EP3655169B1 - Autonomous painting robot and control method - Google Patents

Autonomous painting robot and control method Download PDF

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Publication number
EP3655169B1
EP3655169B1 EP18736922.8A EP18736922A EP3655169B1 EP 3655169 B1 EP3655169 B1 EP 3655169B1 EP 18736922 A EP18736922 A EP 18736922A EP 3655169 B1 EP3655169 B1 EP 3655169B1
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EP
European Patent Office
Prior art keywords
robot
paint
slide
sprayer
wall
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EP18736922.8A
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German (de)
French (fr)
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EP3655169A1 (en
Inventor
Alain PATCHONG
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Mexence Digital & Robotics
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Mexence Digital & Robotics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
    • B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces

Definitions

  • the invention relates to an autonomous painter robot for applying paint in living rooms and offices.
  • the invention also relates to a method for controlling an autonomous painter robot in a room to be decorated.
  • a robot painter manages to independently deposit paint in living rooms.
  • Such a robot applies homogeneous layers of paint at a high rate, which reduces the duration of a construction site as well as a renovation.
  • Such a robot comprises a frame mounted on wheels, and a link sliding vertically so as to move a paint sprayer arm up and down.
  • the published patent document WO 2016/109721 A1 discloses a robot painter with a lower body provided with ground connections. Front and rear telescopic arms extend vertically from the lower body, and guide the vertical movement of a paint head.
  • the robot is headed by a plate connecting the vertical bars. This plate is raised until it reaches the ceiling. This movement is provided by the telescopic arms, and results in the robot being held in position, in particular at the level of the ceiling.
  • This robot can also paint the corners between two sections of walls in the same room.
  • this robot is complex and must be carried out frequently. Indeed, it has a large number of moving parts which are exposed to the paint cloud. With use, the paint droplets in suspension solidify in the mechanical bonds which deteriorate prematurely. The progressive deposition of paint blocks the connections, and reduces the precision of movement. In addition, the paint masks the optical means of the autonomous robot, which penalizes its ability to map its environment or to detect obstacles. The ability to control painted surfaces or to paint is also limited.
  • the document CN 101412008 A describes a painting robot with multiple joints. This one is complex and bulky.
  • the document DE 20 2009 005 562 U1 describes a funnel for a spray device.
  • the object of the invention is to solve at least one of the technical problems mentioned above. Another objective of the invention is to preserve the painting precision of an autonomous painter robot. Another objective of the invention is to reduce the impact of the paint on the autonomous painter robot.
  • an autonomous painting vehicle which comprises a slide transversely at a distance and transversely in front of the body.
  • the subject of the invention is an autonomous painter robot configured to paint vertical walls of interior rooms, in particular living rooms or office rooms, the robot comprising: a main body, a transverse direction, a support polygon, in particular defined by the wheels of the robot, a paint sprayer configured to project paint in the transverse direction T, said sprayer being arranged in the transverse extension of the support polygon; a vertical slide slidably connecting the sprayer to the body, remarkable in that it further comprises a vertical space transversely separating the slide from the body.
  • the subject of the invention is also an autonomous painter robot, the robot comprising: a body; an effector in particular capable of spraying paint; a slide connecting the effector to the body; wheels defining a support polygon of the robot, at least one of said wheels having an axis of rotation fixed with respect to the body; remarkable in that the robot comprises a space separating the slide from the support surface along said axis, and / or a lateral space laterally connecting the slide to the polygon.
  • the subject of the invention is also an autonomous painter robot, the robot comprising: a main body, a longitudinal direction, a polygon of lift, drive means in a longitudinal direction, a paint sprayer configured to project paint transversely to the longitudinal direction, said sprayer being disposed longitudinally at the level of the lift polygon; a vertical slide slidingly connecting the sprayer to the body, remarkable in that it further comprises a vertical space transversely separating the slide from the body; and / or transversely connecting the slide to the polygon and / or to the body.
  • the invention also relates to a method for controlling an autonomous painter robot configured to paint an interior room wall, the robot comprising a main body, a slide connecting the sprayer to the main body so as to move the sprayer vertically with respect to on the body, wheels defining a first axis of rotation in a transverse direction T and a second axis of rotation, a support polygon of the robot and a paint sprayer configured to project paint in the transverse direction, the slide and the polygon of lift being between the first axis of rotation and the second axis of rotation, the method comprising the following steps: (a) application of a vertical strip of paint by the sprayer on the wall, then a step (b) movement of the robot , remarkable in that the slide is transversely at a distance from the support polygon, and in that in step (b) displacement, the robot evo read at most half the width of the strip of paint, perpendicular to the transverse direction T, the robot possibly being in accordance with the invention.
  • each subject of the invention is also applicable to the other subjects of the invention.
  • Each object of the invention can be combined with other objects, and the objects of the invention can also be combined with the embodiments of the description, which in addition can be combined with each other, according to all the possible technical combinations, unless the contrary is true. is not explicitly mentioned.
  • the measures of the invention are interesting in that the space becomes a separation space which reduces the proportion of the suspended paint reaching the body of the robot. Moving parts, optical means, and slots in the outer body cover are less exposed to droplets. Thus the movement, environmental analysis and cooling capacities of the electrical modules are preserved. The risks of breakdown and accident are reduced.
  • the robot manages to operate autonomously more long time while ensuring a high safety margin and quality.
  • the solutions of the present invention are particularly relevant for corners.
  • the configuration with a transverse sprayer integrated in the length of the body, or at least in the longitudinal grip of the wheels, facilitates the management and the precision of rapid movements. This increases thanks to the parallelism between the spraying direction and the axis of rotation of the wheels.
  • the longitudinal direction corresponds to the main direction of movement of the robot.
  • the longitudinal direction is optionally perpendicular to the transverse direction.
  • the dimensions can be considered when the robot applies paint, in particular in at least one position of the slide.
  • the figure 1 represents an interior room 2 of a building, such as a house or offices.
  • the height between the floor 4 and the ceiling 6 can be equal to 2.55 m, or more generally be between 2.00 m and 3.00 m.
  • access is via a door (not shown), the height of which may be less than or equal to 2.05m; and the width of which may be less than or equal to 0.90 m.
  • the size of the door forms an obstacle restricting access to the room 2.
  • a vertical wall 8 connects the floor 4 to the ceiling 6, and its surface is painted by an autonomous painter robot 10.
  • the robot 10 can be a vehicle, in particular an automobile. It can comprise a main body 12, in particular formed by an outer cover 14 which is optionally rectangular.
  • the robot 10 can include ground links, such as wheels 16 or caterpillars.
  • the wheels 16 can include flexible treads. An air cushion device is possible.
  • the wheels 16 can be of the mecanum type. Their treads are formed by a series of rollers rotating relative to a rim, the axes of rotation of the rollers being inclined relative to the axis of rotation of the rim relative to the body 12.
  • the robot 10 is autonomous in that it can include a dedicated energy supply, such as an electric accumulator housed in the cover 14, for example next to paint cartridges. Alternatively or in addition, it can be connected by cable to an external energy source. In addition, it can carry one or more paint tanks (not visible).
  • a dedicated energy supply such as an electric accumulator housed in the cover 14, for example next to paint cartridges.
