ROBOTIC SYSTEM AND METHOD FOR MANAGING A FLEET OF AUTONOMOUS ROBOTS

Abstract

ROBOTIC SYSTEM AND METHOD FOR MANAGING A FLEET OF AUTONOMOUS ROBOTS The invention relates to a robotic system (1) intended to equip a predetermined navigation area (2), comprising a fleet (3) of autonomous rolling robots (4.1; 4.2; 4.3). Each robot (4.1; 4.2; 4.3) includes a computing unit, communication means, a memory (5) storing a map of the navigation area (2), and communicates with a management unit (6). The system uses permissible radio signals, transmitted at a rate less than or equal to 50 kbit / s, to transmit movement instructions to the robots. Each robot (4.1; 4.2; 4.3) receives these instructions and calculates a numerical score based on their feasibility. The management unit (6), upon receiving several scores, authorizes the execution of the instruction by the robot (4.1; 4.2; 4.3) with the lowest score. Figure for the summary: Figure 1

Description

Title of the invention: ROBOTIC SYSTEM AND METHOD FOR MANAGING A FLEET OF AUTONOMOUS ROBOTS 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] Despite recent technological advances, the widespread adoption of these robots faces several significant challenges, particularly for smaller companies that do not always have the technical or financial resources to implement complex systems. Current solutions have several drawbacks that limit their deployment and operational efficiency.

[0004] First, the configuration and commissioning of autonomous robots often requires the intervention of specialists and the use of specific software. The creation of points of interest on the robot's map, the association of these points with call buttons, as well as the need for dedicated communication networks (such as Wi-Fi or GSM), make the process long, expensive and complex. These technical requirements effectively exclude a large proportion of companies that do not have the structural or IT capacity to meet them.

[0005] Second, current navigation and positioning systems lack accuracy for certain critical operations, such as docking for charging. Shape detection and charging station identification are performed by separate sensors, which adds additional costs and constraints on sensor placement. In addition, in some cases, the competing robot must be manually positioned on the map because it is not able to identify the charging station remotely or in certain configurations. This limitation is due to the fact that the fields of view of sensors, such as the lidar and the camera, are not aligned, leading to positioning errors and extended downtime.

[0006] Third, current robots lack intuitive user interaction tools to facilitate maintenance and problem solving. The lack of effective visual signaling systems often forces operators to refer to user manuals or awkward screens, which can lead to errors, increase training times, and reduce productivity.

[0007] Finally, the reliance on dedicated communications networks represents a complex challenge. Installing homogeneous Wi-Fi or GSM coverage in complex industrial environments is not only expensive, but also prone to electromagnetic interference. In addition, cybersecurity risks and the need for integration with centralized ERP systems further limit the accessibility of these solutions, especially for companies without robust IT departments.

[0008] There is therefore a need to develop solutions that simplify the deployment, configuration, and operation of indoor autonomous mobile robots, while reducing costs and eliminating the need for specialized technical skills. These solutions should offer improved accuracy for critical operations, provide intuitive user interaction tools to facilitate maintenance, and operate independently of complex network infrastructures. Addressing these challenges would pave the way for wider adoption of autonomous robots, thereby improving productivity and working conditions across a wide range of industries. Objectives of the invention

[0009] The invention aims to provide a robotic system comprising at least one autonomous indoor robot that can be deployed within industrial infrastructures and capable of being integrated efficiently, economically and without requiring significant modifications to the infrastructures or specialized personnel and without incurring high costs.

[0010] The invention aims in particular to provide, in at least one embodiment, a robotic system comprising at least one indoor autonomous robot provided with a precise positioning system, a simplified user interface allowing easy configuration and reconfiguration of points of interest, advanced operational indicators for improved user interaction, and an efficient fleet management capability independent of dedicated networks such as Wi-Fi or GSM.

[0011] The invention also aims to provide a method for managing a fleet of autonomous robots. Statement of the invention

[0012] To do this, the invention relates to a robotic system intended to equip a predetermined environment, called a navigation zone, said system comprising:

[0013] a fleet of rolling robots comprising at least one autonomous rolling robot, each robot of said fleet of robots comprising a calculation unit, communication means and a storage memory, called robotic memory, and a predetermined map of said navigation zone, called navigation map, stored in said robotic memory and a position unit making it possible to know the position of the robot on said navigation map;

[0014] a management unit for said fleet of robots comprising a calculation unit, a storage memory, called management memory, and a predetermined map of said navigation zone stored in said management memory.

[0015] The robotic system according to the invention is characterized in that:

[0016] the communication means of each robot and the communication means of said fleet management unit are capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals, transmitted at a rate less than or equal to 50 kbit / s, called admissible signals;

[0017] the calculation unit of the management unit is capable of encoding robot movement instructions in a robot movement instruction encoding;

[0018] the communication means of the management unit are capable of emitting an admissible signal from the encoding of a robot movement instruction;

[0019] the calculation unit of each robot is capable of determining a numerical score from an admissible signal received by the communication means of this robot, encoding a robot movement instruction;

[0020] said management unit is configured to emit, from a plurality of digital scores associated with a plurality of robots of said fleet of robots, an admissible signal encoding an authorization to execute a robot movement instruction, said authorization to execute a robot movement instruction authorizing at least one robot of the plurality of robots, associated with a minimum score among said plurality of digital scores, to execute said instruction.

[0021] By doing so, the invention proposes to simplify and accelerate the deployment, configuration and use of a fleet of autonomous rolling robots in indoor environments, while reducing costs and eliminating the need for specialized technical skills.

[0022] In the context of the present invention, the term "point-to-point radio signal" means a direct and exclusive wireless link between two specific points without intermediaries.

[0023] In the context of the present invention, "point-to-multipoint radio signal" means a wireless connection where a central point communicates with several remote points simultaneously.

[0024] According to the invention, the communication means of each robot and of the management unit are capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals at a rate less than or equal to 50 kbit / s.

[0025] Thus, the invention circumvents the need for a pre-existing complex network infrastructure. In addition, by using low-speed, long-range signals, the invention ensures reliable communication even in environments where interference or physical obstacles can render traditional networks ineffective. This also reduces the costs associated with installing and maintaining a dedicated network infrastructure.

[0026] The invention also makes it possible to guarantee its operation independently of complex network infrastructures such as WI-FI, 3G, 4G, 5G or GSM, which facilitates the adoption of autonomous robots in industrial environments where traditional networks are not available or are not reliable; this is particularly the case where the environment is completely devoid of a prior network infrastructure.

[0027] Furthermore, in the case where such a network structure is present, due to the nature of the admissible signals, the invention makes it possible to avoid electromagnetic interactions with Wi-Fi, 3G, 4G, 5G or GSM waves.

[0028] Advantageously, the communication means of each robot and of the management unit are capable of emitting admissible signals with a range of the order of a hundred meters.

[0029] Advantageously, the computing unit of the management unit encodes the movement instructions of the robots, which makes it possible to centralize the management of the movements of the fleet. This centralization simplifies the coordination of the robots and reduces the risks of navigation errors. By encoding the instructions, the invention guarantees that the information transmitted is compact and adapted to the limited bandwidth of the radio signals used, while ensuring successful communication between the management unit and the robots.

[0030] Each robot, thanks to its computing unit, determines a numerical score from the movement instructions received. This score makes it possible to evaluate the relevance or the capacity of the robot to carry out a given task. By assigning a score to each robot, the invention introduces a selection mechanism which optimizes the use of the fleet's resources. This makes it possible to ensure that the robots most capable of carrying out a task are prioritized, thus improving the overall efficiency of the system.

[0032] The management unit, by emitting a signal encoding an execution authorization based on the numerical scores of the robots, makes it possible to coordinate the actions of the fleet dynamically. This authorization principle guarantees that only the most appropriate robot, i.e. the one with the minimum score, executes the movement instruction. This avoids conflicts between robots and ensures smooth management of tasks, while minimizing the risks of collisions or interruptions in operations.

