FR3148226A1 - Autonomous device for picking up, transporting and placing an object. - Google Patents

Abstract

The invention relates to an autonomous device (1) for gripping, transporting and placing an object, comprising a first chassis (10) and a second chassis (11) movably mounted on the first chassis (10), in which the first chassis (10) supports at least one thruster (100) of the device (1), in which the second chassis (11) comprises at least one gripping member (110) of an object, characterized in that it comprises an actuation system (12) capable of modifying the inclination of the second chassis (11) relative to the first chassis (10) and in that it comprises a control unit for the gripping member (110) and the actuation system (12), the control unit being capable of receiving an instruction to grip or release an object and being arranged to control the gripping member (110) according to said instruction and being arranged to control the actuation system (12) to modify the inclination of the second chassis (11) according to said instruction received. Figure to be published with the abstract: Fig. 1

Description

Autonomous device for picking up, transporting and placing an object. Technical domain.

The invention relates to the technical field of autonomous devices and in particular articulated flying devices for picking up, transporting and placing an object.

State of the art.

The construction industry is characterized by a very low industrialization of processes and execution methods. As environmental issues have become increasingly commonplace in recent years, the use of renewable energy sources has become urgent, but their deployment involves a high implementation cost.

In addition, the geometry of the installation area, particularly sloping roofs, makes the on-site delivery of certain tools or construction elements complex, generating additional costs. The use of lifting equipment is, on the one hand, severely limited by the access difficulties that characterize the sites, on the other hand, unsuitable for handling single parts imposed by the load-bearing capacity of the installation areas and, finally, does not allow precise positioning; it therefore systematically involves risky installation for a human. It is also known to use a drone to carry a load from point A to point B. However, the drone can only be used to place the object on a flat surface. Indeed, it is not known to be possible to place an object on an inclined plane with a drone, unless it is released with a risk of falling and/or breaking the object or suspended with a loss of precision, since in principle a drone when inclined advances in the direction of its inclination.

The invention is therefore placed in this context and seeks to resolve all of the aforementioned drawbacks. Thus, the invention seeks to propose a device for picking up, transporting and placing, capable of fixing, lifting, transporting and placing an object precisely and autonomously in an area that is difficult, difficult or dangerous to access and in particular an inclined area and/or one with low load-bearing capacity.

Presentation of the invention.

The invention relates to an autonomous device for gripping, transporting and placing an object, comprising a first chassis and a second chassis movably mounted on the first chassis, in which the first chassis supports at least one thruster of the device, in which the second chassis comprises at least one member for gripping an object, the device is remarkable in that it comprises an actuation system capable of modifying the inclination of the second chassis relative to the first chassis and in that it comprises a control unit for the gripping member and the actuation system, the control unit being capable of receiving an instruction to grip or release an object and being arranged to control the gripping member according to said instruction and being arranged to control the actuation system to modify the inclination of the second chassis according to said instruction received.

The autonomous gripping, transport and installation device may in particular be a drone. The device may be of the automated aerodyne type without a human on board, called UAV or UAS, corresponding to the class of “remotely piloted aircraft systems”, called RPAS, defined by the International Civil Aviation Organization. The autonomous device may be adapted to transport any equipment on the roof, in particular solar panels or for example roof canopies. The autonomous device may for example transport objects whose dimensions are less than 5 meters, in particular less than 3 meters.

The first and second frames may comprise a hollow structure comprising housings.

The thrusters of the autonomous device may be engines, in particular propellers, comprising a plurality of blades. The number of blades may in particular be between 2 and 5 blades, in particular 3 blades. The device may advantageously comprise three thrusters to enable it to be steered. In one embodiment, the autonomous device may comprise up to 12 thrusters, the number of thrusters being able to be adapted to the weight and/or volume of the object to be transported and placed.

Each gripping member may be capable of adopting a configuration for grasping or releasing the object. The instruction for grasping or releasing the object by the gripping member may be generated by an operator remote from the autonomous device or generated automatically by a remote computing unit or one embedded in the device, in particular from images acquired by a camera embedded in the device or from a determined flight plan.

The control unit may be arranged to increase the tilt of the second chassis relative to the first chassis when it receives an instruction to release the object. The control unit may be arranged to control the gripping member to adopt the release configuration following the change in tilt of the second chassis by the actuation system.

Due to the inclination of the second chassis relative to the first chassis under the action of the actuation system, the autonomous device can remain in hovering flight while placing the object on an inclined plane, thus making it possible to optimize installation costs and reduce the difficulty of the task, particularly for installation on a surface with a significant slope.

Advantageously, the actuation system is capable of modifying the inclination of the second chassis between a first inclination, called “flight”, in which the second chassis is substantially parallel to the first chassis, and a second inclination, called “gripping”, in which the second chassis is substantially inclined relative to the first chassis, and the control unit is arranged to control the actuation system so that the second chassis adopts the third inclination when it receives an instruction to release the object.

Advantageously, the actuation system is capable of modifying the inclination of the second chassis between the first inclination, called “flight” inclination, in which the second chassis is substantially parallel to the first chassis, and a third inclination, called “laying” inclination, in which the second chassis is substantially inclined relative to the first chassis, and in that the control unit is arranged to control the actuation system so that the second chassis adopts the third inclination when it receives an instruction to release the object.

A so-called “laying” tilt is understood to mean a position of the second chassis in which the device can lay down an object. The control unit can control the actuation system so that the second chassis can adopt the second tilt when said unit receives an instruction to release the object. The control unit can control the actuation system so that the second chassis can adopt the third tilt when said unit receives an instruction to grip the object.

The placing and/or gripping of the object can be precise since the control unit can control the inclination of the second chassis relative to the first chassis so as to obtain a slope substantially identical to that of the surface on which the object is to be placed and/or picked up.

Advantageously, the device comprises a calculation unit equipped with a memory in which is stored a flight plan defining at least one gripping position of the object and a release position of the object, in that the calculation unit is arranged to generate instructions for moving the device; the control unit is able to control the at least one thruster to cause the device to move between the gripping position and the release position according to the movement instructions generated by the calculation unit, and the control unit is arranged to control the actuation system so that the second chassis adopts the second inclination when the device is in the picking position, to control the actuation system so that the second chassis adopts the first inclination, when the device is moving between the gripping position and the release position and to control the actuation system so that the second chassis adopts the third inclination when the device is in the release position.

