ROBOTIC DRIVE SYSTEM FOR AT LEAST ONE MOBILE CARRIAGE

Abstract

The invention relates to an autonomous robotic drive system comprising a coupling device configured to attach to at least one mobile trolley of the type with an articulated tiller and wheeled mechanisms, a Lidar-type detection device housed at the rear of the robotic drive system, under the coupling device, and configured to define a vision zone from the robotic drive system rearward at least partially in the direction of the wheeled mechanisms of the mobile trolley, and an angular sensor housed at the rear of the robotic drive system, under the coupling device, and configured to determine an angle between the robotic drive system and the mobile trolley.with the robotic drive system which is configured to receive representative information on the location of the rear of the mobile carriage relative to the rear of the robotic drive system and the angle between the robotic drive system and the mobile carriage coupled to the robotic drive system, representative information which is determined respectively by the detection device and by the angular sensor; whereby the robotic drive system is configured to move the mobile carriage in reverse. Figure for the abbreviation: Figure 10,

Description

Title of the invention: ROBOTIC DRIVE SYSTEM FOR AT LEAST ONE MOBILE CARRIAGE TECHNICAL FIELD OF THE INVENTION

[0001] The invention relates to the general field of logistics and in particular to the transport of mobile carts.

[0002] In particular, the present invention relates to a robotic drive system configured to attach to such a mobile trolley, and a coupling assembly formed from the system and one or more trolleys.

[0003] The invention also relates to a production site having at least one first zone, for example a storage zone, at least one second zone, for example a production zone, located at a distance from the first zone, and a plurality of mobile trolleys, and at least one robotic drive system configured to attach to one of the mobile trolleys to move it from the first zone to the second zone and / or vice versa. STATE OF THE ART

[0004] Production sites are known to have at least one storage area, at least one production area located at a distance from the storage area, and a plurality of mobile trolleys, and at least one robotic drive system comprising a coupling device configured to attach to one of the mobile trolleys to move this trolley from the storage area to the production area and / or vice versa.

[0005] European patent EP 3 283 308 discloses an automatically guided vehicle for towing a four-wheeled trolley equipped with a chassis. The vehicle comprises drive wheels, a body mounted on the drive wheels, a control system using a navigation system, a trolley attachment mechanism mounted on the body for coupling the trolley to the vehicle, and at least one proximity sensor mounted on the body. The control system is coupled to the proximity sensor to adjust the vehicle's position and detect any obstacles.

[0006] Generally, robotic drive systems driving mobile carts are capable of operating in forward motion, in cart traction configuration. Description of the invention

[0007] The present invention aims to provide a robotic drive system configured to attach to a mobile trolley, which is particularly simple and convenient both to use and to manufacture.

[0008] The invention thus relates, according to a first aspect, to a robotic drive system, in particular autonomous, comprising a coupling device configured to attach to at least one mobile trolley of the type with an articulated tiller and wheel mechanisms, a Lidar-type detection device housed at the rear of the robotic drive system, under the coupling device, and configured to define a vision zone from the robotic drive system towards the rear at least partially in the direction of the wheel mechanisms of the mobile trolley, and an angular sensor housed at the rear of the robotic drive system and configured to determine an angle between the robotic drive system and the mobile trolley,with the robotic drive system which is configured to receive representative information on the location of the rear of the mobile carriage relative to the rear of the robotic drive system and the angle between the robotic drive system and the mobile carriage coupled to the robotic drive system, representative information which is determined respectively by the detection device and by the angular sensor; whereby the robotic drive system is configured to move the mobile carriage in reverse.

[0009] In the robotic drive system, in order for the latter to be able to move the mobile carriage attached to it in reverse, account is taken not only of an angular position of the mobile carriage with respect to the rear of the robotic drive system, but also of the overall position of the mobile carriage, including in particular the rear of the mobile carriage.

[0010] This allows the robotic drive system to determine a particularly precise reverse movement trajectory autonomously.

[0011] In addition, the arrangement of the Lidar type detection device under the coupling device, and of the angular sensor for example connected to the coupling device, and at the rear of the robotic drive system, makes it possible not to increase the footprint and therefore the size of the robotic drive system.

[0012] The invention also relates, according to a second aspect, to a coupling assembly comprising such a robotic drive system, in particular autonomous, and at least one such mobile trolley attached to the robotic drive system.

[0013] Preferred, simple, convenient and economical characteristics of the robotic drive system and coupling assembly according to the invention are presented below.

[0014] The robotic drive system is configured so that the Lidar-type detection device is in a position in which its vision area can identify the position of the wheeled mechanisms located at the front and rear of the mobile carriage.

