Automated means of managing and configuring a fleet of industrial robots

Abstract

Automated methods are proposed for managing the positioning of a fleet of industrial robots within an industrial site comprising a set of docking stations distributed across multiple locations. Each docking station is arranged to accommodate one of the industrial robots in the fleet and to maintain said robot in a position suitable for performing the tasks assigned to it at the corresponding station. Each industrial robot includes an energy storage device capable of autonomously supplying the energy required for its nominal operation.The automated means are configured to: - receive a request containing information indicating a need for the deployment, on one of the destination reception devices, of one of the industrial robots from the fleet; - select one of the industrial robots from the fleet, whose energy storage device has its own energy resources greater than or equal to a minimum quantity required for the industrial robots to be deployed; - transmit, to a mobile robot present in the industrial site, an order to move the selected industrial robot to the destination reception device. [Fig.1].

Description

Title of the invention: Automated means for managing and configuring a fleet of industrial robots. TECHNICAL FIELD AND PRIOR ART

[0001] The present invention relates in particular to automated means of managing and configuring a fleet of industrial robots, adapted to be deployed in an industrial site.

[0002] In a typical industrial setting, it is common practice to distribute fixed robots among the various stations of a production line, each performing a specific sequence of tasks. Thus, the robots are individually configured and maintained in this state for as long as necessary to complete their productive mission, thereby avoiding, as far as possible, the tedious and complex tasks of initializing and reprogramming the robots required after each shutdown or station change.

[0003] While this approach may be suitable for medium to large industrial sites, the lack of adaptability and the necessary investments prove problematic in many other configurations, particularly for smaller sites or those requiring frequent redeployments.

[0004] Indeed, for each event or change requiring the movement and / or replacement of one or more robots, it is necessary on the one hand to plan and carry out heavy handling tasks, and on the other hand to initialize and reconfigure each robot individually, according to specific programs.

[0005] Moreover, when the regular use of the same robot on several stations of the production line could be envisaged, in order to reduce costs in particular, this possibility is quickly dismissed, as it is considered too complex and risky.

[0006] This is why there is a need to provide automated means of managing and configuring a fleet of industrial robots, suitable for deployment in an industrial site, and capable of allowing the shared use of the same industrial robot between several stations. Description of the invention

[0007] An object of the invention is to provide means for the use of the same industrial robot between several stations of one or more production lines of an industrial site.

[0008] One object of the invention is to provide means enabling an industrial robot to be deployed on a first workstation of an assembly line to perform a first task, this same robot subsequently being able to be redeployed, in a second configuration, on a second station of the same assembly line or of another assembly line, to perform a second task.

[0009] An object of the invention is to provide means to enable the sharing of the capabilities offered by the same robot between various workstations, and thus adapt to various production rates.

[0010] An object of the invention is to provide means that can reduce costs compared to the use of a static industrial robot on each production station of the site.

[0011] One or more of these objects are fulfilled by the method according to the first aspect, the method according to the second aspect, the module according to the third aspect, the robot according to the fourth aspect, and the system according to the fifth aspect. The dependent claims further provide solutions to these objects and / or other advantages.

[0012] In this application, the term "station" refers to a location in an industrial site from which a task or sequence of tasks can be carried out. For example, in a production line, stations describe a plurality of locations from which a production process is implemented, typically through the intervention of a worker, a machine, and / or a robot.

[0013] Similarly, the term "autonomous" is used in connection with the energy resources of a device to indicate that the latter did not need to be constantly supplied with energy by an external device or infrastructure to fulfill its function, although this possibility is not excluded.

