WO2017153897A1

WO2017153897A1 - Autonomous robot guided in the pushed mode

Info

Publication number: WO2017153897A1
Application number: PCT/IB2017/051302
Authority: WO
Inventors: Cédric TESSIER; Sébastien Bonnet
Original assignee: Effidence
Priority date: 2016-03-07
Filing date: 2017-03-06
Publication date: 2017-09-14
Also published as: JP2019514103A; FR3048406B1; FR3048406A1; EP3427118A1

Abstract

Disclosed is a motor-driven autonomous robot (1) comprising a body (2) that is mounted on wheels (3), tracks or feet, a locating device (4), and a control module (100) that communicates with the locating device and includes a detection module for detecting the position of the robot relative to an operator in a control zone on one side of the robot, said detection module being suitable to determine a reference position of the operator in order to make the robot move forward and/or rotate and/or move sideways in an advancement zone (30) located on another side of the robot.

Description

AUTONOMOUS ROBOT WITH GUIDING IN PUSH MODE TECHNICAL FIELD OF THE INVENTION

The present invention relates to a motorized robot. It relates more particularly to a robot capable of moving in "push" mode by the presence of an operator at one end of the robot.

STATE OF THE PRIOR ART

[0002] Powered autonomous robots are now well known and used in many fields such as logistics, agriculture, industrial production, etc. To ensure their movement autonomously, the robots must include locating and guiding means. Many forms of implementation exist today, with sensors and / or cameras arranged at locations to implement the locating functions allowing the robot to move in acceptable safety conditions.

To manage the movement, an autonomous robot can be programmed according to a specific path to perform. This mode is well suited for journeys to be made repeatedly. In other cases, for example when an operator wishes to make a single path, the robot has sensors for detecting the operator, and guiding means for the robot to move by following the operator. This mode is well known as "follow-me" (follow me). Other examples of solutions are presented below.

US2006140450 discloses a device and a method of monitoring a human being. The device includes a storage medium storing a program for executing the method and a mobile electronic system comprising the apparatus. The human tracking apparatus includes: a module for detecting the location of the upper body of the human being; a module for detecting the position of the leg of a human being; a tracking object selection module; a tracking speed and an orientation calculator to calculate the speed. The device makes it possible to follow a human being.

CN document 105005247 describes a pallet truck that can be controlled remotely by an operator by means of a wireless communication. In addition, the pallet truck can follow an operator automatically. [0006] Document TW201540447 describes a sensor for detecting the posture of the human skeleton in front of a robot and to move according to gestural commands of the human body. The robot follows the individual who is moving.

The document KR101014531 describes a method of monitoring a human by a motorized robot. The sensor is designed to detect the legs of an individual and follow him in his movements.

[0008] JP2008149399 discloses a motorized robot moving at a suitable speed to follow a person who moves at the same time. The robot moves next to the individual, at the same time as him.

[0009] JP2003280739 describes a motorized robot capable of following a human person.

These solutions allow a motorized autonomous robot to follow an operator relatively reliably. Nevertheless, these solutions imply that the operator precedes the robot on the path he wants to make him travel. However, when moving in front of the robot, the operator completely ignores what is happening behind him, whether the robot is following him or not, whether the robot deviates from the road followed by the operator, or even if he is in distress or if he has an incident. This situation gives rise to a great number of uncertainties as to the quality and reliability of the monitoring carried out by the robot.

In other cases, it happens that an operator is in a situation requiring him to change direction of travel. However, with a robot "follower", the operator is then forced to bypass the robot to go to position the opposite side to resume a tracking mode. This case makes it necessary to provide means for recognizing the operator on both sides of the robot. Finally, in some cases, a blocked operator is not able to bypass the robot to go to the other side. It is then necessary to provide troubleshooting means to help manage the situation, for example by towing the robot, or by lifting it to turn 180 degrees.

[0012] The Youtube document "Effibot assistant robot Effidence to Sival 2016" describes a robot able to move behind the operator in tracking mode but also in front of him, with a remote control to guide him from a distance. This mode of driving is not intuitive and the remote control can clutter the operator. [0013] The Youtube video "Finish the boots, with Effibot? Describes a robot that can move by following the operator.

