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 LOADING AND MODULAR MAINTENANCE ACCESS Technical field of the invention

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

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

[0003] However, existing solutions have certain limitations that may restrict their effectiveness. In particular, the method of recharging the robots' electric batteries presents constraints. Indeed, current models only allow unidirectional charging, which requires the robot to make a U-turn to position itself correctly on the charging station, thus reducing its autonomy and the robot's effective working time, slowing down the robot's operating speed and, in some cases, limiting its use in cluttered or confined environments, particularly corridors whose width is only slightly greater than the width of the robots.

[0004] Furthermore, another difficulty concerns robot maintenance. Due to their compact design, accessing internal components generally requires complete disassembly of the casing, resulting in high costs and extended downtime. This increased downtime can negatively impact productivity, particularly in high-speed environments.

[0005] Finally, it is worth highlighting the difficulties related to balancing the wheels of robots. 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, leading to misalignment of the robot's wheels. Consequently, a pressure difference is created between the wheels, affecting their grip and their respective rotational speeds. Such a disparity causes a deviation from the initially planned trajectory, thus reducing the accuracy of movement. This deviation impacts not only the Not only odometry, that is, the calculation of distance traveled, but also the robot's overall location in space. A loss of accuracy in these areas can lead to significant errors in autonomous navigation, making the robot less reliable and compromising its ability to perform its tasks effectively. 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 accuracy in navigation or unforeseen deviations.

[0007] There is also a need for a solution that reduces downtime related to maintenance, 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 without requiring turning maneuvers, thus facilitating its movement in confined spaces such as narrow corridors, while offering simplified access to internal components for quick and economical maintenance, and compensating for irregularities in the ground to maintain optimal movement accuracy, ensuring high operational efficiency without loss of accuracy 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. Description 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 charging system for said battery, mounted on the chassis,

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

[0016] - a suspension system supporting the chassis, each motor being connected mechanically audited suspension system,

[0017] the battery's electrical charging system includes 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 fixedly mounted on the chassis and extending in a direction orthogonal to said longitudinal direction, called transverse direction,

[0020] - a profiled beam in the shape of the letter "T", referred to as a T-piece, pivotally mounted on said anchoring base via the lower end of the T-piece,

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

[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 mounted pivoting by one of its ends on a suspension arm connected to this drive wheel and mounted pivoting by the other of its ends to one of the upper ends of the T-piece.

[0023] By proceeding in this way, 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 various environments.

[0025] The electric motor, mounted on the chassis, provides the power necessary to drive the drive wheels and enable the robot to move within its environment. The electric motor is electrically connected to the battery, so as to provide a continuous power supply to the robot.

[0026] The battery, also mounted on 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 a homogeneous distribution of energy and enables the robot to operate for long periods without interruption.

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

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

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

[0030] The suspension system, which supports the chassis, plays a crucial role in adapting the robot to uneven ground and therefore contributes to 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. Furthermore, the suspension system rebalances the lateral forces exerted on the chassis by one wheel and transfers them to the other wheel, resulting in an equivalent overall reaction force on both wheels.

[0031] The anchoring 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 arm, referred to as the T-piece, pivotally mounted on the anchoring base, allows flexibility in the movement of the suspension system. It enables the transfer of mechanical forces between the drive wheels and thus helps to absorb mechanical shocks at the wheels and maintain the robot's stability on uneven surfaces.

[0033] For each drive wheel, the robot includes a spacer pivotally mounted on one end to the anchoring base and mechanically connected at the other end to the drive wheel via a suspension arm, thus maintaining the drive wheel in mechanical contact with the chassis. Simultaneously, the spacer restricts and guides the wheel's movement along an arc of a circle whose radius is the length of the spacer and whose center is the point of connection between the end of the spacer and the anchoring base.

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

[0035] The shock absorber extends in a direction forming an oblique angle with the 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 autonomous robot and consequently more stable since the center of gravity of the robot is, in this configuration, closer to the ground.

[0036] It is clear that the invention helps to resolve 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 includes an electric motor associated with each drive wheel, capable of rotating that drive wheel.