[0014] To this end, according to a first aspect, a method is proposed for managing the positioning of a fleet of industrial robots in an industrial site comprising a set of docking devices distributed across multiple stations. Each docking device is arranged to accommodate one of the industrial robots in the fleet and to maintain said industrial robot in a position suitable for performing the tasks that may be assigned to said industrial robot in the corresponding station. Each industrial robot includes an energy storage device capable of autonomously supplying the energy necessary for the nominal operation of said industrial robot. The method comprises the following steps: - a first step of receiving a request, containing information indicating a need for the deployment, on one of the destination reception devices, of one of the industrial robots from among the industrial robots in the park; - a second stage of selecting one of the industrial robots in the fleet, whose energy storage device has its own energy resources greater than or equal to a minimum quantity required for industrial robots to be deployed; - a third transmission step, to a mobile robot present in the industrial site, of an order to move the selected industrial robot towards the destination reception device.

[0015] Since the industrial robot has sufficient energy resources, it is possible to move it within the site, to its destination, without powering it down, thus preserving the information stored in the industrial robot, such as initialization information, programs for executing various tasks, etc. Furthermore, the use of mobile robots allows for the automated and reliable performance of key handling tasks, requiring minimal operator intervention. Finally, the process is efficient because it allows for the effective management of the industrial robots' charging cycles.

[0016] In the second step, industrial robots in the fleet whose energy storage devices have less energy reserves than the minimum required can be identified, and a recharge order and / or a request to replace the energy storage device can then be sent to these industrial robots. This makes it possible to efficiently manage the charging cycles of the industrial robots and reduce their downtime.

[0017] In one embodiment, given the presence of a plurality of mobile robots in the industrial site, one of these robots is identified as being both closest to the industrial robot selected during the second step, available, and possessing the necessary energy resources to move the selected industrial robot to the destination receiving device identified during the first step. The command to move the selected industrial robot to the destination receiving device is then transmitted during the third step to the mobile robot identified during the identification step. It is thus possible to efficiently manage a fleet of mobile robots by assigning the task of transporting the industrial robot to the mobile robot best able to perform this task optimally, namely the nearest available mobile robot with sufficient energy.This makes it possible to use mobile robots for tasks other than transporting industrial robots, such as transporting objects like pallets or boxes, thereby further optimizing costs and flexibility.

[0018] During the identification step, mobile robots lacking the necessary energy resources to move the selected industrial robot to the destination docking station can be identified, and a charging and / or maintenance order can then be issued to these mobile robots. This makes it possible to efficiently manage the charging cycles of the mobile robots and reduce their downtime.

[0019] During the second step, we can identify the industrial robots in the park whose energy storage device has energy resources of its own less than the minimum quantity, then we can transmit to said industrial robots a recharge order and / or a request to replace the energy storage device.

[0020] According to a second aspect, an automated configuration method for an industrial robot is proposed, capable of cooperating with a docking device installed at a station in an industrial site. Each docking device is arranged to allow the industrial robot to dock and to be held in a position suitable for performing the tasks that may be assigned to said industrial robot at the corresponding station. Each industrial robot includes an energy storage device capable of autonomously supplying the energy necessary for the nominal operation of said industrial robot. The method comprises the following steps: - a first step of receiving a start SD signal, transmitted by a receiving device; - a second step of determining an identifier specific to the receiving device that transmitted the SD start signal; - a third step of selecting and loading a program for the execution of a sequence of tasks to be carried out, from a set of programs for the execution of sequences of tasks, according to the identifier specific to the receiving device.

[0021] Thus, the configuration of the industrial robot can be automated and adapted from the moment it is coupled to the docking device. The set of programs for executing task sequences can, for example, include various programs adapted to each docking device on the site, thereby allowing the task sequence to be adapted to the specific characteristics of the station corresponding to the docking device. Since the industrial robot has sufficient energy resources, it is possible to automatically initialize it upon arrival at its destination.

[0022] According to a third aspect, an automated module is proposed for managing the positioning of a fleet of industrial robots in an industrial site comprising a set of docking devices distributed across a plurality of stations, each docking device being arranged to allow the docking of one of the industrial robots in the fleet and the maintenance of said industrial robot in a position suitable for carrying out the tasks that may be assigned to said industrial robot in the corresponding station, characterized in that each industrial robot comprises an energy storage device capable of autonomously supplying the energy necessary for the nominal operation of said industrial robot and in that it is configured to: - receive an SD start signal transmitted by a receiving device; - determine a unique identifier for the receiving device that transmitted the SD start signal; - select and load a program for the execution of a sequence of tasks to be performed, from a set of programs for the execution of sequences of tasks, according to the identifier specific to the receiving device.