In these two videos, there is described a robot capable of following the operator through a tracking system that allows him to detect the legs of the operator for example. However, its cue area is limited to the front of the robot, the rear being obstructed by hardware. In push mode, a remote control is required to transmit the movement instructions to the robot.

To overcome these disadvantages, the invention provides different technical means.

SUMMARY OF THE INVENTION

First, a first object of the invention is to provide a motorized autonomous robot capable of being followed by an operator while allowing the latter to be able to view the robot during movement.

Another object of the invention is to provide a motorized autonomous robot inexpensive construction.

Another object of the invention is to provide a motorized autonomous robot whose implementation is simple and reliable.

To do this, the invention provides a motorized autonomous robot comprising a body mounted on wheels or tracks or lugs, a tracking device, a driving module, in communication with the tracking device and comprising a detection module of relative position of an operator in a driving zone on one side of the robot, said detection module being adapted to determine a relative position of the operator with respect to a reference position corresponding to the stoppage of the robot, said position relative being used by a setpoint module to generate a displacement instruction itself transmitted to a guide module for advancing and / or rotating and / or laterally translating the robot in a forward zone located on another side of the robot.

Such a device makes it possible to configure a robot so that the driver virtually pushes the latter without using a remote control. In this document, this mode is called "push me", by analogy with the "follow me" mode where the robot follows the user. In a variant, a robot is advantageously provided with both modes of pipe, for maximum flexibility of use.

With such a device, the operator can control the movement of a robot while maintaining a perfect visibility on the robot itself and its environment. The operator can react immediately to any unforeseen situation or incident. It can easily and immediately interact with the robot and modify or adapt the driving en route, in real time and without being cluttered by a remote control. In the case of a robot variant equipped with a "follow me" driving mode, the driver can switch from one driving mode to another without having to work around the robot, which is sometimes impossible on certain sites. work such as between vineyards or in a greenhouse.

Advantageously, the relative position of the operator is determined by the measurement of a longitudinal deviation and a lateral deviation with respect to a reference position corresponding to the stopping of the robot.

In a variant, the relative position of the operator is determined by measuring an angular difference (a) and a radius deviation (r) with respect to a reference position corresponding to the stoppage of the robot. .

Advantageously, the tracking device comprises a single sensor. This technical feature provides a simple layout with limited wiring and high reliability. Such an arrangement makes it possible to limit the costs and to simplify the construction of the robot. This same sensor can be used to detect obstacles present along the path of the robot.

According to an advantageous embodiment, the tracking device comprises a module that determines the relative position of the operator relative to the robot to drive. Such a module may comprise for example an element selected from the following list: a laser, a Lidar, a sonar, a radar, a camera, a thermal camera, an infrared distance measuring device, a radio measurement device ( for example UWB: Ultra Wide Band), a GPS.

The tracking device is preferably adapted to emit a rotating beam over an angular range of at least 300 ° and more preferably 330 ° and even more preferably substantially 360 °. This feature has the advantage of offering Total or near total visibility for the robot using a single sensor, greatly simplifying the architecture and implementation of the system. In addition, for a robot with a bimodal driving system (follow me or "push me"), the tracking device allows to simply manage both modes, with a simple and reliable configuration.

The tracking device allows use in various environments and even in difficult or extreme conditions. Indeed, the laser for example, can be used both in a room plunged in the dark, and outside in the presence of an intense sun. Finally, the 360-degree tracking has the advantage of offering total visibility for the robot to ensure greater safety.

According to another advantageous embodiment, the tracking device is configured to detect the environmental elements to ensure a collisionless movement.

The invention also provides a driving system for autonomous robot as previously described, comprising a locating device adapted to communicate with a driver module provided with a microprocessor and implementation instructions, said module of comprising a relative position detection module of the operator, a displacement instruction module and a guide module, the driving system being configured to allow driving by an operator located in a driving zone of a side of the robot to advance and / or rotate and / or translate laterally the robot in a forward zone located on the other side of the robot.

