COMPACT AUTONOMOUS ROBOT WITH BI-DIRECTIONAL CHARGING AND MODULAR MAINTENANCE ACCESS

Abstract

COMPACT AUTONOMOUS ROBOT WITH BI-DIRECTIONAL CHARGING AND MODULAR MAINTENANCE ACCESS The invention relates to an autonomous robot (1) comprising a chassis (2), an electric motor (4) carried by said chassis (2), a battery (3) carried by said chassis (2) and electrically connected to the electric motor (4), an electrical charging system for said battery (3), mounted on the chassis (2), two drive wheels (5) driven by said electric motor (4) and capable of propelling said autonomous robot (1) along at least one preferred direction of movement, referred to as the longitudinal direction (15), a suspension system supporting the chassis (2), the motor being mechanically connected to said suspension system, the electrical charging system for the battery (3) comprising two electrical charging zones (6), carried by the chassis (2), electrically connected to the battery (3) and arranged at two opposite longitudinal ends of the robot. Figure for the abstract: Figure 1

Description

Title of the invention: COMPACT AUTONOMOUS ROBOT WITH BIDIRECTIONAL CHARGING AND MODULAR MAINTENANCE ACCESS Technical field of the invention

[0001] The present invention relates to the field of autonomous mobile robots, and more particularly those which can be deployed within industrial infrastructures. Technological background

[0002] Autonomous mobile robots are commonly used in environments such as warehouses, production centers and logistics centers to ensure the transport of goods. Their main advantage lies in their ability to move in free navigation, they are thus able to transport goods from one point to another autonomously, without human intervention and without constant supervision.

[0003] However, existing solutions have certain limitations that may limit their effectiveness. In particular, the method of recharging the robots' electric batteries poses constraints. Indeed, current models only allow one-way recharging, which requires the robot to make a half-turn to position itself correctly on the charging station, thus reducing its autonomy and the effective working time of the robot, thus slowing down the operating rate of said robot and, in certain cases, limiting its use in cluttered environments or those with restricted dimensions, in particular corridors whose width is barely wider than the width of the robots.

[0004] In addition, another challenge concerns the maintenance of robots. Due to their compact design, access to internal components generally requires complete disassembly of the hull, resulting in high costs and extended response times. These increased downtimes can affect productivity, especially in high-speed environments.

[0005] Finally, it is worth highlighting the difficulties related to balancing robot wheels. The ideal operation of these robots relies on constant and homogeneous contact between their drive wheels and the ground. However, in many environments, the ground may have irregularities or deformations, causing misalignment of the robot's wheels. As a result, a pressure difference is created between the wheels, affecting their grip and their respective rotation speed. Such a disparity causes a deviation from the initially planned trajectory, thus reducing the precision of the movement. This deviation impacts not not only odometry, i.e., the calculation of the distance traveled, but also the overall location of the robot in space. A loss of precision in these areas can lead to significant errors in autonomous navigation, making the robot less reliable and compromising its ability to perform its tasks efficiently. These issues must be considered to optimize the performance and reliability of autonomous mobile robots.

[0006] There is therefore a need for a compact autonomous robot, capable of maintaining high operational efficiency in constrained environments, while adapting to spatial limitations and ground irregularities, without this resulting in losses of precision in navigation or unforeseen deviations.

[0007] There is also a need for a solution that reduces maintenance downtime without requiring complex infrastructure or costly modifications. Objectives of the invention

[0008] The invention aims to provide a compact autonomous robot capable of electrically recharging itself without requiring turning maneuvers, thus facilitating its movement in restricted spaces such as narrow corridors, while providing simplified access to internal components for rapid and economical maintenance, and compensating for unevenness in the ground to maintain optimal movement precision, ensuring high operational efficiency without losses of precision or unforeseen deviations in navigation.

[0009] The invention also aims to provide, in at least one embodiment of the invention, an autonomous robot equipped with an automatic wheel balancing system capable of adapting to ground irregularities to maintain high odometry accuracy. Statement of the invention

[0010] Autonomous robot comprising:

[0011] - a chassis,

[0012] - at least one electric motor carried by said chassis,

[0013] - a battery carried by said chassis and electrically connected to each motor electric,

[0014] - an electrical recharging system for said battery, mounted on the chassis,

[0015] - at least two drive wheels driven by at least one electric motor and capable to drive said autonomous robot in movement along at least one preferred direction of movement, called the longitudinal direction,

[0016] - a suspension system carrying the chassis, each motor being connected mechanically to said suspension system,

[0017] the electrical battery charging system comprises at least two electrical charging zones, carried by the chassis, electrically connected to the battery and arranged at two opposite longitudinal ends of the robot;

[0018] the suspension system comprises:

[0019] - an anchoring base mounted fixedly on the chassis and extending in one direction orthogonal to said longitudinal direction, called transverse direction,

[0020] - a profiled beam in the shape of the letter “T”, called a T-piece, pivotally mounted on said anchor base by the lower end of the T-piece,

[0021] - for each drive wheel, a spacer extending transversely and mounted pivoting by one of its ends to a transverse end of said anchor base and mechanically connected to this drive wheel by the other of its ends,

[0022] - for each drive wheel, a shock absorber extending in a direction forming an oblique angle with the line normal to the plane of the chassis, and pivotally mounted by one of its ends on a suspension arm connected to this driving wheel and pivotally mounted by the other of its ends to one of the upper ends of the T-piece.