  • it can be connected by cable to an external energy source.
  • it can carry one or more paint tanks (not visible).
  • the robot 10 can include a mapping system 18 making it possible to draw up a plan of the room as well as of each wall 8 to be painted. Thanks to a computer navigation program, he manages to calculate an optimal route.
  • the mapping system 18 can include optical means 20, forming for example the top of the body 12, and / or placed on a face of the body 12.
  • the optical means 20 can be distributed around the body 12.
  • the optical means 20 can include a thermal camera, and / or an infrared sensor. They can help define a plan of the room as well as detect any obstacles. This last function can also be performed by ultrasonic sensors.
  • the plan of part 2 can be pre-established and then loaded into a computer memory unit of the robot.
  • the application of paint can be carried out by means of a sprayer 22.
  • the latter comprises a nozzle 23 projecting a jet or a cloud of paint which tints or pigments the wall 8 when the paint is deposited thereon.
  • the sprayer 22 comprises a funnel 24.
  • the funnel 24 has an internal clearance, the internal section of which increases towards the wall 8. The veil of the funnel 24 makes it possible to limit the diffusion of the paint, and makes it possible to control sharpness of the edges of the sprayer footprint.
  • the sprayer 22 is installed laterally with respect to the body 12. Its spray of paint comes out at a distance from the body, which limits soiling there.
  • the spraying of paint via the sprayer can take place in the transverse direction T, which can correspond to the axis of rotation of at least one or two wheels 16; said wheel (s) 16 being directing and / or driving.
  • a slide 26 movably connects the sprayer 22 to the body 12 of the robot 10.
  • the slide 26 can be vertically telescopic. It is shown in solid lines in its retracted configuration, or low configuration; and in dotted lines in its deployed configuration, or high configuration.
  • the sprayer 22 manages to sweep the entire height of the body 12, and even the entire height of the wall 8.
  • the slide 26 can be with pulleys and cables (not visible), which offers an interesting durability in the field of painting despite the back and forth movements that the sprayer 22 has to follow.
  • An internal motor drives each cable in order to actuate the sprayer. sprayer.
  • a space 28 can separate the slide 26 from the body 12.
  • this space 28 touches the body 12 and the slide 26. These parts can delimit it transversely. It can be delimited longitudinally by the slide.
  • the space 28 forms an interface, and / or a recess; between the slide 26 and the body, respectively the wheels, when the slide is in the retracted configuration.
  • Space 28 can be essentially empty. It spans the majority of the height the body 12 and / or the slide 26.
  • the space 28 separates, at least partially, the optical means 20 from the slide 26.
  • a junction 30 makes it possible to connect the slide 26 to the body 12. It extends transversely from one to the other. It can form a solid extending the body 12.
  • the junction 30 preferably extends exclusively outside the support polygon 40. Plates 32 of the slide 26 are joined to the body 12, optionally via the junction 30, and to the sprayer 22. The plates 32, or carriages, can each sweep the slide.
  • the robot can be configured to paint horizontal surfaces, such as floors and ceilings, for example using a ball joint or a pivot whose travel allows vertical spraying.
  • a configuration favoring, or limited to, vertical surfaces increases the reliability of the robot thanks to better robustness and better sealing against paint mist.
  • the figure 2 shows the autonomous painter robot 10 from behind, illustrated in figure 1 .
  • This figure 2 highlights the movement D of robot 10 which is shown in phantom in the first position, and in solid line in the second position.
  • a first strip 34 of paint was deposited when the robot 10 occupied the first position.
  • the sprayer 22 has traversed the wall 8 over its entire height. Following the movement D of the robot 10 in its longitudinal direction L, the robot 10 has stopped. Then he applies a second strip 36 which partially covers the first, for example when the latter remains wet.
  • the overlap zone 38 can represent 50% of the width of the bands (34; 36). In this zone 38, two layers of paint are piled up. The width of the overlap zone 38 is equal to the displacement D.
  • the figure 3 shows the robot 10 overhanging. From left to right, we observe the body 10, the junction 30, a plate 32, the slide 26, another plate 32, the sprayer 22 with its nozzle 23 and its funnel 24 in front of the wall 8. The space 28 delimiting the body 12 and the slide 26 is covered by the junction 30.
  • the longitudinal direction L is perpendicular to the transverse direction T.
  • the wheels 16 define the support polygon 40 of the robot 10.
  • the sprayer 22 is placed longitudinally at the level of the support polygon 40, and / or in the transverse extension of the support polygon. levitation 40. This position to the right of the polygon facilitates the positioning of the sprayer 22 opposite the wall 8, and facilitates the painting of the corners 42 between two inclined walls.
  • the figure 4 shows a top view of the sprayer 22 according to the invention, as well as the imprints 44 of paints which are made according to the configuration of the funnel 24.
  • the funnel 24 is adjustable longitudinally. It is configured to reduce the size of the opening. It can include moving parts and one or more actuators, for example arranged to move apart or bring together the moving parts.
  • the funnel 24 is drawn with a solid line in the retracted or closed configuration, and with a dotted line in the deployed configuration or open configuration.
  • the same mode of representation applies to the imprints 44.
  • the length of the imprint 44 is maximum. It is reduced in the retracted configuration, and can form a square. The painting of the corners and edges is thus simplified.
  • the figure 5 is a longitudinal and vertical section of the sprayer 22 inside the funnel 24. Paint 46 is sprayed against the surface of the wall 8 in order to cover it, in particular in several layers.
  • the funnel 24 has a recovery orifice 48.
  • This recovery orifice 48 makes it possible to collect the paint mist 46 which does not reach the wall, and which remains in suspension inside the funnel. 24 or risking to bypass the wall 8.
  • the funnel 24 comprises a third or a quarter at the end on the wall side 8, that is to say which forms the opening, the orifice being advantageously formed in said third or said quarter respectively.
  • the robot can have a suction with a pipe 50 connected to the orifice 48 in order to evacuate the paint mist 46.
  • a pipe 50 connected to the orifice 48 in order to evacuate the paint mist 46.
  • the paint imprint becomes even clearer because only the paint droplets 46 whose trajectory is controlled. reach the wall 8.
  • These droplets advantageously have straight trajectories thanks to their kinetic energies.
  • the sprayer 22, and in particular the funnel 24 can be brought closer to the wall 8.
  • the gap E them. separating may be of the order of 0.50 cm. This deviation can be measured at the opening 52.
  • the deviation E can be an average deviation.
  • the figure 6 represents an autonomous painter robot according to a second embodiment of the invention.
  • This figure 6 uses the numbering of the previous figures for identical or similar elements, the numbering being however incremented by 100. Specific numbers are used for the elements specific to this embodiment.
  • the second embodiment is substantially identical to the first embodiment, it is however distinguished by the shape of the body 112 and by the implantation of the wheels 116.
  • the body 112 can be hexagonal when viewed from above.
  • the robot 110 can include a lower base 154. This base 154 can be circular.
  • Two main wheels 156 can protrude from the base 154 and / or the body. These main wheels 156 can be driven and steered, for example by turning in the opposite direction.
  • the auxiliary wheels 158 can be idle wheels.
  • the axis of rotation of the main wheels 156 can be fixed relative to the body 112, and form the transverse direction T, and / or be perpendicular to the longitudinal direction L.
  • the support polygon 140 generally forms a triangle, and possibly a hexagon.
  • the slide 126 movably carries the sprayer 122. It is in the transverse extension of the support polygon 140. It can be separated therefrom by the space 128. The latter can also touch the slide 126, the body 112 and the base 154 .
  • the figure 7 is a diagram of the control or piloting process of an autonomous painter robot.
  • step (a) application 200 the wall has two walls connected by a corner, as detailed in figure 3 .
  • the paint strip can overlap the corner.
  • step (b) displacement 202, and / or during step (a) application 200 the inclinations of the walls with respect to the transverse direction are equal.
  • the robot paints a corner it can rotate on itself and advance less than a strip width.
  • its path may develop more than one bandwidth. Both the progress and the press can be calculated from the robot's center of gravity.

