a. a bistable mechanical device, comprising a transmission member (130) capable of cooperating with the actuator (300) and arranged to move according to the same given elementary movement following a force exerted by the actuator (300), and a central column (131) capable of adopting a first position and a second position, the transmission member (130) being connected to the central column (131) so that said elementary movement causes a movement of the central column (131) from the first position to the second position or from the second position to the first position; b. the central column (131) being connected to the locking member (130.4) such that the locking member (130.4) comes out of the housing (101.1) when the central column (131) adopts the first position and the locking member (130.4) is retracted into the housing (101.1) when the central column (131) adopts the second position.

4. Autonomous system (S) for picking, transporting and placing according to the preceding claim, characterized in that the housing (101.1) of the energy storage module (101) comprises an additional orifice (101.1c), in that the energy storage module (101) comprises at least one load-decelerator (101.2) connected to the central column (131) and being arranged to come out of the housing (101.1) via the additional orifice (101.1c) when the central column (131) adopts the first position and to be retracted into the housing (101.1) when the central column (131) adopts the second position, and in that the autonomous device (1) for picking, transporting and placing an object comprises at least one sensor capable of detecting the load-decelerator (101.2) only when it adopts the first position and when the energy storage module (101) ... (101) is received in the receiving cavity (103).

5. Autonomous system (S) for picking, transporting and laying according to one of claims 3 or 4, characterized in that the locking member (130.4) is mounted in the housing (101.1) while being guided in translation in a transverse direction of the housing (101.1), in that the central column (131) is able to move from the first position to the second position, and vice versa, in an axial direction perpendicular to the transverse direction, in that it has a side wall (131.1) and in that it comprises at least one housing (131.2) formed in its side wall (131.1), and in that the locking member (130.4) comprises at least one bearing (130.4a) bearing against the side wall (131.1), the locking member (130.4) and the central column (131) being arranged so that the bearing (130.4a) is received in the accommodation (131.2) when the central column (131) takes the second position and is outside the housing (131.2) when the central column (131) takes the first position.

6. Autonomous system (S) for picking, transporting and laying according to the preceding claim, in which the transmission member (130) comprises: a. a transmission element (130.1) arranged to be mounted opposite the orifice (101.1a) of the housing (101.1) to cooperate with the actuator (300), said transmission element (130.1) being guided in translation in the housing (101.1) in the axial direction and being able to be moved from a retracted position to a deployed position by the actuator (300), the transmission element (130.1) being equipped with a return member (130.2) arranged to return it to the retracted position, said transmission element (130.1) comprising a plurality of inclined cam surfaces (130.1a); b. a cam body (130.3) bearing, by a first of its ends, against the transmission element (130.1) and, by a second of its ends, against said central column (131), said first end of the cam body (130.3) comprising a plurality of complementary inclined cam surfaces (130.3a) each coming to bear against one of the inclined cam surfaces (130.1a) of the transmission element (130.1).

7. Autonomous system (S) for picking, transporting and laying according to one of the preceding claims, characterized in that the autonomous transporting and laying device (1) comprises two identical receiving cavities (103), each being adapted to receive one of the energy storage modules (101) and in that the autonomous recharging device (3) comprises two identical receiving receptacles (30).

8. Autonomous system (S) for picking, transporting and laying according to the preceding claim, characterized in that each receiving cavity (103) of the autonomous transporting and laying device (1) comprises the same first electrical power supply connector (103.2), in that each receptacle (30) of the ground-based charging device (3) comprises the same second electrical power supply connector (301), and in that the energy storage module (101) comprises a first complementary power supply connector (101.5) adapted to cooperate with the first electrical power supply connector (103.2) and a second complementary connector (101.6) adapted to cooperate with the second electrical power supply connector (301).

9. Autonomous device (1) for picking up, transporting and placing an object from an autonomous picking up, transporting and placing system (S) according to one of claims 1 to 8.

10. Energy storage module (101) of an autonomous picking, transporting and laying system (S) according to one of claims 1 to 8.

11. Ground recharging device (3) of an autonomous picking, transporting and laying system (S) according to one of claims 1 to 8.

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