Anti-fall device for ballbot with telescopic trunk

Abstract

The present invention relates to a robot (1) comprising a single spherical wheel (2) for movement, a telescopic trunk (4), at least one arm (5), an upper part (6), an anti-fall device (10), said trunk (4) being connected on one side to a platform (3) and on the other side to the upper part (6), said trunk (4) being movable in length, between a retracted position and a deployed position, the anti-fall device (10) comprising an actuation means (12), a retraction system (11) and a support means (13), the actuation means (12) being configured to activate the retraction system (11) allowing the trunk (4) to move from the deployed to the retracted position upon detection of a predetermined risk / probability parameter of falling, said robot (1) being configured to, when this parameter is detected, take support on the support means (13) so as to prevent the robot (1) from falling. Figure from the summary: Figure 2

Description

Title of the invention: Anti-fall device for telescopic trunk ballbot technical field

[0001] The present invention relates to the field of robots, particularly humanoid robots. More specifically, the invention relates to a robot with a single spherical wheel comprising a telescopic torso and a stabilization device preventing it from falling. PRIOR TECHNOLOGY

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

[0003] In particular, robots with a single spherical wheel are known, each comprising a trunk, two arms, and an upper part. The trunk is connected to the spherical wheel and is fixed relative to it. Each arm is connected to the trunk by means of a pivot joint or a ball joint so as to allow each arm to move relative to the trunk. The upper part is connected to an upper portion of the trunk and is fixed relative to it. The upper part of the robot includes at least one sensor configured to allow the robot to orient itself within its environment. Such a robot is configured to move in all directions and to perform tasks using its arms, such as grasping objects. In this case, the arms are equipped with grippers for grasping the objects to be grasped.

[0004] However, such robots can fall due to a power failure or because of an obstacle, for example. The obstacle can be fixed or moving; in particular, it can be a significant, unexpected external load. Such a fall can cause damage to the robot, its surroundings, and also injure people present in its vicinity. Furthermore, since only its arms are movable, such a robot can only perform tasks at arm's length. In particular, it cannot perform tasks at height. Consequently, such a robot is designed to perform a specific type of task at a specific height and cannot adapt to its environment.

[0005] The present invention therefore aims to solve the aforementioned falling problems by proposing a robot comprising a single spherical wheel for movement, in contact with the ground, on which the robot rests, and comprising a telescopic trunk and an anti-fall device configured to, in the event of a loss of balance likely to cause a fall, adopt a deployed position allowing to prevent the robot from falling and to keep it balanced, and therefore to prevent any damage to the robot and / or its environment. PRESENTATION OF THE INVENTION

[0006] More specifically, the invention relates to a robot comprising a single spherical wheel for movement intended to be in contact with the ground and a platform mounted on said spherical wheel by means of stabilization means. The robot is configured to be mobile on the ground by means of said spherical wheel adapted to roll on the ground. The robot further comprises a telescopic trunk; at least one arm; an upper part; and a fall arrest device. The telescopic trunk is connected on one side to said platform and on the other side to the upper part. Said arm is connected by means of at least one pivot joint or at least one ball joint to said telescopic trunk. Said telescopic trunk is movable lengthwise, between a retracted position and an extended position. The fall arrest device comprises at least one actuating means, at least one retraction system, and at least one support means.The actuation means is configured to activate the retraction system, enabling the telescopic trunk to transition from its deployed to its retracted position upon detection of a predetermined risk / probability of falling parameter. The robot is configured to, when this predetermined risk / probability of falling parameter is detected, take support from at least one of the support means in order to prevent the robot from falling.

[0007] The robot's telescopic trunk allows the robot to have an adjustable grasping height. Furthermore, the robot is stable on its spherical wheel in both static and moving positions, and in both retracted and extended positions. The robot can therefore extend to grasp objects at height or retract to grasp and / or move objects closer to the ground. It can grasp and / or move objects in its environment while remaining stable and compact. The robot is operational at varying heights and is therefore adaptable to its environment. Moreover, the anti-fall device allows the robot to take support from the ground in the event of an action likely to cause it to fall, such as a loss of balance or a power failure, thus preventing the robot from falling and maintaining its balance on the support.The support therefore takes the form of a crutch, which prevents the robot and all its components from impacting the ground due to a fall, thus preventing any damage to the robot and / or its surroundings.

