Versatile robot with articulated body

Abstract

Multi-purpose robot comprising a tool (1), a body (2), a drive part (3), a control unit (6), a first articulation (4) arranged between said tool (1) and said body (2), a second articulation (5) arranged between said body (2) and said drive part (3), at least one first servo means (7), at least one second servo means (8), said body (2) having a parallelepiped shape, said at least one first servo means (7) being arranged to vary an angle between said tool (1) and said body (2), said at least one second servo means (8) being arranged to vary an angle between said body (2) and said drive part (3),wherein said control unit (6) is configured to generate control commands for maintaining said tool (1) at a determined angle relative to the horizontal plane independently of the inclination of said driving part (3) by controlling said at least one first servo means (7) and said at least one second servo means (8). Figure for publication: Fig. 1,

Description

Title of the invention: Multipurpose robot with articulated body Technical field

[0001] The present invention relates to a multi-purpose robot which can receive tools to carry out tasks or missions. The robot can, for example, carry out cleaning missions by using motorized rotating brushes, public works missions by using a motorized bucket, transport to facilitate the safe loading and unloading of waste, rolls or any other loads, by using motorized forks

[0002] An articulated body robotic platform can provide efficient load transport management by automating the safe unloading of loads from truck trailers and their transport to storage areas, while dynamically adapting the route, optimizing space and reducing risks to employees. Its ability to navigate sloping paths and serve multiple floors further improves storage efficiency by judiciously utilizing vertical space and facilitating quick and efficient access to loads. State of the prior art

[0003] Devices useful for improving the management of loads and waste are known in the state of the art, with articulated ramps or belts, as follows:

[0004] Document CA2718881 A1 discloses a transport apparatus comprising a chassis removably connectable to an extendable conveyor and a pivoting conveyor coupled to the frame. The pivoting conveyor includes a pivoting conveyor section pivotally coupled to the frame for pivoting movement about a generally vertical axis, and an inclined conveyor section having one end pivotally coupled to the pivoting conveyor section for pivoting movement about a generally horizontal axis and an opposing free end. Each section includes a conveying surface for conveying objects from the free end of the inclined conveyor section and toward the extendable conveyor.The free end of the tilting conveyor section can be moved from side to side by pivoting the pivoting conveyor section about the vertical axis, and can be moved up and down by pivoting the tilting conveyor section about the horizontal axis, independently of the pivoting conveyor, see abstract. However, document CA2718881A1 is silent on the subject of transporting loads to a storage space using inclined paths and does not provide any solution in these circumstances.

[0005] Document JPH0733011 IA discloses a plurality of cages which are mounted in two front and rear lines, seen from a moving passage and along a moving passage. The cages are stored at the front and an inner part of the two storage spaces are removably coupled by a coupler. A moving device is intended to move a pallet P or the cage between the front storage space and a carrier truck, moving on the moving passage. The front cage is pulled towards the carrier truck in a coupled state to the storage space of the inner part, during transport of the cage from the storage space of the inner part and the cage of the inner part, is moved to the front storage space, cf. abstract. However, document JPH0733011 IA is silent about the transport of loads to a storage space by taking inclined paths and does not provide any solution in these circumstances.

[0006] Document CN208648221U discloses a two-stage automatic box loading system, a neatly stacking device comprising a control system, a loading platform, a conveying frame, a conveyor belt and the connecting conveyor belt fixedly mounted on the loading platform, the conveyor belt passes from the frame transport below, the neatly stacking device comprises the walking platform and the fixed support which installs on the walking platform, the top of the conveyor belt installs the box and merges the device, the box merges the device and comprises two fixed axles, installs to two fixed horizontal posts in two parts, with two horizontal post uprights hinged respectively, hinges the actuating cylinder which drives the upright, installation of the lifting device between the box incorporation device and the neatly stacking device,The lifting device includes placing the cylinder in the conveyor belt below, the top of the cylinder sets up a movable roller table. The lifting device can stack the load in a pile, see summary. However, document CN208648221U is silent on the subject of transporting loads to a storage space using inclined paths and does not provide any solution in these circumstances.