In the memory of the computing unit, a flight plan can be retained following the calibration of the sampling site and the installation site and the sequencing of the take-off, flight and installation of the autonomous device. For the calibration of the site and therefore of the environment in which the autonomous device can operate, the site can be scanned in three dimensions and the building on which the objects must be installed can be vectorized. This vectorization can allow three-dimensional modeling of the building on which the objects are to be installed and can allow the delimitation of, in particular, a storage and collection area for the objects to be installed, the reloading areas of said autonomous device as well as the installation areas. A layout, i.e., an organization of the parts and an optimization of the arrangement of the objects on the surface of the building to install as many as possible on the surface, is carried out from the three-dimensional model of the building. A sequencing can then be generated to integrate the order of installation of the panels into the flight plan. In general, the flight plan for placing a set of objects on the building may include, after the autonomous device has taken off, the following sequence of steps: positioning at the level of the sampling zone, tilting the second chassis via the actuation system, gripping the object by the gripping member, raising on the Z axis, so as to reach the correct obstacle avoidance height, translation along the X axis and/or along the Y axis to the level of the exact position for placing the object, tilting the second chassis via the actuation system, placing the object, releasing the object by the gripping member and returning to the sampling zone to start a new cycle. The sampling zone may be supplied when the autonomous device is in flight, in particular when in flight over the building, and may be carried out before the return of said autonomous device to the loading zone.

Using a flight plan and preparing with the calibration of the landing site can allow autonomous piloting with systematic precision.

When the autonomous device is in the gripping position, the computing unit can generate a gripping instruction for the control unit and when the device is in the release position, the computing unit can generate a release instruction for the control unit. The defined flight plan can include several release positions of the object, in particular with a trajectory between the gripping position and the release position. Each gripping position causes the computing unit to generate a gripping instruction for the control unit and each release position causes the computing unit to generate a release instruction for the control unit.

The thruster may be a propeller engine. In another embodiment, the thruster may be a microturbine. In another embodiment, the thruster may be a microjet.

Advantageously, the device comprises at least one camera capable of acquiring at least one image of the environment of the device and comprises a calculation unit capable of generating, from one or more images acquired by said camera, instructions for moving the device; the control unit is arranged to control the at least one thruster to cause the device to move and/or to control the actuation system to modify the inclination of the second chassis relative to the first chassis, as a function of the movement instructions generated by the calculation unit.

Cameras can be mounted on the first chassis and arranged to capture images of the environment.

Cameras can enable real-time tracking of flight plan traceability and thus improve safety.

The cameras can be mixed, meaning they can record daytime images as well as nighttime images, particularly by infrared.

Instructions generated from camera data can take precedence over instructions generated from the flight plan to ensure safety.

Advantageously, the device comprises a member for adjusting the inclination of the second chassis relative to the first chassis when it adopts the second inclination.

In one embodiment, the adjustment member can be adjusted before the flight of the flying device. In another embodiment, the adjustment member can be automatic and itself adjust the inclination from the data transmitted by the calculation unit to the control unit.

Advantageously, the device comprises a member for adjusting the inclination of the second chassis relative to the first chassis when it adopts the third inclination.

In one embodiment, the adjustment member can be adjusted before the flight of the autonomous device. In another embodiment, the adjustment member can itself adjust the inclination from the data transmitted by the calculation unit to the control unit.

Advantageously, the second chassis is mounted on the first chassis by a pivot connection provided at a first end of the second chassis and the actuation system is connected to a second end of the second chassis, opposite the first end.

In another embodiment, the first chassis may include two actuation systems each connecting one end of the first chassis to one end of the second chassis. As such, each of the actuation systems may retract one end of the second chassis movable relative to the first chassis.

This makes it possible to tilt the object to be placed without having to tilt the stand-alone device.

Advantageously, the actuation system comprises a cylinder comprising a cylinder and a rod slidably mounted in the cylinder, one end of the cylinder and the rod being connected to the first chassis and the other end of the cylinder and the rod being connected to the second end of the second chassis.

The cylinder can be a traction cylinder. The cylinder can be a thrust cylinder. The cylinder can be a rotary cylinder. The cylinder can be a double-acting cylinder, i.e. thrust and traction. The cylinder can be replaced by a pulley system.

In one embodiment, the cylinder may be connected to the first frame by a pivot connection and the rod may be connected to the second frame by a pivot or ball connection. In another embodiment, the cylinder may be connected to the first frame by a pivot or ball connection and the rod may be connected to the second frame by a pivot connection.

Advantageously, the rod is adapted to slide in the cylinder between a retracted position and at least one deployed position; the cylinder is a traction-type gas spring arranged to return the rod to the retracted position and the cylinder is equipped with a member for locking the rod in the retracted position, the control unit being arranged to control the locking member to unlock the rod when it receives an instruction to grip or place the object.

The retracted position of the rod in the cylinder may correspond to the reference inclination, called “flight”, in which the second chassis is substantially parallel to the first chassis. The deployed position of the rod relative to the cylinder may correspond to the second inclination, called “gripping”, in which the second chassis is substantially inclined relative to the first chassis. The deployed position of the rod relative to the cylinder may correspond to the third inclination, called “laying”, or to the third inclination, called “laying”, in which the second chassis is substantially inclined relative to the first chassis.

The cylinder of the jack may contain a gas, for example nitrogen. Under the force created by the gas of the jack when it is compressed by a piston of the rod in the extended position, the rod is returned to the retracted position. The lock can be released by a simple pressure on the ratchet mechanism.

The locking member may provide automatic mechanical locking, for example by snapping the rod into the retracted position. The automatic locking may be reversible and controllable, in particular by the use of an electromagnet.

This locking organ system can inhibit human intervention in the process of placing the object by the autonomous device.

Advantageously, each gripping member comprises a suction cup and a vacuum pump controllable by the control unit.

The use of the suction cup can make it possible to limit the weight of the gripping member as well as the energy consumption. The gripping member can be of the vacuum gripper type in which the vacuum pump can be embedded. In another embodiment, the gripping member can be of the magnetic type, in particular an electromagnet. In another embodiment, the gripping member can be of the clamp type.

Each gripping organ can hold loads of up to 170 kg, in particular up to 200 kg.

Advantageously, the device comprises at least a first electrical energy storage module adapted to electrically supply the thruster and the gripping member, said energy storage and supply module being removably mounted in an internal housing of said device.