[0023] The module can be configured to identify, among a plurality of mobile robots present in the industrial site, one of said mobile robots being both closest to the selected industrial robot, available and having the necessary energy resources to move the selected industrial robot to the identified destination reception device; the module being configured to transmit the order to move the selected industrial robot to the destination reception device, said mobile robot thus identified.

[0024] The module can also be configured to identify mobile robots that do not have the energy resources necessary to move the selected industrial robot to the destination receiving device, and to transmit a recharging and / or maintenance order to said mobile robots.

[0025] The module can also be configured to identify industrial robots in the fleet whose energy storage device has less than the minimum amount of its own energy resources, and to transmit to said industrial robots a recharge order and / or a request to replace the energy storage device.

[0026] According to a fourth aspect, an industrial robot is proposed that is capable of cooperating with a docking device installed at a station on an industrial site, each docking device being arranged so as to allow the industrial robot to dock and to be held in a position suitable for carrying out tasks that may be assigned to the industrial robot at the corresponding station, characterized in that it comprises an energy storage device capable of autonomously supplying the energy necessary for the nominal operation of the industrial robot, the industrial robot being configured to: - receive a start signal, transmitted by a receiving device; - determine a unique identifier for the receiving device that transmitted the start signal, - select and load a program for the execution of a sequence of tasks to be performed, from a set of programs for the execution of sequences of tasks, according to the identifier specific to the receiving device.

[0027] According to a fifth aspect, a system is proposed comprising at least one automation module according to the third aspect, and at least one industrial robot according to the fourth aspect.

[0028] According to a sixth aspect, the invention relates to a computer program comprising instructions for executing the steps of the process according to the first aspect or according to the second aspect, when said program is executed by a processor.

[0029] Each of these programs can use any programming language and be in the form of source code, object code, or code intermediate between source and object code, such as in a partially compiled form, or in any other desirable form. In particular, it is possible to use the C / C++ language, the Java™ language, scripting languages ​​such as JavaScript, Python, and Perl, which allow for "on-demand" code generation and do not require significant overhead for their generation or modification.

[0030] According to a seventh aspect, the invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the process according to the first aspect or according to the second aspect.

[0031] The information carrier can be any entity or device capable of storing the program. For example, the carrier can include a storage means, such as a ROM, for example a CD-ROM or a microelectronic circuit ROM, or a magnetic recording means, for example a floppy disk or a hard disk drive. Alternatively, the information carrier can be a transmissible medium such as an electrical or optical signal, which can be transmitted by an electrical or optical cable, by radio, or by other means. The program according to the invention can, in particular, be uploaded to an Internet or Intranet network. Alternatively, the information carrier can be an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the drawings

[0032] [Fig.1] is a diagram of a system, according to an embodiment of the invention, for the management and configuration of a fleet of industrial automata, deployed in an industrial site;

[0033] [Fig.2] is a diagram of a reception device, according to an embodiment of the invention, for an industrial robot, suitable for installation at a station in an industrial site;

[0034] [Fig.3] is a diagram of a mobile robot, according to one embodiment of the invention;

[0035] [Fig.4] is a diagram of an industrial robot, according to one embodiment of the invention;

[0036] [Fig.5] is a synoptic diagram of the steps of a process, according to an embodiment of the invention, for managing the positioning of a fleet of industrial robots in an industrial site;

[0037] [Fig.6] is a synoptic diagram of the steps of a process, according to an embodiment of the invention, for the automated configuration of an industrial robot. DETAILED DESCRIPTION OF IMPLEMENTATION METHODS

[0038] With reference to [Fig. 1], in one embodiment, a system 1 for managing and configuring a fleet of automated robots is deployed in an industrial site, typically an industrial site for the production of manufactured goods, such as a workshop or factory, and comprising production lines and / or workshops that are partially or fully automated. System 1 comprises a fleet 2 of mobile robots 20, a fleet 3 of industrial robots 30, and an automated control module 40. System 1 includes a communication network 4 capable of enabling the coupling of the mobile robots 20 of fleet 2 and the industrial robots of fleet 3 to the automated control module 40. System 1 further comprises one or more docking devices 10, intended to be installed in the industrial site at stations where industrial robots 30 are likely to be deployed and operated.