[0008] Advantageously, the robot includes a power supply system configured to supply said robot with energy and in that, in the event of a power failure, said actuation means of the anti-fall device is configured to activate the system of retraction.

[0009] In the event of a power failure, the telescopic trunk retracts and the anti-fall device automatically engages with the ground to prevent the robot from falling and to protect it from damage. Specifically, the telescopic trunk retracts passively.

[0010] Advantageously, the actuation means of the fall arrest device includes at least one stop configured to, in contact with the ground and / or an obstacle, allow the activation of the retraction system, enabling the passage from the deployed position of the telescopic trunk to its retracted position.

[0011] The stop enables the activation of the telescopic trunk retraction system, and therefore allows the telescopic trunk to move from a deployed position to a retracted position when it comes into contact with the ground and / or an obstacle, i.e. when there is a probable fall.

[0012] Advantageously, the actuation means of the fall arrest system further comprises a force sensor connected to the stop and configured to measure the force generated by the contact between said stop and the ground and / or an obstacle, to generate a representative value of said measurement, said robot being configured to compare the representative value of said measurement with a predetermined threshold value corresponding to the predetermined risk / probability of fall parameter, and, when the representative value is greater than the predetermined threshold value, activate the retraction system so that the telescopic trunk moves from the deployed position to the retracted position, and when the representative value is less than or equal to the predetermined threshold value, inhibit the activation of the retraction system, so that the telescopic trunk can remain in the deployed position.

[0013] The force sensor can be complementary to the stop to allow the retraction of the telescopic trunk if the robot hits an obstacle, for example, which would cause a loss of balance leading to a fall.

[0014] Advantageously, the robot extends along a frontal plane orthogonal to the ground, and the means for actuation of the retraction system comprises: a means for measuring the inclination of the robot with respect to said frontal plane; and a control unit. The measuring means is configured to measure the inclination of the robot with respect to said frontal plane, to generate a representative value of said measurement, and to compare the representative value of said measurement with a predetermined threshold value corresponding to the predetermined parameter. The control unit is configured to activate the retraction system when the representative value is greater than the predetermined threshold value, and to inhibit the activation of the retraction system when the representative value is less than or equal to the predetermined threshold value.

[0015] The inclination measurement means and the control unit allow retraction the telescopic trunk when a threshold inclination is exceeded.

[0016] Advantageously, the robot includes a unique anti-fall device forming a circle or ring extending over the circumference of the spherical wheel.

[0017] According to one variant, the robot comprises a plurality of fall-prevention devices, distributed in a circle around the spherical wheel.

[0018] With a single fall arrest device forming a circle or ring extending over the circumference of the spherical wheel or with a plurality of fall arrest devices, distributed in a circle around the spherical wheel, it is possible to prevent the robot from falling in several directions.

[0019] Advantageously, the telescopic trunk comprises at least a first portion and a second portion, the first portion being configured to translate inside the second portion, the second portion being connected on one side to the platform and on the other side to the second portion and the first portion is on the other side connected to the upper part, said second portion housing a spring configured to assist the passage from the deployed position to the retracted position of the telescopic trunk.

[0020] Advantageously, a stop projects from said first portion configured to come into contact with the second portion when the telescopic trunk is in the retracted position.

