Robotic drive system for at least one mobile cart

Abstract

The invention relates to an autonomous robotic drive system comprising a hitching device configured to be coupled to at least one mobile cart with an articulated drawbar and roller mechanisms, a lidar detection device arranged at the rear of the robotic drive system, beneath the hitching device, and configured to define a field of view from the robotic drive system rearward at least partially towards the roller mechanisms of the mobile cart, and an angular sensor arranged at the rear of the robotic drive system, beneath the hitching device, and configured to determine an angle between the robotic drive system and the mobile cart, wherein the robotic drive system is configured to receive information representative of a location of the rear of the mobile cart relative to the rear of the robotic drive system and of the angle between the robotic drive system and the mobile cart hitched to the robotic drive system, and wherein the representative information is determined by the detection device and by the angular sensor, respectively; whereby the robotic drive system is configured to drive the mobile cart in reverse.

Description

[0001] Title: ROBOTIC DRIVE SYSTEM FOR AT LEAST ONE MOBILE CART

[0002] TECHNICAL FIELD OF THE INVENTION

[0003]

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

[0004]

[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.

[0005]

[0003] The invention also relates to a production site provided with at least a first zone, for example a storage zone, at least a 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.

[0006] STATE OF THE ART

[0007]

[0004] Production sites are known which are provided with 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.

[0008]

[0005] European patent EP 3 283 308 discloses an automatic guided vehicle for towing a rolling trolley having four wheels and equipped with a chassis, the vehicle comprising 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 position of the vehicle and detect possible obstacles.

[0009]

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

[0010] DISCLOSURE 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.

[0011]

[0008] The invention thus relates, according to a first aspect, to a robotic drive system, in particular an autonomous one, comprising a coupling device configured to attach to at least one mobile trolley of the type with an articulated drawbar and roller mechanisms, a detection device of the Lidar type 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 roller 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 being configured to receive information representative of a location of the rear of the mobile carriage relative to the rear of the robotic drive system and of 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 drive the mobile carriage in reverse.,

[0012]

[0009] In the robotic drive system, in order for the latter to be able to move the mobile carriage coupled to it in reverse, account is taken not only of an angular position of the mobile carriage relative 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.

[0013]

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

[0014]

[0011] Furthermore, 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.

[0015]

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

[0016]

[0013] Preferred, simple, convenient and economical features of the robotic drive system and hitch 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 zone can identify the position of the roller mechanisms located at the front and rear of the mobile trolley.

[0015] The robotic drive system is configured so that, in a first configuration where the robotic drive system drives in reverse a mobile carriage 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 carriage is zero or almost zero, and the vision zone defined by the Lidar type detection device makes it possible to identify the position of the roller mechanisms located at the rear of the mobile carriage.

[0017]

[0016] The viewing 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.

[0018]

[0017] The robotic drive system is capable of determining a reverse travel trajectory at least from the information representative of the location of the rear of the mobile carriage relative to the rear of the robotic drive system and optionally from the information representative of the angle between the robotic drive system and the mobile carriage coupled to the latter.

[0019]

[0018] The robotic drive system is configured such that, in a second configuration where the robotic drive system drives in reverse a mobile carriage which is located in a movement axis offset from the movement axis 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 zone defined by the Lidar type detection device does not make it possible to identify the position of all the roller mechanisms located at the rear of the mobile carriage, or in other words the vision zone defined by the Lidar type detection device identifies only some or none of the roller mechanisms located at the rear of the mobile carriage.

[0020]

[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.

[0021]

[0020] The robotic drive system is capable of determining a reverse travel trajectory at least from the information representative of the angle between the robotic drive system and the mobile carriage coupled to the latter and optionally from the information representative of the location of a portion of the rear of the mobile carriage relative to the rear of the robotic drive system.

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

[0022]

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

[0023]

[0023] The system elements may be formed by at least one of one or more drive motors of the additional roller mechanisms for moving the robotic drive system, 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 and the angular sensor, and control the coupling device.

[0024]

[0024] The coupling device comprises a main structure provided with an actuating arm movable between a first position of the coupling device corresponding to a configuration uncoupled with the mobile trolley and a second position of the coupling device corresponding to a configuration coupled with the mobile trolley, and a coupling mechanism arranged 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 trolley from a default position in which the drawbar is at a distance from the coupling mechanism and the mobile trolley is free, to a low 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.