[0033] Thus, the invention solves the objectives it has set itself, by proposing a simple and robust communication system, independent of complex network infrastructures, while optimizing the management of robot movements. The technical characteristics, such as the use of low-speed radio signals, the encoding of movement instructions, the determination of digital scores and the issuance of execution authorizations, make it possible to meet the needs for efficiency, simplicity and reliability in the management of a fleet of autonomous robots.

[0034] In one embodiment of the invention, the communication means of said management unit and the robots each comprise a bidirectional antenna.

[0035] According to this aspect of the invention, the bidirectional antenna allows two-way communication between the different elements of the robotic system. This configuration ensures continuous and fluid interaction between the robots and the management unit, thus facilitating the exchange of critical information such as movement instructions and execution authorizations. The bidirectionality of the antennas also allows the robots to transmit data back to the management unit, such as confirmations of receipt or information on their status, which contributes to the overall coordination of the system.

[0036] The use of bidirectional antennas also helps reduce the risk of information loss or communication failure, as each robot can not only receive instructions, but also report any problems or obstacles encountered. This enhances the robustness of the system by allowing more responsive and adaptive management of the robots in the navigation area. In addition, this configuration optimizes the use of communication resources, as it minimizes interruptions and delays in data transmission, thus ensuring better synchronization between the different elements of the system.

[0037] Finally, this feature makes it possible to simplify the architecture of the communication system, since a single antenna per robot and per management unit is sufficient to manage both the transmission and reception of signals. This reduces hardware complexity and associated costs, while maintaining high communication performance.

[0038] In one embodiment of the invention, the calculation unit of each robot is capable of determining a numerical score from at least one optimization criterion based on the position of the robot on the map of the navigation zone.

[0039] According to this aspect of the invention, the computing unit of each robot calculates a numerical score based on the position of the robot on the map of the navigation area. This mechanism makes it possible to optimize the management of the robots' movements by taking into account their current location. By integrating the geographical position into the calculation of the score, the system can prioritize the robots closest to a specific task or destination, thus reducing travel times and improving the overall productivity of operations. This approach also makes it possible to minimize trajectory conflicts between robots, which could lead to traffic jams or collisions. In addition, by taking the position into account in the calculation of the score, the system can better distribute the tasks between the different robots, ensuring more homogeneous coverage of the navigation area and avoiding the overloading of some robots compared to others.

[0040] According to one embodiment of the invention, the computing unit of each robot can determine a numerical score by taking into account not only the position of the robot on the map of the navigation area, but also other optimization criteria such as the state of the battery, the payload carried, or the proximity of obstacles or other robots. For example, a robot with a low battery can be assigned a higher score, indicating that it has less priority for executing a movement instruction, while a robot with a fully charged battery and without obstacles nearby can receive a lower score, making it more suitable for executing the task. In addition, the current speed of the robot or its ability to quickly reach a specific destination can also be integrated into the calculation of the score, thus allowing more precise and dynamic management of the fleet's resources.These variants allow the system to be adapted to more complex environments or situations where the operating conditions of the robots vary significantly, while maintaining adequate coordination between the different robots in the fleet.

[0041] In one embodiment of the invention, the calculation unit of each robot is capable of determining a numerical score from at least one optimization criterion based on the travel time associated with a movement trajectory of the robot towards a point in the navigation zone, called target, from the present position of the robot.

[0042] According to this aspect of the invention, the optimization criterion based on travel time makes it possible to select the fastest trajectory for a robot moving towards a target in the navigation zone. By taking into account the time required to reach a given point, the system promotes more efficient management of robot movements, thus reducing task completion times. This also helps minimize waiting times in environments where multiple robots need to interact or coordinate, improving the fluidity of overall operations.

[0043] By integrating travel time as a criterion, the system can better anticipate potential traffic jams or trajectory conflicts between robots. This contributes to better resource allocation and more precise priority management, particularly in environments where robots must move quickly to accomplish critical tasks. In addition, this approach makes it possible to reduce the energy consumption of robots by optimizing their movements, which extends their autonomy and reduces the need for frequent recharging.

[0044] Using travel time as an optimization parameter also improves the accuracy of arrival time estimates for robots at their destinations. This facilitates task planning and synchronization of operations in complex environments, where multiple robots must interact with external elements or human operators.

[0045] If desired, the optimization criterion can be dynamically adjusted based on operational priorities, such as the need to deliver a critical load within a given time frame or to minimize wear on the robot's mechanical components.

[0046] In one embodiment of the invention, the calculation unit of each robot is capable of determining a numerical score from at least one optimization criterion, a function of a test of the robot's accessibility to a point on the navigation zone, called target, from a present position of the robot on said navigation map.

[0047] By integrating this accessibility test, the system ensures that the movement instructions do not lead to situations where the robot would find itself blocked or unable to reach its destination, which helps to improve the fluidity of operations and reduces the risks of errors or delays in the execution of tasks.

[0048] In one embodiment of the invention, the management unit is configured to transmit again, at least once, an admissible signal encoding a movement instruction for the robots when, after a first transmission of the signal, no numerical score is received by said management unit.

[0049] This feature ensures reliable communication between the management unit and the robots, particularly in environments where interference or obstacles may disrupt the initial transmission. By retransmitting the signal, the system ensures that movement instructions reach the robots, even in the event of a temporary loss of communication. This improves the robustness of the system by minimizing the risk of errors or delays in the execution of tasks assigned to the robots.

[0050] This retransmission capability also makes it possible to maintain synchronization between the management unit and the robots. If a robot does not receive the instruction during the first transmission, it can receive it during a retransmission, which avoids situations where a robot would remain inactive or desynchronized with the other robots in the fleet. This optimizes the overall coordination of the system and allows for better management of robotic resources.

[0051] Furthermore, this feature makes it possible to overcome communication throughput limitations, which are specified as being less than or equal to 50 kbit / s. In such a low throughput context, the retransmission of the signal compensates for any data losses or transmission delays, thus ensuring that the movement instructions are properly received and processed by the robots. This guarantees continuity in the execution of tasks, even under suboptimal communication conditions.

[0052] Finally, this feature contributes to the reliability of the system by reducing the risk of mission failure. If a robot does not respond to an initial instruction due to a temporary communication failure, re-transmitting the signal allows the process to be restarted without requiring human intervention. This strengthens the autonomy of the system and allows for smoother management of operations in the navigation area.

[0053] Advantageously, the management unit can dynamically adjust the frequency of retransmissions depending on the density of the robot fleet or the communication conditions in the navigation zone. Another possibility is for the management unit to wait a predetermined time before retransmitting the signal, in order to allow the robots sufficient time to process and respond to the initial instruction.

[0054] In one embodiment of the invention, each robot comprises a human-machine interface capable of recording the current position and orientation of this robot on said navigation map stored in said storage memory of this robot and associated with a label, called position label. The pair “position label” and “position-orientation information” define a point of interest.

[0055] Advantageously, each robot is capable of recording in its storage memory points of interest, each comprising the pair “position label” and “position-orientation information” of the robot.

[0056] Advantageously, when a robot in the fleet of robots records a point of interest in its storage memory, this information is associated with the navigation map embedded in the storage memory of this robot.

[0057] Advantageously again, the recording of a point of interest by a robot triggers a process of sharing said recorded point of interest with all the robots in the fleet and in the management unit which, upon receiving the information encoding the point of interest save it respectively in their storage memory and / or their navigation maps.

[0058] This feature facilitates real-time updating of the robot's location, which improves the accuracy of movements and operations in the navigation area. The user can thus view and adjust the robot's position directly on the map, which reduces location errors and optimizes route management.

[0059] Associating the robot's position and orientation with a specific label simplifies the identification of points of interest or critical areas in the navigation environment. This provides better traceability of the robot's movements and allows particular locations to be named or categorized, thus facilitating communication between operators and the system. This functionality also improves the management of repetitive tasks or specific missions, since the recorded positions can be reused or referenced later.