[0007] An object of the invention is to remedy all or part of the aforementioned drawbacks. In order to take into account the problems mentioned above, the object of the present invention is to provide a robot capable of moving on the surface and underwater in a safe, robust and economical manner. Statement of the invention

[0008] The invention relates to a versatile robotic system comprising interchangeable tooling, a body, a drive part and a control unit. This robotic system aims to provide high operational flexibility for various tasks, by combining innovative technical features for optimizing performance and efficiency.

[0009] The power tool is designed to be interchangeable and suitable for various tasks, such as cleaning, lifting, material handling, etc. It is equipped with powerful motors and movement mechanisms specific to each application.

[0010] A tool can be securely attached to the robot body and allows for rapid changeover depending on operational needs.

[0011] The robot body is ergonomically and modularly structured, allowing the addition and reconfiguration of components depending on the motorized tool used. It is made from lightweight yet durable materials, ensuring easy mobility and resistance to operational stresses.

[0012] The drive part integrates propulsion and movement mechanisms necessary to move the robot smoothly and precisely in different environments. It includes steering and stabilization systems to ensure the maneuverability and balance of the robot when using the motorized tool.

[0013] The control unit is the heart of the robot, integrating high-performance processors and sophisticated algorithms. It allows the programming, management and coordination of the movements and operations of the motorized tool in response to user commands or predefined parameters.

[0014] Advantages of the robot:

[0015] Operational Versatility: The interchangeable power tool offers unmatched flexibility to adapt to various tasks.

[0016] Increased efficiency: Automating tasks with powered tools improves the speed and accuracy of operations.

[0017] Adaptability and modularity: The modular structure allows easy customization for specific applications.

[0018] Reduced costs and risks: The robot's versatility reduces the need to purchase specialized robots for each task.

[0019] The need for a versatile robot can be expressed in very varied fields, such as for example: a. Automated Cleaning: The versatile robot reduces the need for manpower for cleaning, it improves the precision and efficiency of cleaning. For example, a robot equipped with motorized rotating brushes can clean floors in streets, open markets, warehouses, and offices. b. Construction work: The versatile robot increases productivity and safety on construction sites, allowing access to hard-to-reach areas. For example, the robot equipped with a motorized bucket can be used for placement of construction materials on a construction site. c. Transport for loading / unloading loads: The versatile robot allows for faster loading and unloading operations and reduces the risk of accidents related to manual handling. For example, the robot equipped with motorized forks can lift and move loads safely in an environment. d. Smart Agriculture: The multi-purpose robot optimizes the use of agricultural resources and enables precise monitoring and automated crop management. For example, the multi-purpose robot can be equipped with tools to sow, irrigate, and harvest crops autonomously, or to care for or clean animals. e. Surveillance and security: The versatile robot allows for improved surveillance of sensitive areas, allowing real-time alerts in the event of an intrusion or incident. For example, the robot can be equipped with infrared cameras and sensors to patrol and monitor industrial facilities or public areas. f. Assistance for people with reduced mobility: The versatile robot makes daily life easier for people with reduced mobility; it can help them perform independent tasks safely. For example, the robot can help move objects, bring medication, or perform household tasks for people with special needs. g. Interactive Education and Entertainment: The versatile robot can provide an immersive educational experience, it can encourage interactive and playful learning. For example, the robot can be programmed to teach educational concepts to children while entertaining them.

[0020] By exploring these different uses, the versatile robot can bring significant benefits in various fields, improving efficiency, safety and quality of life.

