Anti-topple device for a ballbot

Abstract

The present invention relates to a robot comprising a single spherical movement wheel (2), the robot (1) being configured to be movable on the ground (7). The robot comprises an anti-topple device (10; 10') having a deployment system (11; 11'); an actuating means (12) for actuating the deployment system (11; 11'), and a support means (13) connected to the deployment system (11; 11') and configured to be supported on the ground (7), the anti-topple device (10; 10') being movable between a folded and deployed position in which the actuating means (12) activates the deployment system (11; 11') such that the deployment system (11; 11') deploys by moving the support means (13) away from the spherical wheel (2), the robot (1) being configured, in the deployed position, to be supported by the support means (13).

Description

Anti-fall device for ballbot

[0001] The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a robot with a single spherical wheel comprising a stabilization device preventing it from falling. 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 in all directions using only the spherical wheel, 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 by means of its arms, such as grasping objects. In this case, the arms are provided with grippers allowing the gripping of the objects to be grasped.

[0004] However, such robots can fall due to a power failure or due to an obstacle, for example. The obstacle can be fixed or mobile; in particular, it can correspond to a significant untimely external load. Such a fall can cause damage to the robot and its environment, but can also injure people in its vicinity.

[0005] The present invention therefore aims to solve the aforementioned fall problems, by proposing a robot comprising a single spherical movement wheel, in contact with the ground, on which the robot rests, and comprising an anti-fall device configured to, in the event of loss of balance likely to cause a fall, adopt a deployed position making it possible to prevent the fall and keep the robot balanced and therefore prevent any damage to the robot and / or its environment. PRESENTATION OF THE INVENTION

[0006] More specifically, the invention relates to a robot. Said robot comprises a single spherical displacement wheel intended to be in contact with the ground and a platform mounted on said spherical wheel by means of stabilizing means. The robot is configured to be mobile on the ground by means of said spherical wheel adapted to roll on the ground. Said robot further comprises an anti-fall device comprising:

[0007] - at least one deployment system connected to the robot platform;

[0008] - at least one means of actuating said deployment system; and

[0009] - at least one support means for said robot connected to said deployment system and configured to rest on the ground.

[0010] Said fall arrest device is movable between a folded position and a deployed position in which said actuating means activates the deployment system so that said deployment system of said fall arrest device deploys by moving the support means away from said spherical wheel. The robot is configured to, in the deployed position of the fall arrest device, bear on the at least one support means or at least one of the support means.

[0011] The fall arrest device allows, in the event of an action likely to cause the robot to fall, such as a loss of balance or a power supply failure for example, to adopt a deployed position to prevent the robot from falling and to keep it balanced on the support means. The support means therefore takes the form of a crutch, which prevents the robot and all of its components from impacting the ground caused by a fall and therefore prevents any damage to the robot and / or its environment.

[0012] Advantageously, the robot comprises a power supply system configured to supply said robot with energy and in that in the event of a power failure, said fall arrest device is configured to deploy.

[0013] In the event of a power failure, the fall arrester deploys automatically, preventing the robot from falling and protecting it from damage. In particular, the fall arrester deploys passively.

[0014] Advantageously, the actuating means of the deployment system comprises at least one stop configured to, in contact with the ground and / or an obstacle, allow activation of the deployment system, thus moving the support means away from said spherical wheel of the robot.

[0015] The stop enables the activation of the fall arrest device deployment system, and therefore allows the fall arrest device to move from a folded position to a deployed position, when it comes into contact with the ground and / or an obstacle, therefore when there is a probable fall.

[0016] Advantageously, the deployment system comprises at least a first pin, a second pin and a set of rods connected to each other by pivot-type connections and configured to be movable between a folded position and a deployed position in which said rods of the set of rods form a parallelogram, the first pin and the second pin being respectively connected on the one hand to the actuating means and on the other hand to the set of rods and said support means being connected to the set of rods and to the second pin, the deployment system being configured to, when the actuating means comes into contact with the ground and / or an obstacle, rotate the second pin so as to move it away from the platform, driving the set of rods into the deployed position by means of said pivot connections, pivoting the support means so as to move it away from the spherical wheel so that the fall arrest device is deployed.