The device may include at least one pair of electrical energy storage modules. The energy storage modules may be mounted alternately on the stand-alone device. Thus, when one energy storage module is mounted on the stand-alone device, the other energy storage module may be charging. In another embodiment, the pair of energy storage modules may be mounted simultaneously on the stand-alone device.

Each energy storage module can advantageously include several batteries, in particular three batteries.

Another aspect of the invention relates to a system for transporting and placing a set of objects comprising at least a first autonomous device and several other flying devices substantially identical to the first autonomous device, in particular two or three.

The use of several flying devices in the same multi-agent and/or collaborative system can help optimize the duration of the project with an autonomous device.

The invention also relates to an autonomous system for picking up, transporting and placing an object, comprising an energy storage module comprising at least one mobile locking member and a system for driving said mobile locking member capable of driving the mobile locking member between a locking configuration and an unlocking configuration; an autonomous device for picking up, transporting and placing an object comprising at least one cavity for receiving said energy storage module, the cavity of the autonomous device comprising a complementary locking member capable of cooperating with the mobile locking member of the energy storage module when it adopts the locking configuration; a ground-based recharging device comprising at least one receptacle for receiving said energy storage module, said receptacle comprising an actuator capable of cooperating with the drive system of the energy storage module. The device is remarkable in that the drive system is arranged to cause, following a force exerted on the energy storage module by said actuator, a movement of the movable locking member from the locking configuration to the unlocking configuration, and vice versa.

The autonomous device for picking up, transporting and placing an object can be supplied with energy, for example with electrical energy by the energy storage module. An autonomous device for picking up, transporting and placing an object is understood to be a vehicle. An energy storage module is understood to be a packaging module comprising a central compartment, a control member and a connection member. A control member is understood to be a servo flange. A connection member is understood to be a connection flange. In one embodiment, the autonomous system for picking up, transporting and placing can comprise several energy storage modules, for example two energy storage modules. In another embodiment, the autonomous system for picking up, transporting and placing can comprise four energy storage modules. The energy storage modules can be substantially identical.

The stand-alone device may include at least one cavity. In one embodiment, the stand-alone device may include two cavities, each cavity capable of receiving an energy storage module. In one embodiment, the stand-alone device may include four cavities. The receiving cavities may be substantially identical.

A receiving cavity means a housing of the energy storage module, said housing being included in the on-board module.

The term “receiving cavity” means an on-board module dedicated to receiving the energy storage module, said module comprising the energy storage unit and a buffer reserve adapted to supplement the power supply of the autonomous device during the empty movement phase. The on-board module may comprise a geometry and dimensions capable of being integrated into the autonomous device. The on-board module may comprise a set of sensors enabling the operational management of the autonomous device. Advantageously, the autonomous device may comprise an even number of receiving cavities, each pair comprising a cavity arranged to successively deposit by unlocking an energy storage module whose energy is exhausted and a cavity arranged to successively receive by locking an energy storage module whose energy is full. This embodiment may make it possible to optimize the efficiency of said device by detaching the exhausted energy storage module simultaneously with the attachment of the charged energy storage module. This embodiment can make it possible to optimize the efficiency of said device by eliminating the empty movement phase since the device can change its energy storage module simultaneously with picking up and/or depositing an object to be transported. Advantageously, the energy storage module comprises a housing inside which is arranged at least one energy storage unit, the locking member and the drive system, and in that the housing comprises at least one orifice provided opposite the drive system and intended to be passed through by the actuator so that it cooperates with the drive system and a window provided opposite the locking member, the locking member and the drive system being arranged so that the locking member exits the housing via the window when it adopts the locking configuration and so that the locking member is retracted into the housing when it adopts the unlocking configuration.

In one embodiment, the energy storage module may include two locking members. The locking member may be mounted in the energy storage module and may cooperate with the drive system to assume a locking configuration and an unlocking configuration. The locking member mounted in the energy storage module may cooperate with a complementary locking member of the stand-alone device when the locking member is in the locking configuration. The complementary locking member may be provided in a wall of the cavity receiving the energy storage module.

The ground-based charging device may comprise at least one receptacle. In one embodiment, the charging device may comprise two receptacles adapted to receive the energy storage module during the charging process. In another embodiment, the charging device may comprise four receptacles. The receptacles may be substantially identical. Each receptacle of the ground-based charging device may comprise an actuator. Each receptacle of the charging device may symmetrically comprise two actuators to enable balancing of the distribution of the masses of the autonomous transport device. The actuator may be a rod or a pin provided at the bottom of the receptacle. Each actuator may be adapted to cooperate with the drive system of the energy storage module mounted in the receptacle. Each energy storage module may symmetrically comprise two drive systems to enable balancing of the distribution of the masses of the autonomous transport device.

The term “ground-based charging device” means a fixed module that can replace the refueling area. The fixed module can include a receiving receptacle capable of receiving the energy storage module. The fixed module can include a control index for the transmission member of the energy storage module and can be capable of driving said member alternately between a latching or locking configuration and a detaching or unlocking configuration. The control index can be retractable and be active only if the recharge level of the energy storage module is greater than a predefined threshold, thus making it possible to limit the risks of implementation below the minimum safety conditions and to limit any risk of implementation in the event of a failure, i.e. to allow operation with passive safety or so-called positive safety. In one embodiment, the ground-based charging device can include a system for recharging the energy storage unit. Advantageously, the ground-based recharging device may comprise an even number of receiving receptacles, each pair comprising a receptacle arranged to successively receive by locking an energy storage module whose energy is exhausted and a receptacle arranged to successively receive by unlocking an energy storage module whose energy is full, said device also comprising a movable circular plate on which said pairs of receptacles can be mounted and a control system capable of actuating said circular plate according to an intermittent rotation. This embodiment can make it possible to reduce the empty displacement movements of the autonomous device to a single vertical displacement and therefore reduce and limit the duration of this energy recharging operation.

In one embodiment, the autonomous transportation system may include a single ground-based charging device. In another embodiment, the autonomous transportation system may include at least two ground-based charging devices. In another embodiment, the autonomous transportation system may advantageously include four ground-based charging devices that can form a sequential charging zone and that can be adapted for uninterrupted use since each energy storage module is used intermittently for a quarter of the operating time of the autonomous device.

The drive system may be arranged to cause the movable locking member to move from the locking configuration to the unlocking configuration.