[0023] By doing so, the invention proposes to effectively meet the needs of a compact autonomous robot capable of maintaining high operational efficiency in constrained environments.

[0024] The robot chassis ensures the robustness and stability necessary for the robot to operate reliably in varied environments.

[0025] The electric motor, carried by the chassis, provides the power necessary to drive the drive wheels and ensure the movement of the robot in its environment. The electric motor is electrically connected to the battery, so as to provide a continuous supply of electrical energy to the robot.

[0026] The battery, also carried by the chassis, is preferably a rechargeable battery, dedicated to storing the energy needed to power the electric motors and other electronic components of the robot. It is electrically connected to each motor, which allows for even distribution of energy and gives the robot the ability to operate for long periods without interruption.

[0027] In the context of the present invention, the term "battery" means a device comprising one or more electrochemical accumulators intended to store electrical energy reversibly in chemical form. This device allows the conversion of chemical energy into electrical energy during the discharge phase and vice versa during the charge phase. The accumulators can be configured in series and / or in parallel in order to provide a voltage and / or a capacity meeting the specific needs of the intended application.

[0028] The electrical battery charging system, mounted on the chassis, comprises at least two electrical charging zones located at two opposite longitudinal ends of the robot. This configuration allows the robot to be easily recharged, regardless of its orientation, thus reducing electrical consumption and downtime, and increasing operational availability. In particular, the robot does not need to perform additional turning maneuvers in order to orient the charging zone towards the source of electrical charging power.

[0029] The two drive wheels, driven by the electric motors, allow the robot to move along a preferred direction, called the longitudinal direction. This configuration ensures precise and stable navigation, even in confined spaces, such as corridors.

[0030] The suspension system, carrying the chassis, plays a major role in adapting the robot to ground irregularities and therefore cooperates in maintaining the accuracy of the robot's odometry. Each drive wheel is mechanically connected to this system, which absorbs shocks and vibrations, thus ensuring smooth and precise navigation. In addition, the suspension system allows for rebalancing of the transverse forces to the plane of the chassis experienced by one of the wheels and transfers them to the other wheel so as to have an equivalent total reaction on both wheels.

[0031] The anchor base, fixedly mounted on the chassis and extending in a direction orthogonal to the longitudinal direction, provides a solid base for the suspension system. It contributes to the overall stability of the robot.

[0032] The T-shaped profiled beam, called a T-piece, pivotally mounted on the anchor base, allows flexibility in the movement of the suspension system. It allows the transfer of mechanical forces between the drive wheels and thus helps to absorb mechanical shocks at the wheels and maintain the stability of the robot on uneven surfaces.

[0033] For each drive wheel, the robot comprises a spacer pivotally mounted, on one of its ends, to the anchoring base; and mechanically connected on the other of its ends to the drive wheel, at the level of a suspension arm, which makes it possible to maintain the drive wheel in mechanical connection with the chassis. At the same time, the spacer makes it possible to restrict and guide the movement of the wheel on an arc of a circle whose radius is the length of said spacer and the center is the connection point between the end of the spacer and the anchoring base.

[0034] Finally, for each drive wheel, a shock absorber pivotally mounted on a suspension arm of this wheel and on one of the upper ends of the T-piece, absorbs vibrations and shocks. This allows precise and stable navigation to be maintained, even on uneven terrain.

[0035] The shock absorber extends in a direction forming an oblique angle with the straight line normal to the plane of the chassis, which makes it possible to ensure the damping function of the robot while minimizing the height of the latter, which makes it possible to obtain a more compact and consequently more stable autonomous robot since the center of gravity of the robot is, in this configuration, closer to the ground.

[0036] It is clear that the invention contributes to overcoming the shortcomings of the prior art by ensuring precise navigation, adaptation to ground irregularities, reduced downtime and ease of recharging, while maintaining high operational efficiency in constrained environments.

[0037] In one embodiment of the invention, the autonomous robot comprises an electric motor associated with each drive wheel, capable of driving this drive wheel in rotation.

[0038] According to this aspect of the invention, each drive wheel has its own electric motor, which allows for optimal power distribution and better traction management. This configuration ensures greater precision in the robot's movements, as each wheel can be controlled independently. This results in better maneuverability, particularly in confined spaces or during complex maneuvers. In addition, if one motor fails, the other motors can continue to operate, thus increasing the overall reliability of the robot. This independence of the motors also reduces the height of the robot, as there is no need for a transmission system with a differential. In addition, this arrangement facilitates maintenance, as each motor can be replaced or repaired individually without affecting the other drive wheels.

[0039] Alternatively, the autonomous robot may comprise a single central electric motor connected to a mechanical transmission system which distributes power to the two drive wheels.