[0017] This first embodiment of the deployment system makes it possible to deploy the fall arrest device so that the support means is sufficiently far from the spherical wheel to prevent the robot from falling and to retain it and / or keep it in a standing position, while being energy independent.

[0018] Alternatively, the deployment system comprises at least one rack, a pinion configured to cooperate with the rack, and a toothed wheel configured to cooperate with the pinion and thus forming the pivot connection, the toothed wheel being connected to the first end of the support means and to the platform, the rack being on the one hand connected to the pinion and on the other hand to the actuating means, the deployment system being configured to, when the actuating means comes into contact with the ground and / or an obstacle, cause the rack to translate towards the platform, thus causing the pinion to rotate, itself causing the toothed wheel to rotate which pivots the support means so as to move it away from the spherical wheel so that the fall arrest device is deployed.

[0019] This second embodiment of the system is an alternative to the first mode, making it possible to deploy the fall arrest device so that the support means is sufficiently far from the spherical wheel to prevent the robot from falling and to retain it and / or keep it in a standing position, while being energy independent. This embodiment may be particularly suitable for cases where the robot has a center of gravity close to the spherical wheel.

[0020] Advantageously, the means for actuating the deployment system further comprises a force sensor connected to the stop and configured to measure the force generated by the contact between said stop and the ground and / or an obstacle, to generate a value representative of said measurement, said robot being configured to compare the representative value of said measurement with a predetermined threshold value, and, when the representative value is greater than the predetermined threshold value, activate the deployment system so that it deploys and when the representative value is less than or equal to the predetermined threshold value, inhibit the deployment of the deployment system, so that it is in the folded position.

[0021] The force sensor can be used in addition to the stop to enable the deployment of the fall arrest device when the robot hits an obstacle, for example, which would cause a loss of balance leading to a fall.

[0022] Advantageously, said robot extends along a frontal plane, orthogonal to the ground and the means of actuation of the deployment system comprises:

[0023] - a means of measuring the inclination of the robot relative to said frontal plane; and

[0024] - a control unit;

[0025] the measuring means being configured to measure the inclination of the robot relative to said frontal plane, to generate a value representative of said measurement, to compare the representative value of said measurement with a predetermined threshold value. Said control unit being configured to, when the representative value is greater than the predetermined threshold value, deploy the deployment system and when the representative value is less than or equal to the predetermined threshold value, inhibit the deployment of the deployment system.

[0026] The inclination measuring device and the control unit allow the fall arrest device to be deployed when a threshold inclination is exceeded.

[0027] Advantageously, the support means comprises at least one wedge and at least one pin having a first end and a second end, the first end being connected to the deployment system by means of a pivot connection and the second end being connected to the wedge, and in that in the folded position the pin extends along the spherical wheel and in the deployed position, the pin has pivoted around said pivot connection so as to move away from said spherical wheel, the wedge being configured to rest on the ground.

[0028] Advantageously, the robot comprises a plurality of anti-fall devices, distributed around the circumference of the spherical wheel.

[0029] Advantageously, the robot has three anti-fall devices distributed around the circumference of the spherical wheel, equidistant from each other.

[0030] The plurality of fall arrest devices prevents the robot from falling in several directions.

[0031] Advantageously, each support means of each fall arrest device comprises at least one wedge and at least one pin having a first end and a second end, the first end being connected to the deployment system by means of a pivot connection and the second end being connected to the wedge. In the folded position, the pin extends along the spherical wheel and in the deployed position, the pin has pivoted around said pivot connection so as to move away from said spherical wheel, the wedge being configured to bear, at least in part, on the ground. Said robot extends along a frontal plane, orthogonal to the ground. Each wedge extends along the spherical wheel, orthogonal to said frontal plane, so as to encircle said spherical wheel.