[0021] An articulated body robot can offer several advantages in the field of load transport: a. Increased safety for employees: By automating the process of unloading and transporting loads, it reduces the risk of injuries related to repetitive physical tasks and handling heavy loads. b. Operational efficiency: Thanks to automation, it speeds up the unloading and transport of loads, thus contributing to more efficient management of transport flows. c. Dynamic route adaptability: The ability to dynamically adjust the route according to needs allows for optimized movement of loads to storage spaces, thus improving the use of available space. d. Storage Space Optimization: By routing loads to specific storage locations efficiently, it contributes to better utilization of storage space, maximizing storage capacity. e. Reduction of operational costs: By automating unloading and transport operations, it helps reduce costs related to labor and the risk of material damage. f. Flexibility in handling loads: Thanks to its articulated body and the ability to modify the path, it can adapt to different types and sizes of loads, thus offering great flexibility in handling waste or other objects. g. Improved productivity: By optimizing operations and reducing the time required for unloading and storage, it increases the overall productivity of the storage center. h. Reduction of processing time: By automating the movement of loads to their storage location, it reduces the time required for loads to be ready for distribution, thus speeding up the transfer chain between the collection location and transport to another center or directly to the recycling location. i. Adaptability to sloping paths and multi-story access: The robotic platform's ability to navigate sloping paths and transport loads across multiple floors allows for optimal use of vertical space. This maximizes storage efficiency by allowing loads to be transported directly to the appropriate floors, thereby reducing handling time and optimizing space utilization in multi-level storage centers. It also contributes to a more balanced distribution of loads throughout the storage center, improving accessibility and retrieval of loads when needed.

[0022] By combining these advantages, an articulated body robotic platform helps modernize transport and storage operations, improve employee safety and optimize center performance.

[0023] Viewing waste as a resource and investing in structures and robots to facilitate this economic transition has considerable advantages, both from an economic and environmental perspective. Here are some of these advantages: a. Optimizing the recovery of valuable materials: Consider the Recognizing waste as a resource means recognizing the intrinsic value of the materials it contains, such as precious metals, plastics, and electronic components. By developing specialized structures and robots to extract these materials efficiently and purposefully, we maximize the recovery of valuable resources, thereby reducing dependence on new raw materials and contributing to economic sustainability. b. Reducing waste and environmental footprint: The use of robots and advanced structures optimizes waste collection, sorting, and recycling. This leads to a significant reduction in the amount of waste sent to landfill, thus minimizing the environmental footprint. By reusing this waste as a usable resource, we preserve limited natural resources and contribute to a cleaner, healthier environment. c. Fostering a circular and sustainable economy: The development of structures and robots dedicated to waste recovery promotes a circular economy by transforming waste into new raw materials and products. This creates a continuous cycle where materials are reused, recycled, and reintegrated into the production process. This transition to a more sustainable economy is essential to address current and future environmental challenges while stimulating innovation and creating new economic opportunities.

[0024] According to the invention, the multipurpose robot comprises a tool, a body, a driving part, a control unit, a first articulation arranged between said tool and said body, a second articulation arranged between said body and said driving part, at least one first servo means, at least one second servo means, said body having a parallelepiped shape, said at least one first servo means being arranged to vary an angle between said tool and said body, said at least one second servo means being arranged to vary an angle between said body and said driving part,wherein said control unit is configured to generate control commands to maintain said tool at a determined angle relative to the horizontal plane independently of the inclination of said driving part by controlling said at least one first servo means and said at least one second servo means.

[0025] According to one embodiment of the invention, said driving part comprises two displacement means, each displacement means having an elongated shape in a direction of contact with the environment in which the device moves. transport, each movement means being arranged in rotation by substantially one end of its elongated part at substantially one end of the body, said control unit being configured to generate differential piloting commands for the two movement means.

[0026] According to one embodiment of the invention, said at least one second servo means comprises two servo means, said control unit being configured to generate differential pilot commands between the two servo means.

[0027] According to one embodiment of the invention, said at least one first servo means comprises two servo means, said control unit being configured to generate differential pilot commands between each servo means.