[0040] In one embodiment of the invention, the autonomous robot comprises a second anchoring base fixedly mounted on said chassis and extending in said transverse direction and an additional spacer for each drive wheel, pivotally mounted by one of its ends to said second anchoring base and pivotally mounted by its other end to this drive wheel.

[0041] According to this aspect of the invention, the autonomous robot comprises a second anchoring base fixedly mounted on the chassis and extending in the transverse direction. This configuration makes it possible to reinforce the structural stability of the robot by distributing the forces more uniformly on the chassis. As a result, the robot is more robust against the mechanical forces generated by the motor and the weight of the robot, it can also better withstand shocks and vibrations, which improves its durability and reliability during operation.

[0042] In one embodiment of the invention, at least one electric motor is fixedly mounted between a spacer of a driving wheel and the additional spacer of this driving wheel.

[0043] According to this aspect of the invention, the electric motor is fixedly mounted between a spacer and the additional spacer of a drive wheel. This configuration allows the motor to be stabilized by holding it firmly in place, thereby reducing unwanted vibrations and movements. As a result, the motor operates more efficiently and reliably, improving the overall performance of the autonomous robot. In addition, this arrangement facilitates the transmission of power from the motor to the drive wheels, thereby optimizing the propulsion and maneuverability of the robot.

[0044] The fixed mounting of the motor between the spacers also ensures better distribution of forces and loads. This helps to extend the life of the mechanical components by reducing wear and excessive stress. In addition, this configuration simplifies maintenance and repairs, as the motor is easily accessible and can be removed without requiring disassembly of other parts of the robot.

[0045] Advantageously, the autonomous robot comprises, in addition to the drive wheels, a plurality of idler wheels making it possible to distribute the load of the robot evenly over the entire surface of the chassis and serving to guide the robot when the latter moves on a movement surface.

[0046] In the context of the present invention, the term "idler wheel" means a non-driven wheel provided with an offset free axle, for automatic pinning. Its function is solely to guide and support a load.

[0047] In one embodiment of the invention, each electrical charging zone comprises at least one plate made of electrically conductive material.

[0048] According to this aspect of the invention, each electrical charging zone comprises at least one plate made of electrically conductive material. This feature ensures a reliable and efficient connection between the robot's battery and the charging source. By using a conductive material, the plate minimizes energy losses during electrical transfer, which optimizes charging time and extends battery life. In addition, the presence of plates made of conductive material facilitates alignment and contact with the charging terminals, thus reducing the risks of poor contacts or accidental disconnections.

[0049] The integration of conductive material plates in the charging areas also improves the robustness and durability of the charging system. The conductive materials used are often resistant to wear and corrosion, which ensures consistent and reliable performance over the long term. This durability is particularly important for an autonomous robot, which may be subjected to frequent recharge cycles. In addition, the design with conductive material boards allows for easier maintenance, as the components are easily accessible and replaceable when needed.

[0050] By using conductive material plates, the robot can also benefit from greater flexibility in terms of positioning during recharging. The recharging zones located at two opposite longitudinal ends of the robot allow for easy connection, regardless of the robot's orientation relative to the recharging station. This flexibility improves the operational efficiency of the robot, as it can recharge without requiring a complete turn to properly align itself with the recharging station.

[0051] Finally, the use of conductive material boards in the charging areas contributes to the overall safety of the system. High-quality conductive materials reduce the risk of overheating and sparks, thereby reducing the potential hazards associated with electrical charging. This increased safety is essential to ensure reliable and safe operation of the autonomous robot, especially in domestic or professional environments where safety is a priority.

[0052] Advantageously, the electrical recharging zones of the robot may be disc-shaped electrodes, one or more rectangular plates, or even plates and / or strips conducting the electric current curved so as to match the contour of at least one part of the robot.

[0053] In one embodiment of the invention, the autonomous robot comprises an electrical recharging zone mounted at the front of the robot, defined with respect to said longitudinal direction, called the front recharging zone, and an electrical recharging zone mounted at the rear of the robot, defined with respect to said longitudinal direction, called the rear recharging zone, said front recharging zone and said rear recharging zone being offset transversely with respect to each other, with respect to said longitudinal direction.

[0054] According to this aspect of the invention, the autonomous robot comprises an electrical charging area mounted at the front of the robot, in the longitudinal direction, called the front charging area. This configuration allows the robot to easily recharge when moving forward, which optimizes the recharging time and reduces operational interruptions. The forward position of the charging area also facilitates alignment of the robot with a charging station, thus improving the efficiency of the recharging process.

[0055] Furthermore, the autonomous robot comprises an electrical charging area mounted at the rear of the robot, in the longitudinal direction, called the rear charging area. This arrangement allows the robot to recharge even when moving in reverse, thus providing increased flexibility in charging scenarios. The The presence of a charging area at the rear ensures that the robot can always find a power source, regardless of its orientation or positioning in space.

[0056] By doing so, the invention proposes to effectively meet the needs of a compact autonomous robot capable of maintaining high operational efficiency in constrained environments. It also makes it possible to reduce downtimes linked to electrical recharging.