[0015] The robotic drive system is configured so that, in a first configuration where the robotic drive system drives a mobile trolley in reverse which is generally in the same axis of movement as the robotic drive system, the angular sensor identifies that the angle between the robotic drive system and the mobile trolley is zero or almost zero, and the vision area defined by the Lidar type detection device makes it possible to identify the position of the wheeled mechanisms located at the rear of the mobile trolley.

[0016] The vision area is interrupted by the presence of roller mechanisms located at the front of the mobile carriage which are generally aligned with the roller mechanisms located at the rear of the mobile carriage, but without hindering the identification of the roller mechanisms located at the rear of the mobile carriage.

[0017] The robotic drive system is capable of determining a reverse travel trajectory at least from information representing the location of the rear of the mobile trolley relative to the rear of the robotic drive system and optionally from information representing the angle between the robotic drive system and the mobile trolley attached to it.

[0018] The robotic drive system is configured so that, in a second configuration where the robotic drive system drives a mobile carriage in reverse which is in an axis of movement offset from the axis of movement of the robotic drive system, the angular sensor identifies that the angle between the robotic drive system and the mobile carriage is non-zero and of a determined value, and the vision area defined by the Lidar type detection device does not allow the position of all the wheeled mechanisms located at the rear of the mobile carriage to be identified, or in other words the vision area defined by the Lidar type detection device identifies only some or none of the wheeled mechanisms located at the rear of the mobile carriage.

[0019] The vision area is interrupted by the presence of roller mechanisms located at the front of the mobile carriage which are pivoted and therefore misaligned with roller mechanisms located at the rear of the mobile carriage, so that the Lidar type detection device is hindered in identifying at least one of the roller mechanisms located at the rear of the mobile carriage.

[0020] The robotic drive system is capable of determining a reverse travel trajectory at least from information representing the angle between the robotic drive system and the mobile trolley attached to the latter and optionally from information representing the location of a part of the rear of the mobile trolley relative to the rear of the robotic drive system.

[0021] The robotic drive system may include a supporting base mounted on additional roller mechanisms and systemic elements mounted above the supporting base and covered by a hood.

[0022] The robotic drive system may include a first recess formed in the hood, on the rear face, in which the coupling device is at least partially housed, and a second recess formed in the supporting base, also on the rear face, in which the Lidar type detection device and the angular sensor are at least partially housed.

[0023] The system elements can be formed by at least one of one or more drive motors of the additional wheeled mechanisms to drive the robotic drive system in motion, position and / or detection sensors, one or more control and command units configured to control and command the motor(s), process the information from the sensors, the Lidar type detection device and the angular sensor, and control the coupling device.

[0024] The coupling device comprises a main structure having a movable actuating arm between a first position of the coupling device corresponding to a configuration uncoupled with the mobile carriage and a second position of the coupling device corresponding to a configuration coupled with the mobile carriage, and a hooking mechanism disposed opposite the actuating arm, the coupling device being configured so that between its first position and its second position, the actuating arm is configured to move the drawbar of the mobile carriage from a default position in which the drawbar is away from the hooking mechanism and the mobile carriage is free, to a low position in which the drawbar is sandwiched between the actuating arm and the hooking mechanism and the mobile carriage is coupled to the coupling device.

[0025] The hooking mechanism can be provided with a fixed base and a hooking piece mounted movably in rotation on the fixed base, with the angular sensor which is connected to the hooking piece mounted movably in rotation.

[0026] The hooking mechanism can be provided with a return element in a position configured to be subjected on the one hand to a structural element of the robotic drive system and on the other hand to the hooking part which is mobile in rotation.

[0027] The coupling mechanism may be provided with a coupling piece having a central pin forming a hook, and the actuating arm may be formed of a flat plate having a bearing face configured to bear against the drawbar and in which is provided a hole configured to receive the central pin in the second position of the coupling device, with the drawbar which is then sandwiched between the coupling piece and the bearing face and which is provided with a slot through which the central pin is inserted.

[0028] The attachment piece may further have a positioning stud formed in downstream of the central pin and defining a reference angular position for the angular sensor, with the positioning pin which is configured to be inserted into the slot of the tiller.

[0029] The attachment piece may also have a stop wall provided upstream of the central pin and opposite the positioning block, with the drawbar configured to come against the stop wall.

[0030] The main structure can be formed of two columns and a crossbar connecting the two columns and mounted movable along the two columns, with the actuating arm which is mechanically attached to the crossbar.

[0031] The actuating arm can be formed from a flat plate having a bearing face configured to bear against the tiller.

[0032] The actuating arm may have a stop element provided under the bearing face and substantially at one end of the flat plate and near the cross member, the stop element being configured to form a stop for the movement of the drawbar.