[0060] In one embodiment of the invention, a point of interest may designate various locations or elements essential for the autonomous robot. This may be the position of a prohibited zone, the indication of a danger, the identification of an object or a specific zone, the location of a charging station, a maintenance point, the delimitation of a work zone or a storage area. In addition, a point of interest may represent fixed or mobile obstacles, narrow passages, areas to avoid, preferential paths, or signal the presence of specific resources. These points of interest allow the robot to adapt its behavior according to the environment and the tasks to be accomplished.

[0061] Advantageously, the human-machine interface of each robot can also allow the user to manually modify the information of the points of interest if necessary, for example to correct a location error or adjust the trajectory of the robot. This interface can also be configured to display additional information, such as the status of the robot's sensors or real-time alerts concerning obstacles detected in the navigation zone. In addition, the position label associated with the location of the robot can be enriched by metadata, such as timestamps or annotations specific to the current task, thus facilitating more precise management of movements and human interventions.The interface can also be designed to interact with external devices, such as tablets or smartphones, allowing a remote operator to monitor and adjust the robot's navigation parameters without having to be physically near it.

[0062] In one embodiment of the invention, said human-machine interface is a push button. According to this aspect of the invention, such a configuration allows a simple and direct interaction between the user and the robotic system. The button- The push button offers an intuitive solution, reducing the complexity of use for the operator. The user does not need advanced technical skills to interact with the system, which facilitates its adoption in various environments. In addition, the push button ensures fast and accurate activation of controls, minimizing the risk of human error when activating or deactivating system functions.

[0063] The push button, as a physical interface, also has mechanical robustness that makes it suitable for industrial environments or intensive use conditions. It is more resistant to wear compared to more complex interfaces such as touch screens or keyboards, which extends the life of the system. In addition, this mechanical simplicity reduces maintenance requirements, as there are fewer components likely to fail.

[0064] Advantageously, the tactile feedback of the push button, which is manifested by a click or physical resistance, offers the user immediate confirmation of the action performed, thus reinforcing confidence in the interaction with the system.

[0065] In one embodiment of the invention, the admissible signal, called the position recording signal, encodes the information relating to the recorded position and orientation as well as to the position label, and the robot is configured to transmit this position recording signal at least once.

[0066] By integrating this information into the signal, the system can track the robots' movements in real time and adjust the movement instructions according to their current position. This improves coordination between the robots and the management unit, ensuring better synchronization of tasks and optimization of routes.

[0067] The robot is configured to transmit said position recording signal at least once, and in particular multiple times, which makes it possible to maintain continuous communication between the robot and the management unit. This regular transmission of the signal ensures that the management unit always has the most recent data concerning the position and orientation of the robots. This makes it possible to react quickly to any changes in the environment or in the movements of the robots, thus reducing the risks of collision or poor coordination. In addition, this configuration makes it possible to ensure that the position information is always up to date, which is essential for active management of the robot fleet in dynamic or complex environments.

[0068] In one embodiment of the invention, the position recording signal may also include additional information such as environmental data captured by the robot's sensors, such as temperature or humidity, in order to enrich the navigation map with contextual parameters. The robot may also be configured to transmit this position recording signal of periodically or in response to specific events, such as the detection of an obstacle or a significant change in its immediate environment. In addition, the position label can be dynamically adjusted depending on the task in progress, thus allowing for better resource management and more precise adaptation to the conditions of the navigation area. The position recording signal can also be transmitted to other robots in the fleet, facilitating collaborative and real-time updating of the shared navigation map, which allows for better coordination between robots.

[0069] In one embodiment of the invention, the management unit and / or any other robot of the fleet are configured to update the respective navigation maps by integrating the recorded position and orientation as well as the position label, following the reception of said transmitted position recording signal.

[0070] According to this aspect of the invention, the continuous updating of the maps makes it possible to improve the accuracy of the robots' movements in the navigation area. By integrating this data in real time, the system adapts to changes in the environment, such as temporary obstacles or changes in the configuration of the area. This also makes it possible to synchronize the information between the different robots and the management unit, ensuring that all elements of the system have a consistent and up-to-date view of the environment.

[0071] Recording the position and orientation of the robots allows their location in the navigation area to be accurately tracked. By knowing the exact position of each robot, the management unit can plan more useful routes and avoid congested areas or paths already taken by other robots.

[0072] The position label, which is also integrated into the map update, allows contextual information to be associated with specific locations in the navigation area. For example, certain points can be labeled as loading zones, maintenance points, or areas to avoid. This contextual information enriches the navigation map and allows robots to make smarter decisions based on their immediate environment.

[0073] By integrating these updates into the navigation maps, the system becomes more resilient to unforeseen events and changes in the environment. The robots can thus adjust their behaviors based on the new data received, which reduces the risk of errors or malfunctions. This adaptive capacity makes the system more flexible and able to function optimally even in dynamic or changing environments.

[0074] In one embodiment of the invention, the management unit comprises: - a predetermined plurality of robot movement instructions, and - a robot movement instruction selection interface making it possible to select any movement instruction from among said predetermined plurality of robot movement instructions.

[0075] This feature allows for a set of preconfigured directives, which facilitates the management of robot movements in the navigation area. By having a set of already defined instructions, the system reduces the computation time required to generate new instructions for each request, which improves the overall efficiency of the system. In addition, this allows for standardization of robot movements.

[0076] The management unit also includes a robot movement setpoint selection interface, which allows a specific setpoint to be selected from the predetermined plurality. This interface provides increased flexibility in robot management, as it allows an operator or automated system to quickly select the most appropriate setpoint based on real-time operational needs. This also simplifies interaction with the system, as there is no need to reprogram or recalculate complex setpoints each time a robot needs to move. This interface thus improves the responsiveness of the system and allows for more fluid and intuitive management of robot movements in the navigation area.

[0077] Alternatively, the management unit may integrate a dynamic plurality of robot movement instructions, rather than a predetermined plurality. In this case, the management unit generates or modifies the instructions in real time depending on the conditions of the navigation zone or the specific needs of the robot fleet. The movement instruction selection interface may then allow not only to choose from pre-existing instructions, but also to create new instructions or to adjust those that are already available. This flexibility makes it possible to adapt the movements of the robots to unforeseen situations or to changes in the environment, while maintaining communication between the management unit and the robots.Additionally, the interface can be configured to offer command customization options, such as changing speed, trajectory, or priority parameters, to meet specific mission or environmental requirements.

[0078] In one embodiment of the invention, the management unit is configured to emit an admissible signal encoding the selected movement instruction, in response to the selection of at least one robot movement instruction via said selection interface.

[0079] According to this aspect of the invention, the management unit is configured to emit an admissible signal encoding the selected movement instruction. This configuration allows communication between the management unit and the robots, ensuring that movement instructions are transmitted accurately and quickly. The fact that the management unit encodes the instruction before sending it optimizes bandwidth use, especially in environments where the communication rate is limited to 50 kbit / s. This also ensures that robots receive clear and understandable instructions, thus reducing the risk of movement errors or misinterpretation of instructions.

[0080] The emission of the admissible signal in response to the selection of an instruction via the selection interface allows a fluid and intuitive interaction between the human operator and the robotic system. The selection interface provides a simple and direct means of choosing movement instructions, which improves the responsiveness of the system. The operator can thus adjust the movements of the robots in real time, according to needs or changes in the navigation environment. This ability to react quickly to the selections of instructions increases the flexibility of the system and allows more dynamic management of the robot fleet.

[0081]

[0082] Encoding movement instructions before transmission also ensures better management of communication resources. By compressing or optimizing the data before sending it, the system reduces the amount of information to be transmitted, which is particularly useful in environments where bandwidth is limited. This allows for smooth communication between the management unit and the robots to be maintained, even when several robots need to receive instructions simultaneously. In addition, this approach minimizes the risk of network congestion, thus ensuring smoother execution of the tasks assigned to the robots.

[0083] Finally, this configuration allows for better coordination between the different robots in the fleet. By centralizing the management of movement instructions at the management unit level, the system can ensure that the robots do not interfere with each other when performing their tasks. This improves operational safety, particularly in complex environments where several robots must move simultaneously.

