Robotic network architecture with a set of labels

Abstract

The present invention relates to a robotic network architecture comprising a set of labels, at least one robot comprising at least one predefined gripper, said labels (30) being configured to be respectively connected to an element belonging to the robotic network and containing identification information for said element and / or location information for said element and / or characteristic information for the element and / or information on the ability of the element to be grasped and / or manipulated and / or moved by the robot by means of the predefined gripper, the elements being objects and / or people and / or places, the robot being configured to interact with any element comprising at least one label (30) and said robot comprising means for interpreting said identification and / or location and / or characteristic information and / or on the ability of the element to be grasped and / or manipulated and / or moved by the robot (10),as well as means for determining behavior with respect to said element, in particular in terms of grasping and / or manipulation and / or movement. Abstract figure: Figure 1,

Description

Title of the invention: Robotic network architecture comprising a set of labels Technical field

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

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

[0003] In particular, robots with a single spherical wheel are known, each comprising a trunk, two arms and an upper part. The trunk is connected to the spherical wheel and is fixed relative to the latter, 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 the latter. 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.

[0004] To grasp the objects, said robots comprise a gripper. The gripper is configured to allow the robot to grasp the objects, whatever their shape.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0020] [Fig.2] shows a tag presenting a capsule, in profile view;

[0021] [Fig.3] is a schematic representation, viewed from the front, of a tag comprising a capsule and external electrical connectors;

[0022] [Fig.4] represents a universal gripping means device comprising a tag;

[0023] [Fig.5] is a schematic representation of a robot capable of interacting in the robotic network architecture.

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

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

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

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

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

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

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

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

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

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

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

[0035] The button can allow, for example, to activate or deactivate the tag 30, to send a signal to call a robot, to confer on the element which is equipped with it a special character, such as being an object of interest to the robot, or a temporarily forbidden area, etc.

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

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

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

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

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

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

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

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

[0044] Thus, in operation of the robotic network, once elements have been associated with a tag 30 (handle, drop zone, etc.), instructions can be given to the robot with reference to the tags, such as for example: 1. “Take the water bottle and place it on the table in the drop-off area.” » ; 2. “follow me”; 3. “go to zone A”; 4. etc.

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

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

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

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

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

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

[0051] The elements are for example classified into different types, including objects, people and places. Subtypes can be defined, to form for example classes of objects, places or people. This makes it possible to simplify the categories of possible interactions between the robot and these elements, depending on the element's membership in a type of elements (place, person or object) and, for a type of element, in a class.

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

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

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

[0055] In particular, the robot may be a robot 10 comprising a single spherical wheel 2 intended to be in contact with the ground and a platform 3 mounted on the spherical wheel 2 by means of stabilizing means, as shown in [Fig.4]. Said robot 10 rests on the spherical wheel 2 by means of the platform 3. This type of robot 10 is commonly called a “Ballbot”.

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

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

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

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

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

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

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

[0063] For example, such a universal gripping means device is as shown in [Fig.5]. The universal gripping means device 1 is configured to be grippable by means of a predefined robotic gripper 6. The universal gripping means device 1 is in particular intended to be connected to a set of objects and comprises a tag 30 which is housed in a housing at one end of the universal gripping means device 1.

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

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

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

Claims

Claims

1. Robotic network architecture comprising a set of labels, at least one robot (10) comprising at least one predefined gripper (6), said labels (30) being configured to be respectively connected to an element belonging to the robotic network and containing identification information for said element and / or location information for said element and / or characteristic information for the element and / or information on the ability of the element to be grasped and / or manipulated and / or moved by the robot (10) by means of the predefined gripper (6), the elements being objects and / or people and / or places, the robot (10) being configured to interact with any element comprising at least one label (30) and said robot (10) comprising means for interpreting said identification and / or location and / or characteristic information and / or on the ability of the element to be grasped and / or manipulated and / or moved by the robot (10),as well as means for determining a behavior with respect to said element, in particular in terms of grasping and / or manipulation and / or movement, at least a part of said labels (30) of said set of labels each comprising a capsule, communication means comprising a transmitting antenna, and a battery, the transmitting antenna and the battery being housed in said capsule, said robot (10) comprising a receiving antenna configured to communicate with said transmitting antenna, so as to trigger an action on the part of the robot, and / or to indicate to the robot a priority of action, and / or to transmit to the robot data from sensors carried by the element.,

2. Robotic network architecture according to claim 1, characterized in that it further comprises a set of universal gripping means devices (1) configured to be grippable by means of the predefined gripper (6), the universal gripping means devices (1) being intended to be connected respectively to a set of objects of the set of elements, the universal gripping means devices (1) comprising at least one of said labels (30) and said universal gripping means devices (1) being configured to be grasped and / or manipulated and / or moved by means of the predefined gripper (6).

3. Robotic network architecture according to claim 2, characterized in that said universal gripping means device (1) comprises a body and at least one fixing means, the body being configured to be grippable by the predefined gripper (6) and the fixing means being configured to connect the body to said object, said body extending mainly in a longitudinal direction between a first end and a second end, and the capsule being housed in a housing provided at one of said ends of the body.

4. Robotic network architecture according to any one of the preceding claims, characterized in that at least a portion of said labels (30) further comprise at least one button arranged on an external face of the capsule and configured to activate / deactivate the label (30) and / or to call the robot (10) and / or to send a predefined message to the robot (10).

5. Robotic network architecture according to one of claims 1 to 4 combined with claim 2, characterized in that at least a portion of said labels (30) further comprise at least one inertial unit configured to detect a movement or an orientation of the elements equipped therewith.

6. Robotic network architecture according to one of claims 1 to 5, characterized in that at least a portion of said labels (30) further comprise a Bluetooth chip coupled to the transmitting antenna.

7. Robotic network architecture according to claim 6, wherein the bluetooth chip meets the 5.1 standard or higher and includes a direction finding function for determining an angle of arrival relative to an object also equipped with a bluetooth chip meeting the 5.1 standard or higher and including a compatible direction finding function.

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