[0057] In one embodiment of the invention, the autonomous robot comprises a plurality of casings which can be nested inside each other and mounted on the chassis, and defining a level, each casing containing a portion of the components of the robot dedicated at least to data acquisition, control and energy functions of the robot, said casings being arranged so as to define successive levels of access to the components so that the components housed in a casing of one level are only accessible after dismantling the casings of the upper levels.

[0058] According to this aspect of the invention, the autonomous robot includes a plurality of interlocking housings mounted on the chassis. These housings isolate various parts of the robot's components, thereby protecting the internal elements from physical damage, dust, and other contaminants. This isolation improves the durability and reliability of the robot by ensuring that sensitive components remain intact and functional in varied environments.

[0059] The housings are arranged to define successive access levels to the robot's sensor, control and energy systems. This arrangement allows for a structured and hierarchical organization of the components, thus facilitating maintenance and repair operations. By having separate access levels, technicians can intervene in a more efficient and targeted manner, reducing robot downtime and optimizing technical interventions.

[0060] The components located at each level are only accessible after dismantling the casings at the upper levels. This feature provides additional protection for the most critical and sensitive components, limiting unauthorized or accidental access. It also contributes to better management of the security and integrity of internal systems, ensuring that only qualified personnel can access the most delicate parts of the robot.

[0061] If desired, the autonomous robot may incorporate modular housings that attach to the chassis by clip or screw systems, thus allowing easier assembly and disassembly. Each housing may be designed from lightweight and strong materials, such as reinforced polymers, to provide sufficient protection for the robot's systems while minimizing the robot's overall weight. The housings may also be provided with transparent windows or removable panels to allow for Quick visual inspection of internal components without requiring complete disassembly. In addition, access levels can be arranged so that sensor systems are located in the outermost housings, facilitating their maintenance and replacement, while the more critical control and power systems are protected in internal housings. This arrangement not only protects sensitive components from impacts and contaminants, but also simplifies maintenance operations by making the most frequently handled elements more easily accessible.

[0062] By doing so, the invention proposes to effectively meet the needs of a compact autonomous robot capable of maintaining high operational efficiency in constrained environments. It also makes it possible to reduce downtimes linked to maintenance.

[0063] In one embodiment of the invention, the components of the robot are distributed in the stages of said staging according to a predefined, decreasing order of the required maintenance frequency of the functions implemented by these components.

[0064] According to this aspect of the invention, the components of the autonomous robot are distributed in the floors of a tier according to a predefined, decreasing order of the required maintenance frequency of said robot systems. This organization makes it easier to access components requiring frequent interventions, thus reducing the time and effort required to carry out maintenance. The most stressed components are therefore placed in the upper floors, while those requiring less attention are located in the lower floors. This arrangement optimizes the efficiency of maintenance operations and minimizes interruptions in the operation of the robot.

[0065] Placing components according to their maintenance frequency also improves the robot's durability and reliability. Technicians can quickly work on critical elements without having to disassemble less stressed parts, reducing the risk of accidental damage. In addition, this configuration allows for better management of the robot's internal space, ensuring a balanced distribution of masses and contributing to the stability and overall performance of the system.

[0066] The modular design facilitated by this tiering also allows for easier updates and component replacements. Users can thus adapt the robot to new requirements or technologies without requiring a complete redesign of the device. This flexibility is particularly beneficial in evolving environments where needs can change rapidly.

[0067] Finally, this orderly approach to component layout contributes to better thermal management and optimized ventilation. The components generating more heat can be positioned to benefit from more efficient heat dissipation, thus extending their lifespan and improving the robot's performance, particularly with regard to power consumption, which allows the robot to operate for longer periods.

[0068] Alternatively, another approach is to organize the components according to their weight, placing the heaviest elements in the lower stages to lower the robot's center of gravity and improve its stability. Another possibility is to arrange the components according to their function, grouping the elements related to propulsion in one stage, those related to the power supply in another, in order to simplify connections and technical interventions. Finally, it is possible to modulate the staging according to the size of the components, placing the largest ones in the stages offering the most space, which allows better use of the available space and optimization of the overall design of the robot.

[0069] In one embodiment of the invention, the components of the robot are distributed in the stages of said staging according to a predefined order of criticality of said functions implemented by these components.

[0070] According to this aspect of the invention, the robot systems are distributed in the different stages of the tiering according to a predefined order of criticality. This organization makes it possible to prioritize the most important systems for the overall operation of the robot, thus ensuring better resource management and performance optimization. By placing the most critical systems in strategic positions, increased responsiveness and reliability are guaranteed, which is particularly beneficial for operations requiring high precision and efficiency.

[0071] Distributing systems according to their criticality also facilitates maintenance and repair work. By having more direct access to the most important systems, technicians can intervene more quickly and efficiently, thus reducing downtime and increasing the robot's operational availability. This configuration also contributes to better thermal management, as the most critical systems, which often generate heat, can be positioned to optimize heat dissipation.

[0072] In addition, this hierarchical organization of systems allows for better energy management. The most critical systems, often the most energy-intensive, can be placed in such a way as to minimize energy losses and maximize the overall energy efficiency of the robot. This results in increased autonomy and better energy performance, which is particularly important for indoor autonomous robots that rely on batteries for their power.