Description

Domaine techniqueTechnical area

L'invention concerne un robot peintre autonome pour application de peinture dans des pièces d'habitation et de bureaux. L'invention se rapporte également à un procédé de commande d'un robot peintre autonome dans une pièce à décorer.The invention relates to an autonomous painter robot for applying paint in living rooms and offices. The invention also relates to a method for controlling an autonomous painter robot in a room to be decorated.

Technique antérieurePrior art

Un robot peintre parvient à déposer de manière autonome de la peinture dans des pièces d'habitation. Un tel robot applique des couches de peinture homogènes à une cadence élevée, ce qui réduit la durée d'un chantier de construction comme de rénovation. Un tel robot comporte un châssis monté sur roues, et une liaison glissant verticalement de manière à déplacer de haut en bas un bras pulvérisateur à peinture.A robot painter manages to independently deposit paint in living rooms. Such a robot applies homogeneous layers of paint at a high rate, which reduces the duration of a construction site as well as a renovation. Such a robot comprises a frame mounted on wheels, and a link sliding vertically so as to move a paint sprayer arm up and down.

Le document de brevet publié WO 2016/109721 A1 divulgue un robot peintre avec un corps inférieur muni de liaisons au sol. Des bras télescopiques avant et arrière s'étendent verticalement depuis le corps inférieur, et permettent de guider le mouvement vertical d'une tête de peinture. Le robot est chapeauté par une plaque reliant les barres verticales. Cette plaque est soulevée jusqu'à atteindre le plafond. Ce mouvement est assuré par les bras télescopiques, et aboutit à un maintien en position du robot, notamment au niveau du plafond. Ce robot permet également de peindre les recoins entre deux pans de murs dans une même pièce.The published patent document WO 2016/109721 A1 discloses a robot painter with a lower body provided with ground connections. Front and rear telescopic arms extend vertically from the lower body, and guide the vertical movement of a paint head. The robot is headed by a plate connecting the vertical bars. This plate is raised until it reaches the ceiling. This movement is provided by the telescopic arms, and results in the robot being held in position, in particular at the level of the ceiling. This robot can also paint the corners between two sections of walls in the same room.

Or, l'entretien de ce robot est complexe et doit être effectué fréquemment. En effet, il présente un nombre important de pièces mobiles qui sont exposées au nuage de peinture. A l'usage, les gouttelettes de peinture en suspension se solidifient dans les liaisons mécaniques qui se dégradent prématurément. Le dépôt progressif de peinture bloque les liaisons, et réduit la précision de mouvement. En outre, la peinture masque les moyens optiques du robot autonome, ce qui en pénalise la capacité à cartographier son environnement ou à détecter des obstacles. La capacité à contrôler les surfaces peintes ou à peindre s'en trouve également limitée.However, the maintenance of this robot is complex and must be carried out frequently. Indeed, it has a large number of moving parts which are exposed to the paint cloud. With use, the paint droplets in suspension solidify in the mechanical bonds which deteriorate prematurely. The progressive deposition of paint blocks the connections, and reduces the precision of movement. In addition, the paint masks the optical means of the autonomous robot, which penalizes its ability to map its environment or to detect obstacles. The ability to control painted surfaces or to paint is also limited.

Le document CN 101412008 A décrit un robot de peinture avec de multiples articulations. Celui-ci est complexe et encombrant.The document CN 101412008 A describes a painting robot with multiple joints. This one is complex and bulky.

Le document DE 20 2009 005 562 U1 décrit un entonnoir pour un dispositif de pulvérisation.The document DE 20 2009 005 562 U1 describes a funnel for a spray device.

Résumé de l'inventionSummary of the invention Problème techniqueTechnical problem

L'invention a pour objectif de résoudre au moins un des problèmes techniques mentionnés ci-dessus. L'invention a également pour objectif de préserver la précision de peinture d'un robot peintre autonome. L'invention a également pour objectif de réduire l'impact de la peinture sur le robot peintre autonome.The object of the invention is to solve at least one of the technical problems mentioned above. Another objective of the invention is to preserve the painting precision of an autonomous painter robot. Another objective of the invention is to reduce the impact of the paint on the autonomous painter robot.

Solution techniqueTechnical solution

On aura bien compris que l'invention propose un véhicule peignant de manière autonome, qui comprend une coulisse transversalement à distance et transversalement en face du corps.It will be understood that the invention proposes an autonomous painting vehicle, which comprises a slide transversely at a distance and transversely in front of the body.

L'invention a pour objet un robot peintre autonome configuré pour peindre des parois verticales de pièces intérieures, notamment des pièces d'habitation ou des pièces de bureau, le robot comprenant : un corps principal, une direction transversale, un polygone de sustentation, notamment défini par des roues du robot, un pulvérisateur de peinture configuré pour projeter de la peinture selon la direction transversale T, ledit pulvérisateur étant disposé dans le prolongement transversal du polygone de sustentation ; une coulisse verticale reliant de manière coulissante le pulvérisateur au corps, remarquable en ce qu'il comprend en outre un espace vertical séparant transversalement la coulisse du corps.The subject of the invention is an autonomous painter robot configured to paint vertical walls of interior rooms, in particular living rooms or office rooms, the robot comprising: a main body, a transverse direction, a support polygon, in particular defined by the wheels of the robot, a paint sprayer configured to project paint in the transverse direction T, said sprayer being arranged in the transverse extension of the support polygon; a vertical slide slidably connecting the sprayer to the body, remarkable in that it further comprises a vertical space transversely separating the slide from the body.

L'invention a également pour objet un robot peintre autonome, le robot comprenant : un corps ; un effecteur notamment apte à pulvériser de la peinture ; une coulisse reliant l'effecteur au corps ; des roues définissant un polygone de sustentation du robot, au moins une desdites roues ayant un axe de rotation fixe par rapport au corps; remarquable en ce que le robot comprend un espace séparant la coulisse de la surface de sustentation suivant ledit axe, et/ou un espace latéral reliant latéralement la coulisse au polygone.The subject of the invention is also an autonomous painter robot, the robot comprising: a body; an effector in particular capable of spraying paint; a slide connecting the effector to the body; wheels defining a support polygon of the robot, at least one of said wheels having an axis of rotation fixed with respect to the body; remarkable in that the robot comprises a space separating the slide from the support surface along said axis, and / or a lateral space laterally connecting the slide to the polygon.

L'invention a également pour objet un robot peintre autonome, le robot comprenant : un corps principal, une direction longitudinale, un polygone de sustentation, des moyens d'entraînement selon une direction longitudinale, un pulvérisateur de peinture configuré pour projeter de la peinture transversalement à la direction longitudinale, ledit pulvérisateur étant disposé longitudinalement au niveau du polygone de sustentation ; une coulisse verticale reliant de manière coulissante le pulvérisateur au corps, remarquable en ce qu'il comprend en outre un espace vertical séparant transversalement la coulisse du corps ; et/ou reliant transversalement la coulisse au polygone et/ou au corps.The subject of the invention is also an autonomous painter robot, the robot comprising: a main body, a longitudinal direction, a polygon of lift, drive means in a longitudinal direction, a paint sprayer configured to project paint transversely to the longitudinal direction, said sprayer being disposed longitudinally at the level of the lift polygon; a vertical slide slidingly connecting the sprayer to the body, remarkable in that it further comprises a vertical space transversely separating the slide from the body; and / or transversely connecting the slide to the polygon and / or to the body.

Selon des modes avantageux de l'invention, le robot peut comprendre une ou plusieurs des caractéristiques suivantes, prises isolément ou selon toutes les combinaisons techniques possibles :