Such a system can equip a large number of autonomous motorized robots to make them benefit from the driving mode "push me".

The invention also provides a method of driving a motorized autonomous robot as previously described by an operator, comprising the following steps:

the relative position detection module of the operator determines the relative position of the operator by measuring a longitudinal deviation and a lateral deviation from a reference position corresponding to stopping the robot;

the displacement instruction module receives the relative position data of the operator and determines a displacement instruction;

the guidance module receives the displacement instruction and moves the robot in accordance with the displacement instruction. Advantageously, the angular direction of the robot is determined by the setpoint module as a function of the angular deviation or the lateral deviation, so that the greater the difference, the greater the turn is pronounced.

Also advantageously, the speed of movement of the robot is determined by the setpoint module as a function of the radius deviation (r) or the longitudinal gap, so that the greater the difference, the greater the speed is high.

In "push me" mode, unlike the "follow me" mode, the user is really active and drives the robot. He decides on his relative position in relation to the robot in order to drive the robot and steer it between the obstacles and towards the path it wants. The user has the opportunity to react to any situation or event in real time, since he sees the robot and its environment continuously. This mode of driving is very safe, very reliable, intuitive, and provides great adaptability on an infinity of sites.

According to yet another advantageous embodiment, the relative position detection module of the operator is provided to detect a movement or sign of the operator corresponding to a stop instruction of the movement of the robot. This feature allows the user to react very quickly, without having to touch the robot, for maximum responsiveness and security. Alternatively, a retreat of the operator can be used to control a stop. Still alternatively, a stop button can be provided on the robot or a remote control.

DESCRIPTION OF THE FIGURES

All the details of embodiment are given in the description which follows, supplemented by FIGS. 1 to 6, presented solely for purposes of non-limiting examples, and in which:

FIG 1A is a schematic representation of an example of autonomous robot with driving system according to the invention;

FIG 1B is a schematic representation of an example of autonomous robot located between the driver and the driving zone;

FIGS. 2, 3 and 4 are examples of movements with bends of a powered autonomous robot according to the invention; FIG. 5 presents a functional flowchart illustrating the main steps of a driving method according to the invention;

FIG. 6 illustrates an example of a motorized autonomous robot driving module according to the invention.

DETAILED DESCRIPTION OF THE INVENTION

The objective is to manipulate a robot by preceding it but without touching it and without using a joystick or remote control. The robot can come to a sudden stop if its emergency stop system is triggered. In this case, the person following the robot must not hit the robot. The robot can come to a sudden stop if its emergency stop system is triggered. It is then necessary to foresee that the person who follows the robot does not strike this last one. In addition, the robot must be far enough for the person to take a step without risk of hitting the robot with his leg.

FIG. 1A illustrates an exemplary embodiment of a robot 1 comprising a body 2 mounted on wheels 3. In this example, the body 2 is of rectangular shape, and substantially flat, to maintain the center of gravity close to the ground and facilitate loading and unloading operations by the operator. Alternatively, the body can be designed according to a wide range of shapes and profiles, depending on the intended uses, and aesthetic qualities required. In a conventional manner, the robot comprises at least one motor, electric or thermal, and means for managing the movements autonomously.

In the embodiment of Figure 1A, the robot comprises a loading plate 5 arranged above the body 2. This position allows great ease to handle the loads to be transported by the robot. Figure 1 also shows that the plate 5 is spaced from the body 2. In this example, the elevation of the plate is provided by separation spacers 6, arranged between the top of the body 2 and the underside of the plate.

As shown in Figure 1A, the robot of this embodiment comprises six spacers distributed so as to support the entire surface of the plate, two spacers at each end and two spacers to the middle zone of the body . The robot is designed to advance in at least one direction, whatever it is, it can rotate and perform curvilinear or rectilinear trajectories. The change of angular direction is ensured either by pivoting the wheels (two or four directional wheels) or by relative angular velocity variation between the wheels on each side of the robot. For this purpose, the robot is advantageously equipped with four electric motors, located in the axes of the wheels. The robot can also be equipped with a single engine with two or four driving wheels. The body 2 can accommodate one or more batteries and the electronic elements required for the management and guidance of the robot.