[0025]

[0025] The hooking mechanism may be provided with a fixed base and a hooking part mounted to rotate on the fixed base, with the angle sensor being connected to the hooking part mounted to rotate.

[0026]

[0026] The attachment mechanism may be provided with a position return member configured to be secured on the one hand to a structural element of the robotic drive system and on the other hand to the attachment part which is movable in rotation.

[0027]

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

[0028] The attachment part may further have a positioning stud formed downstream of the central pin and defining an angular reference position for the angular sensor, with the positioning stud being configured to be inserted into the slot of the drawbar.

[0028]

[0029] The attachment part may also have a wall forming a stop provided upstream of the central pin and opposite the positioning stud, with the drawbar being configured to come into abutment against the wall forming a stop.

[0029]

[0030] The main structure may be formed of two columns and a cross member connecting the two columns and mounted movably along the two columns, with the actuating arm being mechanically secured to the cross member.

[0030]

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

[0031]

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

[0032]

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

[0033]

[0034] The uprights may be provided with internal guide edges delimiting the space for 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.

[0034]

[0035] The coupling device may comprise a drive structure configured to slide the actuating arm and comprising a drive motor, a pulley and belt mechanism rotated by the drive motor, and an attachment member mechanically secured on the one hand to the pulley and belt mechanism and on the other hand, directly or indirectly, to the actuating arm.

[0035]

[0036] The coupling device makes it possible to couple and uncouple a mobile trolley, of the standard type with articulated drawbar, or a coupling of such trolleys, by the robotic drive system, in particular of the autonomous type.

[0036]

[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 drawbars.

[0037]

[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 generally tray-shaped chassis having an external contour and made of a lattice of metal rods welded at their intersections, as well as roller mechanisms at the front and rear of the chassis which carry the chassis and make the trolley mobile, and the drawbar is arranged at the front of the mobile trolley and is secured to the chassis by a pivot connection.

[0038]

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

[0039]

[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 tray-shaped chassis made of a lattice of metal rods of the mobile trolley.

[0040]

[0042] The invention also relates, according to a third aspect, to a production site provided with at least a first zone, for example a storage zone, at least a second zone, for example a production zone, located at a distance from the first zone, and a plurality of mobile trolleys of the articulated drawbar type, and at least one robotic drive system as described above, configured to attach to one of the mobile trolleys to make it move from the first zone to the second zone and / or vice versa, in forward and reverse motion.

[0041] BRIEF DESCRIPTION OF THE FIGURES

[0042]

[0043] Figure 1 schematically and partially represents, in top view, a storage area of ​​a production site, provided 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 coupled configuration with one of the mobile trolleys, forming a coupling assembly.

[0043]

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

[0044]

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

[0045]

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

[0046]

[0047] Figure 5 is similar to Figures 3 and 4, in front view.

[0047]

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

[0048]

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

[0049]

[0050] Figure 8 is similar to Figures 6 and 7, in front view.

[0050]

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

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

[0051]

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

[0052]

[0054] Figure 12 schematically represents a top view of a second configuration in which the robotic drive system drives one of the mobile carriages in reverse, thanks to the system elements visible in Figure 10.

[0053] DETAILED DESCRIPTION OF THE INVENTION

[0054]

[0055] Figures 1 and 2 schematically and partially illustrate a production site 1, or factory, including in particular a first zone called storage zone 2 and a second zone called production zone 3 located at a distance from storage zone 2.

[0055]

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

[0056]

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

[0057]

[0058] Alternatively, the storage area may also be provided to receive the final items for shipment from factory 1.

[0058]

[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.

[0059]

[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.

[0060]

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

[0061]

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

[0062]

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

[0063]

[0064] In Figure 1, the robotic drive system 10 has its coupling device 11 in a configuration coupled to a mobile carriage 4 located here on the middle row 6 and closest to the entry and / or exit on the side of the spacer and guide plates 7, thus forming a coupling assembly.

[0064]

[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.

[0065]

[0066] The production zone 3 here has, 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 carriage 4 driven in movement by the robotic drive system 10.