[0084] Alternatively, the management unit may be configured to emit an admissible signal encoding the selected movement instruction not only in response to a manual selection via a selection interface, but also automatically based on predefined criteria, such as the state of the robot fleet, the workload or the current position of the robots in the navigation zone. For example, the management unit may analyze the location data of the robots in real time and automatically generate optimized movement instructions to avoid collisions or maximize the efficiency of the paths. In addition, the selection interface may be enriched with options for prioritizing certain instructions. depending on the urgency of the tasks to be performed or the specific constraints of the environment. In this case, the emission of the admissible signal encoding the movement instruction can be triggered by contextual events, such as the detection of an obstacle or the modification of navigation conditions, without requiring direct human intervention.

[0085] In one embodiment of the invention, each robot comprises an optical sensor comprising a LIDAR, making it possible to detect the environment and map the navigation area in real time. This sensor is used to measure the distance between the robot and surrounding obstacles, thus facilitating collision avoidance and trajectory optimization.

[0086] The data collected by the optical sensor is processed by the robot's computing unit to dynamically adjust its movements according to variations in the environment. This technology also allows precise localization of the robot on the navigation map stored in its memory, thus improving the accuracy and efficiency of movements within the navigation area.

[0087] In one embodiment of the invention, the robotic system comprises a plurality of position markers and a plurality of identifiers, each position marker being associated with a unique identifier among said plurality of identifiers; said position markers being capable of being read by each robot of the fleet to determine the identifier associated with said read position marker.

[0088] This configuration allows each robot in the fleet to read these position markers and precisely identify where it is within the navigation area. This improves the robots' localization accuracy, as they can reliably locate themselves based on the markers they encounter. This approach reduces the reliance on more complex or expensive localization systems, such as GPS or high-precision sensors, while ensuring adequate navigation in predetermined environments.

[0089] Position markers, combined with unique identifiers, also simplify the management of robot movements. By knowing the identifier of a marker, a robot can adjust its behavior based on its current position, which facilitates the coordination of movements within the fleet. This helps to avoid collisions or interference between robots, because each robot can adapt its actions based on its position relative to other robots and obstacles in the navigation area.

[0090] In addition, this method of localization by markers and identifiers allows easy updating of the navigation map. If changes are made to the environment, it is sufficient to modify or reposition the position markers, without having to completely reprogram the robots or recalculate trajectories. complex. This makes the system more flexible and adaptable to dynamic or constantly changing environments.

[0091] Finally, the reading of position markers by robots enables implicit communication between the environment and the robots. By reading a marker, a robot can not only determine its position, but also receive contextual information about the environment, such as instructions specific to a given area.

[0092] In one embodiment of the invention, each position marker comprises at least one reflective strip covered by a local light diffuser.

[0093] According to this aspect of the invention, said reflective strip in synergy with said local light diffuser makes it possible to improve the detection of the markers by the sensors of the robots, in particular in low light conditions or in environments where visual contrasts are reduced. The reflective strips reflect almost completely the light emitted by the optical sensors of the robots, which facilitates the precise location of the markers and, consequently, the navigation of the robots in the predetermined area.

[0094] The use of a light diffuser makes it possible to stabilize the light signal returned by the reflective strip in order to guarantee identification of the light signal reflected on said reflective strip.

[0095] The use of reflective strips also makes it possible to reduce the complexity of image processing or detection algorithms, as robots can more easily identify markers without the need for sophisticated vision systems or expensive sensors. This contributes to better management of the resources on board robots, particularly in terms of computing power and energy consumption.

[0096] In addition, reflective strips offer a robust and durable solution, as they do not require a power supply and are resistant to various environmental conditions, such as humidity or dust. This ensures increased reliability of the navigation system, even in industrial or outdoor environments where conditions can be harsh.

[0097] Finally, this configuration allows for simplified installation and maintenance of the position markers, since the reflective strips and local light diffusers are passive elements that do not require regular maintenance. This reduces operating costs and improves the longevity of the robotic system as a whole.

[0098] In one embodiment of the invention, the reflective strip is a catadioptre and said local light diffuser is a transparent film, in particular a vinyl film.

[0099] According to this aspect of the invention, the use of a reflective strip in the form of a catadioptre makes it possible to improve the visibility of robots in environments where the Lighting conditions may vary. The reflector, by reflecting light back to its source, ensures that position markers remain detectable even in dimly lit areas or during sudden changes in brightness.

[0100] The reflector does not require an active energy source to operate, making it an energy-efficient solution. Unlike active lighting devices, it does not consume electricity, which helps preserve the autonomy of robots. In addition, its robustness and simplicity of design make it a durable element, capable of withstanding wear and tear conditions and potential shocks in an industrial or logistics environment.

[0101] By integrating a reflector, the robotic system also benefits from better compatibility with optical or laser detection systems used for navigation or surveillance. The sensors of these systems can more easily identify position markers thanks to the reflection amplified by the reflector, which improves the accuracy of tracking and localization systems. This allows for smoother coordination between robots and the infrastructure of the work environment.

[0102] Finally, the reflector offers a simple and effective solution to meet safety requirements in environments where visibility is a key factor. It allows a high level of performance to be maintained without requiring complex or costly modifications to the robots or the surrounding infrastructure.

[0103] Alternatively, the reflective strip may be made from a material different from the reflector, such as a retroreflective film or reflective paint, while retaining the ability to reflect light back to its emitting source. This type of material allows for efficient reflection of light signals, thereby facilitating the detection of position markers by optical sensors or vision systems embedded on robots. In addition, the use of these alternative materials may provide greater flexibility in terms of shape and positioning, while maintaining good visibility in low-light conditions. These variants may also be suitable for specific environments where traditional reflectors are not optimal, for example due to space or weight constraints.

[0104] In one embodiment of the invention, the reflective strip is covered by non-reflective strips arranged in a spatial pattern, said spatial pattern defining said unique identifier of the position marker.

[0105] According to this aspect of the invention, the spatial pattern makes it possible to create a unique identifier for each position marker. This configuration provides a reliable method for distinguishing between different markers in the navigation area, which facilitates the precise localization of robots in the environment. By using a spatial pattern To define the identifier, the system avoids potential interference that could occur with other identification methods, such as radio signals or electronic tags, which can be disrupted by obstacles or electromagnetic interference.

[0106] This advantageous configuration offers an interesting alternative to the use of simple uniform reflective strips, by allowing a more precise and individualized identification of the markers in the navigation zone. The robots, equipped with suitable sensors, detect these patterns and interpret them to locate themselves or adjust their trajectory according to the instructions received. This approach can also improve the robustness of the system in the face of variable lighting conditions, because the non-reflective patterns can be more easily distinguished by the robots' visual sensors, even in the presence of reflections or glare.

[0107] The fact that the non-reflective stripes are arranged in a spatial pattern also allows for fast and accurate visual recognition by the robots' sensors. The robots can thus identify the position markers without the need for complex image processing systems or intensive calculations. This reduces the computational load on the robots' processing units, improving their responsiveness and their ability to navigate smoothly in the environment. In addition, this approach minimizes the risk of identification errors, as each pattern is unique and easily recognizable.

[0108] The use of non-reflective strips in addition to the reflective strips and the local light diffuser also improves the robustness of the system in varying light conditions. This allows robots to detect position markers even in environments where ambient light is low or changing. This ensures better reliability of the navigation system, particularly in industrial or outdoor environments where lighting conditions may fluctuate.