[0032] Advantageously, each wedge comprises a first end and a second end, the first end of a first wedge being configured to come into contact with the second end of a second wedge and the second end of the first wedge being configured to come into contact with the first end of a third wedge, when the fall arrest device is in the folded position. PRESENTATION OF FIGURES

[0033] 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:

[0034] This is a schematic perspective representation taken from the front on the left of the robot of the invention comprising a single spherical displacement wheel intended to be in contact with the ground and an anti-fall system in the folded position;

[0035] This is an enlargement of the spherical wheel and the anti-fall system of the robot;

[0036] This is a view similar to the, in which the robot's fall arrest system is in the deployed position;

[0037] This is a left-hand view of the robot, in which the robot is tilted and the fall arrest system is in the folded position;

[0038] This is a view similar to the but with the fall arrest system in the deployed position;

[0039] This is an enlargement of the spherical wheel and the anti-fall system of the robot;

[0040] This is a top view of the robot;

[0041] This is a top view of the robot;

[0042] This is a schematic representation of the fall arrest system in the folded position according to another embodiment of the invention; and

[0043] This is a similar view to the, but in the deployed position.

[0044] 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

[0045] The invention relates to a robot 1 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 stabilizing means. The robot 1 rests on the spherical wheel 2 by means of the platform 3. This type of robot 1 is commonly called a "Ballbot" or "Rolling Globe" robot.

[0046] The robot 1, as shown in the figure, is mobile on the ground 7 by means of the single spherical wheel 2, in all directions, in a stable manner.

[0047] The platform 3 is mounted on the spherical wheel 2, so that a lower part of the spherical wheel 2 is permanently in contact with the ground 7. In particular, the platform 3 comprises stabilizing means configured to allow the robot 1 to be held stably on the spherical wheel 2 when the robot 1 is in a static position but also when the robot 1 is in motion.

[0048] The stabilization means may, for example, comprise retaining members at least partially surrounding the spherical wheel 2. Here, the stabilization means comprise three retaining members 8 distributed over the spherical wheel 2.

[0049] The stabilization means may further comprise at least one secondary wheel 31, here three secondary wheels 31 configured to rotate and allow the mobility of the spherical wheel 2 and / or the robot 1 to be maintained in a standing position shown in the figures when it is static.

[0050] In static position, the platform 3 of the robot extends substantially parallel to the ground 7 and the robot 1 is inscribed in a frontal plane, orthogonal to the ground 7.

[0051] In order to move, and thus trigger the rotation of the at least one secondary wheel 31 and therefore of the spherical wheel 2, the robot 1 must tilt relative to the frontal plane in the desired direction. Thus, the robot 1 can move in all directions, omnidirectionally.

[0052] The robot 1 comprises a trunk 4, at least one arm 5 and an upper part 6.

[0053] In particular, the trunk 4 is connected on the one hand to the platform 3 and on the other hand to the upper part 6.

[0054] The arm 5 is connected by means of a pivot or ball joint type connection to the trunk 4. The robot 1 may comprise a plurality of arms 5, here the robot 1 comprises two arms 5, each connected by means of a pivot or ball joint type connection to the trunk 4.

[0055] The upper part 6 of the robot 1 comprises at least one sensor, in particular a plurality of sensors and cameras, and it is configured to allow the robot 1 to perceive its environment and in particular to detect the objects to be grasped and / or moved arranged opposite the upper part 6, in its field of vision.

[0056] In a particular example of the invention, the upper part 6 may comprise an RBG camera and / or an IR camera and / or a stereoscopic depth camera and / or a microphone and / or “Time Of Flight laser” sensors.

[0057] The robot 1 further comprises at least one fall arrest device 10.

[0058] The robot 1 may comprise a plurality of fall arrest devices 10. Here, the robot 1 comprises three fall arrest devices 10.

[0059] The three fall arrest devices 10 shown in Figures 1 to 10 are distributed around the circumference of the spherical wheel 2.

[0060] In particular, the three fall arrest devices 10 may be equidistant from each other, on the circumference of the spherical wheel 2.

[0061] Each fall arrest device 10, as shown in FIGS. 1 to 10, comprises at least one deployment system 11, at least one actuating means 12 of the deployment system 11 and a support means 13 of the robot 1.

[0062] The deployment device 11 is connected to the platform 3 of the robot 1, to the actuating means 12 and to the support means 13.

[0063] The support means 13 is configured to rest on the ground 7.

[0064] The support means 13 may comprise a pin 22, connected on the one hand to the deployment system 11 and on the other hand able to rest on the ground 7.

[0065] The fall arrest device 10 is movable between a folded position, as shown in Figures 1, 2, 4 and 7, and a deployed position, as shown in Figures 3, 5, 6 and 8.