[0073] Finally, this structured arrangement of systems according to their criticality improves the modularity and flexibility of the robot. By having a clear and well-defined architecture, it becomes easier to add, remove or replace systems without disrupting the overall operation of the robot. This allows for rapid adaptation to technological developments and specific user needs, making the robot more versatile and adaptable to various applications.

[0074] In one embodiment of the invention, the housings of said plurality of nestable housings are formed from an electrically insulating and liquid-impermeable material.

[0075] According to this aspect of the invention, the housings of the plurality of nestable housings are composed of an electrically insulating material. This technical feature makes it possible to protect the internal components of the robot against short circuits and other electrical faults. By using an insulating material, the robot can operate more reliably and safely, thus reducing the risks of electrical failures. In addition, this contributes to the longevity of the electronic components by protecting them from electrostatic discharges and other electrical interference.

[0076] The housings are also made of a liquid-impermeable material. This property protects the robot's internal components from water and other liquid infiltration, which is especially important in an indoor environment where accidental spills can occur. By preventing the ingress of liquids, the robot maintains its performance and durability, even in potentially wet conditions. This also makes it easier to clean the robot without fear of damaging its internal components.

[0077] By combining these two properties, the material of the housings guarantees complete protection against electrical risks and damage caused by liquids.

[0078] Alternatively, the housings of the plurality of interlocking housings may be made of a reinforced composite material, providing both electrical insulation and superior mechanical strength. This composite material may notably include glass fibers, integrated into a polymer matrix, which makes it possible to improve the durability and robustness of the autonomous robot. In addition, to reinforce the liquid tightness, a layer of hydrophobic coating may be applied to the outer surface of the housings, thus preventing any infiltration of water or other liquids. This alternative solution not only makes it possible to maintain the insulating and waterproof properties of the housings, but also to increase the resistance to shocks and mechanical stresses, thus extending the service life and reliability of the robot.

[0079] In one embodiment of the invention, the autonomous robot comprises a body mounted on the chassis and a plurality of light-emitting elements arranged on the body of the robot, said light-emitting elements being capable of emitting light signals; said light-emitting elements being configured to emit light signals from among a plurality of predetermined light signals, each light signal of said plurality of light signals defining a unique pattern, called an informative signal.

[0080] According to this aspect of the invention, the electroluminescent elements are used to transmit encoded information in the form of a unique pattern allowing an operator to identify the encoded information. This feature is particularly advantageous when the informative signal represents a state of the robot, for example, an informative signal can be associated with a start-up state, a specific breakdown or fault state, a state on the remaining electrical autonomy time in the battery.

[0081] Advantageously, the electroluminescent elements are arranged on the body of the robot so as to be located close to components of the robot, in particular: a camera, a Lidar sensor, a wheel, an emergency stop button, a motor, a nestable casing, etc.

[0082] According to this aspect of the invention, the information encoded in an informative signal can clearly and unequivocally indicate a component of the robot and indicate that the latter requires intervention, in particular maintenance and / or replacement intervention.

[0083] If desired, said informative signals may be emitted in a plurality of distinct colors, making it possible to multiply the type of information that can be encoded on said informative signals. For example, a signal having a red color may indicate a breakdown, an orange color may indicate a need for maintenance and a green color may indicate a working state.

[0084] Advantageously, the electroluminescent elements are capable of emitting flickering light signals, each flickering rhythm being associated with a distinct piece of information. For example, an electroluminescent element that emits light continuously may indicate a minimum level of criticality, not presenting an absolute danger for the robot or one of its subsystems; on the other hand, an electroluminescent element emitting an intermittent signal may indicate a maximum level of criticality requiring immediate intervention by an external operator.

[0085] In one embodiment of the invention, the autonomous robot comprises a calculation unit and a storage memory capable of storing a base of predetermined instructions associated with a plurality of information on the operating state of the robot; said calculation unit being configured to access said base of predetermined instructions, select at least one instruction and to indicate to said electroluminescent elements to reproduce the pattern associated with said chosen instruction.

[0086] According to this embodiment, the calculation unit makes it possible to reproduce the set of patterns and allows the robot to emit all the information on the state of operation of the robot, which allows any operator to monitor the status of the robot in real time.

[0087] In one embodiment of the invention, the computation unit of the robot is capable of executing a sequence of predetermined instructions so that said electroluminescent elements generate a sequence of informative signals associated with a troubleshooting sequence of at least one system of the robot.

[0088] According to this embodiment, the invention makes it possible to guide an external operator on a maintenance protocol, in particular a maintenance protocol comprising at least two steps, through said sequence of informative signals.

[0089] Advantageously, said electroluminescent elements are light-emitting diodes capable of emitting a plurality of colors.