[0038] According to this aspect of the invention, each drive wheel has its own electric motor, which allows for optimal power distribution and improved traction management. This configuration ensures greater precision in the robot's movements, as each wheel can be controlled independently. This results in improved maneuverability, particularly in confined spaces or during complex maneuvers. Furthermore, if one motor fails, the other motors can continue to operate, thus increasing the robot's overall reliability. This motor independence also reduces the robot's height, 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 includes a second anchoring base fixedly mounted on said chassis and extending along 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 said drive wheel.

[0041] According to this aspect of the invention, the autonomous robot comprises a second anchoring base fixed to the chassis and extending in the transverse direction. This configuration enhances the robot's structural stability by distributing forces more evenly across the chassis. Consequently, the robot is more robust against the mechanical stresses generated by the motor and its weight, and it can also better withstand shocks and vibrations, thereby improving 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 drive wheel and the additional spacer of that drive 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 stabilizes the motor by holding it firmly in place, thereby reducing unwanted vibrations and movement. As a result, the motor operates more efficiently and reliably, improving the overall performance of the autonomous robot. Furthermore, this arrangement facilitates the transmission of power from the motor to the drive wheels, thus optimizing the robot's propulsion and maneuverability.

[0044] The fixed mounting of the motor between the struts also ensures better distribution of forces and loads. This helps to extend the service 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 the disassembly of other parts of the robot.

[0045] Advantageously, the autonomous robot includes, in addition to the drive wheels, a plurality of idle wheels allowing the load of the robot to be distributed homogeneously over the entire surface of the chassis and serving as a guide for the robot when moving on a moving 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 staking. 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, thereby optimizing charging time and extending battery life. Furthermore, the presence of plates made of conductive material facilitates alignment and contact with the charging terminals, thus reducing the risk of poor contact or accidental disconnections.

[0049] Integrating conductive material plates into the charging areas also improves the robustness and durability of the charging system. The conductive materials used are often wear- and corrosion-resistant, ensuring consistent and reliable performance over the long term. This durability is particularly important for an autonomous robot, which may be subjected to Frequent charging cycles. In addition, the design with conductive material circuit 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 charging. The charging zones located at two opposite longitudinal ends of the robot allow for easy connection, regardless of the robot's orientation relative to the charging station. This flexibility improves the robot's operational efficiency, as it can recharge without needing to complete a full rotation to align itself correctly with the charging station.

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

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

[0053] In one embodiment of the invention, the autonomous robot includes an electrical charging zone mounted at the front of the robot, defined with respect to said longitudinal direction, referred to as the front charging zone, and an electrical charging zone mounted at the rear of the robot, defined with respect to said longitudinal direction, referred to as the rear charging zone, said front charging zone and said rear charging 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 includes an electrical charging zone mounted at the front of the robot, in the longitudinal direction, referred to as the front charging zone. This configuration allows the robot to recharge easily while moving forward, thereby optimizing charging time and reducing operational interruptions. The forward position of the charging zone also facilitates the alignment of the robot with a charging station, thus improving the efficiency of the charging process.

[0055] Furthermore, the autonomous robot includes an electrical charging zone mounted at the rear of the robot, in the longitudinal direction, referred to as the rear charging zone. This arrangement allows the robot to recharge even while moving in reverse, thus offering increased flexibility in charging scenarios. 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 proceeding in this way, 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 downtime related to electrical recharging.

[0057] In one embodiment of the invention, the autonomous robot comprises a plurality of nestable housings mounted on the chassis, defining a tiered arrangement, each housing containing a portion of the robot's components dedicated at least to data acquisition, control and energy functions of the robot, said housings being arranged to define successive access levels to the components so that the components housed in a housing of a level are accessible only after the dismantling of the housings of the higher levels.