[0066] In the deployed position, the actuating means 12 activates the deployment system 11, so that it deploys by moving the support means 13 away from the spherical wheel 2.

[0067] In this deployed position, the robot 1 is configured to rest on the support means 13.

[0068] The actuating means 12 of the deployment system 11 comprises at least one stop 14, configured to, in contact with the ground 7 and / or an obstacle, allow the activation of the deployment system 11, thus moving the support means 13 away from the spherical wheel 2 of the robot 1.

[0069] The pin 22 of the support means 13 must have a sufficiently low inertia to allow rapid deployment of the fall arrest device 10.

[0070] In particular, the spindle may be made of a high-strength material, such as a composite material with carbon fibers.

[0071] In the first embodiment of the invention shown in Figures 1 to 8, the deployment system 11 comprises at least a first pin 15, a second pin 16 and a set of rods 17.

[0072] The rod assembly 17 comprises a plurality of rods 18 connected together by pivot-type connections 151. The rods 18 are configured to be movable between a folded position and a deployed position.

[0073] In particular, the rod assembly 17 comprises a first rod 180, a second rod 181 and a third rod 182.

[0074] The first rod 180 is connected to a first end portion of the third rod 182 on the one hand and to the support means 13 on the other hand. The second rod 181 is connected on the one hand to the first end portion of the third rod 182 and to the support means 13 on the other hand. The third rod 182 is by its first end portion connected both to the first rod 180 and to the second rod 181 and by its second end portion connected to the first pin 15.

[0075] The first pin 15 is fixed to the retaining member 8 of the robot 1. Thus, the first pin 15 is fixed relative to the platform 3 of the robot 1. Said first pin 15 allows the anti-fall device 10 to be held on the robot 1.

[0076] In addition, the first spindle 15 and the second spindle 16 are each connected on the one hand to the actuating means 12 and on the other hand to the rod assembly 17.

[0077] In particular, the first pin 15 is connected to the rod assembly 17 by means of a pivot-type connection 152. The second pin 16 is connected to the rod assembly 17 by means of a pivot-type connection 153.

[0078] The first pin 15 and the second pin 16 are connected to the actuating means 12 by means of a pivot connection 154.

[0079] The first pin 15 is connected to the second pin 16 by means of a pivot type connection 150.

[0080] In particular, the end of the second pin 16 connected to the actuating means 12 is L-shaped, with an end portion 155 which extends orthogonally to the rest of the second pin 16. The pivot connection 150 connecting the first pin 15 to the second pin 16 is located at the junction between the end portion 155 and the rest of the second pin 16. The pivot connection 154 connecting the second pin 16 with the actuating means 12 is located at the free end of the end portion 155.

[0081] The support means 13 is connected to the set of rods 17.

[0082] In particular, the pin 22, hereinafter called the third pin 22, of the support means 13 is connected by a first end to the set of rods 17 and by a second end configured to bear on the ground 7. The first rod 180 is connected to the first end of the third pin 22 by means of the pivot connection 153. The second rod 181 is connected to the first end of the third pin 22 by means of another pivot connection 151. This other pivot connection is located at a distance from the first pivot connection 153, the first pivot connection 153 being closest to the edge of the first end of the third pin 22. The spacing between the two pivot connections 153, 151 connecting the first rod 180 and the second rod 181 to the support means corresponds to the spacing between the two pivot connections 151 connecting the first rod 180 and the second rod 181 to the third rod 182.

[0083] As shown in Figures 1, 2 and 4, in the folded position of each fall arrest device 10, the second pin 16 is juxtaposed with the first pin 15. The end portion 155 extends opposite the actuating means 12. In particular, the end portion 155 extends substantially parallel to the stop 14 of the actuating means 12, itself extending substantially parallel to the ground 7.

[0084] Furthermore, in the folded position, each rod 18 of the rod assembly 17 and the third pin 22 of the support means 13 extends along the first pin 15 and the second pin 16, along the retaining member 8.