[0066]

[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 rolling roller structures 13.

[0067]

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

[0068]

[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 carriages 4 both forward and reverse.

[0069]

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

[0070]

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

[0071]

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

[0072]

[0074] The drawbar 8 of the mobile trolley 4 is arranged at the front of the mobile trolley 4 and is secured to the chassis 15 by a pivot connection 18.

[0073]

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

[0074]

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

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

[0075]

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

[0076]

[0079] The elastic return element 21 makes it possible to bias the drawbar 8 towards the upright position, also called the raised-stored position.

[0077]

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

[0078]

[0081] In the example illustrated, 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 the maneuvering of the trolley with the robotic drive system 10.

[0079]

[0082] The robotic drive system 10 comprises a supporting base 23 and additional mechanisms with fixed and / or pivoting rollers 24, secured to the supporting base 23.

[0080]

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

[0081]

[0084] These system elements (not shown in Figures 3 to 8) may be formed by one or more drive motors of the additional roller mechanisms 24 for driving the robotic drive system 10 in movement, 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.

[0082]

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

[0083]

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

[0084]

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

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

[0085]

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

[0086]

[0090] Between the uncoupled configuration (figures 3 to 5) and the coupled configuration (figures 6 to 8), the drawbar 8 has moved from its default position to its low 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.

[0087]

[0091] Referring to Figure 9, the coupling device 11 is visible in isolation in its first position.

[0088]

[0092] The coupling device 11 comprises 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 cover 25 of the robotic drive system 10, at the level of the first recess 26.

[0089]

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

[0090]

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

[0091]

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

[0092]

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

[0093]

[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.

[0094]

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

[0095]

[0100] The coupling device 11 further comprises a drive structure provided with a fixing plate 51, for example mechanically secured to the structural element covered by the cover 25, a drive motor 52, for example electric, mechanically secured to the fixing plate 51; a pulley mechanism having a high pulley 53 mounted on a rotary shaft of the drive motor 52 through the fixing plate 51, and a low pulley 54 mounted free to rotate for example on the structural element covered by the cover 25 and / or on the bearing base 23, at a distance from the high pulley 53;and a drive member formed here by a belt 55 mounted around the high pulley 53 and the low pulley 54, and by an attachment member 56 (not shown) mechanically secured on the one hand to the belt 55 and on the other hand to the crosspiece 32 of the main structure 30 for the sliding of the latter when the belt 55 is driven by the high pulley 53, itself driven by the drive motor 52.;

[0096]

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

[0097]

[0102] The attachment part 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 formed upstream of the central pin 63 and opposite the positioning stud 64.

[0098]

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

[0099]

[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 the 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 generally vertical and inclined, in other words inclined upwards, and is located immediately under the bearing face 37 of the flat plate 34 of the actuating arm.

[0100]

[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 driving of the high pulley 53 by the drive motor 51 and therefore of the belt 55, and incidentally of the attachment member secured both to the belt 55 and to the cross member 32. The actuating arm is therefore also moved into the space 43 and is thus opposite and in the immediate vicinity of the attachment mechanism 60, with the notches 36 formed 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 formed in the flat plate 34 and the reinforcing plate 35.

[0101]

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

[0102]

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

[0103]

[0108] In particular, the robotic drive system 10 can drive the mobile carriage 4 forward and backward, as needed.

[0104]

[0109] To circulate the mobile trolley 4, the robotic drive system 10 is configured to determine a circulation trajectory permanently, in particular using the control and command unit(s) configured to control and command the motor(s), and process the information from the sensors.

[0105]

[0110] In order for the robotic drive system 10 to be able to drive the mobile carriage 4 in reverse, it is provided here that the control and command unit(s) of the robotic drive system 10 receives information representative of the location of the rear of the mobile carriage 4 relative 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.

[0106]

[0111] As visible in Figure 10, the robotic drive system 10 comprises for this purpose a detection device here of the Lidar 70 type 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.

[0107]

[0112] The Lidar 70 is disposed generally below the attachment mechanism 60 and is configured to define a vision zone 75 from the robotic drive system 10 to the rear.