  • L'espace s'étend sur la majorité de la hauteur du corps.
  • Le robot comprend une jonction reliant transversalement la coulisse au corps.
  • Le pulvérisateur comprend un entonnoir avec une ouverture rectangulaire.
  • Le pulvérisateur est configuré de manière à réduire la longueur de l'ouverture perpendiculairement à la direction transversale.
  • L'entonnoir comprend un orifice de récupération de peinture pulvérisée, le robot comprenant un module d'aspiration de peinture pulvérisée via l'orifice de récupération.
  • La coulisse est une coulisse télescopique à poulies, notamment à moteur interne.
  • Le corps présente une forme cylindrique ou une forme de polyèdre ayant un allongement principal agencé selon l'axe de coulissement de la coulisse, la largeur transversale du robot est éventuellement inférieure ou égale à : 90 cm, ou 80 cm, ou 70 cm, ou 60 cm.
  • Le corps comprend des moyens optiques à distance de la coulisse, et/ou des capteurs ultrasons à distance de la coulisse.
  • L'espace vertical séparant la coulisse du corps s'étend principalement verticalement.
  • Le polygone de sustentation forme un triangle, ou un rectangle, ou un trapèze, ou un hexagone.
  • En projection verticale dans un plan horizontal, la coulisse est en dehors et/ou à distance du polygone de sustentation ; et/ou l'espace sépare la coulisse du corps.
  • La coulisse est disposée transversalement entre le corps et le pulvérisateur, et/ou les relie transversalement.
  • La coulisse est mobile entre une configuration déployée et une configuration rétractée dans laquelle la coulisse fait saille verticalement par rapport au corps.
  • La coulisse est configurée pour s'étendre au moins sur toute la hauteur du corps.
  • La coulisse comprend une platine reliée au corps et une platine reliée au pulvérisateur, lesdites platines étant mobiles verticalement l'une par rapport à l'autre.
  • Le robot comprend une liaison pivot reliant le pulvérisateur à la coulisse, ladite liaison pivot ayant un axe de pivotement horizontal. Une liaison rotule offre davantage de liberté de mouvement. Une liaison pivot, c'est-à-dire à un seul axe de rotation, est plus limitée mais reste plus robuste. Le robot équipé de la sorte reste plus fiable.
  • Les roues forment des liaisons au sol.
  • Les roues comprennent au moins une ou sont des roues mecanum.
  • La largeur transversale du robot est supérieure à la longueur longitudinale du robot, la largeur étant éventuellement mesurée depuis une extrémité libre du pulvérisateur, par exemple en position déployée ou rétractée.
  • L'ouverture de l'entonnoir présente un axe vertical et un axe longitudinal plus long que l'axe vertical, lesdits axes étant perpendiculaires à la direction transversale ; l'axe longitudinal étant horizontal.
  • L'espace s'étend sur sensiblement toute la hauteur du corps, et/ou la hauteur de la coulisse dans sa configuration rétractée, et/ou sur la majorité de la hauteur du robot, notamment en configuration rétractée de la coulisse.
  • La direction transversale est fixe par rapport au corps.
  • La jonction est disposée au sommet du corps.
  • Du point de vue des moyens optiques, la coulisse masque au moins partiellement le pulvérisateur.
According to advantageous embodiments of the invention, the robot can comprise one or more of the following characteristics, taken in isolation or according to all the possible technical combinations:
  • The space extends for the majority of the height of the body.
  • The robot comprises a junction transversely connecting the slide to the body.
  • The sprayer includes a funnel with a rectangular opening.
  • The sprayer is configured to reduce the length of the opening perpendicular to the transverse direction.
  • The funnel includes an orifice for recovering sprayed paint, the robot comprising a module for sucking paint sprayed via the recovery orifice.
  • The slide is a telescopic slide with pulleys, in particular with an internal motor.
  • The body has a cylindrical shape or a polyhedron shape having a main elongation arranged along the sliding axis of the slide, the transverse width of the robot is optionally less than or equal to: 90 cm, or 80 cm, or 70 cm, or 60 cm.
  • The body comprises optical means at a distance from the slide, and / or ultrasonic sensors at a distance from the slide.
  • The vertical space separating the slide from the body extends mainly vertically.
  • The support polygon forms a triangle, or a rectangle, or a trapezoid, or a hexagon.
  • In vertical projection in a horizontal plane, the slide is outside and / or at a distance from the support polygon; and / or the space separates the slide from the body.
  • The slide is arranged transversely between the body and the sprayer, and / or connects them transversely.
  • The slide is movable between a deployed configuration and a retracted configuration in which the slide projects vertically relative to the body.
  • The slide is configured to extend at least the full height of the body.
  • The slide comprises a plate connected to the body and a plate connected to the sprayer, said plates being movable vertically with respect to one another.
  • The robot comprises a pivot link connecting the sprayer to the slide, said pivot link having a horizontal pivot axis. A ball joint offers more freedom of movement. A pivot connection, that is to say with a single axis of rotation, is more limited but remains more robust. The robot equipped in this way remains more reliable.
  • The wheels form links to the ground.
  • The wheels include at least one or are mecanum wheels.
  • The transverse width of the robot is greater than the longitudinal length of the robot, the width possibly being measured from a free end of the sprayer, for example in the deployed or retracted position.
  • The opening of the funnel has a vertical axis and a longitudinal axis longer than the vertical axis, said axes being perpendicular to the transverse direction; the longitudinal axis being horizontal.
  • The space extends over substantially the entire height of the body, and / or the height of the slide in its retracted configuration, and / or over the majority of the height of the robot, in particular in the retracted configuration of the slide.
  • The transverse direction is fixed relative to the body.
  • The junction is placed at the top of the body.
  • From the point of view of optical means, the slide at least partially masks the sprayer.

L'invention a également pour objet un procédé de commande d'un robot peintre autonome configuré pour peindre une paroi de pièce intérieure, le robot comprenant un corps principal, une coulisse reliant le pulvérisateur au corps principal de manière à déplacer verticalement le pulvérisateur par rapport au corps, des roues définissant un premier axe de rotation selon une direction transversale T et un deuxième axe de rotation, un polygone de sustentation du robot et un pulvérisateur de peinture configuré pour projeter de la peinture selon la direction transversale, la coulisse et le polygone de sustentation étant entre le premier axe de rotation et le deuxième axe de rotation, le procédé comprenant les étapes suivantes : (a) application d'une bande de peinture verticale par le pulvérisateur sur la paroi, puis une étape (b) déplacement du robot, remarquable en ce que la coulisse est transversalement à distance du polygone de sustentation, et en ce qu'à l'étape (b) déplacement, le robot évolue d'au plus la moitié de la largeur de la bande de peinture, perpendiculairement à la direction transversale T, le robot étant éventuellement conforme à l'invention.The invention also relates to a method for controlling an autonomous painter robot configured to paint an interior room wall, the robot comprising a main body, a slide connecting the sprayer to the main body so as to move the sprayer vertically with respect to on the body, wheels defining a first axis of rotation in a transverse direction T and a second axis of rotation, a support polygon of the robot and a paint sprayer configured to project paint in the transverse direction, the slide and the polygon of lift being between the first axis of rotation and the second axis of rotation, the method comprising the following steps: (a) application of a vertical strip of paint by the sprayer on the wall, then a step (b) movement of the robot , remarkable in that the slide is transversely at a distance from the support polygon, and in that in step (b) displacement, the robot evo read at most half the width of the strip of paint, perpendicular to the transverse direction T, the robot possibly being in accordance with the invention.

Selon des modes avantageux de l'invention, le procédé peut comprendre une ou plusieurs des caractéristiques suivantes, prises isolément ou selon toutes les combinaisons techniques possibles :

  • Lors de l'étape (a) application, la paroi présente deux murs reliés par un coin chevauché par la bande de peinture, lors de l'étape (a) application les inclinaisons des murs par rapport à la direction transversale T sont égales.
  • Le pulvérisateur comprend un entonnoir par lequel la peinture est projetée sur la paroi, lors de l'étape (a) application, l'écart E entre l'entonnoir et la paroi est compris entre 0,10 cm et 1,00 cm.
  • La bande comprend une largeur perpendiculaire à la direction verticale.
  • L'écart E entre l'entonnoir et la paroi est compris entre 0,30 cm et 0,80 cm.
  • L'écart E entre l'entonnoir et la paroi est un écart moyen entre la surface de la paroi et l'extrémité libre de l'entonnoir.
  • A l'étape (a) application, la pièce présente une hauteur comprise entre 2,00m et 3,00m, et/ou une largeur inférieure ou égale à : 3,00m, ou 2,00m, ou 1,00m.
  • A l'étape (a) application, la pièce comprend une porte en limitant l'accès, la hauteur de la porte étant comprise entre 2,00m et 2,50m, et/ou sa largeur étant comprise entre 70cm et 90cm.
  • Les axes de rotation forment un essieu avant et un essieu arrière.
  • Les axes sont parallèles.
  • L'un desdits axes, notamment le premier, est fixe par rapport au corps.
  • Au moins un de chaque axe est formé par au moins une ou au moins des deux roues.
According to advantageous modes of the invention, the method can comprise one or more of the following characteristics, taken in isolation or according to all the possible technical combinations:
  • During step (a) application, the wall has two walls connected by a corner overlapped by the strip of paint, during step (a) application the inclinations of the walls with respect to the transverse direction T are equal.
  • The sprayer comprises a funnel through which the paint is projected onto the wall, during step (a) application, the distance E between the funnel and the wall is between 0.10 cm and 1.00 cm.
  • The strip has a width perpendicular to the vertical direction.
  • The distance E between the funnel and the wall is between 0.30 cm and 0.80 cm.
  • The distance E between the funnel and the wall is an average distance between the surface of the wall and the free end of the funnel.
  • In step (a) application, the part has a height of between 2.00m and 3.00m, and / or a width less than or equal to: 3.00m, or 2.00m, or 1.00m.
  • In step (a) application, the part comprises a door while limiting access, the height of the door being between 2.00m and 2.50m, and / or its width being between 70cm and 90cm.
  • The axes of rotation form a front axle and a rear axle.
  • The axes are parallel.
  • One of said axes, in particular the first, is fixed relative to the body.
  • At least one of each axis is formed by at least one or at least of the two wheels.