[0085] As shown in Figures 3, 5 and 6, in the deployed position of at least one fall arrest device 10, its stop 14 has come into contact with the ground 7 and / or an obstacle. Its first spindle 15, fixed relative to the robot 1, extends along the retaining member 8. In particular, the first spindle 15 is fixed to the retaining member 8. The second spindle 16 has pivoted around the pivot connection 154 and the pivot connection 150, so as to move away from the spherical wheel 2. The third rod 182 has pivoted around the pivot connection 152 so as to move away from the spherical wheel 2. The first rod 180 and the second rod 181 have pivoted around their pivot connection 151 connecting them to the third rod 182, so as to move away from the spherical wheel 2. The first rod 180 and the second rod 181 extend substantially parallel to each other.The third pin 22 pivoted around the pivot link 153 and the pivot link 151 connecting it to the second rod 181, so as to move away from the spherical wheel 2, by its first end and by its second end rests on the ground 7.

[0086] As shown in the, in the deployed position of the rod assembly 17, the rods 18 form a parallelogram.

[0087] We will now write the movement of the fall arrest device 10, moving from the folded position to the deployed position.

[0088] In the static position shown in Figures 1 and 7, the robot 1 is in a frontal plane, orthogonal to the ground 7. In this position, the fall arrest device 10 of the robot 1 is in the folded position.

[0089] When moving, robot 1 is tilted relative to the frontal plane in the desired direction. In the example shown in the, robot 1 is moving forward.

[0090] It is understood that the front is the forward direction relative to the upper part 6 of the robot 1, corresponding to the traditional forward walking of a human.

[0091] When the robot moves, regardless of the direction of movement, the fall arrest device 10 is in the folded position.

[0092] When the robot 1 is about to start falling, that is to say being inclined more than is necessary for its movement, the fall arrest device 10 is configured to deploy.

[0093] The deployment system 11 is configured to, when the actuating means 12 comes into contact with the ground and / or an obstacle, drive the first spindle 15 in translation towards the upper part 6 of the robot 1 and to pivot the second spindle 16, so as to move it away from the platform 3, driving the set of rods 17 from its retracted position to its deployed position through the pivot connections. Thus, the support means 13 pivots away from the spherical wheel 2. The fall arrest device 10 is then in the deployed position.

[0094] In particular and with reference to, when the inclination of the robot is too great, the stop 14 of the actuating means 12 comes into contact with the ground 7. The contact between this stop 14 and the ground 7 causes the stop 14 to translate upwards, i.e. towards the platform 3. This translation causes the end portion 155 of the second spindle 16 to rotate clockwise, causing the spindle 16 to rotate clockwise around the pivot connection 150. Thus, the second spindle 16 moves away from the spherical wheel 2. This moving away of the spherical wheel 2 causes the spherical wheel 2 to move away from the rod assembly 17, causing the third rod 182 to rotate counterclockwise around the pivot connection 152.The rotation about the pivot connection 152 of the third rod 182 causes the first rod 180 and second rod 181 to rotate clockwise respectively, until they adopt a position substantially parallel to each other. The rotation of the first rod 180 and the second rod 181 causes the third pin 22 to move away from the spherical wheel 2. In particular, the clockwise rotation of the first rod 180 and second rod 181 respectively about their pivot connection connecting them to the third rod 182, causes the third pin 22 to rotate counterclockwise, about the pivot connections 153 and 151 connecting respectively the first rod 180 to the third pin 22 and the second rod 181 to the third pin 22. The fall arrest device 10 then adopts its deployed position.

[0095] The pivot connection 154 may comprise an axis housed in an oblong hole. The oblong hole allows mechanical play. The mechanical play allows rotation of the end portion 155 of the second pin 16 around the axis even if the force exerted on the stop 14 when it comes into contact with the ground 7 or an obstacle is not orthogonal to said stop 14.

[0096] In addition, the actuating means 12 may comprise a force sensor connected to the stop 14. This force sensor is configured to measure the force generated by the contact between the stop 14 and the ground 7 and / or an obstacle. The sensor then generates a value representative of the measurement of the force generated. In addition, the robot 1 is configured to compare the representative value of the force measurement with a predetermined threshold value, and, when the representative value is greater than the predetermined threshold value, the robot 1 activates the deployment system 11 so that it adopts a deployed position, as shown in FIGS. 5 and 6, and when the representative value is less than or equal to the predetermined threshold value, inhibit the deployment of the deployment system, so that it is in the folded position, as shown in FIGS. 1, 2 and 4.