[0090] Advantageously and according to the invention, the light signaling device is distinguished by a unique mechanism allowing advanced and adaptive management of the light signals. Unlike existing robotic systems which use predefined light patterns with fixed colors and rhythms, the invention makes it possible to align the light signals with the specific components of the robot, depending on the events or data to be transmitted. For example, a light signal can be synchronized with the state of a sensor or an actuator, thus modifying its pattern in real time to indicate the precise state of this component. In addition, when several pieces of information must be communicated simultaneously, the light signals can be combined to form dynamic and coded light sequences, reflecting each separate piece of information.For example, if the robot needs to signal both a motor overload and a low battery, the light system can generate a combinational pattern that integrates both alerts in an intelligible way, allowing the user to identify the different states at a glance. This ability to generate combined light signals based on multiple available data is a key advantage for the efficiency and readability of the signals emitted by the robot, offering increased flexibility compared to competing solutions. List of figures

[0091] Other aims, characteristics and advantages of the invention will appear on reading the following description given solely for non-limiting purposes and which refers to the appended figures in which:

[0092] [Fig.l] represents, schematically and partially, an isometric view of an autonomous robot according to an embodiment of the invention.

[0093] [Fig.2] represents, schematically and partially, a frontal view of a robot autonomous according to one embodiment of the invention.

[0094] [Fig. 3] represents, schematically and partially, a side view of an autonomous robot according to one embodiment of the invention.

[0095] [Fig.4] represents, schematically and partially, an isometric view of a suspension system of an autonomous robot according to one embodiment of the invention.

[0096] [Fig.5] represents, schematically and partially, a top view of a suspension system of an autonomous robot according to an embodiment of the invention.

[0097] [Fig.6] represents, schematically and partially, an isometric view of an autonomous robot according to an embodiment of the invention and two sections of said autonomous robot showing a plurality of nestable casings defining a level.

[0098] [Fig.7] schematically and partially represents an autonomous robot comprising a plurality of electroluminescent elements according to four distinct informative signal emission modes.

[0099] Detailed description of an embodiment of the invention

[0100] In the figures, the scales and proportions are not strictly respected, for the purposes of illustration and clarity.

[0101] Furthermore, identical, similar or analogous elements are designated by the same references in all the figures.

[0102] Shown in [Fig.l] is an autonomous robot 1 comprising:

[0103] - a chassis 2,

[0104] - two electric motors 4 (not shown) carried by said chassis 2,

[0105] - a battery (not shown) carried by said chassis 2 and electrically connected to each electric motor 4,

[0106] - an electrical recharging system (not shown) for said battery 3, mounted on the chassis 2,

[0107] - two drive wheels 5 driven by the two electric motors 4 and capable of drive said autonomous robot 1 in movement along at least one preferred direction of movement 15, called longitudinal direction 15,

[0108] - a suspension system 7 (not shown) carrying the chassis 2, each engine electric 4 being mechanically connected to said suspension system 7.

[0109] The robot comprises an electric motor 4 associated with each drive wheel 5 and is capable of driving this drive wheel 5 in rotation, so that a rotation of the shaft of the motor 1 is transmitted to the drive wheel 5 which in turn allows the robot 1 to advance in said longitudinal direction 15.

[0110] The electrical recharging system of the battery 3 comprises two electrical recharging zones 6, carried by the chassis 2, electrically connected to the battery 3 and arranged at two opposite longitudinal ends of the autonomous robot 1.

[0111] Each electrical charging zone 6 comprises at least one plate 6 made of electrically conductive material, for example copper.

[0112] The autonomous robot 1 comprises an electrical recharging zone 6 mounted at the front of the robot, defined with respect to said longitudinal direction 15, called the front recharging zone, and an electrical recharging zone 6 mounted at the rear of the robot, defined with respect to said longitudinal direction 15, called the rear recharging zone, said front recharging zone and said rear recharging zone being offset transversely with respect to each other, with respect to said longitudinal direction 15.

[0113] In particular, the recharging zones have a central symmetry relative to the center of the robot, so that the recharging zone is always located on the right of the robot in the direction of travel along said longitudinal direction 15. Thus, the straight line passing through the two recharging zones forms an angle with the longitudinal direction of less than 90 degrees.

[0114] The autonomous robot 1 comprises a plurality of casings 13.1; 13.2; 13.2 which can be nested inside each other and mounted on the chassis 2, and defining a level, each casing 13.1; 13.2; 13.2 containing a portion of the components of the robot dedicated at least to data acquisition, control and energy functions of the robot, said casings 13.1; 13.2; 13.2 being arranged so as to define successive levels of access to the components so that the components housed in a casing 13.1; 13.2; 13.2 of a level are only accessible after dismantling the casings 13.1; 13.2; 13.2 of the higher levels.

[0115] In the example of [Fig. 1], the robot components are distributed in the floors of said staging according to a predefined, decreasing order of the required maintenance frequency of the functions implemented by these components. Thus, the sound, optical, and position sensors are located on the first floor, namely the shallowest. The elements of the electrical system associated with the robot's lighting and cameras are located in a second floor, underlying the first floor and inaccessible if only the casing of the first floor is disarmed. Finally, the electromechanical system and the robot's computer are present only in the third floor, the deepest of the three, and inaccessible if only the casings of the first and second floors are disarmed.

[0116] The casings 13.1; 13.2; 13.2 of said plurality of nestable casings are for example formed from fiberglass, an electrically insulating material, sufficiently resistant to mechanical stress and impermeable to liquids.