When the autonomous device autonomous device lands on the energy storage module mounted in the receptacle of the ground-based charging device, the weight of the autonomous device autonomous device presses on the energy storage module which itself presses on the actuator mounted in the receptacle of the ground-based charging device, causing the locking member to switch from the unlocking configuration to the locking configuration. Thus, the energy storage module is locked on the autonomous device autonomous device which can take a so-called “flight” position by carrying the energy storage module.

When the autonomous device autonomous device lands with the energy storage module in the locking configuration in the receptacle of the ground charging device, the weight of the autonomous device autonomous device and the energy storage module press on the actuator mounted in the receptacle of the ground charging device, causing the locking member to move from the locking configuration to the unlocking configuration. Thus, the energy storage module is unlocked and positioned in the receptacle of the ground charging device and the autonomous device autonomous device can assume the so-called “flight” position by leaving the energy storage module in the receptacle of the charging device.

The autonomous device autonomous device can improve the safety of the sampling, transport and installation site. Indeed, by avoiding humans from approaching the sampling, transport and installation area, the autonomous device can carry out its flights in complete autonomy and continuously without risk of accident on the site.

In one embodiment, the autonomous transport system may comprise two flying devices alternately cooperating with the same ground-based recharging device. In another embodiment, the autonomous transport system may comprise two flying devices and two ground-based recharging devices.

The housing may have an arc shape. The housing may have a shape suitable for integration into the flying device.

The housing may in particular comprise three energy storage units. Each energy storage unit may for example be a battery, in particular a rechargeable battery. Each energy storage unit may be adapted to store electrical energy delivered by the ground-based charging device. Each energy storage unit may be adapted to deliver the stored electrical energy to the flying device.

The housing may comprise at least one orifice on its lower wall. The orifice may be crossed by the actuator mounted in the recharging device. The actuator, by crossing the orifice, may be able to cooperate with the drive system so that it adopts the locked configuration or the unlocked configuration. It is the actuator which may be intended to modify the configuration of the drive system of the locking member.

The housing may include a window. In another embodiment, the housing may include a pair of three windows. In another embodiment, the housing may include two pairs of three windows, each pair being provided on opposite walls, facing each other. The windows may be provided on a side wall of the housing.

The drive system can allow the transformation of a vertical movement of a part of the drive system, moved by the actuator, into a lateral movement of the locking member.

The autonomous system for picking up, transporting and placing an object can thus improve the safety of the operational site by preventing humans from approaching the operating zone of said system.

The autonomous transport system can also be energy autonomous by being strictly gravitational. Strictly gravitational means that the weight of said system can provide the pressure necessary to activate the locking and unlocking mechanism of the energy storage module.

Advantageously, the drive system comprises a bistable mechanical device, comprising a transmission member capable of cooperating with the actuator and arranged to move according to the same given elementary movement following a force exerted by the actuator, and a central column capable of adopting a first position and a second position, the transmission member being connected to the central column so that said elementary movement causes a movement of the central column from the first position to the second position or from the second position to the first position; the central column being connected to the locking member so that the locking member comes out of the housing when the central column adopts the first position and the locking member is retracted into the housing when the central column adopts the second position.

A bistable mechanical device is understood to mean a device capable of taking on two particular configurations, in the case of the invention, a locking configuration and an unlocking configuration.

The mechanical device may comprise a transmission member arranged opposite the orifice of the housing. The transmission member may be capable of cooperating with the actuator of the ground-based charging device. Thus, when the actuator passes through the orifice in a vertical movement, it can move the transmission member vertically.

The mechanical device may comprise a central column that may be arranged on the same axis as the transmission member and the actuator. The central column may move in a vertical movement substantially identical to that of the transmission member. The central column may adopt a first position in which the locking member may be in an unlocking configuration. The central column may adopt a second position in which the locking member may be in a locking configuration.

The servo flange of the energy storage module may comprise a plurality of elements adapted to cooperate with the transmission member. The connection flange of the energy storage module may comprise a housing, an upper plug-in energy transfer connector adapted to cooperate with the connector of the receiving cavity and a lower plug-in energy transfer connector adapted to cooperate with the connector of the ground-based charging device. The packaging module may provide both geometric and mechanical interfacing between the energy storage unit and, on the one hand, the housing of the autonomous device and, on the other hand, the receptacle of the ground-based charging device. The packaging module may comprise a mobile locking assembly whose alternating mechanism is adapted to be actuated by the actuator of the ground-based charging device and to transmit this information to the cavity of the flying device. An actuator is understood to mean a control index.

Advantageously, the housing of the energy storage module comprises an additional orifice; the energy storage module comprises at least one load misalignment device connected to the central column and being arranged to come out of the housing via the additional orifice when the central column adopts the first position and to be retracted into the housing when the central column adopts the second position, and the autonomous device autonomous device for picking up, transporting and placing an object comprising at least one sensor capable of detecting the load misalignment device only when it adopts the first position and when the storage module is received in the receiving cavity.

The housing may include at least one additional orifice on its upper wall. The orifice may be crossed by a load-detecting device. The load-detecting device, by crossing the orifice, may indicate to the autonomous device that the energy storage module is in the locking configuration and therefore that the autonomous device can switch to the “flight” position.

The load misalignment device can advantageously be inserted into an orifice of the central column. The housing can symmetrically comprise two load misalignment devices to allow balancing of the distribution of the masses of the autonomous transport device. The central column can symmetrically comprise two orifices to allow balancing of the distribution of the masses of the autonomous transport device. When the actuator causes the vertical movement of the transmission member and the central column, the load misalignment device can pass through the additional orifice of the housing. The autonomous device can comprise a sensor capable of detecting whether the load misalignment device comes out of the housing or is retracted into the housing. Thus, when the central column adopts the first position, the load misalignment device can be retracted into the housing. The control unit of the autonomous device can then prohibit the take-off of said autonomous device if no energy storage module is available. When the central column adopts the second position, the load deflector can pass through the housing, the sensor of the autonomous device is then able to detect the load deflector, the control unit of the autonomous device can then authorize said autonomous device to take off while carrying the energy storage module.