De manière générale, les modes avantageux de chaque objet de l'invention sont également applicables aux autres objets de l'invention. Chaque objet de l'invention est combinable aux autres objets, et les objets de l'invention sont également combinables aux modes de réalisation de la description, qui en plus sont combinables entre eux, selon toutes les combinaisons techniques possibles, à moins que le contraire ne soit explicitement mentionné.In general, the advantageous modes of each subject of the invention are also applicable to the other subjects of the invention. Each object of the invention can be combined with other objects, and the objects of the invention can also be combined with the embodiments of the description, which in addition can be combined with each other, according to all the possible technical combinations, unless the contrary is true. is not explicitly mentioned.

Avantages de l'inventionAdvantages of the invention

Les mesures de l'invention sont intéressantes en ce que l'espace devient un espace de séparation qui réduit la proportion de la peinture en suspension atteignant le corps du robot. Les parties mobiles, les moyens optiques, et les fentes dans le capot extérieur du corps sont moins exposés aux gouttelettes. Ainsi les capacités de mouvement, d'analyse de l'environnement, et de refroidissement des modules électriques sont préservées. Les risques de panne et d'accident s'amenuisent. Le robot parvient à fonctionner de manière autonome plus longtemps tout en garantissant une marge de sécurité et une qualité élevées. Les solutions de la présente invention sont particulièrement pertinentes pour les coins.The measures of the invention are interesting in that the space becomes a separation space which reduces the proportion of the suspended paint reaching the body of the robot. Moving parts, optical means, and slots in the outer body cover are less exposed to droplets. Thus the movement, environmental analysis and cooling capacities of the electrical modules are preserved. The risks of breakdown and accident are reduced. The robot manages to operate autonomously more long time while ensuring a high safety margin and quality. The solutions of the present invention are particularly relevant for corners.

La configuration avec un pulvérisateur transversal, intégré dans la longueur du corps, ou du moins dans l'emprise longitudinale des roues, facilite la gestion et la précision des déplacements rapides. Ceci augmente grâce au parallélisme entre la direction de pulvérisation et l'axe de rotation des roues.The configuration with a transverse sprayer, integrated in the length of the body, or at least in the longitudinal grip of the wheels, facilitates the management and the precision of rapid movements. This increases thanks to the parallelism between the spraying direction and the axis of rotation of the wheels.

L'adoption d'un entonnoir en extrémité du robot permet d'épouser la surface de la paroi, et de limiter la fuite du brouillard de peinture pouvant polluer l'environnement. A nouveau, les surfaces fonctionnelles du robot sont préservées. L'opération préparatoire de collage de ruban adhésif de protection devient facultative.The adoption of a funnel at the end of the robot makes it possible to match the surface of the wall, and to limit the leakage of paint mist which can pollute the environment. Again, the functional surfaces of the robot are preserved. The preparatory operation of gluing protective adhesive tape becomes optional.

Brève description des dessinsBrief description of the drawings

  • La figure 1 représente une vue selon la direction longitudinale d'un robot peintre autonome selon un premier mode de réalisation de l'invention.The figure 1 represents a view in the longitudinal direction of an autonomous painter robot according to a first embodiment of the invention.
  • La figure 2 montre une vue suivant la direction transversale d'un robot peintre autonome selon le premier mode de réalisation de l'invention.The figure 2 shows a view in the transverse direction of an autonomous painter robot according to the first embodiment of the invention.
  • La figure 3 esquisse une vue du dessus d'un robot peintre autonome selon le premier mode de réalisation de l'invention.The figure 3 sketch a top view of an autonomous painter robot according to the first embodiment of the invention.
  • La figure 4 est un agrandissement d'une vue du dessus du pulvérisateur selon l'invention.The figure 4 is an enlargement of a top view of the sprayer according to the invention.
  • La figure 5 est un agrandissement d'une coupe du pulvérisateur selon l'invention.The figure 5 is an enlargement of a section of the sprayer according to the invention.
  • La figure 6 représente une vue du dessus d'un robot peintre autonome selon un deuxième mode de réalisation de l'invention.The figure 6 shows a top view of an autonomous painter robot according to a second embodiment of the invention.
  • La figure 7 est un diagramme du procédé de commande d'un robot peintre autonome selon l'invention.The figure 7 is a diagram of the method for controlling an autonomous painter robot according to the invention.
Description d'un mode de réalisationDescription of an embodiment

Dans la description qui va suivre, la direction longitudinale correspond à la direction principale de déplacement du robot. La direction longitudinale est éventuellement perpendiculaire à la direction transversale. Les dimensions peuvent être considérées lorsque le robot applique de la peinture, notamment dans au moins une position de la coulisse.In the following description, the longitudinal direction corresponds to the main direction of movement of the robot. The longitudinal direction is optionally perpendicular to the transverse direction. The dimensions can be considered when the robot applies paint, in particular in at least one position of the slide.

La figure 1 représente une pièce 2 intérieure d'une construction, telle une habitation ou des bureaux.The figure 1 represents an interior room 2 of a building, such as a house or offices.

La hauteur entre le sol 4 et le plafond 6 peut être égale à 2,55m, ou plus généralement être comprise entre 2,00 m et 3,00m. De manière répandue dans les pièces intérieures, l'accès s'effectue via une porte (non représentée), dont la hauteur peut être inférieure ou égale à 2,05m ; et dont la largeur peut être inférieure ou égale à 0,90 m. La taille de la porte forme un obstacle contraignant l'accès à la pièce 2. Une paroi verticale 8 relie le sol 4 au plafond 6, et sa surface est peinte par un robot peintre autonome 10.The height between the floor 4 and the ceiling 6 can be equal to 2.55 m, or more generally be between 2.00 m and 3.00 m. In a widespread manner in interior rooms, access is via a door (not shown), the height of which may be less than or equal to 2.05m; and the width of which may be less than or equal to 0.90 m. The size of the door forms an obstacle restricting access to the room 2. A vertical wall 8 connects the floor 4 to the ceiling 6, and its surface is painted by an autonomous painter robot 10.

Le robot 10 peut être un véhicule, notamment automobile. Il peut comprendre un corps principal 12, notamment formé par un capot extérieur 14 éventuellement rectangulaire. Le robot 10 peut comprendre des liaisons au sol, telles des roues 16 ou des chenilles. Les roues 16 peuvent comprendre des bandes de roulement souples. Un dispositif sur coussin d'air est envisageable. Les roues 16 peuvent être du type mecanum. Leurs bandes de roulement sont formées par une série de galets tournant par rapport à une jante, les axes de rotations des galets étant inclinés par rapport à l'axe de rotation de la jante par rapport au corps 12.The robot 10 can be a vehicle, in particular an automobile. It can comprise a main body 12, in particular formed by an outer cover 14 which is optionally rectangular. The robot 10 can include ground links, such as wheels 16 or caterpillars. The wheels 16 can include flexible treads. An air cushion device is possible. The wheels 16 can be of the mecanum type. Their treads are formed by a series of rollers rotating relative to a rim, the axes of rotation of the rollers being inclined relative to the axis of rotation of the rim relative to the body 12.

Le robot 10 est autonome en ce qu'il peut comprendre une alimentation en énergie dédiée, telle un accumulateur électrique logé dans le capot 14, par exemple à côté de cartouches de peinture. Alternativement ou en complément, il peut être relié par câble à une source d'énergie externe. En outre, il peut embarquer un ou plusieurs réservoirs de peinture (non visibles).The robot 10 is autonomous in that it can include a dedicated energy supply, such as an electric accumulator housed in the cover 14, for example next to paint cartridges. Alternatively or in addition, it can be connected by cable to an external energy source. In addition, it can carry one or more paint tanks (not visible).