[0117] The autonomous robot 1 also has an emergency stop button 16 allowing an operator to stop the operation of the robot at any time by pressing said button.

[0118] The autonomous robot also comprises a plurality of sensors 17 which may be among: sonars 17, optical cameras, thermal cameras, 3D cameras and color cameras.

[0119] [Fig.2] shows a front view of the autonomous robot 1 shown in [Fig.l]. In particular, on the right side of the robot, there are two copper plates 6 allowing recharging while moving forward in the longitudinal direction.

[0120] The robot also comprises a plurality of idler wheels 14 rotatably mounted on the chassis 2 and making it possible to guide the robot as well as to support the weight of the latter and of the load and to distribute them homogeneously.

[0121] The robot comprises on this front face two pairs of sonars 17 allowing the robot to calculate the distance to objects in the environment in the orientation directions of said sonars 17.

[0122] The robot also includes a Lidar 18 allowing the robot to perform a spatial recognition procedure by acquiring three-dimensional points.

[0123] [Fig. 3] shows a side view of the autonomous robot of [Fig. 1]. On this side, the robot has the emergency stop button 16 as well as two additional pairs of sonars 17.

[0124] Shown in [Fig.4] is a suspension system 7 of the autonomous robot 1 of [Fig.l] comprising:

[0125] - an anchoring base 8 mounted fixedly on the chassis 2 and extending in one direction orthogonal to said longitudinal direction 15, called transverse direction,

[0126] - a flail 9 profiled in the shape of the letter T formed for example in titanium, called a T-piece, pivotally mounted on said anchor base by the lower end of the T-piece, 9,

[0127] - for each drive wheel 5, a spacer 10 extending transversely and pivotally mounted by one of its ends to a transverse end of said anchoring base 8 and mechanically connected to this drive wheel 5 by the other of its ends,

[0128] for each driving wheel 5, a hydraulic shock absorber 11 extending in a direction forming an oblique angle with the straight line normal to the plane of the chassis 2, and pivotally mounted by one of its ends on a suspension arm 12 connected to this driving wheel 5 and pivotally mounted by the other of its ends to one of the upper ends of the T-piece 9.

[0129] The suspension system also comprises a second anchoring base 8.2 fixedly mounted on said chassis 2 and extending in said transverse direction and an additional spacer 10.2 for each drive wheel 5, pivotally mounted by one of its ends on said second anchoring base 8.2 and mechanically connected by its other end to this drive wheel 5.

[0130] The suspension system 7 supports the chassis 2 at the level of the anchoring bases 8 and 8.2 welded or screwed onto the chassis.

[0131] Each electric motor 4 is fixedly mounted on said chassis 2 between a spacer 10 of a driving wheel 5 and the additional spacer 10.2 of this driving wheel 5.

[0132] When one of the drive wheels 5 encounters a disturbance in the ground, whether associated with a positive or negative height variation, this disturbance causes a misalignment of the axes of rotation of the drive wheels 5. This misalignment has the consequence of disturbing the static equilibrium of the suspension system 7 and causes a displacement of the shock absorbers 11 in the direction of the smallest pressure force exerted on the drive wheels 5.

[0133] The part T 9 being fixed on the middle of the anchoring base 8 ensures a symmetrical transmission of the forces along the mechanical force transmission lines in the suspension system 7.

[0134] The additional spacer 10.2 cooperates mechanically with the second anchoring base 8.2 to reduce the mechanical play present in the case where only one spacer 10 is present.

[0135] The robot also comprises a battery 3 carried by said chassis 2 and electrically connected to each electric motor 4.

[0136] Shown in [Fig.5] is a top view of the suspension system of the autonomous robot of [Fig.l].

[0137] The suspension system comprises a suspension arm 12 on which the electric motor driving the drive wheel 5 is mounted, this drive wheel is also rotatably mounted on said suspension arm 12, so that the suspension arm 12 is carried simultaneously by the spacers 10 and 10.2, thus making it possible to move the entire wheel motor in a vertical direction constrained by the length of said spacers 10 and 10.2.

[0138] Shown in [Fig.6] is an autonomous robot view 1 comprising an isometric view of an autonomous robot according to an embodiment of the invention and two sections, CC and DD, of said autonomous robot showing a plurality of casings 13.1; 13.2; 13.2 which can be fitted into one another and mounted on the chassis 2, and defining a level, each casing 13.1; 13.2; 13.2 containing a portion of the components of the robot dedicated at least to data acquisition, control and energy functions of the robot, said casings 13.1; 13.2; 13.2 being arranged so as to define successive levels of access to the components so that the components housed in a casing 13.1; 13.2; 13.2 of a level are only accessible after dismantling the casings 13.1; 13.2; 13.2 of higher levels.

[0139] Shown in [Fig.7] are four views M1; M2; M3; M4 of an autonomous robot comprising a body mounted on a chassis and comprising a plurality of electroluminescent elements arranged on the body of the robot.

[0140] The electroluminescent elements 19; 20; 21.1; 21.2; 23; 24 being capable of emitting light signals; said electroluminescent elements 19; 20; 21.1; 21.2; 23; 24 being configured to emit light signals from among a plurality of predetermined light signals, each light signal of said plurality of light signals defining a unique pattern, called informative signals.