The elevation of the plate 5 relative to the top of the body allows to form a zone 7 of vision, substantially free in which a registration device 4, preferably single, is arranged.

In the illustrated example, the spacers 6 of separation consist of substantially thin plates oriented so that their main plane is substantially parallel to the axis of the beam of the tracking device 4. Still in the example of Figures 1 and 2, the tracking device 4 comprises a radar laser (or LIDAR) adapted to locate the surrounding objects over an angular range of 360 °. The spacers are thin enough and spaced apart so as not to hinder the vision of the environment.

Alternatively, other types of sensors may be used, such as one or more cameras, one or more inductive sensors, or the like. Hybrid solutions, with several types of sensors, can also be implemented.

EXAMPLES OF DRIVING IN "PUSH ME" MODE

In the examples of implementation of the system and method of driving the invention illustrated in Figures 1B, 2, 3 and 4, an example of robot 1 without load plate is used for illustration purposes . The tracking device 4 is advantageously a laser scanner (or LIDAR) active 360 degrees, which can detect both the surrounding elements of the robot such as objects, walls, walls or obstacles and the driver of the robot 10. The The conductor is movable in a driving zone 20 located on one side of the robot 1. A feed zone 30, in which the robot is able to move, is on the opposite side to the driving zone 20.

The example of Figure 1 B illustrates an example of a robot moving in "push me" mode in a substantially rectilinear direction.

The example of Figure 2 illustrates an example of a robot moving in "push me" mode by initiating a right turn.

The example of Figure 3 illustrates an example of a robot moving in mode "Push me" by starting a left turn.

The example of Figure 4 illustrates an example of a robot moving in "push me" mode by initiating a left turn with another method of measuring the set position.

DRIVING SYSTEM

FIG. 6 schematically illustrates an exemplary autonomous robot driving system comprising a tracking device 4 (shown in FIGS. 1A, 1B, 2, 3 and 4) as previously described, able to communicate by link. Wired or wireless with a driving module 100. For its implementation, the driving module comprises at least one microprocessor 101 and implementation instructions 102 of the microprocessor of the various modules. The driving module also provides a module 103 for detecting the relative position of the operator and a displacement instruction module 104. A guiding module 105 guiding the robot along the advancement zone is also provided. The driving module advantageously comprises memory modules such as a module 106 of relative position data of the driver, and a module 107 of the robot's movement reference data. An obstacle detection module can also be provided.

The driving system is configured to allow driving by an operator 10 located in a driving zone 20 on one side of the robot 1 to advance the robot in a forward zone 30 located on the opposite side. The driving system is therefore of the "push me" type, since the robot precedes the driver, who drives the robot, without contact with it or remote control for remote control.

DRIVING METHOD

FIG. 5 presents a functional flowchart showing the main steps of the method of driving a powered autonomous robot according to the invention.

In step 50, the driving module 100 receives a command to initiate or continue driving in push mode. For example, a user presses a command button on the robot or on a remote controller. In step 51, the tracking device 4 sends to the operator position detection module 103, the position data of the robot driver present in the driving zone 20. In step 52, the same module 103 determines the position of the operator relative to the robot, for example by determining a longitudinal and a lateral deviation (see FIGS. 1 B, 2 and 3) or measuring an angle difference and a radius deviation "r" (see Figure 4).

In step 53, the displacement instruction module 104 compares the relative position of the conductor with a reference position. At this reference position, the driver is in the driving zone at a longitudinal and lateral spacing or at a corner deviation and a radius "r" corresponding to the stoppage of the robot. If the relative position of the driver deviates from the reference position, the displacement instruction module 104 sets a set point for moving the robot. Step 54 illustrates an example of criteria advantageously used to determine the speed of the robot and any bends. According to these criteria, the speed is determined according to the difference with the reference position:

- if the difference = 0: constant speed;

- if the difference> 0: the speed increases;

- if the difference <0: the speed decreases.