Le robot 10 peut inclure un système de cartographie 18 permettant de dresser un plan de la pièce ainsi que de chaque paroi 8 à peindre. Grâce à un programme informatique de navigation, il parvient à calculer un parcours optimal. Le système de cartographie 18 peut inclure des moyens optiques 20, formant par exemple le sommet du corps 12, et/ou placés sur une face du corps 12. Les moyens optiques 20 peuvent être répartis autour du corps 12. Les moyens optiques 20 peuvent inclure une caméra thermique, et/ou un capteur infrarouge. Ils peuvent contribuer à définir un plan de la pièce ainsi qu'à détecter d'éventuels obstacles. Cette dernière fonction peut également être réalisée par des capteurs ultrason. En complément ou en alternative, le plan de la pièce 2 peut être préétabli puis chargé dans une unité de mémoire informatique du robot.The robot 10 can include a mapping system 18 making it possible to draw up a plan of the room as well as of each wall 8 to be painted. Thanks to a computer navigation program, he manages to calculate an optimal route. The mapping system 18 can include optical means 20, forming for example the top of the body 12, and / or placed on a face of the body 12. The optical means 20 can be distributed around the body 12. The optical means 20 can include a thermal camera, and / or an infrared sensor. They can help define a plan of the room as well as detect any obstacles. This last function can also be performed by ultrasonic sensors. In addition or as an alternative, the plan of part 2 can be pre-established and then loaded into a computer memory unit of the robot.

L'application de peinture peut s'effectuer au moyen d'un pulvérisateur 22. Ce dernier comporte une buse 23 projetant un jet ou un nuage de peinture qui teinte ou pigmente la paroi 8 lorsque la peinture s'y dépose. Optionnellement, le pulvérisateur 22 comporte un entonnoir 24. L'entonnoir 24 présente un dégagement interne dont la section interne augmente en direction de la paroi 8. Le voile de l'entonnoir 24 permet de limiter la diffusion de la peinture, et permet de maitriser la netteté des bords de l'empreinte du pulvérisateur.The application of paint can be carried out by means of a sprayer 22. The latter comprises a nozzle 23 projecting a jet or a cloud of paint which tints or pigments the wall 8 when the paint is deposited thereon. Optionally, the sprayer 22 comprises a funnel 24. The funnel 24 has an internal clearance, the internal section of which increases towards the wall 8. The veil of the funnel 24 makes it possible to limit the diffusion of the paint, and makes it possible to control sharpness of the edges of the sprayer footprint.

Le pulvérisateur 22 est implanté latéralement par rapport au corps 12. Son jet de peinture sort à distance du corps, ce qui y limite les salissures. La projection de peinture via le pulvérisateur peut s'effectuer selon la direction transversale T, qui peut correspondre à l'axe de rotation d'au moins une ou de deux roues 16 ; ladite ou lesdites roue(s) 16 étant directrice(s) et/ou motrice(s).The sprayer 22 is installed laterally with respect to the body 12. Its spray of paint comes out at a distance from the body, which limits soiling there. The spraying of paint via the sprayer can take place in the transverse direction T, which can correspond to the axis of rotation of at least one or two wheels 16; said wheel (s) 16 being directing and / or driving.

Une coulisse 26 relie de manière mobile le pulvérisateur 22 au corps 12 du robot 10. La coulisse 26 peut être télescopique verticalement. Elle est représentée en trait continu dans sa configuration rétractée, ou configuration basse ; et en traits pointillés dans sa configuration déployée, ou configuration haute. Ainsi, le pulvérisateur 22 parvient à balayer toute la hauteur du corps 12, et même toute la hauteur de la paroi 8.A slide 26 movably connects the sprayer 22 to the body 12 of the robot 10. The slide 26 can be vertically telescopic. It is shown in solid lines in its retracted configuration, or low configuration; and in dotted lines in its deployed configuration, or high configuration. Thus, the sprayer 22 manages to sweep the entire height of the body 12, and even the entire height of the wall 8.

La coulisse 26 peut être à poulies et à câbles (non visibles), ce qui offre une durabilité intéressante dans le domaine de la peinture malgré les allers-retours que doit suivre le pulvérisateur 22. Un moteur interne entraîne chaque câble afin d'actionné le pulvérisateur.The slide 26 can be with pulleys and cables (not visible), which offers an interesting durability in the field of painting despite the back and forth movements that the sprayer 22 has to follow. An internal motor drives each cable in order to actuate the sprayer. sprayer.

Un espace 28 peut séparer la coulisse 26 du corps 12. Optionnellement, cet espace 28 touche le corps 12 et la coulisse 26. Ces parties peuvent le délimiter transversalement. Il peut être délimité longitudinalement par la coulisse. L'espace 28 forme une interface, et/ou un évidement ; entre la coulisse 26 et le corps, respectivement les roues, lorsque la coulisse est en configuration rétractée. L'espace 28 peut être essentiellement vide. Il s'étend sur la majorité de la hauteur du corps 12 et/ou de la coulisse 26. L'espace 28 sépare, au moins partiellement, les moyens optiques 20 de la coulisse 26.A space 28 can separate the slide 26 from the body 12. Optionally, this space 28 touches the body 12 and the slide 26. These parts can delimit it transversely. It can be delimited longitudinally by the slide. The space 28 forms an interface, and / or a recess; between the slide 26 and the body, respectively the wheels, when the slide is in the retracted configuration. Space 28 can be essentially empty. It spans the majority of the height the body 12 and / or the slide 26. The space 28 separates, at least partially, the optical means 20 from the slide 26.

Une jonction 30 permet de relier la coulisse 26 au corps 12. Elle s'étend transversalement de l'une à l'autre. Elle peut former un solide prolongeant le corps 12. La jonction 30 s'étend préférentiellement exclusivement en dehors du polygone de sustentation 40. Des platines 32 de la coulisse 26 sont jointes au corps 12, éventuellement via la jonction 30, et au pulvérisateur 22. Les platines 32, ou chariots, peuvent chacune balayer la coulisse.A junction 30 makes it possible to connect the slide 26 to the body 12. It extends transversely from one to the other. It can form a solid extending the body 12. The junction 30 preferably extends exclusively outside the support polygon 40. Plates 32 of the slide 26 are joined to the body 12, optionally via the junction 30, and to the sprayer 22. The plates 32, or carriages, can each sweep the slide.

Le robot peut être configuré pour peindre des surfaces horizontales, tels les sols et les plafonds, par exemple grâce à une rotule ou un pivot dont le débattement permet une pulvérisation verticale. Toutefois une configuration privilégiant les, ou limitée aux, surfaces verticales augmente la fiabilité du robot grâce à une meilleure robustesse et à une meilleure étanchéité au brouillard de peinture.The robot can be configured to paint horizontal surfaces, such as floors and ceilings, for example using a ball joint or a pivot whose travel allows vertical spraying. However, a configuration favoring, or limited to, vertical surfaces increases the reliability of the robot thanks to better robustness and better sealing against paint mist.

La figure 2 montre de dos le robot peintre autonome 10 illustré en figure 1. Cette figure 2 met en évidence le déplacement D du robot 10 qui est représenté en trait mixte dans la première position, et en trait continu dans la deuxième position.The figure 2 shows the autonomous painter robot 10 from behind, illustrated in figure 1 . This figure 2 highlights the movement D of robot 10 which is shown in phantom in the first position, and in solid line in the second position.

Une première bande 34 de peinture a été déposée lorsque le robot 10 occupait la première position. Le pulvérisateur 22 a parcouru la paroi 8 sur toute sa hauteur. Suite au déplacement D du robot 10 selon sa direction longitudinale L, le robot 10 s'est arrêté. Puis il applique une deuxième bande 36 qui recouvre partiellement la première, par exemple lorsque celle-ci reste humide. La zone de recouvrement 38 peut représenter 50% de la largeur des bandes (34 ; 36). Dans cette zone 38, deux épaisseurs de peinture s'empilent. La largeur de la zone de recouvrement 38 est égale au déplacement D.A first strip 34 of paint was deposited when the robot 10 occupied the first position. The sprayer 22 has traversed the wall 8 over its entire height. Following the movement D of the robot 10 in its longitudinal direction L, the robot 10 has stopped. Then he applies a second strip 36 which partially covers the first, for example when the latter remains wet. The overlap zone 38 can represent 50% of the width of the bands (34; 36). In this zone 38, two layers of paint are piled up. The width of the overlap zone 38 is equal to the displacement D.