[0109] The invention also relates to a method for managing a robotic system intended to equip a predetermined environment, called a navigation zone, the system comprising: - a fleet of rolling robots comprising at least one autonomous rolling robot, each robot of said fleet of robots comprising a computing unit, communication means and a storage memory, called robotic memory, and a predetermined map of said navigation zone, called navigation map, stored in said robotic memory; - a management unit for said fleet of robots comprising a computing unit, a storage memory, called management memory, and a card predetermined of said navigation area stored in said management memory; - the means of communication of each robot and the means of communication of said fleet management unit being capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals, transmitted at a rate less than or equal to 50 kbit / s, called admissible signals,

[0110] characterized in that the management method comprises the following steps:

[0111] a step of indicating to the management unit, by an operator, a task to be satisfied;

[0112] a step of transmission, by the management unit, of an admissible signal encoding the instruction corresponding to the task to be satisfied;

[0113] a step of reception, by each robot of the fleet capable of receiving the signal, of said admissible signal encoding said instruction, and of calculation by each robot of a feasibility score from said instruction received and the position of each robot on said navigation map at the time of reception of said signal;

[0114] a step of transmission, by each robot, of an admissible signal encoding said digital score associated with this robot,

[0115] a step of receiving, by the management unit, the plurality of signals encoding the plurality of digital scores;

[0116] a step of assigning a task, by the management unit, to the robot having the lowest score, said assignment being carried out via the emission of an admissible signal encoding an authorization to execute the instruction;

[0117] a step of execution, by the chosen robot, of a maneuver making it possible to satisfy the task instruction.

[0118] This configuration allows each robot to have a local representation of the environment, thus facilitating autonomous decision-making based on its position and the tasks to be accomplished. The navigation map stored in the robotic memory also allows for more precise navigation, as each robot can refer to a common map to plan its movements.

[0119] The robot fleet management unit, for its part, also has a computing unit and a storage memory containing the same predetermined map of the navigation area. This allows the management unit to coordinate the movements of the robots by having an overview of the navigation area. By having access to the same map as the robots, the management unit can issue movement instructions that are more relevant and adapted to the overall situation, thus optimizing the distribution of tasks between the robots.

[0120] The communication means of the robots and the management unit are capable of transmitting and receiving point-to-point or point-to-multipoint radio signals, with a flow rate limited to 50 kbit / s. This flow rate limitation makes it possible to reduce consumption of energy of the robots, which is particularly important in environments where the autonomy of the robots is a key factor. In addition, the use of low-speed radio signals helps to minimize interference with other communication systems present in the environment, thus ensuring reliable communication between the robots and the management unit.

[0121] The management method begins with an operator indicating a task to be performed to the management unit. This step centralizes decision-making at the management unit, which can then assess the overall situation and determine how best to distribute tasks among the robots. This also simplifies the interaction between the human operator and the robotic system, as the operator does not need to directly manage each robot individually.

[0122] The management unit then emits a signal encoding the instruction corresponding to the task to be fulfilled. This signal is transmitted to the robots via the communication means, allowing each robot to receive the instruction and interpret it according to its current position and its capabilities. This step ensures that all robots potentially capable of performing the task are informed of the instruction, which allows for more flexible distribution of tasks.

[0123] Each robot that receives the signal calculates a feasibility score based on the instruction received and its position on the navigation map. This calculation allows each robot to evaluate its ability to accomplish the task by taking into account its proximity to the objective and its available resources. This prevents distant or less suitable robots from being selected for tasks that they cannot accomplish effectively.

[0124] The robots then emit a signal encoding their numerical score associated with the task. This step allows the management unit to receive a plurality of scores from different robots, allowing it to compare the scores and select the robot best suited to perform the task. This ensures optimal allocation of resources, as the most suitable robot is chosen for each task.

[0125] The management unit then assigns the task to the robot with the lowest score, by emitting a signal encoding an authorization to execute the instruction. This step makes it possible to formalize the selection of the robot and give it authorization to execute the task.

[0126] Finally, the selected robot performs a maneuver to satisfy the task instruction. This step finalizes the process by allowing the selected robot to perform the requested action, based on its position and the information contained in the navigation map. This ensures that the task is accomplished in a coordinated manner, taking into account the constraints of the environment and the capabilities of the robot.

[0127] In one embodiment of the invention, in the absence of receipt of a numerical score by the management unit after the transmission of the admissible signal encoding the task instruction, said management unit retransmits the admissible signal until a score is received. According to this aspect of the invention, when the management unit does not obtain feedback in the form of a numerical score after sending an admissible signal encoding a task instruction, it retransmits the signal until a score is received. This feature makes it possible to guarantee reliable communication between the management unit and the robots, even in the event of temporary disturbances in the transmission of the signals. By retransmitting the signal, the system ensures that the movement instructions are not lost and that the robots eventually receive and process the instructions.This improves the system's robustness against communication hazards, particularly in environments where radio interference or physical obstacles may affect data transmission. This approach also helps minimize the risk of errors or misunderstandings in the robots' task execution, as the management unit persists in its attempt to communicate until confirmation in the form of a score is obtained.

[0128] Alternatively, the management unit may adopt a different approach in the event of failure to receive a numerical score after the transmission of the admissible signal encoding the task instruction. Rather than systematically retransmitting the admissible signal until a score is received, the management unit may, for example, dynamically adjust the delay between successive retransmissions of the signal, in order to reduce congestion in the communication network or to optimize the energy consumption of the robots. Another possibility is for the management unit to directly interrogate the robots to check their operating status or availability before retransmitting the signal, which would allow for a faster diagnosis of a possible communication failure or a technical problem at the level of a specific robot.Additionally, the management unit can also decide to modify the initial task instruction based on available information, for example by assigning the task to another robot in the fleet if the first one does not respond within a predefined time.

[0129] In one embodiment of the invention, the step of transmitting an admissible signal by the management unit comprises a sub-step of repeatedly transmitting the admissible signal encoding a movement instruction, in the absence of reception of a numerical score by the management unit following the first transmission of said signal. According to this aspect of the invention, the management unit repeatedly transmits an admissible signal encoding a movement instruction when it does not receive numerical scores in response to the first transmission of the signal. This repetition makes it possible to guarantee that the movement instruction actually reaches the robots. affected, even in the event of temporary disruptions in communication. This improves the robustness of the system against interference or signal loss, ensuring that instructions are not ignored or lost.

[0130] This feature also makes it possible to overcome possible delays in the transmission or processing of information by the robots, by offering them several opportunities to receive and process the instruction. This optimizes the coordination between the management unit and the robots, by reducing the risks of inconsistency in the execution of tasks. The system thus becomes more reliable in environments where communication conditions may be fluctuating or unstable.

[0131] Furthermore, this repetition of the signal transmission makes it possible to maintain synchronization between the management unit and the robots, preventing critical instructions from being missed. This contributes to better resource management and smoother execution of the robots' movements in the navigation area.

[0132] Alternatively, the step of transmitting an admissible signal by the management unit may include an automatic repetition of the sending of the signal encoding a movement instruction in the case where no numerical score is received by the management unit after the first transmission. This repetition makes it possible to guarantee that the movement instruction actually reaches the robots concerned, even in the event of temporary disruptions in communication or a momentary reception failure. The system can thus ensure that the movement instructions are not ignored or lost, which improves the robustness and reliability of the coordination of the robots in the navigation zone. This approach can also be combined with time-delay or redundancy control mechanisms to avoid unnecessary overload of the communication network, while maintaining optimal operability. List of figures

[0133] 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:

[0134] [Fig.l] is a schematic view of a robotic system, comprising a fleet of autonomous rolling robots and a unit for managing said fleet according to an embodiment of the invention.

[0135] [Fig.2] is a schematic view of an autonomous rolling robot and a position marker forming part of a robotic system according to one embodiment of the invention.

[0136] [Fig.3] is a schematic view of a position marker defining a spatial pattern, said spatial pattern being capable of being read by an optical sensor of an autonomous rolling robot according to one embodiment of the invention.

[0137] [Fig.4] is a schematic view of a position marker defining a spatial pattern and a graph showing the reading of the reflected light intensity, from a lidar on board an autonomous rolling robot, on said position marker according to an embodiment of the invention.

[0138] [Fig.5] is a schematic view of a method for managing a fleet of autonomous rolling robots according to one embodiment of the invention.

[0139] [Fig.6] is a schematic view of a method for creating a point of interest on a human-machine interface present on all the robots of a fleet of autonomous rolling robots according to one embodiment of the invention.

[0140] Detailed description of an embodiment of the invention

[0141] In the figures, the scales and proportions are not strictly respected, for the purposes of illustration and clarity.

[0142] Furthermore, identical, similar or analogous elements are designated by the same references in all the figures.