[0021] Advantageously, the platform stabilization means are configured to ensure that the platform is maintained in a predetermined position, in particular horizontal, relative to the ground. PRESENTATION OF THE FIGURES

[0022] The invention will be better understood upon reading the following description, given solely by way of example, and referring to the accompanying drawings given by way of non-limiting examples, in which identical references are given to similar objects and on which:

[0023] Fig. 1 is a schematic representation taken from the front of the robot which is the subject of the invention, comprising a single spherical wheel for movement intended to be in contact with the ground, a telescopic trunk in the retracted position and an anti-fall system;

[0024] Figure 2 is a schematic perspective view taken from the front right of the robot in Figure 1, in which the telescopic trunk is in the deployed position; and

[0025] Fig. 3 is a schematic perspective representation taken from the front right of the robot of Fig. 1, in which the telescopic trunk is in the retracted position and said robot is taking support from a means of support so as to prevent its fall.

[0026] It should be noted that the figures set out the invention in detail to enable implementation of the invention; although not limiting, said figures serve in particular to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0027] The invention relates to a robot 1 comprising a single spherical wheel 2 intended to be in contact with the ground and a platform 3 mounted on the spherical wheel 2 by means of stabilization means. The robot 1 rests on the spherical wheel 2 by means of the platform 3. This type of robot 1 is commonly called a "Ballbot" or "Rolling Globe" robot.

[0028] The robot 1, as shown in [Fig.1], is mobile on the ground 7 by means of the single spherical wheel 2, in all directions, in a stable manner.

[0029] The platform 3 is mounted on the spherical wheel 2, so that a lower part of the spherical wheel 2 is permanently in contact with the ground 7. In particular, the platform 3 includes stabilization means configured to allow the robot 1 to be held stably on the spherical wheel 2 when the robot 1 is in a static position but also when the robot 1 is in motion.

[0030] The stabilization means may, for example, include retaining elements 30 enveloping at least part of the spherical wheel 2. Here, the stabilization means include three retaining elements 30 distributed over the spherical wheel 2.

[0031] The stabilization means may further include at least one secondary wheel 31, here three secondary wheels 31 configured to rotate and allow the mobility of the spherical wheel 2 and / or the robot 1 to be maintained in an upright position shown in the figures when it is static.

[0032] In static position, the platform 3 of the robot extends substantially parallel to the ground and the robot is inscribed in a frontal plane, orthogonal to the ground.

[0033] In order to move, and thus trigger the rotation of at least one secondary wheel 31 and therefore of the spherical wheel 2, the robot 1 must tilt relative to the front plane in the desired direction. Thus, the robot 1 can move in all directions, omnidirectionally.

[0034] The robot 1 comprises a telescopic trunk 4, at least one arm 5 and an upper part 6.

[0035] In particular, the telescopic trunk 4 is connected on one side to the platform 3 and on the other side to the upper part 6.

[0036] The arm 5 is connected by means of a pivot or ball joint to the telescopic trunk 4. The robot 1 can comprise a plurality of arms 5, here the robot 1 comprises two arms 5, each connected by means of a pivot or ball joint to the telescopic trunk 4.

[0037] The upper part 6 of the robot 1 comprises at least one sensor, in particular a plurality of sensors and cameras, and is configured to enable the robot 1 to perceive its environment and in particular to detect objects to grasp and / or move arranged opposite the upper part 6, in its field of vision.

[0038] In a particular example of the invention, the upper part 6 may include an RGB camera and / or an IR camera and / or a stereoscopic depth camera and / or a microphone and / or laser Time Of Flight sensors.

[0039] Furthermore, the robot 1 according to the invention is mobile in length, between a retracted position, shown in Figures 1 and 3, and a deployed position, shown in [Fig. 2],

[0040] The telescopic trunk 4 comprises at least a first portion 40 and a second portion 41.

[0041] Each of the first and second portions 40, 41 has a first and a second end.

[0042] The second portion 41 is connected by its first end to the platform 3. The first portion 40 is connected by its first end to the upper part 6, by means of a pivot joint or a ball joint or is fixed to a bust itself connected to the upper part 6 by means of a pivot joint or ball joint.

[0043] The second end of the second portion 41 is connected to the second end of the first portion 40 by means of a sliding connection for example.

[0044] In particular, the first portion 40 is configured to translate inside the second portion 4L

[0045] Advantageously, the second portion 41 houses a spring configured to help the telescopic trunk 4 move from the deployed position to the retracted position.