The energy autonomy of the autonomous device can be obtained by a set of at least four batteries, used by the autonomous device so as not to stop to recharge the batteries, thereby improving the autonomy of the flying device. The battery change is carried out as follows: the autonomous device comprises at least four batteries numbered B1, B2, B3 and B4. At the start of the operations, all the batteries are charged to their maximum and the autonomous device charges the battery B1. The autonomy of the batteries is 20 minutes for normal use of the flying device. After 20 minutes of use, the battery B1 is empty, the autonomous device replaces the empty battery B1 with the charged battery B2. The time for recharging the batteries by the charging device is 60 minutes. Thus, with a rotation of the different batteries, that is to say the change of the empty battery B2, replaced by B3 charged, then B3 empty replaced by B4 charged and finally B4 empty replaced by B1 charged, the autonomous device can carry out its operations autonomously, in particular with regard to its electrical energy supply.

The energy storage module may comprise at least one centering member. In one embodiment, the energy storage module may comprise two centering members, each mounted on an upper face and on a lower face of said module. In another embodiment, the storage module may comprise two pairs of centering members, each pair being mounted on an upper face and on a lower face of said module. Each centering member may be capable of cooperating with a complementary centering member provided on the receiving cavity of the autonomous device and/or on the receptacle of the recharging device. The centering member may be guided by the complementary centering member so that the locking member comes opposite the window and/or the actuator comes opposite the orifice. The complementary centering member may be a groove formed on a lateral surface of the cavity and/or of the receptacle.

In another embodiment, the structure of the energy storage module, the structure of the receiving cavity of the autonomous device and the structure of the receptacle of the charging device may be such that it intrinsically ensures the centering function, so that said energy storage module can fit perfectly into the receiving cavity of the autonomous device and into the receptacle of the charging device.

Advantageously, the locking member is mounted in the housing while being guided in translation in a transverse direction of the housing; the central column is able to move from the first position to the second position, and vice versa, in an axial direction perpendicular to the transverse direction; the central column having a side wall and at least one housing formed in its side wall, and the locking member comprises at least one bearing bearing against the side wall, the locking member and the central column being arranged so that the bearing is received in the housing when the central column adopts the second position and is outside the housing when the central column adopts the first position.

The transmission member and the central column may be guided by a guide mounted in an internal wall of the housing. The guide may be a rib on the internal wall of the housing adapted to cooperate with a groove on the transmission member and on the locking column. In one embodiment, the housing comprises a rib on either side of the locking member and the transmission member and the central column may each comprise a groove opposite one another. Each rib may extend along the transverse direction. Each groove may extend along the axial direction.

The energy storage module may comprise two locking members arranged on either side of the central column. The two locking members may be connected to each other by a spring. The spring may pass through the central column. The spring may facilitate the return of each locking member to the unlocked configuration. Thus, when the central column moves from the first position to the second position, the spring may facilitate the return of the bearings into their housing. The spring may be replaced by another return member.

Advantageously, the transmission member comprises a transmission element arranged to be mounted opposite the orifice of the housing to cooperate with the actuator, said transmission element being guided in translation in the housing in the axial direction and able to be moved from a retracted position to a deployed position by the actuator, the transmission element being equipped with a return member arranged to return it to the retracted position, said transmission element comprising a plurality of inclined cam surfaces; a cam body bearing, by a first of its ends, against the transmission element and, by a second of its ends, against said central column, said first end of the cam body comprising a plurality of complementary inclined cam surfaces each bearing against one of the inclined cam surfaces of the transmission element.

The axial movement of the transmission member, under the effect of the actuator, can cause both axial and rotational movement of the cam body. The rotational movement can be induced by the presence of the inclined cam surfaces of the first end of the cam body which are complementary to the inclined cam surfaces of the transmission element. The central column can be mounted to bear on the first end of the cam body so that said first end of the cam body is against the lower surface of the central column. The cam body can be mounted between the transmission member and the central column so that said cam body is intended to transmit the movement of the transmission element to the central column. The cam body can thus be free to rotate in the housing about an axial direction. The translational guidance of the central column can be on an axis coinciding with the axis of rotation of the cam body.

The transmission member may comprise a spring or any type of return member, connecting a lug of the transmission element to a lug of the housing. The spring may allow the return of the transmission element after cooperation with the actuator.

Advantageously, the autonomous picking, transporting and laying device comprises two identical receiving cavities, each being adapted to receive one of the energy storage modules and the autonomous recharging device comprises two identical receiving receptacles.

In one embodiment, the autonomous device may comprise three identical receiving cavities distributed peripherally on a chassis, in particular circular, of the flying device. In another embodiment, the autonomous device may comprise four identical receiving cavities.

In one embodiment, the ground charging device may comprise three identical receiving receptacles distributed peripherally on said ground charging device.

Each cavity being arranged to face a receptacle when the flying device, the energy storage module and the ground receptacle are aligned.

Advantageously, each receiving cavity of the autonomous device for picking, transporting and laying comprises the same first electrical power supply connector; each receptacle of the ground-based charging device comprises the same second electrical power supply connector; and the energy storage module comprises a first complementary power supply connector adapted to cooperate with the first electrical power supply connector and a second complementary connector adapted to cooperate with the second electrical power supply connector. Each receiving cavity may symmetrically comprise two first electrical power supply connectors to allow balancing of the distribution of the masses of the autonomous transport device.

The first and second power supply connectors are understood to mean a compatible power transfer plug-in connector or a charging connector, the connector of the receiving cavity being adapted to cooperate with the connector of the energy storage module.

The ground-based charging device can be adapted so that the charging time of the energy storage module can provide autonomy greater than the complete cycle of use of the autonomous device and in particular the complete cycle of collection, transport and placement of the object.

The second power supply connector of the ground charging device can cooperate with the second complementary connector of the energy storage module, so that said charging device can distribute power to the energy storage module.

The first power supply connector of the autonomous device can cooperate with the first complementary connector of the energy storage module, so that said energy storage module can distribute an electrical supply to the flying device.

The invention also relates to an autonomous device for picking up, transporting and placing an object in an autonomous transport system.

The invention also relates to an energy storage module for an autonomous collection, transport and installation system.

The invention also relates to a ground-based recharging device for an autonomous collection, transport and installation system.

The invention also relates to an energy storage module comprising a housing inside which is arranged at least one energy storage unit, a locking member and a drive system for said movable locking member capable of driving the movable locking member between a locking configuration and an unlocking configuration, the housing comprising at least one orifice provided opposite the drive system and intended to be passed through by an actuator so that it cooperates with the drive system and a window provided opposite the locking member, the locking member and the drive system being arranged so that the locking member exits the housing via the window when it adopts the locking configuration and so that the locking member is retracted into the housing when it adopts the unlocking configuration.