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

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

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

[0061] If desired, the autonomous robot can incorporate modular housings that attach to the chassis using clip or screw systems, thus allowing for easier assembly and disassembly. Each housing can be made of lightweight and resistant materials, such as reinforced polymers, to provide sufficient protection for the robot's systems while minimizing its overall weight. The housings can also be equipped with transparent windows or removable panels to allow for Rapid visual inspection of internal components without requiring complete disassembly. Furthermore, 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 inner housings. This arrangement not only protects sensitive components from impacts and contaminants but also simplifies maintenance by providing easier access to the most frequently handled parts.

[0062] By proceeding in this way, 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 downtime related to maintenance.

[0063] In one embodiment of the invention, the robot components are distributed in the floors of said tiering 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 across the floors of a multi-level structure in a predefined, decreasing order of the required maintenance frequency of said robot systems. This arrangement facilitates access to components requiring frequent intervention, thus reducing the time and effort needed to perform maintenance. The most frequently used components are therefore located on the upper floors, while those requiring less attention are located on the lower floors. This arrangement optimizes the efficiency of maintenance operations and minimizes downtime for the robot.

[0065] By arranging the components according to their maintenance frequency, the robot's durability and reliability are also improved. Technicians can quickly access critical components without having to disassemble less stressed parts, thus reducing the risk of accidental damage. Furthermore, this configuration allows for better management of the robot's internal space, ensuring a balanced mass distribution and contributing to the overall stability and performance of the system.

[0066] The modular design facilitated by this tiered structure also allows for easier component upgrades and replacements. Users can thus adapt the robot to new requirements or technologies without needing 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 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, allowing the robot to operate for longer periods.

[0068] Alternatively, another approach is to organize the components according to their weight, placing the heaviest elements on the lower levels to lower the robot's center of gravity and improve its stability. Another possibility is to arrange the components according to their function, grouping propulsion components on one level and power supply components on another, in order to simplify connections and maintenance. Finally, it is possible to modulate the stacking according to the size of the components, placing the largest ones on the levels offering the most space, thus allowing for better use of available space and optimization of the robot's overall design.

[0069] In one embodiment of the invention, the robot components 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's systems are distributed across the different levels of the stacking according to a predefined order of criticality. This organization makes it possible to prioritize the systems most important 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 interventions. 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, often heat generators, can be positioned to optimize heat dissipation.

[0072] Furthermore, this hierarchical organization of systems allows for better energy management. The most critical systems, often the most energy-intensive, can be positioned to minimize energy losses and maximize the robot's overall energy efficiency. This results in increased autonomy and improved energy performance, which is particularly important for autonomous indoor robots that rely on batteries for power.

[0073] Finally, this structured arrangement of systems according to their criticality improves the robot's modularity and flexibility. With a clear and well-defined architecture, it becomes easier to add, remove, or replace systems without disrupting the robot's overall operation. This allows for rapid adaptation to technological advancements 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 of an electrically insulating and liquid-impermeable material.

[0075] According to this aspect of the invention, the housings of the plurality of nestable housings are made of an electrically insulating material. This technical feature protects the robot's internal components against short circuits and other electrical faults. By using an insulating material, the robot can operate more reliably and safely, thus reducing the risk of electrical failures. Furthermore, this contributes to the longevity of the electronic components by protecting them from electrostatic discharge and other electrical interference.

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

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

[0078] Alternatively, the housings of the plurality of nestable housings can be made of a reinforced composite material, offering both electrical insulation and superior mechanical strength. This composite material may, in particular, include glass fibers integrated into a polymer matrix, thereby improving the durability and robustness of the autonomous robot. Furthermore, to enhance liquid sealing, a hydrophobic coating can be applied to the outer surface of the housings, thus preventing any infiltration of water or other liquids. This alternative solution not only maintains the insulating and waterproof properties of the housings but also increases resistance to shocks and mechanical stresses, thereby extending the robot's lifespan and reliability.

[0079] In one embodiment of the invention, the autonomous robot comprises a body mounted on the chassis and a plurality of electroluminescent elements arranged on the robot's body, said electroluminescent elements being capable of emitting light signals; said electroluminescent elements being configured to emit light signals 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, enabling an operator to identify the encoded information. This feature is particularly advantageous when the informational signal represents a state of the robot; for example, an informational signal can be associated with a startup state, a specific fault or failure state, or a state indicating the remaining battery life.

