WO2007101475A1

WO2007101475A1 - Automated system with suspended robot for treating surfaces, in particular of aircraft

Info

Publication number: WO2007101475A1
Application number: PCT/EP2006/060537
Authority: WO
Inventors: Marco Benetti; Réné JOST
Original assignee: Cti Systems S.A.
Priority date: 2006-03-08
Filing date: 2006-03-08
Publication date: 2007-09-13

Abstract

The invention concerns an automated system with suspended robot for treating surfaces, in particular of aircraft, comprising a support P consisting of a travelling crane (18), a mobile carriage (16) on the travelling crane (18), and a telescopic mast (14) borne by the carriage (16) and extending downwards of the latter. A treatment robot (10) is supported by the mast (14) at its lower end. The system is equipped with indoor GPS locating means including several transmitters (24) arranged heightwise on columns (26) secured to the ground and independent of a shed in which the treating system is installed, receivers (28) supported by the telescopic mast (14) and receivers (AGR) to be fixed in noticeable points of the object, so as to detect the position of a reference point of the robot (10) in a space of treatment to be measured and the position of noticeable points of the object in said space of treatment, and means for signalling the detected position of the reference point (10) and of noticeable points of the object to a system controlling the support (P) and the robot (10) based on the detected positions and based on the three-dimensional shape of the object stored in the management system.

Description

AUTOMATED SUSPENDED ROBOT SYSTEM FOR SURFACE TREATMENT, ESPECIALLY AIRCRAFT

Currently, in the aeronautical industry, surface treatments on airplanes are carried out manually, using height access systems, material and human resources, as well as adequate protection systems. The need therefore results in performing surface treatments by automated means on a maximum of the surface of the aircraft. While the invention has been designed particularly for painting an aircraft, it is understood that the system of the present invention can be applied to other surface treatments and to other vehicles or objects with large surfaces. The different surface treatment processes are for example the application of paint, sanding, polishing and pickling. The paint treatment will be carried out at a certain distance and without direct contact with the surface of the aircraft, while the sanding, stripping and polishing treatments will be carried out in controlled contact mode with the aircraft fuselage.

The object of the present invention is to provide an automated surface treatment system allowing a reduction in bodily risks and manual work in difficult environments, an increase in quality, that is to say for the painting treatment. a reduction in the application of excessively thick layers of paint that can increase the weight of the aircraft, precision in the work, that is to say better repeatability, time savings and reduction in consumables (paints).

To obtain these advantages, the present invention provides an automated surface treatment system for an object, for example an airplane, comprising a carrier of a processing robot, this carrier consisting of a traveling crane movable in one direction. horizontal X, a mobile carriage on the traveling crane in a horizontal direction Y perpendicular to the direction X, and a telescopic mast carried by the carriage and extending downward thereof;

a processing robot with several axes of freedom carried by the mast at its lower end in order to be moved by the mast in a direction Z perpendicular to the horizontal plane comprising the directions X and Y, the robot carrying a means for treating said surface the aforementioned object;

a carrier control means and a robot control means; and

positioning and piloting equipment for the carrier and the robot, comprising:

a management system;

means for detecting the position of a reference point of the robot and the position of at least one reference point of the object whose surface is to be treated in a reference system of the three axes X, Y, Z mutually perpendicular ; and

means for communicating the detected position of the reference point of the robot and the reference point of the object whose surface is to be treated by means of the carrier control and the management system;

the management system controlling the carrier control means and the robot control means as a function of the detected position of the robot reference point and of the detected position of the object reference point as well as according to the shape of the surface to be treated to be stored in the management system in order to control the movements of the carrier in the X, Y and Z directions as well as the movements of the robot around said axes of freedom.

For the treatment (painting) of the surface of an aircraft, the treatment takes place as follows: In an indexing phase, the aircraft is positioned in a measurement and processing space in a hangar and various specific reference points are entered.

The user selects from a management system database the type of aircraft concerned, as well as other parameters to be defined, and starts the processing.

The treatment is carried out automatically according to various preprogrammed processes, for painting for example, continuously without drying of the paint applied during the application.

A maximum of the surface of the airplane is treated by the automated system, but it is clear, and it will have to be accepted, that places which are difficult to access by the automatic system will have to be taken over manually.

A command, management and supervision station will automatically control the treatment process and display the evolving system data.

The robot can be suspended in suspension below the base of the telescopic mast or placed on the upper surface of a platform fixed to the base of the telescopic mast.

The cart carrying the robot can be replaced by a cart provided with a maintenance platform, or preferably only a platform with the robot located at the lower end of the last segment of the mast can be replaced by a maintenance platform.

The system for detecting the position of the robot and of the plane whose surface is to be treated is preferably a GPS system, in particular an indoor GPS system (IGPS) comprising transmitters mounted high on fixed columns carried directly by the hangar floor

(i.e. independent of the construction of the hangar), receivers on board the carrier in order to detect the position of a reference point at the lower base of the robot in the system of axes XX, YY and ZZ, and receivers to be fixed in remarkable places of the airplane in order to detect the type of the airplane concerned, its position in the hangar while taking into account the deflection and the inclination of the airplane's wings and tail under the effect of gravity. The carrier and airplane receivers communicate with the management system and the carrier control means by W-LAN transmitters and receivers, and the communication between the stationary management system and the on-board control means of the carrier and the robot is realized by an Ethernet system and W-LAN modems.

The 3D shapes of several planes can be stored in the management system database. The operator chooses the 3D shape of the plane whose surface is to be treated and the detection means in cooperation with the management means determines the correspondence between the chosen 3D model and the plane placed in the hangar on the area of measurement and processing.

The invention also relates to a method for treating a surface of an object, for example of an airplane or of another large surface vehicle by the treatment system.