The direction of the turn angle is determined by the setpoint module 104 as a function of the relative position of the operator, so that when the operator 10 is located on a first side of a position of reference (for example a longitudinal axis AA of the robot or an angle a), the turning direction is hourly, and when the operator is on a second side of the reference position, the direction of turning is counter-clockwise.

As an option, to quickly stop the robot, the module 103 for detecting the relative position of the operator is provided to detect a movement or sign of the operator corresponding to a stop instruction of the robot movement (step 55). This instruction can also correspond to a retreat of the user or to a command via a button provided for this purpose.

[0057] DEFINITIONS AND FUNCTIONS OF CALCULATION:

-The length_not: length of a step when walking (80cm);

-Fct_longueur_pas (speed): function that returns the length of a step according to the speed of movement of the person. If the speed is one step, then the value returned will be 80cm (length_not). If the speed is that of a race, the length is much greater;

-Ecart: distance in meters to longitudinally distance the robot from the person to take into account that the length of a step is not the same for all people;

-Fct_paston_stitchingdistance (speed): function that returns the theoretical stopping distance of the pedestrian according to its walking speed; -Fct_pump_stitchdistance (speed) = speed * reaction_time + velocity ^A 2 / (2 * deceleration_theoretic_axon);

-Fct_Robot Emergency Stop (speed): function that returns the theoretical stopping distance of the robot according to its speed of movement during an emergency braking; -Fct_Robot Emergency Stop (speed) = speed * time_latency + speed ^A 2 / (2 * emergency_robot deceleration);

- Set distance: desired distance for the longitudinal distance between the pedestrian and the robot;

- Set distance = max (max (Length_out, Fct_length_not (speed_robot)) + deviation, max (0, Fct_stop_stop_distance (speed_robot) - fct_distance_stopping_offence_robot (speed_robot)))

- Guidance of the vehicle: it is a deposit and not an order sent to the engine because obstacle avoidance that comes after can change this instruction;

-If it is a steered vehicle: Setpoint = turning radius (or curvature or steering angle of the wheels);

-Braking the wheels to the left when the person is shifted to the right.

-Braking the wheels to the right when the person is shifted to the left.

-If the person is roughly in the axis of the robot plus or minus a delta value in cm, then the robot has the wheels right. This last feature allows the robot to advance in a straight line even if the person does not walk rigorously straight or if the person's detection module is inaccurate in lateral detection.

-If it is a stationary vehicle (type char): Setpoint = speed of rotation (or curvature).

The vehicle turns on itself in such a way that the person is always in the longitudinal axis of the robot. If the person is roughly in the axis of the robot plus or minus a delta value in cm then the robot does not rotate. This last point allows the robot to advance in a straight line even if the person does not walk rigorously straight or if the detection module of the person is imprecise in the lateral detection.

-Conigne of speed of the vehicle: it is about a deposit and not of an order sent to the engine because the avoidance of obstacle which comes then will be able to modify this instruction.

-Consigne = linear speed of advancement;

-The robot accelerates or slows to enslave the longitudinal deviation to the set distance but can not move back.

[0058] REACTIVE OBSTACLE EVACUATION:

We predict the position of the robot in the future with the instructions defined above to see if it will hit an obstacle: the robot has a given shape (usually a rectangle).

-previous = we define the position where the robot will be 100ms later, then we define the position where the robot will be 200ms later, etc., until the robot has reached its desired speed and we continue to predict robot positions by decelerating until it stops.

-This last step is planned to be certain that if the instruction is to move at 10km / h, that the robot can accelerate up to 10km / h and that there is then enough distance in front of him to slow down and s immobilize safely.

we check that for each predicted position, that there is not an obstacle in the predicted robot, otherwise we consider that there is a collision.

-If there is a collision, we evaluate if we can change the orientation of the robot to avoid the obstacle without changing the speed required. We define a search window for the new orientation. This window is centered on the orientation instruction requested. If you ask the robot to go straight, then the window extends from the maximum orientation on the left to the maximum orientation on the right. If the robot is asked to turn, then the window is narrower and narrower as the robot is asked to turn.