[0033] The coupling device may include a guide structure formed by two uprights arranged generally vertically and at a distance from each other and defining between them a space to guide the actuating arm between the first position and the second position of the coupling device.

[0034] The uprights may be provided with internal guide edges delimiting the space for the sliding of the actuating arm, and the actuating arm may be formed of a flat plate having notches which are each located opposite an internal guide edge.

[0035] The coupling device may include a drive structure configured to drive the actuating arm by sliding and comprising a drive motor, a pulley and belt mechanism driven in rotation by the drive motor, and an attachment member mechanically fixed on the one hand to the pulley and belt mechanism and on the other hand, directly or indirectly, to the actuating arm.

[0036] The coupling device allows a mobile trolley, of the standard type with articulated drawbar, or a coupling of such trolleys, to be coupled and uncoupled by the robotic drive system, in particular of the autonomous type.

[0037] In other words, the coupling device makes it possible to equip such a robotic drive system for use, for example, in a production site already equipped with standard type mobile trolleys with articulated tiller.

[0038] Such a coupling device therefore offers the advantage of not having to equip such a production site with new mobile trolleys of a different type, for their drive by a robotic and autonomous drive system.

[0039] The trolley may comprise a chassis generally in the shape of a platform having a external contour and made of a lattice of metal rods welded at their intersections, as well as wheel mechanisms at the front and rear of the chassis which support the chassis and make the cart mobile, and the drawbar is located at the front of the mobile cart and is attached to the chassis by a pivot joint.

[0040] The wheel mechanisms at the front of the trolley can be pivoting while the wheel mechanisms at the rear of the trolley can be fixed.

[0041] When the robotic drive system is coupled with the mobile trolley, the Lidar type detection device is located in a generally horizontal plane extending under the generally platform-shaped chassis made of a lattice of metal rods of the mobile trolley.

[0042] According to a third aspect, the invention also relates to a production site having at least one first zone, for example a storage zone, at least one second zone, for example a production zone, located at a distance from the first zone, and a plurality of mobile trolleys of the articulated tiller type, and at least one robotic drive system as described above, configured to attach to one of the mobile trolleys to move it from the first zone to the second zone and / or vice versa, in forward and reverse. BRIEF DESCRIPTION OF THE FIGURES

[0043] Fig. 1 schematically and partially represents, in top view, a storage area of ​​a production site, equipped with a plurality of mobile trolleys arranged in lines one behind the other, and a robotic drive system according to the invention, here in a configuration coupled with one of the mobile trolleys, forming a coupling assembly.

[0044] Figure 2 schematically and partially represents, in top view, an area production of the production site, in which the robotic drive system drops a mobile cart that it has retrieved from the storage area.

[0045] Fig. 3 schematically represents, in perspective, the robotic drive system, here in uncoupled configuration with a mobile trolley.

[0046] [Fig.4] is similar to [Fig.3], in side view.

[0047] [Fig.5] is similar to figures 3 and 4, in front view.

[0048] Fig. 6 is a view similar to that of Fig. 3, in coupled configuration.

[0049] [Fig.7] is similar to [Fig.6], in side view.

[0050] Fig. 8 is similar to figures 6 and 7, in front view.

[0051] Figure 9 is a perspective view of the coupling device taken in isolation, here in a first position corresponding to the unhitched configuration.

[0052] Figure 10 schematically and partially in perspective represents certain systemic elements of the robotic drive system, enabling in particular the movement of the latter in a coupled configuration with one or more mobile trolleys.

[0053] Fig. 11 schematically represents, in top view, a first configuration in which the robotic drive system drives one of the mobile trolleys in reverse, thanks to the systemic elements visible in Fig. 10.

[0054] Fig. 12 schematically represents, in top view, a second configuration in which the robotic drive system drives one of the mobile trolleys in reverse, thanks to the systemic elements visible in Fig. 10. DETAILED DESCRIPTION OF THE INVENTION

[0055] Figures 1 and 2 schematically and partially illustrate a production site 1, or factory, of which in particular a first area referred to here as storage area 2 and a second area referred to here as production area 3 located at a distance from storage area 2.

[0056] Storage area 2 is intended to store components which will be used in production area 3 to manufacture and / or assemble articles.

[0057] Thus, such components need to be transported from storage area 2 to production area 3. Such a storage area 2 is also called a store, generally located at the input of the production flow of plant 1.

[0058] Alternatively, the storage area can also be provided to receive the final articles for shipment from plant 1.

[0059] The factory 1 comprises a plurality of mobile trolleys 4, on which are arranged, or stacked, containers 5 often called bins, and in which the components are stored.

