Mobile unit configured to trigger the expulsion of the foreign body by inertial effect

Abstract

The present invention relates to a movable housing (BM) comprising an upper surface (TS), movement means (R, ME) for moving the mobile housing (BM), a sensor (S) configured to collect information about the presence of a foreign body on the upper surface (TS) of the mobile housing (BM) and provide a signal carrying this information, and an electronic control unit (EC) configured to receive the signal from the sensor (S), detect the presence of an object on the upper surface (TS) of the mobile housing (BM) based on the information provided by the sensor signal (S). The electronic control unit (EC) is also configured to control the movement means of the mobile housing (BM) so as to cause the foreign body to be removed by the inertia of the body in response to movement of the mobile housing (BM), if the presence of this foreign body is confirmed. Figure 1

Description

Title of the invention: Mobile housing configured to cause the evacuation of the foreign body by inertial effect

[0001] The present invention relates to the field of autonomous rolling robots. More particularly, the invention relates to a mobile housing configured to cause the evacuation of the foreign body by inertial effect.

[0002] Electric vehicles are currently recharged using a cable and a connector that plugs into the vehicle's socket. This requires user action on a cable that may be heavy, poorly stored, wet or dirty.

[0003] Automatic systems exist, such as robots that can charge by induction or by a connector. The robot moves under the car, exactly under the secondary circuit of the induction or under the connector.

[0004] In the case of a mobile induction charging robot, this robot generally has a smooth and almost flat upper surface to pass under the car and remain parallel to the receiving circuit under the vehicle. However, foreign materials may be present on this upper surface which could harm the proper functioning of the system. These foreign materials may be a metallic or non-metallic object or even an animal.

[0005] Document CN113844287A discloses a wireless charge transmission device comprising a device for detecting foreign matter present on the upper surface of the charge transmission device and a system for removing foreign matter from the charging device. In this document, the proposed foreign matter removal system is an air blowing or water spraying system. These two examples of foreign matter removal systems have the disadvantage of being expensive devices and difficult to embed in the robot due to the bulkiness of the components of these systems.

[0006] The invention aims to resolve the drawbacks of the prior art. To achieve this objective, the invention provides a mobile housing comprising: - an upper surface, - means of movement ensuring the movement of the mobile box, - a sensor configured to collect information relating to the presence of a foreign body on the upper surface of the mobile case and provide a signal carrying this information, - an electronic calculator configured for: -receive the signal from the sensor, -detect the presence of an object on the upper surface of the mobile case from the information provided by the sensor signal, characterized in that the electronic computer is also configured to: -control the means of movement of the mobile housing (BM) so as to cause the evacuation of the foreign body by the inertia of this body in the face of a movement of the mobile housing, if the presence of this foreign body is proven.

[0007] The technical effect is to be able to eject a foreign body present on the mobile case, without any device other than the means for moving the mobile case.

[0008] Various additional features may be provided, alone or in combination:

[0009] In one embodiment, the sensor is disposed on the upper surface of the mobile housing.

[0010] In one embodiment, the sensor is chosen from a digital camera, a radar, an ultrasonic sensor.

[0011] In one embodiment, the sensor is a lidar.

[0012] In one embodiment, the electronic calculator is configured to control the means of movement of the mobile box so as to make it turn.

[0013] In one embodiment, the electronic calculator is configured to control the means for moving the mobile housing so as to cause it to rotate on itself.

[0014] In one embodiment, the electronic computer is configured to control the means for moving the mobile housing so as to cause a temporary acceleration of the mobile housing in translation.

[0015] In one embodiment, the electronic computer is configured to control the means for moving the mobile housing so as to cause translational braking of the mobile housing.

[0016] In one embodiment, the mobile housing comprises alarm means, the electronic computer being configured to control the alarm means if a predetermined threshold of controls of the movement means or a predetermined threshold of duration of control of the movement means has been exceeded.

[0017] In one embodiment, the mobile box is an autonomous induction vehicle charging robot.

[0018] Other features and advantages will appear on reading the following description of a particular, non-limiting embodiment of the invention, given with reference to the figures in which:

[0019] [Fig.l]: this figure schematically represents an autonomous mobile box adapted for the invention.