-This last step is planned so that if a driver asks his robot to turn to the left thoroughly, he does not want him to go to the right and even if there is an obstacle in front of him. In this case, it is preferred that the robot slow down.

For each box inside the window, the trajectory of the robot is predicted with the set speed and the orientation of the box tested.

-We select the box that is "OK" and the closest to the desired setpoint.

-If no box in the window is "OK", then we do the same thing for a slightly lower speed.

Reference numbers used on Robot figures

Robot body

wheels

Tracking device

Loading tray or load tray

Separation spacers

Vision area

Operator or driver

Driving area

Progress Zone

Driving module

microprocessor

Instructions

Relative position detection module of the operator Relocation position module

Guidance module

Relative position data

Travel setpoint data

Data bus

Claims

Motorized autonomous robot (1) comprising a body (2) mounted on wheels (3) or tracks or lugs, a marking device (4), a driving module (100), in communication with the marking device (4). ) and comprising a module (103) for detecting the relative position of an operator in a driving zone on one side of the robot, said detection module being adapted to determine a relative position of the operator with respect to a position of reference corresponding to the stopping of the robot, said relative position being used by a setpoint module (104) in order to generate a displacement setpoint itself transmitted to a guide module (105) for advancing and / or turning and / or laterally translating the robot into a feed zone (30) located on another side of the robot.

2. Robot (1) according to claim 1, wherein the relative position of the operator is determined by measuring a longitudinal deviation and a lateral deviation from a reference position corresponding to the stop of the robot.

3. Robot (1) according to claim 1, the relative position of the operator is determined by measuring an angular difference (a) and a radius deviation (r) from a reference position corresponding to the stop of the robot.

4. Robot (1) according to one of claims 1 or 2, wherein the locating device (4) comprises a single sensor.

5. Robot (1) according to one of the preceding claims, wherein the tracking device (4) comprises a selected element in the list: a laser, a Lidar, a sonar, a radar, a camera, a thermal camera, an infrared distance measuring device, a radio measuring device, a gps.

6. autonomous robot driving system (1) according to one of claims 1 to 5, comprising a tracking device (4) adapted to communicate with a conduit module (100) provided with a microprocessor (101) and implementation instructions (102), said driving module comprising an operator relative position detection module (103), a displacement instruction module (104) and a guidance module (105), the system pipe being configured to allow operator (10) to be driven in a driving zone (20) on one side of the robot (1) to advance and / or rotate and / or laterally translate the robot into a advancement zone (30) located on the other side of the robot.

7. A method of driving a powered autonomous robot (1) according to one of claims 1 to 5 by an operator (10), comprising the following steps:

the operator's relative position detection module (103) determines the relative position of the operator by measuring a longitudinal deviation and a lateral deviation from a reference position corresponding to the stopping of the robot ;

the displacement instruction module (104) receives the relative position data of the operator and determines a displacement instruction;

the guide module (105) receives the displacement instruction and moves the robot in accordance with the displacement instruction.

8. A method of driving a powered autonomous robot (1) according to one of claims 1 to 5 by an operator (10), comprising the following steps:

the operator's relative position detection module (103) determines the relative position of the operator by measuring an angular deviation (a) and a radius deviation (r) from a reference position corresponding to the stop of the robot;

the guide module (105) receives the displacement instruction and moves the robot in accordance with this displacement instruction.

9. A method of driving a motorized autonomous robot (1) according to one of claims 7 or 8, wherein the angular direction of the robot is determined by the setpoint module (104) depending on the angular deviation or the lateral gap, so that the larger the gap, the more pronounced the turn is.

10. A method of driving a motorized autonomous robot (1) according to one of claims 7 or 8, wherein the speed of movement of the robot is determined by the setpoint module (104) as a function of the radius deviation (r) or the longitudinal gap, so the larger the gap, the higher the speed.

1. A method of driving a powered autonomous robot (1) according to one of claims 7 to 10, wherein the module (103) for detecting the relative position of the operator is provided to detect a movement or sign of the operator corresponding to an instruction to stop the movement of the robot.