[0028] According to one embodiment of the invention, the robot further comprises a set of sensors and / or transmitters.

[0029] According to one embodiment of the invention, the robot further comprises a cantilever arm and a stabilizer bar. List of figures

[0030] [Fig.l] [Fig.l] illustrates the device according to one embodiment of the invention.

[0031] [Fig.2] [Fig.2] illustrates the device according to one embodiment of the invention with a bucket.

[0032] [Fig.3] [Fig.3] illustrates the underside of the device according to one embodiment of the invention.

[0033] [Fig.4] [Fig.4] illustrates a detail of the body of the device.

[0034] [Fig.5] [Fig.5] illustrates the device according to one embodiment of the invention with one or two brushes.

[0035] [Fig.6] [Fig.6] illustrates the device according to an embodiment of the invention with differentiated management of the angles between the two means of movement.

[0036] [Fig.7] [Fig.7] the device according to an embodiment of the invention in a configuration allowing the robot to move on a surface having a V-shaped profile. Detailed description of the invention

[0037] The embodiments described below being in no way limiting, it will be possible in particular to consider variants of the invention comprising only a selection of characteristics described, subsequently isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection comprises at least one characteristic, preferably functional without structural details, or with only a part of the structural details if this part only is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art.

[0038] An object of the invention is to optimize the “Cleaning” process, such as for example the elimination or collection of dirt and other impurities from an environment and in particular waste, hereinafter referred to as “loads”.

[0039] Another object of the invention is to optimize the “Decontamination” process, such as for example the elimination of pollution with the aim of restoring the nominal state of an environment or a sanitary and ecological quality compatible with a reuse of the polluted areas or with a restoration of the ecosystems, in particular in the following sectors: a. Cleaning and Decontamination of all maritime, lake and waterway environments; b. Cleaning and decontamination of construction sites and renovation of buildings or public works and civil engineering structures; c. Cleaning and Decontamination of agricultural holdings; d. Cleaning and decontamination of public roads, roofs and installed elements on roofs, for example solar panels.

[0040] A new robotic platform can meet a series of needs, including the following:

[0041] Efficient transport management through automation: An articulated body robotic platform automates the operations of unloading loads and transporting them to storage spaces, thus reducing the time and human resources required for these manual tasks. For example, it can be programmed to unload and sort loads as soon as a delivery truck arrives, thus optimizing the flow of loads.

[0042] Dynamic route adaptability to optimize space: The ability of a platform to dynamically change its route based on needs allows for more efficient use of storage space. It can adjust the path to route loads to specific locations in real time, thereby maximizing the use of available space and minimizing waiting times. For example, if a certain type of product, object or waste is in high demand, the platform can be programmed to quickly move these loads to more accessible storage areas.

[0043] Reduced risk for employees: By automating the unloading of loads, the platform can significantly reduce the risk of injury for employees, who are no longer exposed to repetitive physical tasks and handling heavy loads. This improves the safety and well-being of workers, reducing costs related to workplace accidents and sick leave.

[0044] Optimization of vertical space utilization: The ability of such a platform to travel down sloping paths and serve multiple floors optimizes the use of vertical space in the distribution center. It can move loads to different levels, thus efficiently storing loads at height and optimizing all available space, which is particularly advantageous in multi-level distribution centers.

[0045] Improved load retrieval and accessibility: By transporting loads to the appropriate floors, the platform facilitates the rapid retrieval of loads when they are required for distribution. This optimizes order processing time and improves the overall responsiveness of the supply chain, thus responding more efficiently to customer demands.

[0046] By combining these advantages, a robot that comes in the form of an articulated body robotic platform modernizes transportation operations, providing better employee safety, optimized operational efficiency and smarter storage space management, resulting in a smoother and more profitable supply chain.