The mechanism of the conditioning module may comprise two mechanical members, the drive system and a follower. The term drive system refers to a transmitter, i.e. a mechanism that may represent a bistable indexing function whose transition from one stable state to the other can only occur following an action by the actuator of the ground-based charging device. The energy storage module may be guided in the receiving cavity of the ground-based charging device such that the transmission element of said energy storage module is at right angles to the actuator of said ground-based charging device. When the amplitude of the thrust of the actuator on the transmission element of the transmission member exceeds the preload exerted by a compression spring and a return spring of said drive system. The actuator of the receiving receptacle of the ground charging device can be pushed into the servo flange of the energy storage module and can thus push the drive system. The return spring can be mounted in compression, it can ensure the return of the drive system to a rest position.

The drive system may include a load misalignment device. A load misalignment device is understood to mean an indexing rod capable of being actuated by the actuator of the receiving receptacle of the ground-based charging device. The drive system may include an indexer capable of being actuated by the load misalignment device and capable of actuating the cam body. The indexer may be a single part. The indexer may, in another embodiment, be a module comprising several parts that move relative to each other. The indexer may be adapted to cooperate with the compression spring so that said spring is mounted in compression and can provide constant pressure on said indexer. A cam body is understood to mean a bistable of the drive system, said bistable may be arranged to be actuated by the indexer and capable of actuating a switching block. A switching block is understood to mean the assembly formed by the load misalignment device and the central column of the drive system. The bistable may be formed by a single part. In another embodiment, the bistable may be a module comprising several parts. The switching block may be capable of controlling the follower.

A follower is understood to mean a member that can be moved by the transmitter and can include locking members. The energy storage module can include several followers. In one embodiment, the transmitter can include a symmetrical shape that can simultaneously actuate a plurality of followers, in particular two followers positioned on either side of said transmitter. A locking member is understood to mean a set of bolts that can provide the function of latching or not between two stable states corresponding to a latching configuration and a detaching configuration. Advantageously, the locking member can include three bolts. Each follower can include several locking members. Each bolt can be a lug on the surface of the follower. The follower can also include a connecting or contact member, this member being able to be in the form of a roller, i.e. a ball bearing ensuring friction-free sliding against the linear cam of the body of the central column. Advantageously, each follower may comprise two rollers. The movement of the transverse faces of the central column may be capable of transversely actuating rollers of each follower. Said roller may be held in contact by an unlocking spring, i.e. a tension spring ensuring frictionless sliding against the cam body of the transmission member, with the transmitter on an internal surface of said follower. The energy storage module may be guided in the receiving cavity of the autonomous device such that the windows of said autonomous device are in line with the bolts of the transmission member. The follower may be actuated and locked in the latching position by the transmitter. The follower may move in a linear motion. The follower may move in a non-linear motion. The follower may move in a continuous motion. The follower may move in a discontinuous motion.

In one embodiment, the follower can move transversely to the walls of the receiving cavity of the autonomous device. The follower can move perpendicularly to the walls of the receiving cavity of the autonomous device. The follower can comprise an unlocking spring, i.e. a spring mounted under tension and adapted to automatically return said follower to the rest position, i.e. an unlocked position. The unlocking spring can make it possible to maintain contact between said follower and the central column. The follower can be guided in translation by the bilateral sliding connection defined by the diametrically opposed triangular grooves of said follower and the transverse triangular rails of the servo flange and the central compartment of the energy storage module.

In one embodiment, the transmitter can move longitudinally and convert axial thrust received from the ground charging device by the control index into transverse motion transmitted to the follower.

A window is understood to mean a latch and a locking member is understood to mean a bolt, said latch and said bolt being adapted to cooperate for locking the energy storage module to the receiving cavity of the flying device.

In one embodiment of the drive system, the indexer and the bistable may be substantially identical cylindrical parts comprising an axial bore providing a sliding pivot connection and two diametrically opposed grooves, a tail comprising an open torus, i.e. a ball joint connection with a concave semi-spherical end of the locking index and a head advantageously comprising four similar portions forming teeth comprising a triangular profile, diametrically opposed two by two and crossed by said grooves. The central column, the cam body, the load foolproofing device and the transmission element are stacked longitudinally between the coaxial bores of an upper guide and a lower guide of the servo flange. The assembly formed by the central column, the cam body, the load foolproofing device and the transmission element can therefore all be guided in translation and in rotation. In this embodiment, the compression spring can be mounted pre-stressed relative to the upper guide of the servo flange and the return spring can be mounted pre-stressed relative to support rings of the servo flange and of the central compartment of the energy storage module. Said support rings can serve as a base for said return spring of the locking index. Said compression spring and said return spring can maintain the transmitter in contact with said lower guide of said servo flange. The transmitter and the lower guide can be in pressure against each other. The rotation of the switching block can be blocked by the bilateral sliding connection defined by the diametrically opposed grooves of said block and the rails of the servo flange and of the central compartment of the energy storage module. Said bilateral sliding connections can supplement the centering ensured by the upper guide of the servo flange. The indexer and the bistable can be assembled head to tail, that is to say that their connection can be helical, the angle characterizing the pitch of this connection can be between 30° and 60°, in particular between 40° and 50°. The rotation of the indexer can be blocked by the bilateral sliding connection defined by the diametrically opposed grooves of said indexer and the upper longitudinal rails of the servo flange and the central compartment of the conditioning module. Only the bistable can be subjected to a torque which continuously forces it to rotate.

In an embodiment of locking the energy storage module to the receiving cavity of the autonomous device, said energy storage module can be in an unlocked position associated with a first position of the bistable, the depression of the control index into the servo flange. This action of the control index can cause the bistable to rotate a quarter turn until the indexer tooth stops, the bistable can then be blocked in translation by the free end of the lower longitudinal trapezoidal rail, which corresponds to the locked position of the autonomous device. The locking and unlocking mechanism can be electromechanical.

Brief description of the figures.

Other advantages and characteristics of the present invention are now described with the aid of examples which are purely illustrative and in no way limitative of the scope of the invention, and from the attached drawings, drawings in which the various figures represent:

schematically represents an exploded front view of a stand-alone device, according to one embodiment of the invention.

schematically represents a perspective view from above of a stand-alone device, according to one embodiment of the invention.

schematically represents a front view of an autonomous device in gripping configuration, according to one embodiment.

schematically represents a front view of an autonomous device in flight configuration, according to one embodiment.

schematically represents a front view of a stand-alone device in installation configuration, according to one embodiment.