[0081] Advantageously, the electroluminescent elements are arranged on the body of the robot so as to be located near components of the robot, including: a camera, a Lidar sensor, a wheel, an emergency stop button, a motor, a snap-on housing, etc.

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

[0083] If desired, said information signals can be emitted in a plurality of distinct colors, thereby multiplying the type of information that can be encoded on said information signals. For example, a red signal can indicate a fault, an orange signal can indicate a maintenance requirement, and a green signal can indicate a working state.

[0084] Advantageously, the electroluminescent elements are capable of emitting flickering light signals, each flickering pattern being associated with distinct information. For example, an electroluminescent element that emits light continuously may indicate a minimal level of criticality, presenting no absolute danger to the robot or any of its subsystems; conversely, 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 includes a computing unit and a storage memory capable of storing a database of predetermined instructions associated with a plurality of information on the operating state of the robot; said computing unit being configured to access said database of predetermined instructions, select at least one instruction and to instruct said electroluminescent elements to reproduce the pattern associated with said chosen instruction.

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

[0087] In one embodiment of the invention, the robot's computing unit is capable of executing a sequence of predetermined instructions such that said electroluminescent elements generate a sequence of informative signals associated with a troubleshooting sequence for 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 information signals.

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

[0090] Advantageously, and according to the invention, the light signaling device is distinguished by a unique mechanism enabling advanced and adaptive management of light signals. Unlike existing robotic systems that use predefined light patterns with fixed colors and rhythms, the invention makes it possible to align the light signals with specific robot components, depending on the events or data to be transmitted. For example, a light signal can be synchronized with the state of a sensor or actuator, thus modifying its pattern in real time to indicate the precise state of that component. Furthermore, when several pieces of information need to be communicated simultaneously, the light signals can be combined to form dynamic and coded light sequences, reflecting each distinct 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 points is a key advantage for the efficiency and readability of the signals emitted by the robot, offering greater flexibility compared to competing solutions. List of figures

[0091] Other objects, features and advantages of the invention will become apparent from the following description, given by way of non-limiting example only, and which refers to the accompanying figures in which:

[0092] Fig. 1 represents, schematically and partially, an isometric view of an autonomous robot according to one embodiment of the invention.

[0093] Figure 2 schematically and partially represents a front view of a robot autonomous according to an embodiment of the invention.

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

[0095] Figure 4 represents, schematically and partially, an isometric view of a suspension system for an autonomous robot according to an 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 interlocking housings defining a staggered arrangement.

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

[0099] Detailed description of an embodiment of the invention

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

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

[0102] Figure 1 shows 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 charging 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 to move said autonomous robot 1 along at least one preferred direction of movement 15, referred to as the longitudinal direction 15,

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

[0109] The robot includes an electric motor 4 associated with each drive wheel 5 and is capable of rotating this drive wheel 5, 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 charging system for the battery 3 comprises 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 autonomous robot 1.

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

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

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

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

[0115] In the example of [Fig. 1], the robot components are distributed across the levels of said tiering according to a predefined, descending 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 level, which is the shallowest. The electrical system components associated with the robot's lighting and cameras are located on a second level, below the first level and inaccessible if only the first level's casing is removed. Finally, the robot's electromechanical system and computer are located only on the third level, the deepest of the three, and inaccessible if only the first and second level casings are removed.

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

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

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

[0119] A front view of the autonomous robot 1 shown in [Fig. 1] is shown in [Fig. 2]. In particular, two copper plates 6 are located on the right side of the robot, enabling recharging while moving forward in the longitudinal direction.

[0120] The robot also includes a plurality of idler wheels 14 mounted rotatably on the chassis 2 and enabling the robot to be guided as well as to support the weight of the robot and the load and to distribute them homogeneously.

[0121] The robot includes on this front face two pairs of sonars 17 enabling 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 enabling the robot to perform a spatial recognition procedure by acquiring three-dimensional points.