[0047] According to the invention, the multipurpose robot comprises a tool (1). For example, the tool (1) may comprise one or more combined tools from the following list: a. At least one vertical or horizontal motorized brush, see [Fig.5]; b. Powered bucket, see [Fig.l] and [Fig.2]; c. At least one motorized clamp; d. Motorized forks, see [Fig.l]; e. Water cannon for low or high pressure cleaning.

[0048] According to the invention, the multipurpose robot further comprises a body (2) having a parallelepiped shape, see [Fig.l]-7.

[0049] According to the invention, the multipurpose robot further comprises a drive part (3), this part allowing the robot to move in its environment. The drive part (3) may comprise wheels, tracks or any other desirable means for movement. In a preferred and non-limiting embodiment, the drive part (3) comprises tracks.

[0050] According to the invention, the multipurpose robot further comprises a control unit (6).

[0051] According to the invention, the multipurpose robot further comprises a first articulation (4) arranged between said tool (1) and said body (2).

[0052] According to the invention, the multipurpose robot further comprises a second articulation (5) arranged between said body (2) and said driving part (3).

[0053] The body (2) may preferably include internal ribs, which are visible in [Fig.4]. These ribs make it possible to mechanically reinforce the body (2) and make it possible to separate the functions of the robot. On the right of [Fig.4] one can see one of the two motors (13) which can equip the robot to perform an articulation function of the motor part (3) relative to the body (2).

[0054] External pockets or blind notches (15) make it possible to reduce the mass of the robot while ensuring the mechanical strength of the robot. Examples of blind notches (15) are visible in [Fig.4]. Blind notches (15) can be seen on the lateral sides of the robot, on the faces of the body (2) as well as near the articulation handles. In addition to their mechanical utility, the blind notches (15) can be used to represent visually identifiable shapes such as the name or symbolism allowing the robot or the company to be visually identified.

[0055] According to the invention, the multi-purpose robot further comprises at least one first servo means (7), at least one second servo means (8), said at least one first servo means (7) being arranged to vary an angle between said tool (1) and said body (2), said at least one second servo means (8) being arranged to vary an angle between said body (2) and said drive part (3). The servo means (7, 8) may be jacks or any other extensible device.

[0056] According to the invention, said control unit (6) is configured to generate control commands for maintaining said tool (1) at a determined angle relative to the horizontal plane independently of the inclination of said driving part (3) by controlling said at least one first servo means (7) and said at least one second servo means (8). Indeed, when the driving part of the robot is in contact with the ground and the ground has an inclination, the control unit (6) makes it possible to maintain an axis of the tool (1) horizontal or inclined at a predetermined angle.

[0057] In order to maintain the center of gravity of the robot and the load to be transported within the wheelbase of the robot, the control unit (6) can be designed to vary the angles of the joints (4, 5) constantly as a function of the inclination of the ground on which the robot is moving and also of the height constraints, if the robot is required to move in a space with a height constraint, such as for example a tunnel or a multi-story car park. In the latter case of fig a set of three ground situations can be identified, namely horizontal ground, positively and negatively inclined ground, in other words upward and downward ramps. The control unit (6) can be arranged to manage the movement of the robot in these three situations as well as during transitions between two situations.

[0058] According to one embodiment of the invention, the driving part (3) comprises two movement means (31, 32), each movement means (31, 32) having an elongated shape in a direction of contact with the environment in which the transport device moves, each movement means (31, 32) being arranged in rotation by substantially one end of its elongated part at substantially one end of the body (2), said control unit (6) being configured to generate differential piloting commands for the two movement means (31, 32). This operating mode makes it possible to steer the robot to the right and to the left progressively, while carrying loads.

[0059] According to one embodiment of the invention, said control unit (6) is configured to generate pilot commands for positioning the two movement means (31, 32) on a V-shaped surface, the center of the V being located along a longitudinal axis of the robot. This embodiment allows the robot to evaluate on terrains such as a boat hull or on any other terrain on which the robot is required to rest on two inclined surfaces in the form of a V, see [Fig.7]. The ground profile may also have an inverted V profile, with the tip upwards. To this end, the second articulation (5) may advantageously comprise pivots or any other connecting means making it possible to achieve the inclination of the rolling plane of the movement means (31, 32).