The invention will now be explained in greater detail with reference to the accompanying drawings in which:

FIG. 1 shows the carrier with suspended robot and the means for detecting the position of the robot.

FIG. 2 represents the carrier with robot placed on a fixed platform at the base of the telescopic mast, and the means for detecting the position of the robot.

FIGS. 3A to 3D represent the exchange of a robot cart with a cart with a maintenance platform.

Figures 3E to 3H represent the exchange of a robot platform by a maintenance platform. FIGS. 4A to 4D show a guide system with rollers for the segments of the telescopic mast.

FIG. 5 represents a test for analyzing the effects of rocking of the telescopic mast.

Figure 6 shows the specific equipment on board the mast and on the ground for painting.

FIG. 7 shows the system according to the invention with the position detection means by laser follower for an installation with two carriers.

FIG. 8 shows the system according to the invention with the position detection means by an IGPS system for an installation with two carriers.

FIG. 9 is a plan view of the coverage of the surface to be measured by the IGPS system, on the example of the airbus A380.

FIG. 10 is a front view of the system of the invention showing the vertical angular coverage on the example of the airbus A380.

Figures HA to HC show a means of protection for the active surfaces of fixed transmitters and receivers on board the carrier.

Figures 12A and 12B show the telescopic mast with IGPS receivers and a W-LAN communication HUB.

FIG. 13 shows in plan view an airplane located on the measurement surface with the airplane GPS receivers fixed to the airplane at remarkable points.

FIG. 14 represents a GPS-airplane unit to be fixed on the airplane.

Figure 15 shows a management system computer and a W-LAN receiver. Figure 16 shows the principle of management, supervision and control.

Figure 17 shows the components of the management, supervision and control system.

Figure 18 shows the development of treatment programs.

Figure 19 shows the principle of compensation for deflection.

Figures 2OA and 2OB show the rotary mounting of the mast.

As shown in Figures 1 and 2, the system according to the invention comprises a carrier P with a robot 10, representing the large space robot (LSOR-Large Scale Overhead Robot), installed in a hangar (not shown).

The carrier P includes a suspended traveling crane 18 movable along rails 20 (horizontal translational movement in the direction of the axis XX), a carriage 16 movable along the traveling crane 18 (horizontal direction movement in the direction of the horizontal axis YY perpendicular to the axis XX) and a vertical telescopic mast 14 (lifting movement in the direction of the vertical axis ZZ perpendicular to the plane defined by the axes XX and YY. The telescopic mast 14 is fixed below the carriage 16 and in this embodiment comprises three telescopic elements. The telescopic mast 14 is actuated by a motorized lifting winch (not shown). The mast 14 can rotate around the vertical axis ZZ. This rotation is actuated by a Motorized drive, as shown in FIGS. 2OA and 2OB The carriage 16 and the traveling crane 18 are actuated by motorized displacement mechanisms

(not shown) controlled by the carrier control means shown schematically by 18a. The robot 10 is an industrial polar robot with six degrees of freedom fixed in the embodiment of Figure 1 to the lower surface of an equipment platform 12 attached to the base (lower end) of the telescopic mast 14. According to the embodiment of Figure 2 the robot is carried by or mounted on the upper surface of the equipment platform 12. The equipment platform 12 also carries the supply of consumables, such as the paint reservoirs, the supply pump 70 of the gun or of the applicator 10a of the robot and the control means 74 of the robot 10 (see FIG. 6).

The positioning equipment comprises a system 22 for detecting the position of the robot 10. This detection means 22 comprises one or more stationary locating means 24 and one or more locating means 25 on board the mast 14 and carried by a telescopic element lower of the mast 14, as will be further explained below in greater detail. The stationary locating means 24 are arranged at a fixed position in the hangar and are mounted in height on rigid columns 26, with slight rocking, preferably integral with the ground S of the hangar, but independent of the construction thereof.

According to the embodiments of Figures 1 and 2, four rigid columns 26 for four stationary locating means 24 are provided but depending on the type of detection means and the size of the surface or space to be measured a lower or higher number columns 26 with locating means 24 can be provided. According to the embodiment of Figures 1 and 2, the stationary locating means 24 are IGPS transmitters and the on-board locating means 25 are IGPS receivers. At least two transmitters 24 and a receiver 25 may suffice.

Stationary equipment 30 to be described below is located on the floor of the hangar.

The trolley 16 with the telescopic mast 14 and the robot 10 can be interchanged with another trolley, for example a trolley with a maintenance platform, and a waiting and exchange station is provided for the trolley 16 with telescopic mast 14 and for the other cart next to one of the overhead crane rails 18. The exchange is carried out as shown in FIGS. 3A, 3B, 3C and 3D. In FIG. 3A, the traveling crane 18 with the robot trolley 16 is located in front of the robot trolley waiting station 32 and a trolley with maintenance platform 34 is located on a waiting station 36 of the trolley with maintenance platform 34. In FIG. 3B the robot carriage 16 is passed over the waiting station 32 of the robot carriage. In FIG. 3C the traveling crane has moved in front of the waiting station 36 of the trolley with maintenance platform and in FIG. 3D the trolley with maintenance platform 34 has moved on the traveling crane 18.