[0039] With reference to [Fig. 2], an embodiment of the docking device 10 will now be described. The docking device 10 comprises a support 11 arranged to accommodate at least one of the industrial robots 30 from the park 3 and to hold said industrial robot 30 in a position suitable for performing the tasks that may be assigned to said industrial robot 30 in the corresponding station. The support 11 may, for example, include a mechanical structure on which the industrial robot 30 can rest in a suitable position. The docking device 10 is arranged to transmit a start signal SD to the industrial robot 30 when said industrial robot 30 is positioned in the docking device 10.

[0040] The receiving device 10 includes a clamping system 12 that can be in an engaged state or a free state. When the clamping system 12 is in the free state, if one of the industrial robots 30 is placed on the support 11, then the industrial robot 30 can be moved off the support 11 without being hindered by the clamping system 12. Alternatively, when the clamping system 12 is in the free state, if none of the industrial robots 30 are placed on the support 11, then one of the industrial robots 30 can be placed on the support 11 without being hindered by the clamping system 12. When the clamping system 12 is in the engaged state, and one of the industrial robots 30 is positioned on the support 11, then the clamping system 12 cooperates with the industrial robot 30 so as to hold the latter securely on the support 11. The clamping system 12 thus aims to ensure that, once placed on the support 11, the industrial robot 30 is correctly held in the desired position, without however limiting the operations of the industrial robot 30. In one embodiment, when the clamping system 12 is in the engaged state, and one of the industrial robots 30 is coupled to the support 11, the clamping system can be arranged so as to allow the transmission of the start SD signal to the industrial robot 30.

[0041] The receiving device 10 further includes an identification device 13 to enable the receiving device to be identified. More specifically, the identification device 13 is configured to enable mobile robots 20 and industrial robots 30 to identify the receiving device 10. The identification device 13 may include, in particular, one or more of the following non-exhaustive list: an optical signal emitter, a medium bearing an optical symbol - for example a barcode or an identification number, an electromagnetic signal emitter, a transponder, a mechanical marking, an audible signal emitter.

[0042] The receiving device 10 also includes a power supply device 14 suitable, in particular, for supplying power—for example, in the form of an electric current—to one of the industrial robots 30 when the latter is placed on the support 11, so that said industrial robot 30 can charge an energy storage device and / or directly use the power for its operating needs. In one embodiment, the power supply device 14 can be configured to transmit a start-up signal SD to the industrial robot 30, for example, in the form of an electrical signal of a predetermined fixed voltage, for example, a 24V DC voltage signal.

[0043] With reference to [Fig. 3], an embodiment of the mobile robot 20 will now be described. The mobile robot 20 is an automated system capable of receiving and executing requests to transport object(s) within the industrial site. Thus, the mobile robot 20 has handling capabilities and can, for example, transport cartons and / or pallets autonomously or semi-autonomously from a starting location to a destination location. The mobile robot 20 is also capable of receiving, from the communication network 4, and executing a transport request from one of the industrial robots 30 in the fleet 3, between an initial location where said industrial robot is located and a destination location, typically one of the receiving devices 10 installed on the industrial site.

[0044] The mobile robot 20 includes a processing unit 21, adapted in particular to implement instructions for the execution of a computer program. The unit of The processing unit 21 also allows for the receipt and processing of information in order to receive commands, perform functions assigned to the mobile robot 20, and transmit information relating to the mobile robot 20 and its environment, in particular the position of the mobile robot 20 within the industrial site. The processing unit 21 is capable of cooperating with a communication interface 22, adapted to be coupled to the communication network 4, so as to allow the reception of information transmitted by entities coupled to the communication network 4 and the sending of information to entities coupled to the communication network 4. The communication interface 4 is, for example, a wireless communication interface to increase the mobility of the mobile robot 20.