[0143] [Fig.l] schematically and partially represents a robotic system 1 intended to equip a predetermined environment called navigation zone 2.

[0144] The system comprises a fleet 3 of three autonomous rolling robots 4.1; 4.2; 4.3.

[0145] Each robot 4.1; 4.2; 4.3 of said fleet of robots 3 comprises a computing unit (not shown), communication means and a robotic storage memory 5, and a predetermined navigation map of said navigation zone 2, stored in the robotic memory 5 of the robot, and a position unit making it possible to know the position of the robot 4.1; 4.2; 4.3 on said navigation map;

[0146] The system also comprises a management unit 6 of said fleet 3 of robots 4.1; 4.2; 4.3 comprising a calculation unit, a management storage memory (not shown), and a copy of the predetermined map of said navigation zone 2 stored in said management memory.

[0147] In the robotic system 1, the communication means of each robot 4.1; 4.2; 4.3 and the communication means of said fleet management unit 6 are capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals 100.1; 100.2; 100.3, transmitted at a rate less than or equal to 50 kbit / s, called admissible signals.

[0148] In the robotic system 1, the calculation unit of the management unit 6 is capable of encoding robot movement instructions 4.1; 4.2; 4.3 in a robot movement instruction encoding.

[0149] In addition, the communication means of the management unit 6 are capable of emitting an admissible signal 8.1 from the encoding of a robot movement instruction.

[0150] In the robotic system 1, the calculation unit of each robot 4.1; 4.2; 4.3 is capable of determining a numerical score from an admissible signal received by the communication means of this robot, encoding a robot movement instruction.

[0151] In the robotic system 1, said management unit 6 is configured to emit, from a plurality of digital scores associated with a plurality of robots, an admissible signal encoding an authorization to execute a robot movement instruction, said authorization to execute a robot movement instruction authorizing at least one robot of the plurality of robots 4.1; 4.2; 4.3, associated with a minimum score among said plurality of digital scores, to execute said instruction.

[0152] The communication means of each robot 4.1; 4.2; 4.3 and of the management unit 6 are capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals at a rate less than or equal to 50 kbit / s and with a range of the order of a hundred meters.

[0153] In the robotic system 1, the calculation unit of the management unit 6 encodes the movement instructions of the robots 4.1; 4.2; 4.3 while ensuring successful communication between the management unit 6 and the robots.

[0154] Each robot, thanks to its calculation unit, determines a numerical score from the movement instructions received and initially issued by the management unit 6. This score makes it possible to evaluate the relevance or the capacity of the robot 4.1; 4.2; 4.3 to execute a given task.

[0155] The management unit 6, by emitting a signal encoding an execution authorization based on the numerical scores of the robots, makes it possible to coordinate the actions of the fleet 3 dynamically.

[0156] In the robotic system 1, the communication means of said management unit 6 and of the robots 4.1; 4.2; 4.3 each comprise a bidirectional antenna.

[0157] In the robotic system 1, the calculation unit of each robot 4.1; 4.2; 4.3 is capable of determining a numerical score from at least one optimization criterion based on the travel time associated with a movement trajectory of the robot 4.1; 4.2; 4.3 towards a point on the navigation zone 2, called target 11, from the present position of the robot 4.1; 4.2; 4.3 on the map of the navigation zone 2.

[0158] The calculation unit of each robot 4.1; 4.2; 4.3 of the fleet 3 of robots is capable of translating any instruction received into an optimal control problem, in particular minimum time problems and of putting into action digital algorithms to solve said optimal control problem, for example methods among dynamic programming, viability methods, methods based on the Pontryagin maximum principle, gradient algorithms, regularization techniques or even proximal analysis algorithms.

[0159] The use of travel time as an optimization parameter makes it possible to improve the accuracy of the arrival time estimates of the robots 4.1; 4.2; 4.3 at their destinations and facilitates the planning of tasks and the synchronization of operations in complex environments, where several robots 4.1; 4.2; 4.3 must interact with external elements or human operators.

[0160] In the case where, after a first transmission of the signal, no digital score is received by said management unit 6, the management unit 6 is configured to transmit again, at least once, an admissible signal encoding a movement instruction for the robots 4.1; 4.2; 4.3.

[0161] [Fig.2] schematically and partially represents an autonomous rolling robot 4.1; 4.2; 4.3 and a position marker fixed on a wall 14, forming part of a robotic system 1 according to an embodiment of the invention.

[0162] In the robotic system 1, each robot 4.1; 4.2; 4.3 comprises an optical sensor comprising a LIDAR (not shown), making it possible to detect the environment and to map the navigation zone 2 in real time. This sensor is used to measure the distance between the robot 4.1; 4.2; 4.3 and the surrounding obstacles, thus facilitating collision avoidance and trajectory optimization.

[0163] The data collected by the optical sensor are processed by the robot's computing unit 4.1; 4.2; 4.3 to dynamically adjust its movements according to variations in the environment. This technology also allows precise localization of the robot 4.1; 4.2; 4.3 on the navigation map stored in its memory, thus improving the precision and efficiency of movements within the navigation zone 2.

[0164] The robotic system 1 comprises a plurality of position markers 19 and a plurality of identifiers, each position marker being associated with a unique identifier among said plurality of identifiers; said position markers 19 being capable of being read by each robot 4.1; 4.2; 4.3 of the fleet 3 to determine the identifier associated with said read position marker.

[0165] The position markers 19, associated with unique identifiers, also make it possible to simplify the management of robot movements. By knowing the identifier of a marker, a robot 4.1; 4.2; 4.3 can adjust its behavior according to its current position, which facilitates the coordination of movements within the fleet.

[0166] Each position marker comprises a reflector in the form of a strip 20. According to this aspect of the invention, the use of a reflective strip 20 in the form of a reflector makes it possible to improve the visibility of the robots 4.1; 4.2; 4.3 in environments where the lighting conditions may vary. The reflector, by returning the light towards its source, ensures that the position markers 19 remain detectable even in dimly lit areas or during sudden changes in brightness.

[0167] The reflector does not require an active energy source to operate, making it an energy-efficient solution. Unlike active lighting devices, it does not consume electricity, which helps preserve the autonomy of robots. In addition, its robustness and simplicity of design make it a durable element, capable of withstanding wear and tear conditions and potential shocks in an industrial or logistics environment.

[0168] By integrating a reflector, the robotic system 1 also benefits from better compatibility with optical or laser detection systems used for navigation or surveillance. The sensors of these systems can more easily identify the position markers 19 thanks to the reflection amplified by the reflector, which improves the accuracy of the tracking and localization systems.

[0169] According to this example, the reflective strip is covered by non-reflective strips arranged in a spatial pattern, said spatial pattern defining said unique identifier of the position marker.

[0170] According to this aspect of the invention, the spatial pattern makes it possible to create a unique identifier for each position marker in the form of a barcode.

[0171] The robots 4.1; 4.2; 4.3 can thus identify the position markers 19 without the need for complex image processing systems or intensive calculations.

[0172] The robot 4.1; 4.2; 4.3 of this [Fig.2] also comprises a human-machine interface in the form of a push button 16 capable of recording the current position and orientation of this robot 4.1; 4.2; 4.3 on said navigation map stored in said storage memory 5 of this robot 4.1; 4.2; 4.3 and associated with a label, called position label. The position label pair and the position-orientation information define a point of interest.

[0173] The association of the position and orientation of the robot 4.1; 4.2; 4.3 with a specific label makes it possible to simplify the identification of points of interest or critical areas in the navigation environment.

[0174] The human-machine interface of each robot 4.1; 4.2; 4.3 allows the user to manually modify the information of the points of interest if necessary, for example to correct a location error or adjust the trajectory of the robot.

[0175] An admissible signal, called position recording signal, encodes the information relating to the recorded position and orientation as well as the position label, in addition, the robot 4.1; 4.2; 4.3 is configured to emit this position recording signal at least once.