[0020] [Fig.2]: this figure illustrates in top view the detection of a foreign body present on the standalone mobile box.

[0021] [Fig.3]: this figure illustrates in top view a first strategy for evacuating the foreign body detected on the autonomous mobile box.

[0022] [Fig.4]: this figure illustrates in top view a second strategy for evacuating the foreign body detected by the autonomous mobile box.

[0023] [Fig. 1] shows a mobile housing BM. The mobile housing BM comprises a mobile body CM comprising displacement means, a sensor S, and an electronic computer CE.

[0024] The mobile box BM is an autonomous robot because the movement means are responsible for moving it (and therefore moving it) autonomously on a rolling surface by analyzing environmental data acquired at least by the sensor S. The sensor S can detect obstacles around the mobile box BM.

[0025] Here, the term “autonomous movement” means a movement which is controlled internally by the electronic computer CE of the mobile box BM.

[0026] In the case of an autonomous robot like that of [Fig.l], the movement means may comprise, for example, wheels R mounted for rotation (possibly omnidirectional), or else caterpillars, and electric motors ME driving these wheels R or caterpillars.

[0027] It will be understood that when the mobile housing BM comprises several wheels R, or driving tracks, it also comprises, a priori, as many electric motors ME independent of each other as there are wheels R or driving tracks.

[0028] The means for moving the mobile housing BM are arranged so as to ensure the movement of this mobile housing on the rolling surface according to commands determined by the electronic computer CE, autonomously. The movement means are provided to allow the mobile housing BM to move in rotation on itself or in translation.

[0029] The mobile housing BM comprises a so-called lower surface BS intended to be opposite the rolling surface and on which the wheels R or tracked vehicles are arranged.

[0030] The housing BM also comprises a so-called upper surface TS on which the sensor S is arranged. The sensor S is configured to collect information relating to the presence of a foreign body FO on the upper surface TS of the mobile housing BM and to provide a signal carrying this information.

[0031] The mobile box BM may be an autonomous induction charging robot. In this case, the mobile box BM comprises a primary coil (not shown) arranged on the side of the upper surface TS, supplied with current to transfer electrical energy by induction to a secondary coil forming part of a secondary circuit equipping a parked vehicle and responsible for transforming the transferred electrical energy in charging current for the battery of this vehicle.

[0032] The mobile box BM can be an autonomous robot having another function, for example vacuuming the ground or mowing the lawn.

[0033] The mobile box BM is electrically powered by a cable connected to the electrical network or by a battery, preferably rechargeable (not shown), in order to supply electrical energy to the means of movement, to the sensor S, to the electric motors ME, to the electronic computer CE, and where appropriate to the primary coil.

[0034] The electronic computer CE of the mobile housing BM is configured to determine the movement commands for the movement means, in particular as a function of the environment which is defined by the environmental data acquired by the sensor S and to control the movement means accordingly.

[0035] The electronic computer CE is configured to receive the signal from the sensor S and notably comprises processing means which are responsible for analyzing the signal from the sensor S. The measurements are recorded and analyzed by the electronic computer at regular intervals.

[0036] The sensor S can, for example, be a digital camera, a radar, a lidar, an ultrasonic sensor, etc. The sensor S is preferably a lidar. Indeed, the lidar makes it possible to perform a 360° scan of the obstacles present on the surface TS, including small ones (approximately 3 mm), while being resistant to the environment, unlike an optical sensor or a camera (dust, steam, strong or absent luminosity).

[0037] As illustrated in [Fig.2], if a foreign body FO is present on the autonomous mobile box BM, this presence is detected by the sensor S, for example a lidar. The foreign body FO can be a living object or not placed on its upper surface TS.

[0038] If a foreign body is detected, it is provided that the electronic computer CE controls the means for moving the mobile housing BM so as to cause the evacuation of the foreign body FO by the inertia of this body in the face of a translational and / or rotational movement of the mobile housing BM, if the presence of this foreign body FO is proven.

[0039] Thus, a non-living object can be expelled and fall to the ground, depending on its mass, by inertial or centrifugal force. An animal can also be jostled or even frightened by these movements. The objective is to clean the upper surface TS of the mobile box BM by a sudden movement of the latter so as not to disturb the main function (recharging or other) of the mobile box BM.

