Fall-prevention 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 portion (6), and a fall-prevention device (10), the trunk (4) being connected, on the one hand, to a platform (3), and, on the other hand, to the upper portion (6), the trunk (4) being movable in length between a retracted position and a deployed position, wherein the fall-prevention device (10) comprises an actuation means (12), a retraction system (11), and a bearing means (13), wherein the actuation means (12) is configured to activate the retraction system (11) to enable the trunk (4) to transition from the deployed position to the retracted position when a predetermined fall risk / probability parameter is detected, and wherein the robot (1) is configured, when this parameter is detected, to bear against the bearing means (13) so as to prevent the robot (1) from falling.

Description

Fall arrest device for telescopic trunk ballbot

[0001] The present invention relates to the field of robots, in particular humanoid robots. More specifically, the invention relates to a robot with a single spherical wheel comprising a telescopic trunk and a stabilization device preventing it from falling. STATE OF THE ART

[0002] Robots are known that have a single spherical wheel on which the entire robot rests. These types of robots are commonly called "ballbots." These robots are mobile in all directions using only the spherical wheel, 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 connection or by means of a ball joint connection so as to allow the mobility of each of the arms relative to the trunk and the upper part is connected to an upper portion of the trunk and is fixed relative to it. The upper part of the robot comprises at least one sensor configured so that the robot can locate itself in its environment. Such a robot is configured to move in all directions and to perform tasks by means of its arms, such as grasping objects. In this case, the arms are provided with grippers allowing the gripping of the objects to be grasped.

[0004] However, such robots can fall due to a power failure or due to an obstacle, for example. The obstacle can be fixed or mobile; in particular, it can correspond to a significant untimely external load. Such a fall can cause damage to the robot, its environment, but also injure people present in its environment. Furthermore, having only mobile arms, such a robot can only perform tasks at the height of its arms. In particular, it cannot perform tasks at height. Therefore, such a robot is intended 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 fall problems, by proposing a robot comprising a single spherical movement wheel, 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 loss of balance likely to cause a fall in particular, adopt a deployed position making it possible to prevent the fall and keep the robot balanced and therefore 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 movement wheel 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; a fall arrest device. The telescopic trunk is connected on the one hand to said platform and on the other hand to the upper part. Said arm is connected by means of at least one pivot connection or at least one ball joint connection to said telescopic trunk. Said telescopic trunk is movable in length, between a retracted position and a deployed position. The fall arrest device comprises at least one actuating means, at least one retraction system and at least one support means.The actuating means is configured to activate the retraction system allowing the telescopic trunk to move from the deployed position to the retracted position upon detection of a predetermined fall risk / probability parameter. Said robot is configured to, when this predetermined fall risk / probability parameter is detected, take support on the at least one support means or at least one of the support means, on the ground, so as to prevent the robot from falling.

[0007] The robot's telescopic trunk allows the robot to have an adjustable gripping height. In addition, the robot is stable on the spherical wheel in both static and moving positions and in both retracted and deployed 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 having a small footprint. The robot is operational at variable heights and is therefore adaptable to its environment. In addition, the fall arrest device allows, in the event of an action likely to cause the robot to fall, such as a loss of balance or a power supply failure for example, to rest on the ground to prevent the robot from falling and to keep it balanced on the support means.The support means therefore takes the form of a crutch, which prevents the robot and all of its components from impacting the ground caused by a fall and therefore prevents any damage to the robot and / or its environment.

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

[0009] In the event of a power failure, the telescopic trunk retracts and the fall arrester automatically rests on the ground to prevent the robot from falling and protect it from damage. In particular, the telescopic trunk retracts passively.

[0010] Advantageously, the means for actuating the fall arrest device comprises at least one stop configured to, in contact with the ground and / or an obstacle, enable activation of the retraction system, allowing the telescopic trunk to move from the deployed position to its retracted position.

[0011] The stop allows 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, therefore when there is a probable fall.