[0176] Furthermore, the management unit 6 and / or any other robot 4.1; 4.2; 4.3 of the fleet 3 are configured to update the respective navigation maps by integrating the recorded position and orientation and position label, following receipt of said transmitted position recording signal.

[0177] The position label, which is also integrated into the map update, allows contextual information to be associated with specific locations in the navigation area 2.

[0178] [Fig. 3] schematically and partially represents a position marker defining a spatial pattern, said spatial pattern being capable of being read by an optical sensor of an autonomous rolling robot 4.1; 4.2; 4.3 according to an embodiment of the invention.

[0179] The position marker comprises a catadioptric strip covered by a succession of black stripes of variable widths painted on the catadioptric strip and spaced according to a predetermined configuration defining a unique identification code of said position marker and capable of being read by a Lidar optical sensor of any robot 4.1; 4.2; 4.3 of the fleet 3 of autonomous rolling robots 4.1; 4.2; 4.3.

[0180] The painted catadioptric strip is covered with a local light diffuser in the form of a transparent vinyl film allowing the light to be reflected in a diffuse manner, thereby reducing the reflection effect dependent on the angle of incidence of a ray of light on the catadioptric strip.

[0181] [Fig.4] schematically represents a position marker defining a spatial pattern and a graph showing the reading of the reflected light intensity in candela, from a lidar on board a robot 4.1; 4.2; 4.3 rolling autonomously, on said position marker according to an embodiment of the invention.

[0182] The position marker has an extended band area 23 where the reflected light intensity is maximum. The black areas of the position marker have a low reflected light intensity.

[0183] [Fig.5] schematically represents a method for managing a robotic system 1 intended to equip a predetermined environment, called navigation zone 2, the system comprising: - a fleet 3 of rolling robots 4.1; 4.2; 4.3 comprising at least one autonomous rolling robot 4.1; 4.2; 4.3, each robot 4.1; 4.2; 4.3 of said fleet 3 of robots 4.1; 4.2; 4.3 comprising a computing unit, communication means and a storage memory 5, called robotic memory 5, and a predetermined map of said navigation zone 2, called navigation map, stored in said robotic memory 5; - a management unit 6 of said fleet 3 of robots 4.1; 4.2; 4.3 comprising a calculation unit, a storage memory 5, called management memory 5, and a predetermined map of said navigation zone 2 stored in said management memory 5; - the means of communication of each robot 4.1; 4.2; 4.3 and the means of communication of said fleet management unit 6 3 being capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals, transmitted at a rate less than or equal to 50 kbit / s, called admissible signals,

[0184] the management method comprises the following steps: - a step El of indication to the management unit 6, by an operator, of a task to be satisfied; - a step E2 of transmission, by the management unit 6, of an admissible signal encoding the instruction corresponding to the task to be satisfied; - a step E3 of reception, by each robot 4.1; 4.2; 4.3 of the fleet 3 capable of receiving the signal, of said admissible signal encoding said instruction, and of calculation by each robot 4.1; 4.2; 4.3 of a feasibility score from said instruction received and the position of each robot 4.1; 4.2; 4.3 on said navigation map at the time of reception of said signal; - a step E4 of transmission, by each robot, of an admissible signal encoding said digital score associated with this robot, - a step E5 of reception, by the management unit 6, of the plurality of signals encoding the plurality of digital scores; - a step E6 of task allocation, by the management unit 6, to the robot 4.1; 4.2; 4.3 having the lowest score, said allocation being carried out via the emission of an admissible signal encoding an authorization to execute the instruction; - a step E7 of execution, by the chosen robot 4.1; 4.2; 4.3, of a maneuver allowing the task instruction to be satisfied.

[0185] The management method begins with the indication of a task to be satisfied by an operator to the management unit 6. This step makes it possible to centralize the decision-making at the level of the management unit 6, which can then evaluate the overall situation and determine the best way to distribute the tasks between the robots. This also makes it possible to simplify the interaction between the human operator and the robotic system 1, because the operator does not need to directly manage each robot 4.1; 4.2; 4.3 individually.

[0186] The management unit 6 then emits a signal encoding the instruction corresponding to the task to be satisfied. This signal is transmitted to the robots 4.1; 4.2; 4.3 via the communication means, allowing each robot 4.1; 4.2; 4.3 to receive the instruction and interpret it according to its current position and its capabilities. This step guarantees that all robots 4.1; 4.2; 4.3 potentially capable of performing the task are informed of the instruction, which allows for more flexible distribution of tasks

[0187] Each robot 4.1; 4.2; 4.3 that receives the signal calculates a feasibility score based on the instruction received and its position on the navigation map. This calculation allows each robot 4.1; 4.2; 4.3 to evaluate its ability to accomplish the task by taking into account its proximity to the objective and its available resources. This makes it possible to prevent distant or less suitable robots 4.1; 4.2; 4.3 from being selected for tasks that they cannot accomplish efficiently.

[0188] The robots 4.1; 4.2; 4.3 then emit a signal encoding their numerical score associated with the task. This step allows the management unit 6 to receive a plurality of scores from different robots, which allows it to compare the scores and select the robot 4.1; 4.2; 4.3 most suitable for performing the task. This ensures optimal allocation of resources, because the most suitable robot 4.1; 4.2; 4.3 is chosen for each task.

[0189] The management unit 6 then assigns the task to the robot 4.1; 4.2; 4.3 having the lowest score, by emitting a signal encoding an authorization to execute the instruction. This step makes it possible to formalize the selection of the robot 4.1; 4.2; 4.3 and to give it authorization to execute the task.

[0190] Finally, the selected robot 4.1; 4.2; 4.3 performs a maneuver to satisfy the task instruction. This step finalizes the process by allowing the selected robot 4.1; 4.2; 4.3 to perform the requested action, based on its position and the information contained in the navigation map. This ensures that the task is accomplished in a coordinated manner, taking into account the constraints of the environment and the capabilities of the robot.

[0191] The step of transmitting an admissible signal by the management unit 6 comprises a sub-step E7 of repeated transmission of the admissible signal encoding a movement instruction, in the absence of reception of a numerical score by the management unit 6 following the first transmission of said signal. Thus, the management unit 6 repeatedly transmits an admissible signal encoding a movement instruction when it does not receive numerical scores in response to the first transmission of the signal.

[0192] [Fig.6] schematically and partially represents a method of creating a point of interest on a human-machine interface present on all robots 4.1; 4.2; 4.3 of a fleet 3 of autonomous rolling robots 4.1; 4.2; 4.3 according to an embodiment of the invention.

[0193] The method begins with a step SI corresponding to the positioning of the robot 4.1; 4.2; 4.3 at the desired location in the work environment. The user physically places the robot 4.1; 4.2; 4.3 in the chosen area, ensuring that it is correctly oriented with respect to the task or point of interest to be reached. Then, at S2, the user turns on the robot, thus triggering the activation of the robot's human-machine interface. This interface may include various elements, including a push button that facilitates direct interaction with the robotic system 1. The robot 4.1; 4.2; 4.3 is ready to record and process information relating to its position and orientation.

[0194] After activating the robot, in step S2, the user presses a button 16 to associate the current position and orientation of the robot 4.1; 4.2; 4.3 with a specific label. This action records the point of interest in the robot's memory 5, creating an association between the label and the position-orientation on the navigation map stored in the robot. This simplifies traceability and optimizes the management of future movements. The human-machine interface, via the push button 16, plays a key role here by facilitating direct and intuitive interaction with the robot.

[0195] Step S3 corresponds to the actual creation of the point of interest in memory, once the position and orientation have been recorded and associated with button 16. This makes it possible to define specific locations on the robot's navigation map, facilitating the coordination of its future movements as well as adjustments in its paths. These points of interest can be reused or modified later by the user via the human-machine interface.

[0196] During step S4, the point of interest is shared with the management unit 6 as well as with other robots 4.1; 4.2; 4.3 of the fleet, allowing synchronization of the data. The robot 4.1; 4.2; 4.3 transmits this information to the management unit 6 or to other robots, ensuring a continuous update of the shared navigation maps. This makes it possible to improve the coordination between the different robots, to optimize their movements, and to reduce the risks of errors or collisions in the work environment.