[0045] The mobile robot 20 includes a motor device 23 capable of moving the mobile robot in a controlled manner to perform travel between different locations on the industrial site. The motor device 23 can thus be controlled by the processing unit 21, so as to perform movements between different locations on the industrial site.

[0046] The mobile robot 20 includes a handling device 24 capable of mechanically coupling / uncoupling an object – and more particularly one of the industrial robots 30 from the fleet 3 – to the mobile robot 20. The handling device 24 may, for example, include a platform whose dimensions allow one of the industrial robots to be properly supported for transport, and subsequently placed on one of the receiving devices 10. The handling device 24 may also include guiding means – for example, rails – and / or automated loading means to assist and / or autonomously carry out the loading of one of the industrial robots 30.

[0047] The mobile robot 20 includes an energy management device 25, capable of supplying energy to, in particular, the processing unit 21, the communication interface 22, the motor device 23, and the handling device 24. The energy management device 25 is further configured to assess available energy resources and to measure energy consumption. The energy management device 25 may also include an energy storage device, for example, an electric battery system. The charge level of a battery system can be assessed, for example, by measuring the voltage delivered by the battery system.

[0048] With reference to [Fig. 4], an embodiment of the industrial robot 30 will now be described. The industrial robot 30 is an automated system capable of performing a sequence of tasks, once coupled to one of the receiving devices 10. The industrial robot 30 can, for example, perform one or more of the tasks in the following non-exhaustive list: grasping objects, moving objects, taking measurements, brazing / welding, drilling, positioning in shape. The industrial robot 30 is further arranged so as to allow its transport by one of the mobile robots 20 to one of the reception devices 10.

[0049] The industrial robot 30 includes a processing unit 31, adapted in particular to implement instructions for the execution of a computer program. The processing unit 31 also allows for receiving and processing information in order to receive commands, perform functions assigned to the industrial robot 30, and transmit information relating to the industrial robot 30 and its environment, in particular the position of the industrial robot 30 within the industrial site. The processing unit 31 is thus coupled to a communication interface 32, adapted to be coupled to the communication network 4, so as to allow the reception of information transmitted by entities coupled to the communication network 4 and the sending of information to entities coupled to the communication network 4. The communication interface 4 is, for example, a wireless communication interface to increase the mobility of the industrial robot 30.

[0050] The industrial robot 30 includes an effector device 33 capable of performing tasks. The effector device 33 may, for example, be a robotic arm equipped with tools, such as a clamping gripper and / or a cutting tool. The effector device 33 is typically controlled by the processing unit 31, so as to perform the sequence of programmed and / or requested tasks, depending on the station of the industrial site occupied by the industrial robot 30. Typically, the industrial robot 30 is configured so that the effector device 33 of the industrial robot 30 performs a first sequence SI of tasks if it is coupled to the docking device 10 located in a first location E1 of the industrial site, or a second sequence S2 of tasks if it is coupled to the docking device 10 located in a second location E2 of the industrial site.The effector device 33 is, for example, mounted securely by its base on a platform 36 suitable for being received by the support 11 of the receiving device 10 and for cooperating with the clamping system 12 of the receiving device.

[0051] The industrial robot 30 includes an energy storage device 34, capable of supplying energy to the processing unit 31, the communication interface 32, and the effector device 33. The energy storage device 34 allows the industrial robot 30 to have an autonomous energy source and can thus operate without necessarily being connected to an external energy source, provided that the energy storage device has a sufficient storage capacity. The energy storage device 34 includes, for example, an electric battery system. The energy storage device 34 is further configured to assess available energy resources and to measure energy consumption. The charge level of a battery system can be assessed, for example, by measuring the voltage delivered by the battery system.