[0012] Advantageously, the actuating 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 value representative of said measurement, said robot being configured to compare the representative value of said measurement with a predetermined threshold value corresponding to the predetermined fall risk / probability 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 used in addition to the stop to allow the telescopic trunk to retract 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 actuating the retraction system comprises: a means for measuring the inclination of the robot relative to said frontal plane; and a control unit. The measuring means is configured to measure the inclination of the robot relative to said frontal plane, to generate a value representative 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, when the representative value is greater than the predetermined threshold value, activate the retraction system and when the representative value is less than or equal to the predetermined threshold value, inhibit the activation of the retraction system.

[0015] The inclination measuring device and the control unit allow the telescopic trunk to be retracted when a threshold inclination is exceeded.

[0016] Advantageously, the robot comprises a single anti-fall device forming a circle or ring extending around the circumference of the spherical wheel.

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

[0018] With a single fall arrester forming a circle or ring extending around the circumference of the spherical wheel or with a plurality of fall arresters, 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 the one hand to the platform and on the other hand to the second portion and the first portion is on the other hand connected to the upper part, said second portion housing a spring configured to assist in the transition 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 abutment against 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 FIGURES

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

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

[0024] This is a schematic perspective representation taken from the front right of the robot, in which the telescopic trunk is in the deployed position; and

[0025] This is a schematic perspective representation taken from the front to the right of the robot, in which the telescopic trunk is in the retracted position and said robot is supported by a support means so as to prevent it from falling.

[0026] It should be noted that the figures set out the invention in detail to enable the invention to be implemented; 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 stabilizing 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 the figure, 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 comprises stabilizing 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 comprise retaining members 30 at least partially surrounding the spherical wheel 2. Here, the stabilization means comprise three retaining members 30 distributed over the spherical wheel 2.

[0031] The stabilization means may further comprise 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 a standing position shown in the figures when it is static.

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

[0033] In order to move, and thus trigger the rotation of the at least one secondary wheel 31 and therefore of the spherical wheel 2, the robot 1 must tilt relative to the frontal 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 the one hand to the platform 3 and on the other hand to the upper part 6.

[0036] The arm 5 is connected by means of a pivot or ball joint type connection to the telescopic trunk 4. The robot 1 may comprise a plurality of arms 5, here the robot 1 comprises two arms 5, each connected by means of a pivot or ball joint type connection 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 it is configured to allow the robot 1 to perceive its environment and in particular to detect the objects to be grasped and / or moved arranged opposite the upper part 6, in its field of vision.

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

[0039] In addition, the robot 1 according to the invention is movable in length, between a retracted position, shown in Figures 1 and 3, and a deployed position, shown in the.

[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 connection or a ball joint or is fixed to a bust itself connected to the upper part 6 by means of a pivot connection 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 41.

[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] In addition, a stop may project from the first portion 40. The stop is configured to abut 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 deployed and retracted position of the telescopic trunk 4.

[0047] In the retracted position of the telescopic trunk 4, with reference to the, the first portion 40 is housed in the second portion 41.

[0048] In the deployed position of the telescopic trunk, with reference to the, 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 on the one hand connected to the trunk 4 by means of a ball joint or a pivot connection, and on the other hand connected to the distal segment by means of a ball joint or a pivot connection. The distal segment 50 is connected on the other hand to the hand 52 by means of a pivot connection 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 on the one hand connected to the telescopic trunk or to the bust overhanging the telescopic trunk 4 by means of a ball joint or a pivot connection, and on the other hand connected to the distal segment by means of a ball joint or a pivot connection. The distal segment is itself connected on the other hand to the hand 52 by means of a pivot connection or a ball joint.

[0051] Each arm 5 is configured to be movable 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 clamp, said gripper being configured to grip objects.

[0053] In the example illustrated in the figures, the hand 52 is a robotic hand having 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 spherical wheel 2.

[0056] In motion, the robot 1 tilts relative to the frontal plane towards the desired direction. Thus, the center of mass is displaced towards this same direction and is along the telescopic trunk 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 deployed 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 variable heights and is therefore adaptable to its environment.

[0058] In a variant not shown in the figures, the robot's gripping area can be increased, in particular by increasing the length of the arms. Indeed, if the arms are extended, the robot can have access to the ground for example or even to distances further from its trunk.