[0060] The storage area 2 comprises a plurality of rows 6 or corridors provided to receive mobile trolleys 4 and separated, at the entrance and / or exit, by spacer and guide plates 7 arranged on the ground.

[0061] The mobile trolleys 4 can be coupled, or not, to each other, on the same row 6 by means of respectively an articulated drawbar 8 of a mobile trolley 4 in cooperation with a hook 9 of another mobile trolley 4, immediately adjacent.

[0062] Figure 1 shows a storage area 2 with three rows 6 in each of which two mobile trolleys 4 are attached.

[0063] The factory 1 further comprises a robotic drive system 10 comprising a coupling device 11 configured to cooperate with a tiller 8 of a mobile trolley 4.

[0064] On [Fig.1], the robotic drive system 10 has its coupling device 11 in a configuration coupled to a mobile trolley 4 located here on the middle row 6 and as close as possible to the entry and / or exit on the side of the spacing and guide plates 7, thus forming a coupling assembly.

[0065] In this coupled configuration, the robotic drive system 10 is configured to extract the mobile trolleys 4 from their row 6 and thus from the storage area 2 to take them to the production area 3, autonomously.

[0066] The production zone 3 here presents, for example, two supply rows 12 formed by rolling roller structures 13 configured to slide the containers 5, and a central row 14, located between the two supply rows 12, for the passage of the mobile trolley 4 driven in movement by the robotic drive system 10.

[0067] For example, the central row 14 can be used for supplying components whose weight and / or size do not allow the containers to be placed on the roller structures 13.

[0068] Like the storage area 2, the production area 3 is provided with spacer and guide plates 7 at the entry and / or exit of the central row 14 and the supply rows 12.

[0069] In the coupled configuration, the robotic drive system 10 is therefore further configured to insert the mobile trolley 4 into the central row 4 autonomously.

[0070] In other words, the robotic drive system 10 is configured to drive the mobile trolleys 4 both forwards and backwards.

[0071] Figures 3 to 8 show in more detail the robotic drive system 10 in an uncoupled configuration with the mobile trolley 4 in the immediate vicinity, and then in a coupled configuration with this mobile trolley 4.

[0072] The mobile trolley 4 is a so-called standard trolley, having standardized dimensions, including a length of approximately 600 mm and a width of approximately 400 mm.

[0073] The mobile trolley 4 comprises a chassis 15 generally in the shape of a platform having an external contour 16 and made of a lattice of metal rods welded at their intersections, as well as wheel mechanisms 17, some fixed and others pivoting, which support the chassis 15 and make the trolley 4 mobile.

[0074] The drawbar 8 of the mobile carriage 4 is located at the front of the mobile carriage 4 and is attached to the chassis 15 by a pivot joint 18.

[0075] The drawbar 8 has a lower end 19 which is curved and located under the chassis 15.

[0076] The drawbar 8 is articulated to the chassis 15 between a default position (figures 3 to 5), also called raised-tilted, and a low position (figures 6 to 8) in which it can be hooked to the coupling device 11 of the robotic drive system 10.

[0077] The mobile carriage 4 further includes at the rear and opposite the drawbar 8, a hook 20 intended to cooperate with the drawbar 8 of another mobile carriage 4.

[0078] The mobile carriage 4 includes an elastic return element 21, here a spring working in tension, which is attached on one side to an anchor point fixed under the chassis 15 and on the other side to the curved lower end 19 of the drawbar 8.

[0079] The elastic return element 21 allows the tiller 8 to be moved towards the upright position, also called the raised-stored position.

[0080] The drawbar 8 has a longitudinal slot 22 which is configured either to receive the hook 20 of another mobile trolley 4 which is attached to it ([Fig.1]), or to cooperate with the coupling device 11 of the robotic drive system 10.

[0081] In the illustrated example, the roller mechanisms 17 on the side of the drawbar 8, i.e. at the front of the trolley, are pivoting, while the roller mechanisms 17 on the side of the hook 20, i.e. at the rear of the trolley, are fixed so as to facilitate maneuvering of the trolley with the robotic drive system 10.

[0082] The robotic drive system 10 comprises a supporting base 23 and additional roller mechanisms 24, fixed and / or swiveling, attached to the supporting base 23.

[0083] The robotic drive system 10 includes systemic elements which are above the supporting base 23 and at least partially covered by a hood 25.

[0084] These systemic elements (not shown in Figures 3 to 8) can be formed by one or more drive motors of the additional roller mechanisms 24 to drive the robotic drive system 10 in motion, a plurality of position and / or detection sensors and / or having other functions useful to the robotic drive system 10, one or more control and command units configured to control and command the motor(s), process the information from the sensors, and also control and command the coupling device 11.