In the following description, elements which are identical, by structure or function, appearing in different figures retain, unless otherwise specified, the same references.

Description of the embodiments.

It was represented in a profile view of an autonomous device 1 for picking, transporting and placing in a configuration for placing an object. The autonomous device 1 being described in connection with the , , And .

The autonomous device 1 for picking up, transporting and placing an object comprises a first chassis 10 and a second chassis 11. The first chassis 10 and the second chassis 11 each comprise a hollow structure comprising housings. The autonomous device 1 described is an automated aerodyne-type drone without a human on board, called UAV or UAS, corresponding to the class of “remotely piloted aircraft systems”, called RPAS, defined by the International Civil Aviation Organization.

In the embodiment described, the first frame 10 supports four thrusters 100. The thrusters 100 of the autonomous device 1 are propeller motors each comprising three blades.

The second chassis 11 is movably mounted on the first chassis 10. The autonomous device 1 comprises an actuation system 12 capable of modifying the inclination of the second chassis 11 relative to the first chassis 10 between a first inclination, called "flight" inclination, in which the second chassis 11 is substantially parallel to the first chassis 10, and a second inclination, called collection inclination, or a third inclination, called "laying inclination", in which the second chassis 11 is inclined relative to the first chassis 10. The second chassis comprises a first end 11a and a second end 11b. In the embodiment described in and in , the second chassis 11 is mounted on the first chassis 10 by vertical translation by jacks. In the embodiment described in , And , the second chassis 11 is mounted on the first chassis 10 by a pair of jacks provided at the second chassis 11. The actuation system 12 is connected to both the first chassis 10 and the second chassis 11.

The actuation system 12 comprises a cylinder 121 comprising a cylinder 121.2 and a rod 121.1 slidably mounted in the cylinder 121.2, one of the cylinder 121.2 and the rod 121.1 being connected to the first frame 10 and the other of the cylinder 121.2 and the rod 121.1 being connected to the second end 11b of the second frame 11. The cylinder 121.2 is connected to the first frame 10 by a pivot connection and the rod 121.1 is connected to the second frame 11. The rod 121.1 slides in the cylinder 121.2 between a retracted position and a deployed position. The cylinder 121 is a traction-type gas spring arranged to return the rod 121.1 to the retracted position and the cylinder 121 is equipped with a member for locking the rod 121.1 in the retracted position. The cylinder 121.2 of the cylinder 121 comprises a gas. Under the force created by the gas of the cylinder 121 when it is compressed by a piston of the rod 121.1 in the deployed position, the rod 121.1 is returned to the retracted position. The locking is released by a simple pressure on the latching mechanism. The locking member allows automatic mechanical locking, for example by latching, of the rod 121.1 in the retracted position. The deployed position of the rod 121.1, described in the And relative to the cylinder 121.2 corresponds to a second inclination, called “gripping”, or to a third inclination, called “laying” in which the second chassis 11 is substantially inclined relative to the first chassis 10.

The second chassis 11 comprises four gripping members 110 capable of adopting a configuration for gripping or placing the object. Each gripping member 110 comprises a suction cup 110.1 and a vacuum pump.

The second chassis 11 comprises two cameras 111 each capable of acquiring at least one image of the environment of the autonomous device 1.

The autonomous device 1 comprises four storage and power supply modules 101 adapted to electrically power the thruster 100 and the gripping member 110. Each storage and power supply module 101 is removably mounted in an internal housing of the first chassis 10. The four storage and power supply modules 101 of the embodiment described are mounted simultaneously on the autonomous device 1.

The autonomous device 1 comprises a control unit for the gripping member 110 and the actuation system 12. The autonomous device 1 comprises a calculation unit capable of cooperating with the control unit. The calculation unit is capable of generating, from one or more images acquired by the cameras 111, instructions for moving the autonomous device 1. The calculation unit comprises a memory in which a flight plan defining at least one gripping position for the object and one release position for the object is stored. The calculation unit is arranged to generate instructions for moving the autonomous device 1.

The control unit is arranged to control the actuation system 12 so that the second chassis 11 adopts the second inclination when the autonomous device 1 is in the gripping position and the first inclination during its movement to the release position and to control the actuation system 12 so that the second chassis 11 adopts the third inclination when the autonomous device 1 is in the laying position. The control unit is arranged to control the actuation system 12 to modify the inclination of the second chassis 11 relative to the first chassis 10, according to the movement instructions generated by the calculation unit. Thus, the control unit is arranged to control the actuation system 12 so that the second chassis 11 adopts the second inclination when it receives an instruction to grip the object and so that the second chassis 11 adopts the third inclination when it receives an instruction to lay the object. The control unit is arranged to control the actuation system 12 so that the second chassis 11 adopts the second or third inclination relative to the first chassis 10 when it receives an instruction to pick up the object or to place the object.

The control unit is arranged to control the locking member of the cylinder 121 to unlock the rod 121.1 when it receives an instruction to tilt the second chassis 11. The control unit is arranged to automatically generate the instruction to grip or release the object by the gripping member 110. The control unit is arranged to control the proper operation of the gripping member 110, in particular during the movements of the autonomous device 1. The control unit is arranged to control the gripping member 110 following the modification of the tilt of the second chassis 11 by the actuation system 12.

The control unit is arranged to control the thrusters 100 to cause a movement of the autonomous device 1. The control unit is capable of controlling the thrusters 100 to cause a movement of the autonomous device 1 between the gripping position and the laying position according to the movement instructions generated by the calculation unit.

The foregoing description clearly explains how the invention makes it possible to achieve the objectives it has set for itself, namely to propose a gripping, transporting and placing device, capable of lifting, transporting and placing in a precise and autonomous manner an object in a difficult, difficult or dangerous access area and in particular an inclined area and/or one with low load-bearing capacity, by proposing an autonomous device for gripping, transporting and placing an object, comprising a first chassis and a second chassis movably mounted on the first chassis, in which the first chassis supports at least one thruster of the device, in which the second chassis comprises at least one member for gripping an object, the device is remarkable in that it comprises an actuation system capable of modifying the inclination of the second chassis relative to the first chassis and in that it comprises a control unit for the gripping member and the actuation system, the control unit being capable of receiving an instruction to grip or release an object and being arranged to control the member gripping according to said instruction and being arranged to control the actuation system to modify the inclination of the second chassis according to said instruction received.