[0097] This force sensor can be a complementary solution to the energy-independent or alternative fall arrest device 10. This sensor requires a power supply.

[0098] According to a variant, the actuating means 12 of the robot 1 may comprise a means for measuring the inclination of the robot 1 relative to the frontal plane and a control unit. The measuring means is configured to measure the inclination of the robot 1 relative to the frontal plane, to generate a value representative of the measurement and to compare the representative value of the measurement with a predetermined threshold value. The control unit is configured to, when the representative value is greater than the predetermined threshold value, deploy the deployment system 11, and when the representative value is less than or equal to the predetermined threshold value, inhibit the deployment of the deployment system 11.

[0099] Advantageously, the support means 13 also comprises a wedge. The third pin 22 is then connected, by its free end, to the wedge by means of a pivot-type connection or a fixed connection. In the folded position of the fall arrest device 10, the third pin 22 and the wedge extend along the retaining member 8. In the deployed position of the fall arrest device 10, the wedge rests on the ground 7.

[0100] Advantageously, each support means 13 of each fall arrest device 10 of the robot 1 comprises such a wedge. Each wedge extends along the spherical wheel 2, orthogonally to the frontal plane of the robot 1, so as to encircle the spherical wheel 2.

[0101] Advantageously, each wedge comprises a first end and a second end, the first end of a first wedge being configured to come into contact with the second end of a second wedge and the second end of the first wedge being configured to come into contact with the first end of a third wedge, when the fall arrest device 10 is in the folded position.

[0102] A second embodiment of the invention is shown in Figures 9 and 10. The common parts between the first embodiment previously described and this second embodiment will bear the same numerical references.

[0103] In this second embodiment, the deployment system 11' of the fall arrest device 10' comprises at least one rack 19, one pinion 20 and one toothed wheel 21.

[0104] The pinion 20 is configured to cooperate with the rack 19.

[0105] The toothed wheel 21 is configured to cooperate with the pinion 20. The toothed wheel 21 and the pinion 20 then form a pivot-type connection.

[0106] The toothed wheel 21 is connected to a first end of the support means 13 and to the platform 3.

[0107] In particular, the toothed wheel 21 is connected to the first end of the support means 13, in particular to one end of the third pin 22 and to the platform 3. The rack 19 is on the one hand connected to the pinion 20 and on the other hand to the actuating means 12. The deployment system 11' is configured to, when the actuating means 12 comes into contact with the ground and / or an obstacle, cause the rack 19 to translate towards the platform 3, thus causing the pinion 20 to rotate, itself causing the toothed wheel 21 to rotate which causes the third pin 22 to pivot so as to move it away from the spherical wheel 2 so that the fall arrest device 10' adopts a deployed position.

[0108] Thus, when the robot 1 is about to start falling, that is to say being inclined more than is necessary for its movement, the fall arrest device 10 is configured to deploy.

[0109] In particular and with reference to the, when the inclination of the robot 1 is too great, the stop 14 of the actuating means 12 comes into contact with the ground 7. The contact between this stop 14 and the ground 7 causes the upward translation of the stop 14, that is to say towards the platform 3. This translation causes the translation of the rack 19 towards the platform 3. The translation of the platform 3 causes the clockwise rotation of the pinion 20, itself causing the counterclockwise rotation of the toothed wheel 21, then pivoting the third spindle 22 so as to move it away from the spherical wheel 2.

[0110] In addition, the actuating means 12 may comprise a force sensor connected to the stop 14 as described in the previous embodiment.

[0111] According to a variant, the actuating means 12 of the robot 1 may comprise, as described for the first embodiment, a means for measuring the inclination of the robot 1 relative to the frontal plane and a control unit.

[0112] Advantageously, the support means 13 also comprises a wedge 23 as shown in Figures 9 and 10. The third pin 22 is then connected, by its free end, to the wedge 23 by means of a pivot-type connection or a fixed connection. In the folded position of the fall arrest device 10', the third pin 22 and the wedge 23 extend along the retaining member 8. In the deployed position of the fall arrest device 10', the wedge 23 rests on the ground 7.