[0197] Finally, in step S5, the management unit 6 or another robot 4.1; 4.2; 4.3 of the fleet 3 integrates this new information, ensuring that the movement instructions are adjusted according to the shared data. The fleet 3 can thus benefit from this updated information, improving the precision and efficiency of the journeys of each robot.

[0198] Each robot 4.1; 4.2; 4.3 comprises a human-machine interface capable of recording the current position and orientation of this robot 4.1; 4.2; 4.3 on said navigation map stored in said storage memory 5 of this robot 4.1; 4.2; 4.3 and associated with a label, called position label. The pair “position label” and “position-orientation information” define a point of interest.

[0199] This functionality facilitates real-time updating of the robot's location, which improves the accuracy of movements and operations in the navigation zone 2. The user can thus view and adjust the position of the robot 4.1; 4.2; 4.3 directly on the map, which reduces location errors and optimizes route management.

[0200] Associating the position and orientation of the robot 4.1; 4.2; 4.3 with a specific label makes it possible to simplify the identification of points of interest or critical areas in the navigation environment. This provides better traceability of the movements of the robot 4.1; 4.2; 4.3 and makes it possible to name or categorize particular locations, thus facilitating communication between operators and the system. This functionality also improves the management of repetitive tasks or specific missions, since the recorded positions can be reused or referenced later.

Claims

1. Claims Robotic system (1) intended to equip a predetermined environment, called navigation zone (2), said system comprising: • a fleet (3) of autonomous rolling robots (4.1; 4.2; 4.3) comprising at least one robot, each robot (4.1; 4.2; 4.3) of said fleet (3) of autonomous rolling robots (4.1; 4.2; 4.3) comprising a calculation unit, communication means and a storage memory (5), called robotic memory, a predetermined map of said navigation zone (2), called navigation map, stored in said robotic memory (5) and a position unit making it possible to know the position of the robot (4.1; 4.2; 4.3) on said navigation map; • a management unit (6) of said fleet (3) of robots (4.1; 4.2; 4.3) comprising a calculation unit, a storage memory, called management memory, and a predetermined map of said navigation zone (2) stored in said management memory; characterized in that: • the means of communication of each robot (4.1; 4.2; 4.3) and the communication means of said fleet (3) management unit (6) are capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals, transmitted at a rate less than or equal to 50 kbit / s, called admissible signals; • the calculation unit of the management unit (6) is capable of encoding robot movement instructions in a robot movement instruction encoding (4.1; 4.2; 4.3); • the communication means of the management unit (6) are capable of emitting an admissible signal from the encoding of a robot movement instruction (4.1; 4.2; 4.3); • the calculation unit of each robot (4.1; 4.2; 4.3) is capable of determining a digital score (10) from an admissible signal received by the communication means of this robot, encoding a robot movement instruction (4.1; 4.2; 4.3); • said management unit (6) is configured to emit, from a plurality of digital scores associated with a plurality of robots, an admissible signal encoding an authorization to execute a robot movement instruction, said authorization to execute a robot movement instruction (4.1; 4.2; 4.3) authorizing at least one robot (4.1; 4.2; 4.3) of the plurality of robots, associated with a minimum score among said plurality of digital scores, to execute said instruction.

2. Robotic system (1) according to claim 1, characterized in that the calculation unit of each robot (4.1; 4.2; 4.3) is capable of determining a numerical score (10) from at least one optimization criterion based on the position of the robot (4.1; 4.2; 4.3) on the map of the navigation zone (2).

3. Robotic system (1) according to claim 2, characterized in that at least one optimization criterion is a function of the travel time associated with a movement trajectory of the robot (4.1; 4.2; 4.3) towards a point on the navigation zone (2), called target (11), from the present position of the robot.

4. Robotic system (1) according to one of claims 1 to 3, characterized in that each robot (4.1; 4.2; 4.3) comprises a human-machine interface capable of recording the current position and orientation of this robot (4.1; 4.2; 4.3) on said navigation map stored in said storage memory 5 of this robot (4.1; 4.2; 4.3) and associated with a label, called position label.

5. Robotic system (1) according to claim 4, characterized in that the admissible signal, called position recording signal, encodes the information relating to the recorded position and orientation as well as to the position label, and in that the robot (4.1; 4.2; 4.3) is configured to emit this position recording signal at least once.

6. Robotic system (1) according to claim 5, characterized in that the management unit 6 and / or any other robot (4.1; 4.2; 4.3) of the fleet (3) are configured to update the respective navigation maps by integrating the recorded position and orientation as well as the position label, following the reception of said transmitted position recording signal.

7. Robotic system (1) according to one of claims 1 to 6, characterized in that the management unit (6) comprises: • a predetermined plurality of robot movement instructions, and • a robot movement instruction selection interface (4.1; 4.2; 4.3) making it possible to select any movement instruction from said predetermined plurality of robot movement instructions.

8. Robotic system (1) according to claim 7, characterized in that the management unit (6) is configured to emit an admissible signal encoding the selected movement instruction, in response to the selection of at least one robot movement instruction (4.1; 4.2; 4.3) via said selection interface.

9. Robotic system (1) according to one of claims 1 to 8, characterized in that it comprises a plurality of position markers (19) and a plurality of identifiers, each position marker being associated with a unique identifier among said plurality of identifiers; said position markers (19) being capable of being read by each robot (4.1; 4.2; 4.3) of the fleet (3) to determine the identifier associated with said position marker read.

10. Robotic system (1) according to claim 9, characterized in that each position marker (19) comprises at least one reflective strip (20) covered by a local light diffuser.

11. Robotic system (1) according to claim 10, characterized in that the reflective strip (20) is a catadioptre and said local light diffuser is a transparent film.

12. Robotic system (1) according to one of claims 10 or 11, characterized in that the reflective strip is covered by non-reflective strips (21) arranged in a spatial pattern, said spatial pattern defining said unique identifier of the position marker (19).

13. Method for managing a robotic system (1) intended to equip a predetermined environment, called navigation zone (2), the system comprising: • a fleet (3) of rolling robots (4.1; 4.2; 4.3) comprising at least one autonomous rolling robot (4.1; 4.2; 4.3), each robot (4.1; 4.2; 4.3) of said fleet (3) of robots (4.1; 4.2; 4.3) comprising a calculation unit, communication means and a storage memory (5), called robotic memory, and a predetermined map of said navigation zone (2), called navigation map, stored in said robotic memory (5); • a management unit (6) of said fleet (3) of robots (4.1; 4.2; 4.3) comprising a calculation unit, a storage memory, called management memory, and a predetermined map of said navigation zone (2) stored in said management memory; • the communication means of each robot (4.1; 4.2; 4.3) and the communication means of said fleet management unit (6) being capable of transmitting and receiving point-to-point and / or point-to-multipoint radio signals (8.1; 100.1; 100.2; 100.3), transmitted at a rate less than or equal to 50 kbit / s, called admissible signals; characterized in that the management method comprises the following steps: • a step (El) of indicating to the management unit (6), by an operator, a task to be satisfied; • a step (E2) of transmission, by the management unit (6), of an admissible signal encoding the instruction corresponding to the task to be satisfied; • a reception step (E3), by each robot (4.1; 4.2; 4.3) of the fleet (3) capable of receiving the signal, said admissible signal encoding said instruction, and calculation by each robot (4.1; 4.2; 4.3) of a feasibility score from said instruction received and the position of each robot (4.1; 4.2; 4.3) on said navigation map at the time of reception of said signal; • a step (E4) of transmission, by each robot, of an admissible signal encoding said digital score associated with this robot, • a step (E5) of reception, by the management unit 6, of the plurality of signals encoding the plurality of digital scores; a step (E6) of task allocation, by the management unit 6, to the robot 4.1; 4.2; 4.3 having the lowest score, said allocation being carried out via the emission of an admissible signal encoding an authorization to execute the instruction; a step (E7) of execution, by the chosen robot (4.1; 4.2; 4.3), of a maneuver making it possible to satisfy the task instruction.

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