However, according to a preferred embodiment, the robot 10, or the equipment platform 12 with the robot 10, is interchangeable with a maintenance platform, and a waiting and exchange station is provided for the robot and for the maintenance platform. The exchange is carried out as shown in Figures 3E, 3F, 3G and 3H. In FIG. 3E the overhead crane 18 with the carriage 16 and the equipment platform 12 with the robot 10 is located in front of the robot waiting station 32 'and a maintenance platform 34' is located on a waiting station 36 ' of the maintenance platform 34 '. In FIG. 3F, the carriage 16 is passed over the waiting station 32 ′ of the robot and the equipment platform 12 with the robot 10 is disconnected (mechanical, electrical and pneumatic connections) and is deposited in the robot waiting station 32 ′ . In Figure 3G the overhead crane with trolley and telescopic mast has moved to the waiting station 36 'of the maintenance platform and the maintenance platform is connected to the mast (mechanical, electrical and pneumatic connections) and is lifted by the mast. In FIG. 3H, the trolley with the mast and with the platform has left the waiting station 36 'of the maintenance platform. In this embodiment, the mast is mounted for rotation about the vertical axis ZZ, as described above. The telescopic mast 14 is provided with guide means with fixed rollers GF and prestressed rollers GP to guarantee stability during the phases of acceleration of the movements of the carrier P as well as during those of the robot 10. This roller guide means is shown on Figures 4A to 4D. FIG. 4A shows two segments 14 'and 14''of the telescopic mast 14 with two prestressed rollers GP on one of the sides (top) of the telescopic mast 14 and two fixed rollers GF on the other side (bottom) of the telescopic mast 14. Figure 4B shows the two sections 14 'and 14''of the telescopic mast of Figure 4A in cross section and shows that two adjacent sides of the mast 14 are provided with two prestressed rollers GP and the other two adjacent sides of the mast 14 are each provided with two fixed rollers GF. A fixed roller GF is shown diagrammatically in FIG. 4D and FIG. 4C schematically represents a prestressed roller GP carried by a pivoting lever 38 biased by Belleville washers 40 to force the roller GP into engagement with one of the segments of the telescopic mast 14 Each fixed roller GF is opposed by a prestressed roller GP.

The carrier P may be provided with a mechanism for rotating the mast 14 around the vertical axis ZZ. Such a rotation mechanism must be provided in the case of the robot placed (Figure 2) and in the case of the exchange mode according to Figures 3E to 3H, but is not necessary for the embodiment of Figure 1 with suspended robot and the exchange mode of Figures 3A to 3D. The rotation mechanism is shown in FIGS. 2OA and 2OB and includes an orientation ring having a rotary upper toothed ring 151 and a stationary lower ring 152 as well as rolling bodies 157 disposed between the two rings. The mast 14 is mounted by fixing elements 150 to a fixing support 153 carried by the upper ring 151. Another support 156 is provided between the lower ring 152 of the slewing ring and a support 155 integral with the carriage 16. The upper toothed ring 151 is driven by a pinion 154 controlled by a motor (not shown). When the robot 10 will carry out its application or treatment movements, the telescopic mast 14 will swing. Tests can be performed to analyze these rocking effects and are intended to assess the resonant frequency of the system. This resonant frequency will be automatically avoided by the control means. Such a test is shown in FIG. 5 which represents the telescopic mast 14 with the platform 12 fixed to the lower end of the mast 14. This platform 12 carries the equipment 40 on board the carrier as well as the carried robot 10 provided with the means of treatment 10a. Represented in this FIG. 5 is also a part of the vertical lifting winch of the telescopic mast 14, comprising a lifting cable 42 placed around one or more return pulleys 44 mounted on the upper side of the platform 12. This lifting cable 42 is wound on a motorized cable drum carried by the carriage 16. In operation, if the robot 10 performs movements in the direction of the double arrow F the robot 10 performs swing movements detected by means of a measuring pointer 46 with respect to a graduated plan 48. A computer 50 controls the test.

For a painting treatment, the robot 10 will be of the painting robot type and will preferably be designed for a downward orientation. A suitable model for the robot is the long IRB 540 model (arm length of 1.620 mm) manufactured by the company ABB, F-95310 Saint-Ouen- l'Aumône. The limited rotational movement around the vertical axis of the robot 10 should be placed so that it can perform all the movements necessary for the painting process. Because the robot is a unit known in the prior art there is no need to describe it here in greater detail.

The specific equipment for applying paint is shown in FIG. 6 and includes a floor paint storage station, that is to say the paint tanks 60 and a means of distributing the paint to the carrier. comprising a pumping unit P, a automatic distribution 62 and an automatic coupling device 64 as well as a purge station 66. These means 60, 62, 64 and 66 as well as the pumping unit P are also represented by the stationary equipment 30 indicated diagrammatically in FIGS. 1 and 2.

Embedded on the telescopic mast 14 is a storage station comprising several cans of paint 68, a unit 78 for distributing the paint to the cans 68 and a pump 70 for supplying the paint from the cans 68 to the application robot 10 A control unit 74 of the robot 10 is also mounted on the equipment platform 12. According to FIG. 6, the robot 10 is a suspended robot of the embodiment of FIG. 1.

The sanding, stripping and polishing treatments will be carried out in controlled mechanical contact with the aircraft fuselage. For painting the robot will be suitable for the treatment process and will be provided with additional equipment (not shown) for controlling the distance between the applicator 10a of the robot and the fuselage of the aircraft.

The initial positioning will preferably be carried out by an indoor GPS system (IGPS) which will be described in greater detail below. The approach of the applicator 10a towards the fuselage and the evolution of the applicator 10a above the fuselage during the treatment will be constantly monitored and corrected by the distance maintenance control. The distance maintenance control will be carried out by mechanical contact sensors or non-contact sensors (not shown), for example with light or ultrasound, which is best suited to the process. The sensor sends a distance signal, between the sensor and the object, to control means 74 of the robot, and also to a control means of the carrier 18a (FIGS. 1, 2, 16, 17) which makes all the movements stop. robot and carrier if the distance detected by the sensor is less than a predetermined minimum. The properties of the position detection, supervision and control means will now be explained in greater detail with reference to FIGS. 7 to 16.