[0113] Advantageously, each support means 13 of each fall arrest device 10' of the robot 1 comprises such a wedge 23. Each wedge 23 extends along the spherical wheel 2, orthogonally to the frontal plane of the robot 1, so as to encircle the spherical wheel 2.

[0114] Advantageously, each wedge 23 comprises a first end and a second end, the first end of a first wedge 23 being configured to come into contact with the second end of a second wedge 23 and the second end of the first wedge 23 being configured to come into contact with the first end of a third wedge 23, when the fall arrest device 10' is in the folded position.

[0115] In addition, according to the first embodiment or the second embodiment, the robot 1 may comprise a power supply system (not shown) configured to supply the robot 1 with energy. In the event of a power supply failure, the fall arrest device 10 and / or 10' is configured to deploy.

[0116] Thus, whatever the embodiment of the robot 1 of the invention, the fall arrest device 10 and / or 10' makes it possible, in the event of an action likely to cause the robot to fall, such as a loss of balance or a power supply failure for example, to adopt a deployed position making it possible to prevent the robot 1 from falling and to keep it balanced. This maintaining of balance prevents the robot and all of its components from impacting the ground caused by a fall and therefore makes it possible to prevent any damage to the robot and / or its environment.

[0117] The robot 1, comprising a plurality of fall arrest devices such as 10 and / or 10', can fall in a direction not parallel to the deployment direction of one of the fall arrest devices 10, 10'. In such a case, two fall arrest devices 10, 10' can deploy and rest on the ground 7 in order to prevent the robot 1 from falling.

[0118] In particular, the plurality of fall arresters 10, 10' is distributed around the circumference of the spherical wheel. When the robot 1 falls in one direction between two fall arresters 10, 10', the two fall arresters 10, 10' deploy and rest on their support means 13.

[0119] Thus, in the event of an action likely to cause the robot 1 to fall, such as a loss of balance or a power supply failure for example, regardless of the direction in which the robot 1 falls, the anti-fall devices 10, 10' make it possible to prevent it from falling and to keep it balanced.

[0120] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiment described above, in light of the teaching which has just been disclosed to them.

[0121] In the detailed presentation of the invention given above, the terms used should not be interpreted as limiting the invention to the embodiment set forth in this description, but should be interpreted to include all equivalents the prediction of which is within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching just disclosed to them.