[0046] Furthermore, a stop may protrude from the first portion 40. The stop is configured to bear against the second portion 41 when the telescopic trunk is in the retracted position. In other words, the stop constitutes an end-of-travel stop between the extended and retracted positions of the telescopic trunk 4.

[0047] In the retracted position of the telescopic trunk 4, with reference to [Fig. 1], the first portion 40 is housed in the second portion 4L

[0048] In the deployed position of the telescopic trunk, with reference to [Fig.2], the first portion has translated into the second portion 41, towards the upper part, so as to lengthen the telescopic trunk 4.

[0049] The arm 5 comprises a distal segment 50 and a proximal segment 51 and a gripper, here a hand 52. The proximal segment 51 is connected on the one hand to the trunk 4 by means of a ball joint or a pivot joint, and on the other hand to the distal segment by means of a ball joint or a pivot joint. The distal segment 50 is connected on the other hand to the hand 52 by means of a pivot joint or a ball joint.

[0050] Here, the robot 1 comprises a plurality of arms 5. In such a case, each of the arms 5 comprises a distal segment and a proximal segment and a hand 52. The proximal segment is connected on the one hand to the telescopic trunk or to the torso overhanging the trunk. The 4th segment is attached to the 5th segment by means of a ball joint or pivot joint, and is also connected to the distal segment by means of a ball joint or pivot joint. The distal segment is itself connected to the 52nd segment by means of a pivot joint or ball joint.

[0051] Each arm 5 is configured to be mobile between a stretched position in which the distal segment and the proximal segment are aligned and a flexed position in which the proximal segment is inclined relative to the distal segment.

[0052] The gripper comprises at least two fingers forming a gripper, said gripper being configured to ensure the grasping of objects.

[0053] In the example illustrated in the figures, the hand 52 is a robotic hand comprising a palm and a plurality of fingers.

[0054] According to other embodiments, the hand can for example be a clamp or a suction cup.

[0055] In the upright and static position, the center of mass of robot 1 is inscribed in the frontal plane. Robot 1 is stable on the spherical wheel 2.

[0056] During movement, the robot 1 tilts relative to the frontal plane in the desired direction. Thus, the center of mass is displaced in this same direction and is along the telescopic shaft 4, whether it is in the retracted or extended position. The robot 1 remains balanced by the movement of the spherical wheel 2.

[0057] Thus, the robot 1 is stable on the spherical wheel 2 in both static and moving positions, and in both retracted and extended positions. The robot 1 can therefore extend or retract towards the ground to grasp and / or move objects in its environment. The robot 1 is operational at varying heights and is therefore adaptable to its environment.

[0058] In an alternative not shown in the figures, the robot's grasping area can be increased, in particular by increasing the length of the arms. Indeed, if the arms are lengthened, the robot can access the ground, for example, or reach distances further from its torso.

[0059] In addition, the robot 1 includes at least one fall-prevention device 10.

[0060] The robot 1 may include, as shown in Figures 1 to 3, a single anti-fall device 10, forming a circle or a ring extending over the circumference of the spherical wheel.

[0061] According to an unrepresented variant, the robot 1 may include a plurality of fall-arrest devices 10, distributed in a circle around the spherical wheel 2.

[0062] With reference to figures 1 to 3, the fall arrest device 10 comprises at least one actuation means 12, at least one retraction system 11 and at least one support means 13 of the robot 1.

[0063] The retraction system 11 is connected to the telescopic trunk 4 and the platform 3. The Actuating means 12 is connected to the support means 13 and to the platform 3.

[0064] The actuating means 12 is configured to activate the retraction system 11, allowing the telescopic trunk 4 to move from the deployed position to the retracted position, upon detection of a predetermined risk / probability of fall parameter.

[0065] The robot 1 is configured to, when this predetermined risk / probability of falling parameter is detected, take support on at least one support means 13 or at least one of the support means 13, so as to prevent the robot 1 from falling, as shown in [Fig.3].