[0085] These may be sensors incorporating a camera, or infrared elements, or even a code reader.

[0086] The control and command unit(s) are also configured to communicate with a remote system, which may be located in plant 1 or even outside plant 1, and for example a resource management system, whether it concerns component stocks, production flows, etc.

[0087] The robotic drive system 10 includes a first recess 26 made in the hood 25, on the rear face, in which the coupling device 11 is at least partially housed.

[0088] The robotic drive system 10 includes a second recess 27 provided in the supporting base 23, also on the rear face, and in which the tiller 8 of the mobile trolley 4 is at least partially housed in the coupled configuration.

[0089] As can be seen in figures 5 and 8, the robotic drive system 10 has a width equivalent to that of the mobile carriage 4 defined by the external contour 16 of its chassis 15.

[0090] Between the unhitched configuration (Figures 3 to 5) and the hitched configuration (Figures 6 to 8), the drawbar 8 moved from its default position to its lowered position, aided by the coupling device 11 which has moved from a first position corresponding to the uncoupled configuration to a second position corresponding to the coupled configuration.

[0091] With reference to [Fig.9], the coupling device 11 is visible in isolation in its first position.

[0092] The coupling device 11 includes a main structure 30 in particular for its attachment to the supporting base 23 and / or to a structural element (not shown) covered by the hood 25 of the robotic drive system 10, at the level of the first recess 26.

[0093] The main structure 30 is formed here of two columns 31 and a cross member 32 connecting the two columns and mounted movable along the two columns 31.

[0094] The main structure 30 is provided with an actuating arm having a flat plate 34 from which a reinforcement plate 35 protrudes generally perpendicularly, each of these plates being connected to the cross member 32, and a bearing face 37 opposite the reinforcement plate 35.

[0095] Notches 36 are provided on opposite sides of the flat plate 34.

[0096] A through hole 39 is also provided in the flat plate 34 and in the plate of reinforcement 35.

[0097] The coupling device 11 further comprises a guide structure 40 here formed by two uprights 41 arranged for example vertically and at a distance from each other.

[0098] The uprights 41 are provided with internal guide edges 42 defining a space 43 for the sliding of the actuating arm along the columns 31, with the notches 36 which are provided on the flat plate which are each located opposite a respective internal guide edge 42.

[0099] These uprights 41 can be fixed to the structural element covered by the hood 25 and / or to the load-bearing base 23 of the robotic drive system 10.

[0100] The coupling device 11 further comprises a drive structure provided with a mounting plate 51, for example mechanically secured to the structural element covered by the hood 25, a drive motor 52, for example electric, mechanically secured to the mounting plate 51; a pulley mechanism having an upper pulley 53 mounted on a rotating shaft of the drive motor 52 through the mounting plate 51, and a lower pulley 54 mounted freely for rotation for example on the structural element covered by the hood 25 and / or on the supporting base 23, at a distance from the upper pulley 53;and a drive element formed here by a belt 55 mounted around the upper pulley 53 and the lower pulley 54, and by an attachment element 56 (not shown) mechanically fixed on one side to the belt 55 and on the other side to the cross member 32 of the main structure 30 for the sliding of the latter when the belt 55 is driven by the upper pulley 53, itself driven by the drive motor 52. ;

[0101] The coupling device 11 further comprises a coupling mechanism 60 provided with a fixed base 61 and a coupling piece 62 mounted movably in rotation, for example by means of bearings (not shown), on the fixed base 61.

[0102] The hooking piece 62 has a central pin 63 forming a hook, a positioning stud 64 formed downstream of the central pin 63 and a wall forming a stop 65 provided upstream of the central pin 63 and opposite the positioning stud 64.

[0103] The latching mechanism 60 is also provided with a return element in position (not shown), formed for example by a spring, attached on the one hand to the structural element covered by the hood 25 and / or to the supporting base 23, and on the other hand to the latching piece 62 which is movable in rotation.

[0104] It will be noted that when the coupling device 11 is in its first position, with the mobile carriage 4 in the immediate vicinity, in uncoupled configuration, the drawbar 8 of the mobile carriage 4 is in its default and stable position due to the action of the elastic return element 21. In this position, the drawbar 8 is globally vertical and inclined, in other words inclined upwards, and is immediately below the bearing face 37 of the flat plate 34 of the actuating arm.