La figure 3 montre en surplomb le robot 10. De gauche à droite, on observe le corps 10, la jonction 30, une platine 32, la coulisse 26, une autre platine 32, le pulvérisateur 22 avec sa buse 23 et son entonnoir 24 en face de la paroi 8. L'espace 28 délimitant le corps 12 et la coulisse 26 est recouvert par la jonction 30. La direction longitudinale L est perpendiculaire à la direction transversale T.The figure 3 shows the robot 10 overhanging. From left to right, we observe the body 10, the junction 30, a plate 32, the slide 26, another plate 32, the sprayer 22 with its nozzle 23 and its funnel 24 in front of the wall 8. The space 28 delimiting the body 12 and the slide 26 is covered by the junction 30. The longitudinal direction L is perpendicular to the transverse direction T.

Les roues 16 définissent le polygone de sustentation 40 du robot 10. Le pulvérisateur 22 est placé longitudinalement au niveau du polygone de sustentation 40, et/ou dans le prolongement transversal du polygone de sustentation 40. Cette position au droit du polygone facilite le positionnement du pulvérisateur 22 en face de la paroi 8, et facilite la peinture des coins 42 entre deux murs inclinés.The wheels 16 define the support polygon 40 of the robot 10. The sprayer 22 is placed longitudinally at the level of the support polygon 40, and / or in the transverse extension of the support polygon. levitation 40. This position to the right of the polygon facilitates the positioning of the sprayer 22 opposite the wall 8, and facilitates the painting of the corners 42 between two inclined walls.

La figure 4 montre en vue du dessus le pulvérisateur 22 selon l'invention, ainsi que les empreintes 44 de peintures qui sont réalisées en fonction de la configuration de l'entonnoir 24.The figure 4 shows a top view of the sprayer 22 according to the invention, as well as the imprints 44 of paints which are made according to the configuration of the funnel 24.

L'entonnoir 24 est réglable longitudinalement. Il est configuré de manière à réduire la taille de l'ouverture. Il peut comprendre des parties mobiles et un ou plusieurs actionneurs, par exemple agencés pour écarter ou rapprocher les parties mobiles.The funnel 24 is adjustable longitudinally. It is configured to reduce the size of the opening. It can include moving parts and one or more actuators, for example arranged to move apart or bring together the moving parts.

L'entonnoir 24 est tracé à l'aide d'un trait continu en configuration rétractée ou fermée, et à l'aide d'un trait pointillé en configuration déployée ou configuration ouverte. Le même mode de représentation s'applique aux empreintes 44. Dans la configuration déployée, la longueur de l'empreinte 44 est maximale. Elle se réduit dans la configuration rétractée, et peut former un carré. La peinture des coins et des bords s'en retrouve simplifiée.The funnel 24 is drawn with a solid line in the retracted or closed configuration, and with a dotted line in the deployed configuration or open configuration. The same mode of representation applies to the imprints 44. In the deployed configuration, the length of the imprint 44 is maximum. It is reduced in the retracted configuration, and can form a square. The painting of the corners and edges is thus simplified.

La figure 5 est une coupe longitudinale et verticale du pulvérisateur 22 à l'intérieur de l'entonnoir 24. De la peinture 46 est projetée contre la surface de la paroi 8 afin de la recouvrir, notamment en plusieurs couches.The figure 5 is a longitudinal and vertical section of the sprayer 22 inside the funnel 24. Paint 46 is sprayed against the surface of the wall 8 in order to cover it, in particular in several layers.

Par exemple en partie inférieure, l'entonnoir 24 présente un orifice de récupération 48. Cet orifice de récupération 48 permet de collecter le brouillard de peinture 46 n'atteignant pas la paroi, et qui reste en suspension à l'intérieur de l'entonnoir 24 ou risquant de contourner la paroi 8. L'entonnoir 24 comprend un tiers ou un quart à l'extrémité côté paroi 8, c'est-à-dire qui en forme l'ouverture, l'orifice étant avantageusement ménagé dans ledit tiers ou ledit quart respectivement.For example in the lower part, the funnel 24 has a recovery orifice 48. This recovery orifice 48 makes it possible to collect the paint mist 46 which does not reach the wall, and which remains in suspension inside the funnel. 24 or risking to bypass the wall 8. The funnel 24 comprises a third or a quarter at the end on the wall side 8, that is to say which forms the opening, the orifice being advantageously formed in said third or said quarter respectively.

Le robot peut présenter une aspiration avec une conduite 50 connectée à l'orifice 48 afin d'évacuer le brouillard de peinture 46. Par là, l'empreinte de peinture devient encore plus nette car seules les gouttelettes de peinture 46 dont la trajectoire est maîtrisée atteignent la paroi 8. Ces gouttelettes présentent avantageusement des trajectoires droites grâce à leurs énergies cinétiques.The robot can have a suction with a pipe 50 connected to the orifice 48 in order to evacuate the paint mist 46. In this way, the paint imprint becomes even clearer because only the paint droplets 46 whose trajectory is controlled. reach the wall 8. These droplets advantageously have straight trajectories thanks to their kinetic energies.

Afin d'augmenter encore la précision des bords de l'empreinte, le pulvérisateur 22, et notamment l'entonnoir 24, peut être rapproché de la paroi 8. L'écart E les séparant peut être de l'ordre de 0,50 cm. Cet écart peut être mesuré au niveau de l'ouverture 52. L'écart E peut être un écart moyen.In order to further increase the precision of the edges of the imprint, the sprayer 22, and in particular the funnel 24, can be brought closer to the wall 8. The gap E them. separating may be of the order of 0.50 cm. This deviation can be measured at the opening 52. The deviation E can be an average deviation.

La figure 6 représente un robot peintre autonome selon un deuxième mode de réalisation de l'invention. Cette figure 6 reprend la numérotation des figures précédentes pour les éléments identiques ou similaires, la numération étant toutefois incrémentée de 100. Des numéros spécifiques sont utilisés pour les éléments spécifiques à ce mode de réalisation.The figure 6 represents an autonomous painter robot according to a second embodiment of the invention. This figure 6 uses the numbering of the previous figures for identical or similar elements, the numbering being however incremented by 100. Specific numbers are used for the elements specific to this embodiment.

Le deuxième mode de réalisation est sensiblement identique au premier mode de réalisation, il s'en distingue toutefois par la forme du corps 112 et par l'implantation des roues 116. Le corps 112 peut être hexagonal vu du dessus. Le robot 110 peut comprendre une base inférieure 154. Cette base 154 peut être circulaire. Deux roues principales 156 peuvent dépasser de la base 154 et/ou du corps. Ces roues principales 156 peuvent être motrices et directrices, par exemple en tournant en sens inverse. Les roues auxiliaires 158 peuvent être des roues folles.The second embodiment is substantially identical to the first embodiment, it is however distinguished by the shape of the body 112 and by the implantation of the wheels 116. The body 112 can be hexagonal when viewed from above. The robot 110 can include a lower base 154. This base 154 can be circular. Two main wheels 156 can protrude from the base 154 and / or the body. These main wheels 156 can be driven and steered, for example by turning in the opposite direction. The auxiliary wheels 158 can be idle wheels.

L'axe de rotation des roues principales 156 peut être fixe par rapport au corps 112, et former la direction transversale T, et/ou être perpendiculaire à la direction longitudinale L. Le polygone de sustentation 140 forme généralement un triangle, et éventuellement un hexagone. La coulisse 126 porte de manière mobile le pulvérisateur 122. Elle est dans le prolongement transversal du polygone de sustentation 140. Elle peut en être séparée par l'espace 128. Ce dernier peut également toucher la coulisse 126, le corps 112 et la base 154.The axis of rotation of the main wheels 156 can be fixed relative to the body 112, and form the transverse direction T, and / or be perpendicular to the longitudinal direction L. The support polygon 140 generally forms a triangle, and possibly a hexagon. . The slide 126 movably carries the sprayer 122. It is in the transverse extension of the support polygon 140. It can be separated therefrom by the space 128. The latter can also touch the slide 126, the body 112 and the base 154 .

L'enseignement du premier mode de réalisation peut s'appliquer intégralement au deuxième mode de réalisation. Ces modes de réalisation peuvent être combinés. Ils peuvent être appliqués au procédé qui suit.The teaching of the first embodiment can be fully applied to the second embodiment. These embodiments can be combined. They can be applied to the following process.