[0059] In addition, the robot 1 comprises at least one fall arrest device 10.

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

[0061] According to a variant not shown, the robot 1 may comprise a plurality of anti-fall 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 actuating 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 to the platform 3. The actuating means 12 is connected to the support means 13 as well as 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 fall risk / probability parameter.

[0065] The robot 1 is configured to, when this predetermined fall risk / probability parameter is detected, take support on the 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 the figure.

[0066] The actuating means 12 of the fall arrest device 10 comprises 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, allowing the transition 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 comprise 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. Then the sensor is configured to generate a value representative of said measurement.

[0068] This force sensor can be a complementary solution to the energy-independent or alternative 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 fall risk / probability 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] In addition, the actuating means 12 of the retraction system 11 may comprise a means for measuring the inclination of the robot 1 relative to the frontal plane and a control unit.

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

[0072] The control unit is configured to, when the representative value is greater than the predetermined threshold value, activate the retraction system 11 and when the representative value is less than or equal to the predetermined threshold value, inhibit the activation of the deployment system 11.

[0073] Furthermore, the robot 1 may comprise a power supply system configured to supply the robot 1 with energy and in that in the event of a power supply failure, the actuating means 12 of the fall arrest device 10 is configured to activate the retraction system 11.

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

[0075] In particular, and with reference to the, when the inclination of the robot 1 is too great, the stop 14 of the actuating 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 transition from the deployed position to the retracted position of the telescopic trunk 4.

[0076] The fall arrest 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 supply failure for example, to take support on the ground 7 to prevent the robot 1 from falling and to keep it balanced. This balance maintenance prevents the robot 1 and all of its components from impacting the ground caused by a fall and therefore prevents any damage to the robot and / or its environment.

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

[0078] It will also be noted that the invention is not limited to the embodiments described above. It will indeed appear to those skilled in the art that various modifications can be made to the embodiment described above, in light of the teaching which has just been disclosed to them.

[0079] In the detailed presentation of the invention given above, the terms used should not be interpreted as limiting the invention to the embodiment set forth in this description, but should be interpreted to include all equivalents the prediction of which is within the reach of those skilled in the art by applying their general knowledge to the implementation of the teaching just disclosed to them.

Claims

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 stabilizing 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 the one hand to said platform (3) and on the other hand to the upper part (6), said arm (5) being connected by means of at least one pivot connection or at least one ball joint connection 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 fall risk / probability parameter, said robot (1) being configured to, when this predetermined fall risk / probability parameter is detected, take support on the at least one support means (13) or at least one of the support means (13), on the ground, so as to prevent the robot (1) from falling.; 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 actuating means (12) of the anti-fall device (10) is configured to activate the retraction system (11). Robot (1) according to any one of claims 1 to 2, characterized in that the actuating 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, allow the activation of the retraction system (11), allowing the transition from the deployed position of the telescopic trunk (4) to its retracted position. Robot (1) according to claim 3, characterized in that the actuating 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 value representative 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 fall risk / probability 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. Robot (1) according to 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 actuating means (12) of the retraction system (11) comprises:a means for measuring the inclination of the robot (1) relative to said frontal plane; anda control unit;the measuring means being configured to measure the inclination of the robot (1) relative to said frontal plane, to generate a value representative 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, when the representative value is greater than the predetermined threshold value, activate the retraction system (11) and when the representative value is less than or equal to the predetermined threshold value, inhibit the activation of the retraction system (11). 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 a ring extending over the circumference of the spherical wheel (2). Robot (1) according to any one of claims 1 to 6, characterized in that it comprises a plurality of anti-fall devices (10), distributed in a circle around the spherical wheel (2). 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 the one hand to the platform (3) and on the other hand to the second portion (41) and the first portion (40) is on the other hand connected to the upper part (6), said second portion (41) housing a spring configured to assist in the transition from the deployed position to the retracted position of the telescopic trunk (4). Robot (1) according to claim 8, characterized in that a stop projects from said first portion (40) configured to come into abutment against the second portion (41) when the telescopic trunk (4) is in the retracted position. 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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