According to the embodiments of FIGS. 1 and 2, the detection and positioning equipment comprises several (four) IGPS receivers 25 on board the telescopic mast 14 (see also FIG. 12) in order to give the current coordinates of the point of reference "B" from the center of the base of the telescopic mast 14 (lower end of the mast) in the three directions X, Y and Z, with reference to several

(four) fixed stations in the hangar, completely disconnected from the building structure. These fixed stations are the columns 26 integral with the concrete floor S of the hangar, which carry the transmitters 24. Thus, the positioning will be absolutely independent of any bending or deformation of the load-bearing structures of the building or of the hangar, that is to say - say independent of the movement of the building (snow load, wind, etc.) which are not predictable.

The repetitive positioning accuracy of the reference point B of the base of the telescopic mast 14 must be less than or equal to plus or minus 20 mm in the three directions X, Y, Z relative to a reference point on the ground.

The positioning detection system provides for the use of highly technical equipment, derived from metrology.

According to another embodiment, represented in FIG. 7, the detection and positioning system comprises a "laser-follower" system from the company Leica Geosystèms CH-5035 Unterentfelden. This system is shown in Figure 7 which shows two carriers P1 and P2 arranged in the hangar next to each other and each equipped with a suspended robot 10i, IO2. The system of FIG. 7 comprises a laser beam transmitter-transmitter 80 mounted high on a column 82 carried directly by the ground S of the building or of the hangar and therefore independent of the structure of the building. This transmitter-transmitter 80 is a visible light or infrared unit with a fixed position, which visually "tracks" a position reflector 84 (instead of IGPS receivers) fixed on the lower part of the telescopic mast 14. Another transmitter-transmitter 80 and a reflector 84 are provided for the carrier P2. This geodesic system is of very high measurement accuracy (less than 1 mm) but direct visual contact must always be provided between the transmitter-transmitter 80 and the reflector 84 and it is necessary to provide for each carrier Pl and P2 a stationary transmitter-transmitter 80 and a reflector 84 fixed to the telescopic mast. The recovery of the reflector 84 after loss of visual contact requires a lot of manipulation in manual mode. In addition, the maximum operating distance of 30 m is relatively small.

Now considering the embodiment of FIG. 8, two carriers P1 and P2 are also shown arranged side by side and each provided with a robot 10-1, respectively 10-2. This detection system is a visible light or infrared optical system from the company ARC Second, Dulles, VA 20166, EUA, designated, "Indoor GPS Metrology System". It is an emulation of an orbital GPS in infrared optics. Several one-channel transmitters 24 scan the space and send coded signals and several receivers 25 are on board the telescopic mast 14-1, respectively 14-2. An on-board receiver 25 receives the signals from at least two transmitters 24 and determines the position in the directions X, Y and Z. According to the embodiment of FIG. 8, seven transmitters 24 are provided and each mast 14-1, 14 -2 has four receivers 25

(only three receivers 25 for each mast being visible in FIG. 8, the fourth being behind the mast).

Another number of transmitters and receivers can be provided, if necessary. The arrangement of the receivers 25 relative to the telescopic mast 14 will be described in greater detail below with reference to FIG. 12. One or more, for example two receivers 25a can be fixed at locations Ri and R2 on the ground S to verify if the stationary transmitters 24 are always in the desired or nominal position, see also the description of figure 14.

Compared to the laser-follower system according to FIG. 7, the embodiment of FIG. 8 has the advantage of working with several transmitters 24 and of operating until

80 m away. In the event of a beam obstruction, a receiver 25 uses another transmitter 24.

The system uses the same transmitters 24 for several receivers 25 of a mast 14 or of several masts 14i, 14 ₂ . It is noted that in FIG. 8 only a few optical links have been shown so as not to overload the figure.

The arrangement of the receivers 25 on board the mast 14 will now be described in greater detail with reference to FIGS. 12A and 12B. Figure 12A shows the telescopic mast 14 in elevation and Figure 12B is a cross-sectional view of the telescopic mast 14 in the direction of the arrows 12B - 12B of Figure 12A. As shown in these figures, a U-shaped support frame 90 is mounted on the lower element of the telescopic mast 14 above the equipment platform 12 with the paint cans 68, the pump 70 and the control 74 of the robot 10. This support frame 90 carries the four receivers 25. Two of these receivers 25 are located at the free ends of the two opposite arms of the support frame 90 and the other two receivers 25 are located at the corners between two adjacent sides of the frame 90 support. The support frame 90 also carries a communication unit (communication HUB) 92 with radio frequency antenna 94 W-LAN communication with the management system and the carrier control system 18a in Figures 1 and 2 (see also Figures 16 and 17). The receivers 25 on board the mast 14 are electrically connected to the communication unit 92 and serve to locate in the measurement space the logical point of the center of the base (lower end of the telescopic mast 14). This position is called position B (base point). The system of detection will use the coordinates of the four receivers 25 and calculate the coordinates of position B using the corresponding offsets DX, DY and DZ in the direction of the axes X, Y and Z. This position is delivered in real time and is used to position the three axes of the carrier P. The indoor GPS system, designated IGPS, from the company ARC Second comprises the IGPS transmitter 25 and the IGPS-receivers comprising two types of IGPS receivers, that is to say the receivers 25 described above on board the telescopic mast 14 and designated RGR, and the receivers or GPS sensors of the aircraft, in abbreviation AGR (see FIGS. 13 and 14) to be mounted on the plane, and which will be described below in greater detail. The IGPS system with the IGPS-transmitters 25 and the IGPS-receivers of the RGR and AGR type constitute the means for detecting the position of the robot and the position of the object (of the aircraft) whose surface is to be treated.