Claims

Robot (1) comprising a single spherical wheel (2) for movement intended to be in contact with the ground (7) and a platform (3) mounted on said spherical wheel (2) by means of stabilizing means, the robot (1) being configured to be mobile on the ground (7) by means of said spherical wheel (2) adapted to roll on the ground (7), characterized in that said robot (1) further comprises an anti-fall device (10; 10') comprising:at least one deployment system (11; 11') connected to the platform (3) of the robot (1);at least one actuating means (12) of said deployment system (11; 11'); andat least one support means (13) of said robot (1) connected to said deployment system (11; 11') and configured to rest on the ground (7);said fall arrest device (10; 10') being movable between a folded position and a deployed position in which said actuating means (12) activates the deployment system (11;11') so that said deployment system (11; 11') of said fall arrest device (10; 10') deploys by moving the support means (13) away from said spherical wheel (2); the robot (1) being configured to, in the deployed position of the fall arrest device (10; 10'), bear on the at least one support means (13) or at least one of the support means (13), the support means (13) comprising at least one wedge (23) and at least one pin (22) having a first end and a second end, the first end being connected to the deployment system (11; 11') by means of a pivot connection and the second end being connected to the wedge (23), and, in the folded position, the pin (22) extending along the spherical wheel (2), and, in the deployed position, the pin (22) having pivoted around said pivot connection so as to move away from said spherical wheel (2), the wedge (23) being further configured to rest on the ground (7).; Robot (1) according to the preceding claim, characterized in that it comprises a power supply system configured to supply said robot (1) with energy and in that in the event of a power failure, said fall arrest device (10; 10') is configured to deploy. Robot (1) according to any one of the preceding claims, characterized in that the actuating means (12) of the deployment system (11; 11') comprises at least one stop (14) configured to, in contact with the ground (7) and / or an obstacle, allow activation of the deployment system (11; 11'), thus moving the support means (13) away from said spherical wheel (2) of the robot (1). Robot (1) according to the preceding claim, characterized in that the deployment system (11; 11') comprises at least a first spindle (15), a second spindle (16) and a set of rods (17) connected to each other by pivot-type connections and configured to be movable between a folded position and a deployed position in which said rods (18) of the set of rods (17) form a parallelogram, the first spindle (15) and the second spindle (16) being respectively connected on the one hand to the actuating means (12) and on the other hand to the set of rods (17) and said support means (13) being connected to the set of rods (17) and to the second spindle (16), the deployment system (11) being configured to, when the actuating means (12) comes into contact with the ground (7) and / or an obstacle, drive the second spindle (16) in rotation so to move it away from the platform (3),driving the set of rods (17) into the deployed position by means of said pivot connections, pivoting the support means (13) so as to move it away from the spherical wheel (2) so that the fall arrest device (10) deploys., Robot according to claim 3, characterized in that the deployment system (11') comprises at least one rack (19), a pinion (20) configured to cooperate with the rack (19), and a toothed wheel (21) configured to cooperate with the pinion (20) and thus forming the pivot connection, the toothed wheel (21) being connected to the first end of the support means (13) and to the platform (3), the rack (19) being on the one hand connected to the pinion (20) and on the other hand to the actuating means (12), the deployment system (11') being configured to, when the actuating means (12) comes into contact with the ground (7) and / or an obstacle, cause the translation of the rack (19) towards the platform (3), thus causing the rotation of the pinion (20), itself causing the rotation of the toothed wheel (21) which pivots the support means (13) so as to move it away from the spherical wheel (2) so that the fall arrest device (10') deploys. Robot (1) according to any one of claims 3 to 5, characterized in that the actuating means (12) of the deployment system (11; 11') further comprises a force sensor connected to the stop (14) and configured to measure the force generated by the contact between said stop (14) and the ground (7) and / or an obstacle, to generate a value representative of said measurement, said robot (1) being configured to compare the representative value of said measurement with a predetermined threshold value, and, when the representative value is greater than the predetermined threshold value, activate the deployment system (11; 11') so that it deploys and when the representative value is less than or equal to the predetermined threshold value, inhibit the deployment of the deployment system (11; 11'), so that it is in the folded position. Robot (1) according to claim 1, characterized in that said robot (1) extends along a frontal plane, orthogonal to the ground (7) and in that the actuating means (12) of the deployment system (11; 11') comprises:a means for measuring the inclination of the robot (1) relative to said frontal plane; anda control unit;the measuring means being configured to measure the inclination of the robot (1) relative to said frontal plane, to generate a value representative of said measurement, to compare the value representative of said measurement with a predetermined threshold value;said control unit being configured to, when the representative value is greater than the predetermined threshold value, deploy the deployment system (11; 11') and when the representative value is less than or equal to the predetermined threshold value, inhibit the deployment of the deployment system (11; 11'). Robot (1) according to any one of the preceding claims, characterized in that it comprises a plurality of anti-fall devices (10; 10'), distributed around the circumference of the spherical wheel (2). Robot (1) according to the preceding claim, characterized in that it comprises three anti-fall devices (10; 10') distributed around the circumference of the spherical wheel (2), equidistant from each other. Robot (1) according to the preceding claim, characterized in that each support means (13) of each fall arrest device (10; 10') comprises at least one wedge (23) and at least one pin (22) having a first end and a second end, the first end being connected to the deployment system (11; 11') by means of a pivot connection and the second end being connected to the wedge (23), and in that in the folded position the pin (22) extends along the spherical wheel (2) and in the deployed position, the pin (22) has pivoted around said pivot connection so as to move away from said spherical wheel (2), the wedge (23) being configured to bear, at least in part, on the ground (7), in that said robot (1) extends along a frontal plane, orthogonal to the ground (7), and in that each wedge (23) extends along the wheel spherical (2), orthogonal to said frontal plane, so as to encircle said spherical wheel (2). Robot (1) according to the preceding claim, characterized in that each wedge (23) comprises a first end and a second end, the first end of a first wedge (23) being configured to come into contact with the second end of a second wedge (23) and the second end of the first wedge (23) being configured to come into contact with the first end of a third wedge (23), when the fall arrest device (10; 10') is in the folded position.

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