[0052] The industrial robot 30 further includes a localization device 35, capable of cooperating with the identification device 13 of the docking device 10. When the industrial robot is coupled to the docking device 10, the localization device 35 is configured to determine the docking device hosting the industrial robot and / or the station at the industrial site where the docking device is located. The localization device 35 may, in particular, include one of the following means or a combination thereof: an optical sign or symbol reader, a barcode or identification number reader, a camera, an electromagnetic reception system, a communication module, a mechanical probe, an audio capture and processing system.

[0053] The processing unit 31 is further configured to automatically execute the instructions of a main program, when the industrial robot 30 receives the start SD signal, so that the industrial robot is in an initial state in which the localization device 35 is able to determine the host device hosting the industrial robot.

[0054] The processing unit 31 is further configured to automatically select and load a program for the execution of a sequence of tasks to be performed, from a set of programs for the execution of sequences of tasks, according to the determination by the localization device 35 of the reception device 10 hosting the industrial robot 30. Thus, it is possible to adapt the operation of the industrial robot, and in particular the sequence of tasks to be performed, according to the station occupied.

[0055] The automation module 40 is coupled to the communication network 4, so as to be able to receive information and transmit commands to all entities accessible via the communication network 4, and in particular to the mobile robots 20 and the industrial robots 30. The automation module 40 is in particular capable of coordinating the actions of the mobile robots 20 and the industrial robots 30, based in particular on data flows carried by the communication network 4, updated constantly or regularly, including various information relating to the mobile robots 20 and the industrial robots 30, as well as to their environment, such as the positioning in the industrial site of the mobile robots 20, the production rate of the stations as well as the energy level of the different mobile robots 20 and industrial robots 30.The automation module 40 may also include a user interface to allow an operator to configure the system according to the invention, in particular to allow a user to select and / or enter information to describe the desired positioning for each of the industrial robots 30 in the fleet 3.

[0056] Reference is now made to [Fig. 5], representing the steps of the process, according to one embodiment of the invention, which can be implemented by the module automaton 40 of system 1, for managing the positioning of the fleet of 3 industrial robots 30, in an industrial site.

[0057] During an SI step 10, a REQ request, containing information indicating a need to deploy one of the industrial robots 30 from the fleet 3 onto one of the docking stations 10, is received. The REQ request can be received from the communication network 4. Alternatively, the REQ request can be generated by the PLC module 40 if it identifies such a need, for example, based on information collected from the communication network 4 and / or its user interface. The information contained in the REQ request thus makes it possible to determine the desired positioning for the selected industrial robot 30, and more specifically the docking station 10 corresponding to said station.

[0058] During step S120, one of the industrial robots 30 from the fleet 3 is selected, having energy resources greater than or equal to a minimum quantity required for the industrial robots 30 to be deployed. The minimum quantity can be predetermined or determined according to the tasks to be performed. For example, if the energy storage device 34 includes a battery system, it is possible to compare whether the voltage delivered by the battery system is above a minimum voltage threshold. Furthermore, for each industrial robot 30 in the fleet 3 that does not meet this criterion, it is possible to transmit a command to recharge and / or replace the energy storage device 34.

[0059] During step S125, the mobile robot 20 is identified, from among the mobile robots 20 in fleet 2, as being both the closest to the selected industrial robot 30, available, and having the necessary energy resources to move the selected industrial robot 30 to the selected station. Thus, step S125 may include the following substeps: - During a sub-step S126, the mobile robot 20, among the mobile robots 20 of park 2, is determined to be the closest to the selected industrial robot 30, in operation in particular information relating to the positioning in the industrial site of each of the mobile robots 20 of park 2; - During a substep S127, it is determined whether the mobile robot 20 closest to the industrial robot 30, selected during substep S126, is available, i.e. whether it is not already assigned to perform another task, such as transporting a pallet; if the nearest mobile robot 20 is not available, substep S126 is implemented again, excluding the unavailable mobile robot 20 from the determination of the nearest mobile robot 20; - if the mobile robot 20 closest to the industrial robot 30 is available, then, during a substep S127, it is determined, during a step S128, whether the available mobile robot 20 closest to the industrial robot 30 has the resources energy required to move the selected industrial robot 30 to the selected station, for example by checking if the voltage delivered by its battery system is above a minimum voltage threshold; if this is not the case, a recharge and / or replacement order for the energy management device 25 of the nearest available mobile robot 20 to the industrial robot 30 can be transmitted, and wait until the available mobile robot 20 has the necessary energy resources again; alternatively, if this is not the case, substep S126 can be implemented again by excluding the available mobile robot 20 not having the necessary energy resources from the determination of the nearest mobile robot 20; - if the nearest available mobile robot 20 to the industrial robot 30 has the necessary energy resources to move the selected industrial robot 30 to the selected station, then the latter is identified among the mobile robots 20 in park 2, as the recipient of the order transmitted during step S130.