The IGPS-transmitters 25 are arranged, as already described above, at a fixed position in the hangar and will be mounted in height on the rigid columns 26 with low swing, preferably made of concrete, integral with the floor of the hangar. The operating principle of the detection means, based on the geometrical location, implies that for each point in the space to be measured, there is visual contact with at least two IGPS-transmitters 24.

As described above, the RGR receivers 25 for locating the reference point of the base of the telescopic mast 14 or of the robot 10 (reference point B) are on board the mast 14. The AGR receivers shown in the figure 13 are placed on the plane at remarkable points, in principle the nose, the wings and the tail. Figure 9 shows the arrangement of IGPS 24 transmitters in the hangar space on the example of the Airbus A380. The coverage for the Airbus A380 requires seven IGPS 24 transmitters arranged in a frame around the space to be measured, the number of transmitters 24 can vary in depending on the size of the plane and therefore the space to be measured.

Figure 10 is a front view showing the vertical angular coverage on the example of the Airbus A380. This figure shows that the IGPS 24 transmitters are at a height of 13 meters above the ground S to have optimal coverage of the space to be measured for the example of the Airbus A380.

To prevent paint from depositing on the active surfaces of transmitters 24 and receivers 25 (RGR), the active element of each transmitter 24 and each receiver 25 is protected by a device or means with transported transparent film, an example of which is shown in Figures HA, HB and HC. As shown in FIG. HA, this system for protecting the active element or sensor 100 of the transmitter 24 and respectively of the receiver 25 comprises a housing 102 under compressed air pressure on which a rotating glass cylinder 104 is mounted and which surrounds the active element 100. A take-up reel 106 and a take-up reel 108 are rotatably housed inside the housing 102. Between the take-up reel 106 and the take-up reel 108, the transported film 110 passes through an opening outlet / inlet of the housing and it is arranged around the rotating glass cylinder 104 located in front of the aforementioned opening. The transported transparent film 110 engages the rotary cylinder 104 over an angle of action α shown in FIG. 13a. Between the coils 106 and 108 and the rotary cylinder 104, idler rollers 112 are provided to increase the angle of action α. The transport of the film 110 from the reel 106 to the reel 108 is regulated by means of a fouling signal which controls a drive motor (not shown) of the winding reel 108. The pressurization of the housing 102 prevents the entry of contaminants into the housing 102. In this way the transparent film 110 is constantly renewed on the glass cylinder 104 and when the contaminated film is on the reel 108 and the reel 106 is empty, it is replaced. In Figures HB and HC the transparent film is not shown.

When the aircraft is positioned in the hangar on the measurement and processing surface, a phase of identification of remarkable points is necessary to locate the aircraft exactly in the measurement space. The AGR receptors mentioned above are placed on these remarkable points of the aircraft, that is to say the nose, the tail, the end of the left wing and the right wing and in an intermediate position. the left wing and the right wing between the fuselage and the free ends of the wings. These AGR receptors are designated AGR1 nose, AGR2 tail, AGR3 outer right wing, AGR4 inner right wing, AGR5 outer left wing and AGR6 inner left wing in Figure 19. For a small aircraft the AGR4 and AGR6 receptors can be eliminated. AGR receivers must be removed before painting and do not require any means of protection.

The reference points or the remarkable points of the airplane are identified in five degrees of freedom or location, that is to say in the direction of the axes X, Y and Z and also the angles of inclination A and B by relative to the horizontal axes Y and X are identified (see Figure 14) and communicated to the management system, which will be described below in greater detail.

The management system uses these detected reference values to, (A) check the agreement between the model of the airplane chosen by the operator and the real type of airplane placed in the measurement space, (B) reference to using at least three points, i.e. AGRl nose, 1ΑGR2 tail and 1ΑGR3 outer right wing, the main axes and reference points of the aircraft with the chosen model, and (C) enter the variation in height at the level of the wings and the tail according to the real deflection of the different ends under earth gravitation.

As shown in Figure 14 each AGR unit is composed of an optical receiver 120 carried by a support mechanical 122 having a means 123 for fixing the AGR unit to the airplane. The support also carries a battery compartment 124, a localization system 126 (communication unit or HUB) connected to the optical sensor or receiver 120 and a 128 W-LAN radio frequency antenna for communication with the management system and with the control means 18a of the carrier P.

As described above with reference to FIG. 8, at least one receiver, for example two receivers 25a, can be fixed at locations Ri and R2 on the ground S to check the position of the stationary transmitters 24. For this purpose two AGR receivers can be used to attach via an adapter 123a (figure 14) to a support plate 123h embedded in the concrete screed of the ground S so that the upper surface of the support plate 123h is flush with the surface top of the concrete screed. The adapter 123a is provided with two opposite plates, one of which is to be fastened by screw fasteners 123d by means of fastening 123 of the AGR unit and the other opposite plate is to be fastened by screwable fasteners 123g to the plate 123h support built into the concrete screed. In addition, the opposite plates of the adapter 123a are provided with centering cones 123b and 123e which are housed in conical boreholes 123f of the support plate 123h and conical boreholes 123c of the fixing means 123. In maintenance intervals regular to define an AGR is placed at location Ri and another AGR is placed at location R2. A verification procedure is launched on the management system in order to verify the potential X, Y, Z deviations of all the transmitters 24. The management system gives an alarm message if one or more deviations are too large. The operator may in this case pass a procedure for initializing the positioning system to reset the system. For this it does not need to move the transmitters 24. At the end of the verification procedure the two AGRs are removed from their respective positions Ri and R2. It is also mentioned that for the location of an object with polar symmetry, that is to say an object of spherical shape, in the processing space to be measured, it suffices to attach a single receiver to the object whose the surface is to be treated.

Generally, for objects having one or more overhanging parts, for example the tail of the fuselage and the wings of an airplane, it is necessary to fix one or more receivers to these overhanging or cantilevered parts, depending on the length of the overhanging or cantilevered parts, with a view to detecting the bending of these overhanging or cantilevered parts under the state of gravity compared to the state of weightlessness of the 3D form stored in the database management system data.