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

[0124] A suspension system 7 of the autonomous robot 1 of [Fig. 1] is shown in [Fig. 4], comprising:

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

[0126] - a T-shaped profiled flail 9, for example made of titanium, called a T-piece, pivotally mounted on said anchoring base by the lower end of the T-piece, 9,

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

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

[0129] The suspension system also includes 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 to said second anchoring base 8.2 and mechanically connected by its other end to said drive wheel 5.

[0130] The suspension system 7 carries the chassis 2 at 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 drive wheel 5 and the additional spacer 10.2 of this drive wheel 5.

[0132] When one of the drive wheels 5 encounters a disturbance in the ground, whether associated with a positive or negative variation in height, 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 forces along the lines of mechanical force transmission in the suspension system 7.

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

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

[0136] A top view of the suspension system of the autonomous robot of [Fig.1] is shown in [Fig.5].

[0137] The suspension system includes a suspension arm 12 on which is mounted the electric motor driving the drive wheel 5, 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 allowing the whole wheel-motor assembly to be moved in a vertical direction constrained by the length of said spacers 10 and 10.2.

[0138] [Fig. 6] A view of an autonomous robot 1 is shown comprising an isometric view of an autonomous robot according to an embodiment of the invention and two cross-sections, CC and DD, of said autonomous robot showing a plurality of housings 13.1; 13.2; 13.2 nested one inside the other mounted on the chassis 2, and defining a tiered arrangement, each housing 13.1; 13.2; 13.2 containing a portion of the robot components dedicated at least to data acquisition, control and energy functions of the robot, said housings 13.1; 13.2; 13.2 being arranged so as to define successive access levels to the components such that the components housed in a housing 13.1; 13.2; 13.2 of a level are accessible only after the disassembly of the housings 13.1; 13.2; 13.2 of the higher levels.

[0139] 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 are shown in [Fig.7].

[0140] 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 from said plurality of light signals defining a unique pattern, called informational signals.

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

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

[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 methods of electrically recharging the battery, such as inductive charging, may also be provided.

Claims

1. Demands 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 electrical charging 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 moving said autonomous robot (1) along at least one preferred direction of movement, called the longitudinal direction (15), a suspension system supporting the chassis (2), each motor being mechanically connected to said suspension system (7), characterized in that the electrical charging system of the battery (3) comprises at least two electrical charging zones (6), supported 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) fixedly mounted on the chassis (2) and extending in a direction orthogonal to said longitudinal direction (15), said transverse direction, a T-shaped profiled beam (9), referred to as the T-piece, pivotally mounted on said anchoring base (8) by the lower end of the T-piece (9), 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 its other end, for each drive wheel (5), a shock absorber (11) extending in a direction forming an oblique angle with the line normal to the plane of the chassis (2), and mounted pivotally by one of its ends on a suspension arm (12) connected to this drive wheel (5) and mounted pivotally 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 rotating this drive wheel (5).

3. Autonomous robot (1) according to any one of claims 1 to 2, characterized in that it comprises a second anchoring base (8) fixedly mounted on said chassis (2) and extending along 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 said 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 any one of claims 1 to 4, characterized in that each electrical charging zone (6) comprises at least one plate (6) made of electrically conductive material.

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

7. Autonomous robot (1) according to any one of claims 1 to 6, characterized in that it comprises a plurality of housings (13.1; 13.2, 13.3) which fit one inside the other mounted on the chassis (2), and which define a tiered arrangement, each housing (13.1; 13.2; 13.2) containing a part of the components of the robot (1) dedicated at least to data acquisition, control and energy functions of the robot, said housings (13.1; 13.2; 13.2) being arranged so as to define successive access levels to the components such that the components housed in a housing of a level are accessible only after the dismantling of the housings 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 floors of said staggering 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 any one of claims 7 to 9, characterized in that the housings (13.1, 13.2, 13.3) of said plurality of nestable housings are formed of an electrically insulating and liquid-impermeable material.

11. Autonomous robot (1) according to any 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 robot body, 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 information signal.

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