[0066] The actuation means 12 of the fall arrest device 10 includes at least one stop 14 configured to, in contact with the ground 7 and / or an obstacle, allow the activation of the retraction system 11, enabling the passage from the deployed position of the telescopic trunk 4 to its retracted position.

[0067] The actuation means 12 of the fall arrest system 10 may further include a force sensor connected to the stop 14. This force sensor is configured to measure the force generated by the contact between the stop 14 and the ground 7 and / or an obstacle. The sensor is then configured to generate a value representative of said measurement.

[0068] This force sensor can be a complementary or alternative solution to the energy-independent fall arrest device 10. This sensor requires a power supply.

[0069] The robot 1 is then configured to compare the representative value of the measurement with a predetermined threshold value corresponding to the predetermined risk / probability of falling parameter. When the representative value is greater than the predetermined threshold value, the robot is configured to activate the retraction system 11 so that the telescopic trunk 4 moves from the deployed position to the retracted position, and when the representative value is less than or equal to the predetermined threshold value, the robot 1 is configured to inhibit the activation of the retraction system 11, so that the telescopic trunk 4 can remain in the deployed position.

[0070] Furthermore, the actuation means 12 of the retraction system 11 may include a means for measuring the inclination of the robot 1 with respect to the front plane and a control unit.

[0071] The measuring means is configured to measure the inclination of the robot 1 with respect to the front plane, to generate a representative value of said measurement, to compare the representative value of said measurement with a predetermined threshold value corresponding to the predetermined parameter.

[0072] The control unit is configured so that when the representative value is greater than the predetermined threshold value, it activates the retraction system 11 and when the representative value is less than or equal to the predetermined threshold value, it inhibits Activation of deployment system 11.

[0073] In addition, the robot 1 may include a power supply system configured to supply the robot 1 with energy and in that in the event of a power failure, the actuation means 12 of the anti-fall device 10 is configured to activate the retraction system 11.

[0074] Thus, when the robot 1 starts to fall, that is to say, to be more inclined than is necessary for its movement, the anti-fall device 10 is configured to take support on the ground 7.

[0075] In particular, and with reference to [Fig.3], when the inclination of the robot 1 is too great, the stop 14 of the actuation means 12 comes into contact with the ground 7. The contact between this stop 14 and the ground 7 allows the activation of the retraction system 11, allowing the passage from the deployed position to the retracted position of the telescopic trunk 4.

[0076] The anti-fall device 10 allows, in the event of an action likely to cause the robot 1 to fall, such as a loss of balance or a power failure, for example, for the robot 1 to take support from the ground 7, thus preventing the robot 1 from falling and maintaining its balance. This balance prevents the robot 1 and all its components from impacting the ground due to a fall, and therefore prevents any damage to the robot and / or its surroundings.

[0077] Whether the robot 1 has a single fall arrest device 10 forming a circle or ring extending over the circumference of the spherical wheel 2 or a plurality of fall arrest devices 10, distributed in a circle around the spherical wheel 2, it can fall in any direction, the fall arrest device or devices will prevent or stop its fall and the robot 1 will be kept in balance.

[0078] It should also be noted that the invention is not limited to the embodiments described above. It will indeed be apparent to a person skilled in the art that various modifications can be made to the embodiment described above, in light of the information just disclosed to them.

[0079] In the detailed presentation of the invention given above, the terms used shall not be interpreted as limiting the invention to the embodiment set forth in this description, but shall be interpreted as including all equivalents which can be foreseen by a person skilled in the art by applying their general knowledge to the implementation of the teaching which has just been disclosed to them.