• les propulseurs 100 du dispositif autonome 1 sont des moteurs à hélice comportant chacun entre deux, ou quatre ou cinq pales ;
• le dispositif autonome 1 peut comporter au moins trois propulseurs 100 :
• le dispositif autonome 1 peut comporter jusqu’à douze propulseurs ;
• le premier châssis 10 peut comporter deux systèmes d’actionnement 12;

• l’unité de contrôle est agencée pour générer automatiquement l’instruction de préhension ou de pose de l’objet par l’organe de préhension 110 à partir d’images acquises par les caméras 111 embarquées dans le dispositif autonome 1 ou à partir d’un plan de vol déterminé ;
• les caméras 111 peuvent être montées sur le premier châssis 10 et agencées pour capter des images de l’environnement ;

In any event, the invention cannot be limited to the embodiments specifically described in this document, and extends in particular to all equivalent means and to any technically effective combination of these means. In particular, it will be possible to envisage:

• the propellers 100 of the autonomous device 1 are propeller motors each comprising two, or four or five blades;
• the autonomous device 1 may comprise at least three thrusters 100:
• the autonomous device 1 can have up to twelve thrusters;
• the first chassis 10 may comprise two actuation systems 12;

• the control unit is arranged to automatically generate the instruction for gripping or placing the object by the gripping member 110 from images acquired by the cameras 111 embedded in the autonomous device 1 or from a determined flight plan;
• the cameras 111 can be mounted on the first chassis 10 and arranged to capture images of the environment;

Claims (13)

Autonomous device (1) for gripping, transporting and placing an object, comprising a first chassis (10) and a second chassis (11) movably mounted on the first chassis (10), in which the first chassis (10) supports at least one propellant (100) of the device (1), in which the second chassis (11) comprises at least one gripping member (110) of an object, characterized in that it comprises an actuation system (12) capable of modifying the inclination of the second chassis (11) relative to the first chassis (10) and in that it comprises a control unit for the gripping member (110) and the actuation system (12), the control unit being capable of receiving an instruction to grip or release an object and being arranged to control the gripping member (110) as a function of said instruction and being arranged to control the actuation system (12) to modify the inclination of the second chassis (11) according to said instruction received. Autonomous device (1) according to the preceding claim, characterized in that the actuation system (12) is capable of modifying the inclination of the second chassis (11) between a first inclination, called “flight”, in which the second chassis (11) is substantially parallel to the first chassis (10), and a second inclination, called “gripping”, in which the second chassis (11) is substantially inclined relative to the first chassis (10), and in that the control unit is arranged to control the actuation system (12) so that the second chassis (11) adopts the second inclination when it receives an instruction to release the object. Autonomous device (1) according to one of the preceding claims, characterized in that the actuation system (12) is capable of modifying the inclination of the second chassis (11) between an inclination, called “flight”, in which the second chassis (11) is substantially parallel to the first chassis (10), and a third inclination, called “laying”, in which the second chassis (11) is substantially inclined relative to the first chassis (10), and in that the control unit is arranged to control the actuation system (12) so that the second chassis (11) adopts the third inclination when it receives an instruction to release the object. Autonomous device (1) according to claim 3, characterized in that it comprises a calculation unit equipped with a memory in which is stored a flight plan defining at least one gripping position of the object and a release position of the object, in that the calculation unit is arranged to generate instructions for moving the device (1), in that the control unit is able to control the at least one thruster (100) to cause a movement of the device (1) between the gripping position and the release position according to the movement instructions generated by the calculation unit, and in that the control unit is arranged to control the actuation system (12) so that the second chassis (11) adopts the second inclination when the device (1) is in the gripping position and to control the actuation system (12) so that the second chassis (11) adopts the first inclination when the device (1) is moving between the gripping positions. and release and to control the actuation system (12) so that the second chassis (11) adopts the third inclination when the device (1) is in the release position. Autonomous device (1) according to one of the preceding claims, characterized in that it comprises at least one camera (111) capable of acquiring at least one image of the environment of the device (1), in that it comprises a calculation unit capable of generating, from one or more images acquired by said camera (111), instructions for moving the device (1), in that the control unit is arranged to control the at least one thruster (100) to cause a movement of the device (1) and/or to control the actuation system (12) to modify the inclination of the second chassis (11) relative to the first chassis (10), according to the movement instructions generated by the calculation unit. Autonomous device (1) according to one of claims 2 to 5, characterized in that it comprises a member for adjusting the inclination of the second chassis (11) relative to the first chassis (10) when it adopts the second inclination. Autonomous device (1) according to one of claims 3 to 5, characterized in that it comprises a member for adjusting the inclination of the second chassis (11) relative to the first chassis (10) when it adopts the third inclination. Autonomous device (1) according to one of the preceding claims, characterized in that the second chassis (11) is mounted on the first chassis (10) by a pivot connection (120) provided at a first end (11a) of the second chassis (11) and in that the actuation system is connected to a second end (11b) of the second chassis (11), opposite the first end (11a). Autonomous device (1) according to the preceding claim, in which the actuation system (12) comprises a cylinder (121) comprising a cylinder (121.2) and a rod (121.1) slidably mounted in the cylinder (121.2), one of the cylinder (121.2) and the rod (121.1) being connected to the first chassis (10) and the other of the cylinder (121.2) and the rod (121.1) being connected to the second end (11b) of the second chassis (11). Autonomous device (1) according to the preceding claim, characterized in that the rod (121.1) is adapted to slide in the cylinder (121.2) between a retracted position and at least one deployed position, in that the cylinder (121.1) is a traction-type gas spring arranged to return the rod (121.1) to the retracted position and in that the cylinder (121) is equipped with a member for locking the rod (121.1) in the retracted position, the control unit being arranged to control the locking member to unlock the rod (121.1) when it receives an instruction to grip or place the object. Autonomous device (1) according to one of the preceding claims, characterized in that each gripping member (110) comprises a suction cup (110.1) and a vacuum pump controllable by the control unit. Autonomous device (1) according to one of the preceding claims, characterized in that it comprises at least a first electrical energy storage module (101) adapted to electrically supply the thruster (100) and the gripping member (110), said energy storage and supply module (101) being removably mounted in an internal housing of said device (1). System for transporting and placing an object comprising at least a first flying device (1) according to one of claims 1 to 12 and a second flying device (1) substantially identical to the first flying device (1).