[0060] During a step S130, a command is transmitted to the mobile robot 20 identified during step S125 to move the selected industrial robot 30 towards the destination receiving device 10.

[0061] Reference is now made to [Fig.6], representing the steps of the process, according to an embodiment of the invention, of configuring an industrial robot 30. The process is implemented in particular during the coupling of the industrial robot 30 concerned to one of the reception devices 10, following the execution of the order produced during step 140 of the process described in [Fig.5].

[0062] During an S210 step, a start SD signal, transmitted by a host device 10, is received.

[0063] During an S220 step, an identifier specific to the receiving device 10 that transmitted the SD start signal is determined.

[0064] During an S230 step, a program for the execution of a sequence of tasks to be performed is selected and loaded from a set of programs for the execution of sequences of tasks, according to the identifier specific to the host device 10.

[0065] The program thus loaded by the industrial robot 30, chosen according to the station in which said industrial robot has been deployed, can thus be executed immediately or later, to carry out the appropriate sequence of tasks.

Claims

Demands

1. A method for managing the positioning of a fleet (3) of industrial robots (30) in an industrial site comprising a set of docking devices (10) distributed across a plurality of stations, each docking device being arranged to allow the docking of one of the industrial robots (30) in the fleet (3) and the maintenance of said industrial robot (30) in a position suitable for carrying out the tasks that may be assigned to said industrial robot (30) in the corresponding station, each industrial robot (30) comprising an energy storage device (34) capable of autonomously supplying the energy necessary for the nominal operation of said industrial robot (30), the method comprising: - a first step (SI 10) of receiving a request (REQ), containing information indicating a need for deployment, on one of the destination docking devices (10),of one of the industrial robots (30) from among the industrial robots (30) in the fleet (3); the process being characterized in that it further comprises the following steps: - a second step (S 120) of selecting one of the industrial robots (30) in the fleet (3), whose energy storage device (34) has its own energy resources greater than or equal to a minimum quantity required for the industrial robots (30) to be deployed; - a third step (S 130) of transmitting, to a mobile robot (20) present in the industrial site, an order to move the selected industrial robot (30) towards the destination receiving device (10).

2. A method according to claim 1, wherein a plurality of mobile robots (20) are present in the industrial site, and wherein, during an identification step (S 125), one of the mobile robots (20) is identified from among the plurality of mobile robots (20) as being both the closest to the industrial robot (30) selected during the second step (S 120), available, and having the necessary energy resources to move the selected industrial robot (30) to the destination receiving device (10) identified during the first step (S 10); the order to move the selected industrial robot (30) to the receiving device (10) destination being then transmitted during the third step (S 130) to the mobile robot (20) identified during the identification step (S 125).

3. A method according to claim 2, wherein, during the identification step (S 125), mobile robots (20) that do not have the necessary energy resources to move the selected industrial robot (30) to the destination receiving device (10) are identified, and then a recharge and / or maintenance order is transmitted to said mobile robots (20).

4. A method according to any one of claims 1 to 3, wherein, in the second step, industrial robots (30) in the fleet (3) whose energy storage device (34) has self-generated energy resources below the minimum quantity are identified, and then a recharge order and / or a request to replace the energy storage device (34) is transmitted to said industrial robots (30).