Instead of using a sensor 120 with five degrees of freedom it is also possible to provide a sensor with six degrees of freedom to locate the position of the object in the direction of the three axes X, Y and Z and also the angular position around these three axes.

It still remains to be mentioned that for the laser embodiment according to FIG. 7, the location of the remarkable points of the object, for example of the plane, a reflector, generally identical to the reflector 84 of FIG. 7, is taken in hand and it is then brought into optical contact with the transmitter-transmitter 80, by presenting the reflector 84 in front of the optics of the transmitter-transmitter 80.

Then, without losing its optical contact, the reflector 84 is carried towards one of the remarkable points of the object or of the plane and it is fixed at this remarkable point. One proceeds thus for all the other remarkable points to seize, of the object or the plane. The coordinates X, Y, Z of the remarkable point or points of the object and the reference point of the robot are sent by the transmitter-transmitter (s) 80 to the management system and to the robot control means.

The stationary equipment on the ground for the positioning and control system includes a W-LAN 130 receiver with charging station for RGR and AGR and a system management system comprising a computer 140, as shown in FIG. 15.

FIG. 16 represents the logical configuration of the supervision and control management system. In FIG. 16, the stationary equipment located on the ground is represented above the dotted horizontal line and the equipment on board the carrier P and the telescopic mast 14 are located below this dotted line.

The operator has authority over the supervision system, the robot-studio management system with the database, the paint and purge station and the carrier radio remote control. In the database the 3D shape of the surface to be treated is stored. The 3D shape of several objects, for example planes to be treated, can be stored, among which the operator can choose the shape of the object to be treated.

A stationary Ethernet network and an on-board Ethernet network ensure communication by W-LAN modems between the stationary equipment (supervision system, management system and paint and purge station) and the equipment on board the carrier (control means carrier), robot operator console, robot control means. The carrier control means actuates the carrier (motors - not shown) of the overhead crane, the trolley and the hoist) and the robot control means actuates the robot

(motors - not shown - of the robot) and controls the supply of paint on board to the robot gun. The carrier radio remote control can control the carrier control means 18a via a radio receiver. Also shown in Figure 16 are the IGPS transmitters and the RGR receivers on board the telescopic mast as well as the AGR receivers carried by the aircraft. Finally, an anti-collision system is activated and processed by the carrier control means 18a. The two Ethernet networks are connected to each other via the two W-LAN modems. All the elements connected on all of these two networks (supervision, management system, purge station, carrier control means, carrier console, robot console and robot control means) can communicate freely with each other.

The logical links and their principle function which exist on the whole Ethernet network are:

• supervision system - carrier control means: (for carrier supervision)

• management system - carrier control means: (for sending carrier movement orders)

• management system - robot control means: (for sending robot programs)

• carrier control means - paint and purge station: (for exchanging signals when accessing the station)

• robot-painting and purging station control means: (for exchanging signals when accessing the station)

• carrier control means - robot control means: (for the exchange of signals between the carrier movements and the robot movements)

• carrier operator console - carrier control means: (for carrier settings).

The carrier control means 18a preferably consists of a programmable automaton, such as the automaton

Siemens Simatic S7 using positioning equipment

(IGPS transmitter, RGR and AGR receivers) to control the movement in the X, Y and Z directions. The control means

18a will be managed by the management system hierarchically superimposed via the Ethernet interface. The management system sends movement orders via the Ethernet interface. A movement order in principle includes the coordinates of the destination points. For a movement order, the carrier will carry out a rectilinear movement in space to move the reference point of the telescopic mast base (position B) from the current location to the new destination location. The control means can inform the management system at any time of the current location. The carrier operator console will be used for maintenance, i.e. for entering movements in a semi-automatic mode (to be described below) of the carrier and for displaying carrier alarm messages.

The carrier radio remote control is equipped with push buttons necessary for manual mode control (to be described below) of the three axes of the carrier as well as an emergency stop button. A key switch will serve as a confirmation function in maintenance mode (to be described below).

The control means of the application robot are on board the carrier and the interface to the management system is carried out by means of the Ethernet link. A link between the robot and carrier controls will be made by fieldbus and by potential-free signals. This link will thus communicate control and locking information between the two units.

As mentioned above, the 3D models and parameters of different types of object, i.e. aircraft to be processed, are found in the database stored in the management system, based on the robot software. -studio. The operator enters the necessary data and starts the painting process from the management system. The management system generates the movement orders to the carrier control means to process the different sectors of the total area. The movements are carried out by the carrier and acknowledged to the management system after having been made. Surface areas can be treated by the robot during the stop or during the movement of the carrier. The management system sends movement orders and painting programs to the robot control means. The robot performs the given surface treatment. The status of the movements and any faults in the equipment are permanently displayed and managed in the supervision system which is constantly in connection with the various control means. The management and coordination between the movements of the carrier and those of the robot is carried out in the management system, that is to say:

referencing of the 3D model relative to the real plane by receiving the positions of the remarkable points of the IGAs,

generation of movement segments for the wearer,

generation of paint application orders,

generation of paint replenishment movements at the stationary paint station, and

generation of the purge movements towards the stationary purge station.

The user interfaces are the supervision system (installation supervision), the robot-studio management system (operation on the painting process), the carrier's radio control (operation in manual mode of the carrier), the on-board console of the robot (robot settings), and the on-board console of the carrier control (carrier settings).