[0040] [Fig. 3] illustrates the implementation by the electronic computer CE of an example of a movement strategy. In this example, the electronic computer CE attempts to expel the foreign body FO detected by the inertia of this body in the face of a translational movement.

[0041] Such a translational movement may be a translational displacement of the mobile housing BM with a temporary, short and intense acceleration A, and / or sudden braking F.

[0042] [Fig. 4] illustrates the implementation by the electronic computer CE of another example of a displacement strategy. In this example, the electronic computer CE attempts to expel the foreign body FO detected by the inertia of this body facing a rotational movement Ro of the mobile housing BM on itself. In this case, the foreign body FO is expelled by centrifugal effect.

[0043] In another example of a movement strategy not illustrated, the electronic computer CE may attempt to expel the foreign body FO detected by the inertia of this body when faced with a turn of the mobile housing. In this case, the foreign body FO is expelled by centrifugal effect.

[0044] In order to expel the detected foreign body FO, combinations of the previously described movement strategies can be provided, possibly with changes in the direction of movement.

[0045] A step may be provided for verifying the result of the implementation of the movement strategy and limiting the number of attempts to expel the foreign body FO to a predetermined threshold of attempts or a predetermined threshold of attempt duration. Attempt is understood to mean a command of the movement means in order to implement a movement strategy.

[0046] The mobile box BM may comprise alarm means (sound, light, etc.), the electronic computer CE then being configured to control the alarm means if the predetermined threshold of attempts or the predetermined threshold of duration of implementation of the strategy has been exceeded.

[0047] The invention has the advantage of being able to clean the upper surface of the system, by centrifugal force and / or inertia so as not to disturb the load or the main function, without adding additional devices such as a blowing or spraying system. This makes it possible to increase the availability and reliability of the system in the event of small objects falling or carelessly placed on the autonomous robot.

Claims

Claims

1. Mobile housing (BM) comprising an upper surface (TS): -movement means (R, ME) ensuring the movement of the mobile housing (BM), -a sensor (S) configured to collect information relating to the presence of a foreign body (FO) on the upper surface (TS) of the mobile housing (BM) and provide a signal carrying this information, -an electronic computer (CE) configured to: -receive the signal from the sensor (S), -detect the presence of an object on the upper surface (TS) of the mobile housing (BM) from the information provided by the signal from the sensor (S), characterized in that the electronic computer (CE) is also configured to: -control the movement means of the mobile housing (BM) so as to cause the evacuation of the foreign body (FO) by the inertia of this body in the face of a movement of the mobile housing (BM), if the presence of this foreign body (FO) is proven.

2. Mobile housing (BM) Device according to claim 1, characterized in that the sensor (S) is arranged on the upper surface (TS) of the mobile housing (BM).

3. Mobile case according to claim 2, characterized in that the sensor (S) is chosen from a digital camera, a radar, an ultrasonic sensor.

4. Mobile housing according to claim 2, characterized in that the sensor (S) is a lidar.

5. Mobile box (BM) according to any one of the preceding claims, characterized in that the electronic computer (CE) is configured to control the means for moving the mobile box (BM) so as to make it make a turn.

6. Mobile case (BM) according to any one of the preceding claims, characterized in that the electronic computer (CE) is configured to control the means for moving the mobile case (BM) so as to make it rotate on itself.

7. Mobile case (BM) according to any one of the preceding claims, characterized in that the electronic computer (CE) is configured to control the means for moving the case mobile (BM) so as to cause a temporary acceleration (A) of the mobile case (BM) in translation.

8. Mobile housing (BM) according to any one of the preceding claims, characterized in that the electronic computer (CE) is configured to control the means for moving the mobile housing (BM) so as to cause translational braking of the mobile housing (BM).

9. Mobile housing (BM) according to any one of the preceding claims, characterized in that it comprises alarm means, the electronic computer (CE) being configured to control the alarm means if a predetermined threshold of controls of the movement means or a predetermined threshold of duration of control of the movement means has been exceeded.

10. Mobile housing (BM) according to any one of the preceding claims, characterized in that it is an autonomous robot for charging vehicles by induction.

Images