[0108]

[0113] The angular sensor 80 is itself arranged at least partially in the attachment mechanism 60, without hindering the Lidar 70 and without being in its vision zone 75, and is connected to the attachment part 62 mounted to be mobile in rotation, here in particular under the central pin 63.

[0109]

[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.

[0110]

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

[0111]

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

[0112]

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

[0113]

[0118] In this first configuration where the robotic drive system 11 drives in reverse a mobile carriage 4 which is generally 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.

[0114]

[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 carriage 4 which are generally aligned with the roller mechanisms 17 located at the rear of the mobile carriage 4, but without hindering the identification of the roller mechanisms 17 located at the rear of the mobile carriage 4.

[0115]

[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 representative of 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 representative of the angle between the robotic drive system 11 and the mobile carriage 4 coupled to the latter.

[0116]

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

[0117]

[0122] In this second configuration where the robotic drive system 11 drives in reverse a mobile carriage 4 which is located in a movement axis offset relative to the movement axis 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 make it possible to identify the position of the two roller mechanisms 17 located at the rear of the mobile carriage 4.

[0118]

[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 here hindered 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 representative of the angle between the robotic drive system 11 and the mobile carriage 4 coupled to the latter and optionally from the information representative of the location of a part of the rear of the mobile carriage 4 relative to the rear of the robotic drive system 11.

[0119]

[0125] Variants not shown are described below.

[0120]

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

[0121]

[0127] The trolley may have a bottom plate rather than a wire mesh.

[0122]

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

[0123]

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

[0124]

[0130] The robotic drive system may have a different length and / or width than the mobile carriage.

[0125]

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

Claims

Claims 1. 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 drawbar (8) and roller mechanisms (17), a detection device of the Lidar type (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 towards the rear at least partially in the direction of the roller 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 information representative of a location of the rear of the mobile carriage relative to the rear of the robotic drive system and of 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 drive the mobile carriage in reverse., 2. Robotic drive system according to claim 1, configured so that the Lidar type detection device (70) is in a position in which its vision zone 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 so that, in a first configuration where the robotic drive system (10) drives the mobile carriage (4) in reverse, which is generally 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 zone (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. 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 roller mechanisms located at the rear of the mobile carriage, without hindering the identification of the roller mechanisms located at the rear of the mobile carriage.

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

6. A 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 carriage (4) in reverse, which is located in a movement axis offset from the movement axis of the robotic drive system, the angular sensor (80) identifies that the angle between the robotic drive system and the mobile carriage is non-zero and of a determined value, and the vision zone (75) defined by the Lidar type detection device (70) identifies only some or none of the roller mechanisms located at the rear of the mobile carriage.

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

9. Robotic drive system according to any one of claims 1 to 8, characterized in that it comprises a supporting base (23) mounted on additional roller mechanisms and system elements mounted above the supporting base and covered by a cover (25).

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

11. Robotic drive system according to one of claims 9 and 10, characterized in that the system elements are formed by at least one of one or more drive motors of the additional roller mechanisms for driving the robotic drive system (10) in movement, 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 (70) and the angular sensor (80), and control the coupling device (11).

12. 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 an actuating arm movable between a first position of the coupling device (11) 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 (60) arranged 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 trolley from a default position in which the drawbar is remote 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 part (62) mounted to rotate on the fixed base (61), with the angular sensor (80) which is connected to the hooking part mounted to rotate.

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

15. Robotic drive system according to claim 14, characterized in that the hooking mechanism (60) is provided with a hooking part (62) having a pin central (63) forming a hook, and the actuating arm is formed of a flat plate (34) having a bearing face (37) configured to come to bear against the drawbar (8) and in which is formed 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 hooking part (62) and the bearing face (37) and which is provided with a slot (22) through which the central pin is introduced.

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

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

18. Coupling assembly comprising a robotic drive system according to any one of claims 1 to 17, and at least one mobile carriage (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 form of a tray 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 carry the chassis and make the trolley mobile, and the drawbar (8) is arranged at the front of the mobile trolley and is secured to the chassis by a pivot connection (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 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 provided with at least a first zone (2), at least a second zone (3) located at a distance from the first zone, and a plurality of mobile trolleys (4) of the articulated drawbar (8) type, 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, in forward and reverse gear.

Images