Figure 17 shows the components of the management and control system for an example with two robots (LSORl and LSOR2). According to this figure, the management and control equipment comprises (1) the supervision software with the graphical user interface for the operation and for the supervision, (2) the robot-studio software with the 3D models and the programs robot, (3) all radio frequency telecommunications equipment and (4) all stationary IGPS transmitters. Each of the LSOR1 and LSOR2 robots is composed (1) of four RGR sensors, of the receiver HUB and of the communication unit, (2) of the robot control with axis control and paint control and the communication unit, and (3) of the carrier control with drive unit and sensors and communication unit.

In addition, the management and control equipment includes the six AGR receivers with sensors with five degrees of freedom, the receiver HUB and the communication unit.

The development of processing programs for a given aircraft will now be explained with reference to Figures 18 and 19.

First, the 3D model of the aircraft entered the robot-studio software. The 3D model was designed by the aircraft manufacturer under the weightlessness of the aircraft, so without gravity effects when parking in the hangar, so without any deflection effect on the different ends of the plane.

The surface to be treated (see Figure 18) is then logically cut into different sectors according to the maximum possible surface to be treated from a fixed location of the robot in front of the sector.

For each sector, this fixed location, which is the point of origin corresponding to point B of the robot base, is identified and stored in the management system.

For each sector, the robot program representing the path to be followed by the applicator on the surface of the sector, is developed in 3D on the robot-studio software of the management system. This gives a robot program and an origin by sector.

The robot programs thus developed and the corresponding points of origin, as well as the rest of the sectors to be treated are entered into the database in the management system. All of this data represents the processing for the given aircraft model. Different models of aircraft, or objects to be treated, can be stored in the database.

For the ends of the plane (wing, tail) there will be a deflection, mostly downward, caused by the terrestrial attraction, and as shown in the figure

19. This deflection is measured using the AGR receivers attached to the aircraft. The AGR receivers give the displacement information of the remarkable points relative to the theoretical 3D model of the aircraft.

An AGR receiver placed at the end gives the point in the X, Y, Z axis system and the actual angle of the location of the AGR receiver. The offsets, relative to the resulting 3D model, position in the system of X-Y-Z axes and angles, are used to move and logically rotate in space the origin of the different sectors so as to compensate for the deformation.

The processing system according to the invention has several operating modes, that is to say an automatic mode, a semi-automatic mode, a manual mode and a maintenance mode.

In automatic mode, the movement orders of the carrier and the robot are generated by the management system. The control means carry out the movements automatically and acknowledge the movements by a message appropriate to the management system. Automatic mode is the production mode. For the treatment of an airplane in automatic mode the airplane entered the hangar as precisely as possible in relation to the markings on the ground and the airplane was prepared for treatment. AGR receivers are placed on the remarkable points of the aircraft. The type of aircraft to be processed is entered on the management system and the tracking and verification phase is carried out. Then the AGR receptors from the aircraft are removed and processing is initiated and carried out. In semi-automatic mode, the wearer's movement orders are generated one by one by the operator from the on-board operator console or from the ground supervision system. The carrier control system performs the movement automatically and stops. Semi-automatic mode is not a production mode and is used for maintenance and adjustment.

In manual mode, the carrier is accessible from the radio frequency transmitter, movements are carried out in maintained mode. Anti-collision safety devices are active, manual mode is not a production mode and is used for maintenance and adjustment.

The maintenance mode is reserved for maintenance people. The movements are carried out in maintained mode. Anti-collision and certain other safety functions are not active. Maintenance mode is not a production mode.

Alternatively, the laser beam or GPS tracking system can be replaced by a radio tracking system or means. Such a radio-tracking system works in principle and in terms of elements and arrangement of elements such as the indoor GPS means. The stationary elements of the radio-tracking means are fixed to the supports 26, just like the elements 24 of the IGPS means. The mobile elements of the radio-tracking means are fixed to the mast 14 at the places where the elements 25 of the IGPS means are fixed and to the object at remarkable points such as the AGRs of the IGPS means. On the other hand, from a functional point of view, the stationary elements of the radio-tracking means represent the receivers and the mobile elements on board the mast and to be fixed to the object, of the radio-tracking means, represent the transmitters. All the stationary receivers, linked together and with the management system and the carrier control means P by the data transmission interface, deliver the coordinates in X, Y, Z of the various mobile transmitters to the management system and by means of the carrier P control. The radio-tracking system must have at least one transmitter on board the mast and at least four stationary receivers.

Claims

CLAIMS:

1. System for the automatic treatment of a surface of an object, for example of an airplane, comprising a carrier of a processing robot, this carrier consisting of a traveling crane movable in a horizontal direction X, a carriage movable on the traveling crane in a horizontal direction Y perpendicular to the direction X, and a telescopic mast carried by the carriage and extending downward thereof;

a carrier control means and a robot control means; and

positioning and piloting equipment for the carrier and the robot, comprising:

a management system;

2. System according to claim 1, in which the robot is suspended in suspension below the lower end of the telescopic mast.

3. System according to claim 1, in which the robot is mounted on the upper side of a support carried by the telescopic mast.

4. System according to any one of claims 1 to 3, wherein the telescopic mast is mounted to the carriage for pivoting movement about a vertical axis.

5. System according to any one of claims 1 to 4, wherein the robot is a polar robot with six axes of freedom.

6. System according to any one of claims 1 to 5, wherein the cart with the telescopic mast and the robot is interchangeable with another cart, for example a cart with maintenance platform.

7. System according to any one of claims 1 to 5, in which the robot is interchangeable with a maintenance platform.

8. System according to claim 1, in which the telescopic mast carries a platform of equipment, such as for example reservoirs for the treatment product, a pump, the robot control means, etc.

9. The system of claim 8, wherein the equipment platform also carries the robot.

10. System according to any one of claims 1 to 9, in which the telescopic mast is provided with guide means with prestressed rollers to guarantee stability during the phases of acceleration of the movements of the carrier.