[0105] In the second position of the coupling device 11 (not visible in isolation), the cross member 32 is moved downwards along the columns 31 of the main structure 30, due to the drive of the upper pulley 53 by the drive motor 51 and therefore of the belt 55, and incidentally of the attachment member which is attached to both the belt 55 and the cross member 32. The actuating arm is therefore also moved in the space 43 and is thus found opposite and in the immediate vicinity of the hooking mechanism 60, with the notches 36 provided in the flat plate 34 which receive the internal guide edges 42 of the uprights 41 of the guide structure 40, and the central pin 63 which passes through the hole 39 provided in the flat plate 34 and the reinforcing plate 35.

[0106] It should be noted that when the coupling device 11 is in its second position, with the mobile carriage 4 in its immediate vicinity, in the coupled configuration, the drawbar 8 of the mobile carriage 4 has moved from its default and stable position to its lowered position due to the action of the actuating arm against the force exerted by the elastic return element 21. In this lowered position, the drawbar 8 is generally horizontal and is engaged with the latching mechanism 60 of the coupling device 11. The central pin 63 passes through the slot 22 of the drawbar 8 and is inserted into the hole 39 provided in the flat plate 34 and in the reinforcing plate 35 of the actuating arm. The positioning pin 64 is also inserted into the slot 22 of the drawbar 8.The drawbar 8 is then sandwiched between the attachment piece 62 and the bearing face 37 of the flat plate 34, with a free end of the drawbar 8 coming against the wall forming a stop 65 of the attachment mechanism 60.

[0107] In this coupled configuration, the robotic drive system 10 is thus able to take the mobile trolley 4, as explained above with reference to figures 1 and 2.

[0108] In particular, the robotic drive system 10 can move the mobile trolley 4 forward and backward, as required.

[0109] To move the mobile trolley 4, the robotic drive system 10 is configured to determine a traffic trajectory continuously, in particular using the control and command unit(s) configured to control and command the motor(s), and process sensor information.

[0110] In order for the robotic drive system 10 to be able to move the mobile carriage 4 in reverse, it is provided here that the control and command unit(s) of the robotic drive system 10 receive information representative of the location of the rear of the mobile carriage 4 in relation to the rear of the robotic drive system 10 and of an angle between the robotic drive system 10 and the mobile carriage 4 coupled to the latter.

[0111] As seen in [Fig. 10], the robotic drive system 10 includes for this purpose a detection device here of the Lidar type 70 as well as an angular sensor 80 which are housed in the second recess provided in the supporting base, on the rear face, of the robotic drive system 10.

[0112] The Lidar 70 is arranged globally under the mounting mechanism 60 and is configured to define a vision zone 75 from the robotic drive system 10 to the rear.

[0113] The angular sensor 80 is disposed at least partially in the mounting mechanism 60, without interfering with the Lidar 70 and without being in its field of vision 75, and is connected to the mounting piece 62 mounted movably in rotation, here in particular under the central pin 63.

[0114] In particular here, it is the positioning stud 64 formed downstream of the central pin 63 and received in the drawbar of the mobile carriage which makes it possible to define a reference angle for the angular sensor 80, in a predetermined position of the positioning stud 64.

[0115] It should be noted that when the robotic drive system is coupled with the mobile trolley, the Lidar 70 is in a generally horizontal plane extending under the generally platform-shaped chassis made of a lattice of metal rods of the mobile trolley.

[0116] Thus, the Lidar 70 is in a position in which its field of vision can identify the position of the wheeled mechanisms 17 located at the front and rear of the mobile trolley.

[0117] Figure 11 illustrates a first configuration in which the system robotic drive 11 drives a mobile cart 4 in reverse.

[0118] In this first configuration where the robotic drive system 11 drives a mobile carriage 4 in reverse which is globally in the same axis of movement as the robotic drive system 11, the angular sensor identifies that the angle between the robotic drive system 11 and the mobile carriage 4 is zero or almost zero, and the vision zone 75 defined by the Lidar 70 makes it possible to identify the position of the roller mechanisms 17 located at the rear of the mobile carriage 4.

[0119] It will be noted that the vision zone 75 is interrupted by the presence of the roller mechanisms 17 located at the front of the mobile trolley 4 which are generally aligned with the roller mechanisms 17 located at the rear of the mobile trolley 4, but without hindering the identification of the roller mechanisms 17 located at the rear of the mobile trolley 4.

[0120] Thus, the control and command unit(s) of the robotic drive system 11 are capable of determining a reverse travel trajectory at least from the information representing the location of the rear of the mobile carriage 4 relative to the rear of the robotic drive system 11 and optionally from the information representing the angle between the robotic drive system 11 and the mobile carriage 4 attached to the latter.

[0121] Fig. 12 illustrates a second configuration in which the robotic drive system 11 drives a mobile trolley 4 in reverse.