[0060] According to one embodiment of the invention, said at least one second servo means (8) comprises two servo means (8), said control unit (6) being configured to generate differential piloting commands between the two servo means (8). This makes it possible to position the robot in progression equilibrium on undulating ground, as shown in [Fig.6].

[0061] According to one embodiment of the invention, said at least one first servo means (7) comprises two servo means (7), said control unit (6) being configured to generate differential control commands between each servo means (7). This makes it possible to adjust an angle of rotation of the tool (1) along a longitudinal axis of the robot.

[0062] According to one embodiment of the invention, the robot further comprises a set of sensors and / or transmitters (10), in particular of light in the visible and non-visible spectrum, such as for example infrared. The set of sensors and / or transmitters (10) may comprise sensors located at any location on the robot in order to allow the robot to evolve automatically and independently, while constantly analyzing its environment. The use of an artificial intelligence and learning solution makes it possible to configure the control unit (6) to carry out independent missions.

[0063] According to one embodiment of the invention, the robot further comprises a cantilever arm (9) and a stabilizer bar (11). This makes it possible to reinforce the stability of the robot when it moves on controlled ground.

[0064] According to one embodiment of the invention, the robot further comprises an explosion-proof battery box (12), which provides protection against runaway of a battery (14), see [Fig.4]. This protects the robot itself as well as the environment in which it operates, in particular in the event of a fire breaking out in the battery (14).

[0065] It goes without saying that the invention is not limited to the embodiments of the invention described above as a non-limiting example; on the contrary, it encompasses all variant embodiments. Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In addition, the various characteristics, forms, variants and embodiments of the invention can be combined with each other in various combinations to the extent that they are not incompatible or mutually exclusive.

Claims

Claims

1. Multi-purpose robot comprising a tool (1), a body (2), a driving part (3), a control unit (6), a first articulation (4) arranged between said tool (1) and said body (2), a second articulation (5) arranged between said body (2) and said driving part (3), at least one first servo means (7), at least one second servo means (8), said body (2) having a parallelepiped shape, said at least one first servo means (7) being arranged to vary an angle between said tool (1) and said body (2), said at least one second servo means (8) being arranged to vary an angle between said body (2) and said driving part (3),characterized in that said control unit (6) is configured to generate control commands to maintain said tool (1) at a determined angle relative to the horizontal plane independently of the inclination of said driving part (3) by controlling said at least one first servo means (7) and said at least one second servo means (8).,

2. Multi-purpose robot according to the preceding claim, wherein said drive part (3) comprises two movement means (31, 32), each movement means (31, 32) having an elongated shape in a direction of contact with the environment in which the transport device moves, each movement means (31, 32) being arranged in rotation by substantially one end of its elongated part at substantially one end of the body (2), said control unit (6) being configured to generate differential piloting commands for the two movement means (31, 32).

3. Multipurpose robot according to the preceding claim, wherein said control unit (6) is configured to generate pilot commands for positioning the two movement means (31, 32) on a V-shaped surface.

4. Multipurpose robot according to one of the preceding claims, wherein said at least one second servo means (8) comprises two servo means (8), said control unit (6) being configured to generate differential piloting commands between the two servo means (8).

5. Multipurpose robot according to one of the preceding claims, wherein said at least one first servo means (7) comprises two servo means (7), said control unit (6) being configured to generate differential pilot commands between each servo means (7).

6. Multipurpose robot according to one of the preceding claims, further comprising a set of sensors and / or transmitters (10).

7. Multipurpose robot according to one of the preceding claims, further comprising a battery (14) protection box (12).

8. Multi-purpose robot according to one of the preceding claims, comprising a cantilever arm (9) and a stabilizer bar (11).

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