Claims

Demands

1. A robot (1) comprising a single spherical wheel (2) for movement intended to be in contact with the ground (7) and a platform (3) mounted on said spherical wheel (2) by means of stabilization means, the robot (1) being configured to be mobile on the ground (7) by means of said spherical wheel (2) adapted to roll on the ground (7), characterized in that said robot (1) further comprises: • a telescopic trunk (4); • at least one arm (5); • an upper part (6); • an anti-fall device (10); said telescopic trunk (4) being connected on one side to said platform (3) and on the other side to the upper part (6), said arm (5) being connected by means of at least one pivot joint or at least one ball joint to said telescopic trunk (4);said telescopic trunk (4) being movable in length, between a retracted position and a deployed position, the fall arrest device (10) comprising at least one actuating means (12), at least one retraction system (11) and at least one support means (13), the actuating means (12) being configured to activate the retraction system (11) allowing the telescopic trunk (4) to move from the deployed position to the retracted position upon detection of a predetermined risk / probability of fall parameter, said robot (1) being configured to, when this predetermined risk / probability of fall parameter is detected, take support on at least one support means (13) or at least one of the support means (13) so as to prevent the robot (1) from falling.

2. Robot (1) according to claim 1, characterized in that it comprises a power supply system configured to supply said robot (1) with energy and in that in the event of a power failure, said actuation means (12) of the anti-fall device (10) is configured to activate the retraction system (11).

3. Robot (1) according to any one of claims 1 to 2, characterized in that the actuation means (12) of the anti-fall device (10) comprises at least one stop (14) configured to, in contact with the ground (7) and / or an obstacle, enable activation of the retraction system (11), allowing the passage from the deployed position of the telescopic trunk (4) to its retracted position.

4. Robot (1) according to claim 3, characterized in that the actuation means (12) of the fall arrest system (10) further comprises a force sensor connected to the stop (14) and configured to measure the force generated by the contact between said stop (14) and the ground (7) and / or an obstacle, to generate a representative value of said measurement, said robot (1) being configured to compare the representative value of said measurement with a predetermined threshold value corresponding to the predetermined risk / probability of fall parameter, and, when the representative value is greater than the predetermined threshold value, activate the retraction system (11) so that the telescopic trunk (4) moves from the deployed position to the retracted position, and when the representative value is less than or equal to the predetermined threshold value, inhibit the activation of the retraction system (11), so that the telescopic trunk (4) can remain in the deployed position.

5. Robot (1) according to any one of claims 1 to 4, characterized in that said robot (1) extends along a frontal plane orthogonal to the ground (7) and in that the actuation means (12) of the retraction system (11) comprises: • a means for measuring the inclination of the robot (1) with respect to said frontal plane; and • a control unit; the measuring means being configured to measure the inclination of the robot (1) with respect to said frontal plane, to generate a representative value of said measurement, to compare the representative value of said measurement with a predetermined threshold value corresponding to the predetermined parameter; said control unit being configured to activate the retraction system (11) when the representative value is greater than the predetermined threshold value and to inhibit the activation of the retraction system (11) when the representative value is less than or equal to the predetermined threshold value.

6. Robot (1) according to any one of claims 1 to 5, characterized in that it comprises a single anti-fall device (10) forming a circle or ring extending over the circumference of the spherical wheel (2).

7. Robot (1) according to any one of claims 1 to 6, characterized in that it comprises a plurality of fall-arrest devices (10), distributed in a circle around the spherical wheel (2).

8. Robot (1) according to any one of claims 1 to 7, characterized in that the telescopic trunk (4) comprises at least a first portion (40) and a second portion (41), the first portion (40) being configured to translate inside the second portion (41), the second portion (41) being connected on one side to the platform (3) and on the other side to the second portion (41) and the first portion (40) is on the other side connected to the upper part (6), said second portion (41) housing a spring configured to assist the passage from the deployed position to the retracted position of the telescopic trunk (4).

9. Robot (1) according to claim 8, characterized in that a stop protrudes from said first portion (40) configured to come into contact with the second portion (41) when the telescopic trunk (4) is in the retracted position.

10. Robot (1) according to any one of claims 1 to 9, characterized in that the means for stabilizing the platform (3) are configured to ensure that the platform (3) is maintained in a predetermined position, in particular horizontal, relative to the ground (7).

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