[0122] In this second configuration where the robotic drive system 11 drives a mobile carriage 4 in reverse which is in an axis of movement offset from the axis of movement of the robotic drive system 11, the angular sensor identifies that the angle between the robotic drive system 11 and the mobile carriage 4 is non-zero and of a determined value, and the vision zone 75 defined by the Lidar 70 does not allow the position of the two roller mechanisms 17 located at the rear of the mobile carriage 4 to be identified.

[0123] Indeed, the vision zone 75 is interrupted by the presence of the roller mechanisms 17 located at the front of the mobile carriage 4 which are pivoted and therefore misaligned with the roller mechanisms 17 located at the rear of the mobile carriage 4, so that the Lidar 70 is hindered here in identifying one of the two roller mechanisms 17 located at the rear of the mobile carriage 4.

[0124] Thus, the control and command unit(s) of the robotic drive system 11 are capable of determining a reverse travel trajectory at least from the information representing the angle between the robotic drive system 11 and the mobile carriage 4 attached to the latter and optionally from the information representing the location of a part of the rear of the mobile carriage 4 in relation to the rear of the robotic drive system 11.

[0125] Variants not illustrated are described below.

[0126] The Lidar may include in its field of view at least one rear plate mounted under the chassis of the mobile trolley, in addition to and / or as an alternative to the wheel mechanisms, to determine the position of the rear of the trolley.

[0127] The trolley may include a base plate rather than a wire mesh.

[0128] The carriage may have a drawbar without a slot.

[0129] The trolley may have different dimensions than those mentioned above.

[0130] The robotic drive system may have a length and / or a width different from those of the mobile cart.

[0131] More generally, the invention is not limited to the examples described and shown.

Claims

Demands

1. A robotic drive system, in particular autonomous, comprising a coupling device (11) configured to attach to at least one mobile trolley (4) of the type with an articulated tiller (8) and wheeled mechanisms (17), a Lidar-type detection device (70) housed at the rear of the robotic drive system (10), under the coupling device, and configured to define a vision zone (75) from the robotic drive system rearward at least partially in the direction of the wheeled mechanisms of the mobile trolley, and an angular sensor (80) housed at the rear of the robotic drive system and configured to determine an angle between the robotic drive system and the mobile trolley,with the robotic drive system which is configured to receive representative information on the location of the rear of the mobile carriage relative to the rear of the robotic drive system and the angle between the robotic drive system and the mobile carriage coupled to the robotic drive system, representative information which is determined respectively by the detection device and by the angular sensor; whereby the robotic drive system is configured to move the mobile carriage in reverse.

2. Robotic drive system according to claim 1, configured so that the Lidar type sensing device (70) is in a position in which its field of vision can identify the position of the roller mechanisms (17) located at the front and rear of the mobile carriage (4).

3. Robotic drive system according to claim 2, configured such that, in a first configuration where the robotic drive system (10) drives the mobile carriage (4) in reverse, which is globally in the same axis of movement as the robotic drive system, the angular sensor (80) identifies that the angle between the robotic drive system and the mobile carriage is zero or almost zero, and the vision area (75) defined by the Lidar type detection device (70) makes it possible to identify the position of roller mechanisms (17) located at the rear of the mobile carriage.

4. A robotic drive system according to claim 3, characterized in that the vision zone (75) is interrupted by the presence of roller mechanisms located at the front of the mobile carriage (4) which are generally aligned with the wheeled mechanisms located at the rear of the mobile cart, without hindering the identification of the wheeled mechanisms located at the rear of the mobile cart.

5. Robotic drive system according to any one of claims 3 and 4, characterized in that it is configured to determine a reverse travel trajectory at least from information representing the location of the rear of the mobile trolley (4) relative to the rear of the robotic drive system (10) and optionally from information representing the angle between the robotic drive system and the mobile trolley coupled to the latter.

6. Robotic drive system according to any one of claims 2 to 5, configured such that, in a second configuration where the robotic drive system (10) drives the mobile trolley (4) in reverse, which is in an axis of travel offset from the axis of travel of the robotic drive system, the angular sensor (80) identifies that the angle between the robotic drive system and the mobile trolley is non-zero and of a determined value, and the vision area (75) defined by the Lidar-type detection device (70) identifies only some or none of the wheeled mechanisms located at the rear of the mobile trolley.

7. Robotic drive system according to claim 6, characterized in that the vision zone (75) is interrupted by the presence of roller mechanisms located at the front of the mobile carriage which are pivoted and misaligned with at least one of the roller mechanisms located at the rear of the mobile carriage, so that the Lidar type detection device (70) is hindered in identifying at least one of the roller mechanisms located at the rear of the mobile carriage.