11. The system of claim 9, wherein a station for replenishing a treatment product is on the ground to replenish the equipment on board the mast.

12. System according to any one of claims 1 to 11, in which a purging station is located on the ground.

13. System according to any one of claims 1 to 12, in which a means for controlling the distance between the robot and the surface of the object is provided, comprising a mechanical contact sensor or a non-contact sensor. , for example by light or ultrasound, sending a distance signal between the sensor and the object by means of the robot and carrier control in order to stop all robot and carrier movements if the distance detected by the sensor is less to a predetermined minimum.

14. System according to any one of claims 1 to 13, in which the detection means comprise:

radio-tracking means, or

laser beam locating means, or

GPS tracking means, in particular indoor GPS.

15. The system of claim 14, wherein the detection means comprise at least one stationary locating unit, at least one locating unit carried by a lower telescopic element of the telescopic mast, and at least one locating unit to be fixed to the 'object.

16. The system as claimed in claim 14 or 15, in which the detection means are laser beam detection means comprising a stationary laser beam transmitter-transmitter mounted high above the ground, a reflector on board the telescopic mast, and at least one reflector to be attached to the object.

17. The system of claim 15 or 16, wherein the stationary transceiver is mounted on a rigid column carried by the ground independently of the construction of a hangar in which the treatment system is installed.

18. The system of claim 14, wherein the detection means are interior GPS location means comprising at least two stationary transmitters mounted high above the ground, at least one receiver on board a telescopic lower element of the mast telescopic, and further comprising at least one other receiver to be fixed to the object.

19. The system of claim 18, wherein the transmitters are mounted on rigid columns carried by the ground regardless of the construction of a hangar in which the treatment system is installed.

20. The system of claim 18 or 19, in which several transmitters, for example four or more transmitters, are distributed around the processing space to be measured, and several receivers, for example four, are on board the telescopic mast and spread around it.

21. System according to any one of claims 18 to 20 comprising at least one reference location on the ground for a receiver in order to check whether the stationary transmitters are in their desired positions.

22. The system as claimed in claim 14, in which the detection means are radio-tracking means comprising at least one transmitter on board a lower telescopic element of the telescopic mast at least four stationary receivers mounted high above the ground, and at at least one other receiver to attach to the object.

23. The system as claimed in claim 22, in which the stationary receivers are mounted on rigid columns distributed around the treatment space to be measured and carried by the ground independently of the construction of a hangar in which the treatment system is installed. .

24. The system of claim 22 or 23, comprising several transmitters on board and distributed around the telescopic mast.

25. The system as claimed in claim 18 or 22, in which the stationary or on-board or on-board receiver (s) is / are connected to a radio communication unit for the transmission of data between this unit, the management system, and the carrier control means.

26. The system of claim 18, comprising a single receiver to be fixed to the object in a remarkable place, this receiver being provided with a sensor with six degrees of freedom.

27. The system of claim 18, comprising several receivers to be fixed on the object in remarkable places.

28. The system of claim 27, wherein each receiver to be fixed to the object is provided with a sensor with five degrees of freedom.

29. The system of claim 27 or 28, wherein the object to be treated has at least one overhanging part and at least one of the receivers to be fixed to the object is fixed to the overhanging part.

30. System according to any one of claims 27 to 29, in which the object to be treated is an airplane and the receivers are placed on the nose, the wings and the tail of the airplane.

31. The system as claimed in claim 18, in which the receiver or receivers to be fixed to the object is / are provided with a radio communication unit for the transmission of data between this or these receivers, the management system, and the carrier control means.

32. System according to any one of claims 15 to 31, in which each fixed marking unit and each marking unit on board the mast is provided with a protection means to prevent fouling of its surface. active, for example a means of protection by transported transparent film.

33. System according to any one of the preceding claims, in which the management system is stationary and the carrier and robot control means are on board the carrier and controlled by the stationary management system by an interface, such as an Ethernet interface.

34. Method for treating a surface of an object, for example an aircraft, by means of the automatic treatment system according to claim 1, and comprising at least one stationary locating means and at least one on-board locating means on the telescopic mast, the process comprising the following steps:

a) place the object to be treated in a treatment space to be measured,

b) applying at least one locating means to the object at a remarkable location on the object,

c) identify by the location means the position of a reference point of the telescopic mast and the position of at least one reference point of the object in the processing space to be measured with respect to the system of the three axes X , Y, Z mutually perpendicular,

d) communicate the locations carried out in step (c) to the management system and to the carrier control means,

e) check that the type of object placed in the processing space matches the shape of the object stored in the management system database,

f) removing the means of locating the object, and

g) send to the control means of the carrier and of the robot movement orders generated by the management system, as a function of the locations made and communicated to the management system, and as a function of the 3D form of the object to be stored in the management system for the control of the carrier and the robot to execute the treatment.

35. Method according to claim 34, in which several 3D shapes of objects to be treated are stored in the management system, and comprising the step of selecting between these different 3D shapes stored the shape of the object to be treated and to compare in step (e) with the object identified.

36. Method according to claim 33 or 35, for the treatment of the surface of an object having at least one overhanging part, comprising the fixing of at least one locating means to this overhanging part in order to identify the deflection of the overhanging part under the effect of gravity compared to the 3D shape of the object stored for a state of weightlessness in the management system.

37. Method according to any one of claims 34 to 36 for the treatment of the surface of an airplane comprising the fixing of a first locating means at the nose of the airplane, of a second locating means at the tail of the airplane, of a third locating means at the outer end of the right wing, of an optional fourth locating means on the right wing between the fuselage and the outer end of the wing, d a fifth locating means at the outer end of the left wing, and an optional sixth locating means at the left wing between the fuselage and the outer end of the left wing.