5. A method for the automated configuration of an industrial robot (30), capable of cooperating with a docking device (10) installed at a station in an industrial site, each docking device being arranged so as to allow the docking of the industrial robot (30) and the maintenance of said industrial robot (30) in a position suitable for carrying out the tasks that may be assigned to said industrial robot (30) in the corresponding station, each industrial robot (30) comprising an energy storage device (34) capable of autonomously supplying the energy necessary for the nominal operation of said industrial robot (30), characterized in that it comprises the following steps: - a first step (S210) of receiving a start SD signal, transmitted by a docking device (10); - a second step (S220) of determining an identifier specific to the docking device (10) that transmitted the start SD signal;- a third step (S230) of selecting and loading a program for the execution of a sequence of tasks to be carried out, from a set of programs for the execution of sequences of tasks, according to the identifier specific to the receiving device (10).;

6. Automation module (40) for managing the positioning of a fleet (3) of industrial robots (30) in an industrial site comprising a set of reception devices (10) distributed over a plurality of stations, each receiving device being arranged so as to allow the reception of one of the industrial robots (30) of the park (3) and the maintenance of said industrial robot (30) in a position adapted to the performance of the tasks likely to be assigned to said industrial robot (30) in the corresponding station, each industrial robot (30) comprising an energy storage device (34) capable of autonomously supplying the energy necessary for the nominal operation of said industrial robot (30), characterized in that it is configured to: - receive (SI 10) a request (REQ), containing information indicating a need for the deployment, on one of the destination receiving devices (10), of one of the industrial robots (30) from among the industrial robots (30) of the park (3);- select (S 120) one of the industrial robots (30) from the fleet (3), whose energy storage device (34) has its own energy resources greater than or equal to a minimum quantity required for the industrial robots (30) to be deployed; - transmit (S 130), to a mobile robot (20) present in the industrial site, an order to move the selected industrial robot (30) to the destination receiving device (10).

7. Module according to claim 6, configured to identify, among a plurality of mobile robots (20) present in the industrial site, one of said mobile robots (20) being both closest to the selected industrial robot (30), available and having the necessary energy resources to move the selected industrial robot (30) to the identified destination receiving device (10); the module being configured to transmit the order to move the selected industrial robot (30) to the destination receiving device (10), said mobile robot (20) thus identified.

8. Module according to claim 7, configured to identify mobile robots (20) not having the necessary energy resources to move the selected industrial robot (30) to the destination receiving device (10), and to transmit to said mobile robots (20) a recharge and / or maintenance order.

9. A module according to any one of claims 6 to 8, configured to identify the industrial robots (30) in the fleet (3) whose energy storage device (34) has self-generated energy resources below the minimum quantity, and to transmit to said industrial robots (30) a recharge order and / or a request to replace the energy storage device (34).

10. Industrial robot (30), capable of cooperating with a docking device (10) installed at a station of an industrial site, each docking device being arranged so as to allow the docking of the industrial robot (30) and the maintenance of said industrial robot (30) in a position suitable for carrying out tasks that may be assigned to the industrial robot (30) in the corresponding station, comprising an energy storage device (34) capable of autonomously supplying the energy necessary for the nominal operation of the industrial robot (30), characterized in that the industrial robot is configured to: - receive (S210) a start SD signal, transmitted by a docking device (10); - determine (S220) an identifier specific to the docking device (10) which transmitted the start SD signal;- select and load (S230) a program for the execution of a sequence of tasks to be carried out, from a set of programs for the execution of sequences of tasks, according to the identifier specific to the receiving device (10).;

11. System (1) comprising at least one automation module (40) according to any one of claims 6 to 9, and at least one industrial robot (30) according to claim 10.

12. A computer program comprising instructions for carrying out the steps of one of the methods according to any one of claims 1 to 5, when said program is executed by a processor.

13. Computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the processes according to any one of claims 1 to 5.

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