[0141] The electroluminescent elements are used to transmit encoded information in the form of a unique pattern allowing an operator to identify the encoded information.

[0142] The modes represented in this figure show four informative signals each representing a state of the robot, in this example, mode M1 represents an informative signal associated with an emergency stop state: mode M2 ​​represents an informative signal associated with a required restart state of the robot; mode M3 represents a state of need to change the battery of the robot, and finally, mode M4 represents a cycle start state of the robot.

[0143] The invention is not limited to the embodiments described. In particular, it may be possible to add additional drive wheels and associated suspension systems. Other complementary electric charging methods for the battery, such as induction charging, may also be provided.

Claims

1. Claims Autonomous robot (1) comprising: a chassis (2), at least one electric motor (4) carried by said chassis (2), a battery (3) carried by said chassis (2) and electrically connected to each electric motor (4), an electric recharging system for said battery (3), mounted on the chassis (2), at least two drive wheels (5) driven by at least one electric motor (4) and capable of driving said autonomous robot (1) in movement along at least one preferred direction of movement, called longitudinal direction (15), a suspension system carrying the chassis (2), each motor being mechanically connected to said suspension system (7), characterized in that the electrical recharging system of the battery (3) comprises at least two electrical recharging zones (6), carried by the chassis (2), electrically connected to the battery (3) and arranged at two opposite longitudinal ends of the robot; and in that the suspension system (7) comprises: an anchoring base (8) mounted fixedly on the chassis (2) and extending in a direction orthogonal to said longitudinal direction (15), called transverse direction, a beam (9) profiled in the shape of the letter T, called a T-piece, pivotally mounted on said anchoring base (8) by the lower end of the T-piece (9), for each driving wheel (5), a spacer (10) extending transversely and pivotally mounted by one of its ends to a transverse end of said anchoring base (8) and mechanically connected to this driving wheel (5) by the other of its ends, for each driving wheel (5), a shock absorber (11) extending in a direction forming an oblique angle with the straight line normal to the plane of the chassis (2), and pivotally mounted by one of its ends on a suspension arm (12) connected to this driving wheel (5) and pivotally mounted by the other of its ends to one of the upper ends of the T-piece.

2. Autonomous robot (1) according to claim 1, characterized in that it comprises an electric motor (4) associated with each drive wheel (5) and capable of driving this drive wheel (5) in rotation.

3. Autonomous robot (1) according to one of claims 1 to 2, characterized in that it comprises a second anchoring base (8) fixedly mounted on said chassis (2) and extending in said transverse direction and an additional spacer (10.2) for each drive wheel (5), pivotally mounted by one of its ends to said second anchoring base (8) and mechanically connected by its other end to this drive wheel (5).

4. Autonomous robot (1) according to claim 3, characterized in that at least one electric motor (4) is fixedly mounted on said chassis (2) between a spacer (10) of a drive wheel (5) and the additional spacer (10.2) of this drive wheel (5).

5. Autonomous robot (1) according to one of claims 1 to 4, characterized in that each electrical recharging zone (6) comprises at least one plate (6) made of electrically conductive material.

6. Autonomous robot (1) according to one of claims 1 to 5, characterized in that it comprises an electrical recharging zone (6) mounted at the front of the robot (1), defined with respect to said longitudinal direction (15), called the front recharging zone, and an electrical recharging zone (6) mounted at the rear of the robot, defined with respect to said longitudinal direction (15), called the rear recharging zone, said front recharging zone (6) and said rear recharging zone (6) being offset transversely with respect to each other, with respect to said longitudinal direction (15).

7. Autonomous robot (1) according to one of claims 1 to 6, characterized in that it comprises a plurality of casings (13.1; 13.2, 13.3) which can be fitted into one another and mounted on the chassis (2), and defining a level, each casing (13.1; 13.2; 13.2) containing a portion of the components of the robot (1) dedicated at least to data acquisition, control and energy functions of the robot, said casings (13.1; 13.2; 13.2) being arranged so as to define successive levels of access to the components so that the components housed in a casing of one level are only accessible after dismantling the casings of the higher levels.

8. Autonomous robot (1) according to claim 7, characterized in that the components of the robot (1) are distributed in the stages of said staging according to a predefined, decreasing order of the required maintenance frequency of the functions implemented by these components.

9. Autonomous robot (1) according to claim 7, characterized in that the components of the robot (1) are distributed in the stages of said staging according to a predefined order of criticality of said functions implemented by these components.

10. Autonomous robot (1) according to one of claims 7 to 9, characterized in that the casings (13.1, 13.2, 13.3) of said plurality of nestable casings are formed from an electrically insulating and liquid-impermeable material.

11. Autonomous robot (1) according to one of claims 7 to 9, characterized in that it comprises a body mounted on the chassis and a plurality of electroluminescent elements arranged on the body of the robot, said electroluminescent elements being capable of emitting light signals; said electroluminescent elements being configured to emit light signals from among a plurality of predetermined light signals, each light signal of said plurality of light signals defining a unique pattern, called an informative signal.

Images