8. Robotic drive system according to any one of claims 6 and 7, characterized in that it is capable of determining a reverse travel trajectory at least from information representing the angle between the robotic drive system (10) and the mobile trolley (4) attached to the latter and optionally from information representing the location of a part of the rear of the mobile trolley relative to the rear of the robotic drive system.

9. A robotic drive system according to any one of claims 1 to 8, characterized in that it comprises a load-bearing base (23) mounted on additional roller mechanisms and systemic elements mounted above the load-bearing base and covered by a hood (25).

10. Robotic drive system according to claim 9, characterized in that it comprises a first recess (26) formed in the hood (25), on the rear face and in which the coupling device (11) is at least partially housed, and a second recess (27) formed in the supporting base (23), also on the rear face, and in which the Lidar type detection device (70) and the angular sensor (80) are at least partially housed.

11. Robotic drive system according to any one of claims 9 and 10, characterized in that the system elements are formed by at least one of one or more drive motors, additional roller mechanisms for driving the robotic drive system (10) in motion, position and / or detection sensors, one or more control and command units configured to control and command the motor(s), process information from the sensors, the Lidar type detection device (70) and the angular sensor (80), and control the coupling device (11).

12. A robotic drive system according to any one of claims 1 to 11, characterized in that the coupling device (11) comprises a main structure (30) provided with a movable actuating arm between a first position of the coupling device (11) corresponding to a configuration uncoupled from the mobile carriage and a second position of the coupling device corresponding to a configuration coupled with the mobile carriage, and a hooking mechanism (60) disposed opposite the actuating arm, the coupling device being configured such that between its first position and its second position,The actuating arm is configured to move the drawbar of the mobile trolley from a default position in which the drawbar is away from the coupling mechanism and the mobile trolley is free, to a lower position in which the drawbar is sandwiched between the actuating arm and the coupling mechanism, and the mobile trolley is coupled to the coupling device.

13. Robotic drive system according to claim 12, characterized in that the hooking mechanism (60) is provided with a fixed base (61) and a hooking piece (62) mounted movably in rotation on the fixed base (61), with the angular sensor (80) which is connected to the hooking piece mounted movably in rotation.

14. Robotic drive system according to claim 13, characterized in that the hooking mechanism (60) is provided with a return element in position (66) configured to be subjected on the one hand to a structural element of the robotic drive system (10) and on the other hand to the hooking part (62) which is mobile in rotation.

15. Robotic drive system according to claim 14, characterized in that the coupling mechanism (60) is provided with a coupling piece (62) having a central pin (63) forming a hook, and the actuating arm is formed of a flat plate (34) having a bearing face (37) configured to bear against the drawbar (8) and in which is provided a hole (39) configured to receive the central pin in the second position of the coupling device (11), with the drawbar (8) which is then sandwiched between the coupling piece (62) and the bearing face (37) and which is provided with a slot (22) through which the central pin is inserted.

16. Robotic drive system according to claim 15, characterized in that the hook piece (62) further has a positioning stud (64) formed downstream of the central pin (63) and defining a reference angular position for the angular sensor (80), with the positioning stud which is configured to be inserted into the slot (22) of the drawbar (8).

17. Robotic drive system according to any one of claims 15 and 16, characterized in that the attachment piece (62) further has a stop wall (65) provided upstream of the central pin (63) and opposite the positioning block (64), with the drawbar which is configured to come against the stop wall.

18. Coupling assembly comprising a robotic drive system according to any one of claims 1 to 17, and at least one mobile trolley (4) attached to the robotic drive system (10).

19. Coupling assembly according to claim 18, characterized in that the mobile trolley (4) comprises a chassis (15) generally in the shape of a platform having an external contour (16) and made of a lattice of metal rods welded at their intersections, as well as roller mechanisms (17) at the front and rear of the chassis which support the chassis and make the trolley mobile, and the drawbar (8) is disposed at the front of the mobile trolley and is attached to the chassis by a pivot joint (18).

20. Coupling assembly according to claim 19, characterized in that the roller mechanisms at the front of the mobile trolley (4) are pivoting while the roller mechanisms at the rear of the trolley are fixed.

21. Coupling assembly according to any one of claims 19 and 20, characterized in that, when the robotic drive system is coupled with the mobile trolley, the Lidar-type detection device (70) is located in a generally horizontal plane extending under the chassis (15) of the mobile trolley (4).

22. Production site having at least one first zone (2), at least one second zone (3) located at a distance from the first zone, and a plurality of mobile trolleys (4) of the type with an articulated tiller (8), and at least one robotic drive system (10) according to any one of claims 1 to 17, comprising a coupling device (11) configured to attach to one of the mobile trolleys to move it from the first zone to the second zone and / or vice versa, forward and backward.

Images