La figure 7 est un diagramme du procédé de commande ou de pilotage d'un robot peintre autonome.The figure 7 is a diagram of the control or piloting process of an autonomous painter robot.

Le procédé peut être itératif. Il peut comprendre les étapes suivantes :

  1. (a) application 200 d'une bande de peinture verticale par le pulvérisateur sur la paroi,
  2. (b) déplacement 202 du robot, où le robot évolue le long de la paroi peinte d'au plus la moitié de la largeur de la bande de peinture, perpendiculairement à la direction transversale.
The process can be iterative. It can include the following steps:
  1. (a) application 200 of a vertical strip of paint by the sprayer on the wall,
  2. (b) movement 202 of the robot, where the robot moves along the painted wall at most half the width of the paint strip, perpendicular to the transverse direction.

Lors de l'étape (a) application 200, la paroi présente deux murs reliés par un coin, tel que détaillé en figure 3. La bande de peinture peut chevaucher le coin. Lors de l'étape (b) déplacement 202, et/ou lors de l'étape (a) application 200 les inclinaisons des murs par rapport à la direction transversale sont égales. Lorsque le robot peint un coin, il peut pivoter sur lui-même et avancer de moins d'une largeur de bande. Lorsqu'il commence un mur après un coin, le développé de sa trajectoire peut être supérieur à une largeur de bande. L'avancement comme le développé peuvent être calculé à partir du centre de gravité du robot.During step (a) application 200, the wall has two walls connected by a corner, as detailed in figure 3 . The paint strip can overlap the corner. During step (b) displacement 202, and / or during step (a) application 200, the inclinations of the walls with respect to the transverse direction are equal. When the robot paints a corner, it can rotate on itself and advance less than a strip width. When starting a wall after a corner, its path may develop more than one bandwidth. Both the progress and the press can be calculated from the robot's center of gravity.

Claims (11)

  1. Autonomous painting robot (10; 110) configured to paint indoor vertical walls (8) of rooms (2), especially house rooms or office rooms, the robot (10; 110) comprises;
    a main body (12; 112),
    a transversal direction T,
    a support polygon (40; 140) defined by the wheels (16; 116) of the robot (10; 110),
    a paint (46) sprayer (22; 122) configured to spray paint (46) in the transversal direction T, said sprayer (22; 122) being arranged in the transverse extension of the support polygon (40; 140);
    a vertical slide (26; 126) connecting the sprayer (22; 122) to the body (12; 112) in a sliding manner;
    a vertical space (28; 128) transversely separating the slide (26; 126) from the body (12; 112);
    a junction (30) transversely connecting the slide (26; 126) to the body (12; 112), characterised in that the junction (30) forms a solid extension of the body (12; 122) and extends exclusively outside the support polygon (40; 140).
  2. Robot (10; 110) according to claim 1, characterised in that the space (28; 128) extends over the majority of the body (12; 112).
  3. Robot (10; 110) according to claim 1 to 2, characterised in that the sprayer (22; 122) comprises a funnel (24) with a rectangular opening (52).
  4. Robot (10; 110) according to claim 3, characterised in that the sprayer (22; 122) is configured in such a way that the length of the opening (52) is reduced perpendicularly to the transverse direction T.
  5. Robot (10; 110) according to one of the claims 3 to 4, characterised in that the funnel (24) comprises a spray-paint (46) recovery port (48), the robot (10; 110) comprising a spray-paint (46) suction module via the recovery port (48).
  6. Robot (10; 110) according to one of claims 1 to 5, characterised in that the slide (26; 126) is a telescopic slide with pulleys, in particular with an internal motor.
  7. Robot (10; 110) according to one of claims 1 to 6, characterised in that the body (12; 112) is cylindrical or polyhedral in shape with a main elongation arranged along the slide axis of the slide (26; 126), the transverse width of the robot (10; 110) is potentially less than or equal to 90 cm, 80 cm, 70 cm or 60 cm.
  8. Robot (10; 110) according to one of claims 1 to 7, characterised in that the body comprises optical means (20) at a distance from the slide (26; 126).
  9. A method of controlling an autonomous painting robot (10; 110) configured to paint an interior wall (8) of a room (2), the robot (10; 110) comprising a main body (12; 112), a slide (26; 126) connecting the sprayer (22; 122) to the main body so as to move the sprayer vertically (22; 122) with respect to the body, wheels (16; 116) defining an initial rotation axis in a transverse direction T and a second rotation axis, a support polygon (40; 140) of the robot (10; 110) and a paint (46) sprayer (22; 122) configured to project paint (46) in the transverse direction T, with the slide (26;126) and support polygon (40; 140) being between the first rotation axis and the second rotation axis, the method comprising the following stages:
    (a) application (200) of a vertical strip of paint (46) by the sprayer (22; 122) on the wall (8), followed by a
    (b) movement (202) stage of the robot (10; 110),
    characterised in that
    the slide (26; 126) is transversally at a distance from the support polygon (40; 140), and in that in the movement (202) stage (b), the robot (10; 110) moves more than half the width of the strip (34; 36) of paint (46) perpendicularly to the transversal direction T, the robot (10; 110) conforming to one of claims 1 to 9.
  10. Method according to claim 9, characterised in that in the application (200) stage (a), the wall (8) has two partitions connected by a corner (42) overlapped by the strip (34; 36) of paint (46), in the application (200) stage (a) the angles of the partitions with respect to the transverse direction T are equal.
  11. Method according to claims 9 to 10, characterised in that the sprayer (22; 122) comprises a funnel (24) by which the paint (46) is projected on the wall (8), during the application (200) stage (a), the gap E between the funnel and the wall (8) is between 0.10 cm and 1.00 cm.
EP18736922.8A 2017-07-17 2018-07-09 Autonomous painting robot and control method Active EP3655169B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1770762A FR3068898A1 (en) 2017-07-17 2017-07-17 AUTONOMOUS PAINTER ROBOT AND CONTROL METHOD
PCT/EP2018/068576 WO2019016016A1 (en) 2017-07-17 2018-07-09 Autonomous painting robot and control method

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EP3655169A1 EP3655169A1 (en) 2020-05-27
EP3655169B1 true EP3655169B1 (en) 2021-04-21

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EP (1) EP3655169B1 (en)
ES (1) ES2882130T3 (en)
FR (1) FR3068898A1 (en)
PT (1) PT3655169T (en)
WO (1) WO2019016016A1 (en)

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DE102018220412A1 (en) * 2017-12-06 2019-06-06 Robert Bosch Gmbh Media applicator
CN114746187A (en) * 2019-12-06 2022-07-12 固瑞克明尼苏达有限公司 Active spray adjustment for automated mobile sprayer
KR102554605B1 (en) * 2021-12-09 2023-07-13 주식회사 알피 Structure wall painting robot
CN114653511A (en) * 2022-03-29 2022-06-24 上海建冶科技股份有限公司 Anti-drop coating process for graphene anticorrosive material
CN114669414B (en) * 2022-03-31 2023-08-01 重庆电子工程职业学院 Spraying robot
DE102022113096A1 (en) 2022-05-24 2023-11-30 ConBotics GmbH Mobile robotic devices and methods for web-shaped surface processing of building structures

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FR1290364A (en) * 1961-03-07 1962-04-13 Carrier Engineering Co Ltd Spray device
CN101412008A (en) * 2007-10-18 2009-04-22 山东科技大学 Special type rust-cleaning spraying robot for building cabin of shipping
DE202009005562U1 (en) * 2009-04-16 2009-06-18 G. Theodor Freese Gmbh & Co. Kg Coating device with collecting funnel
CN104138816B (en) * 2014-08-01 2017-01-25 武汉一冶钢结构有限责任公司 Device and method for spraying coatings on steel members at high altitude
WO2016109721A1 (en) * 2014-12-31 2016-07-07 Robert Bosch Gmbh Autonomous painting apparatus
GB2544598A (en) * 2015-09-19 2017-05-24 John Storr Ivan Assembly for preparing and/or painting large surfaces

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EP3570985A1 (en) * 2017-01-17 2019-11-27 Graco Minnesota Inc. Systems for automated mobile painting of structures

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PT3655169T (en) 2021-07-28
ES2882130T3 (en) 2021-12-01
EP3655169A1 (en) 2020-05-27
FR3068898A1 (en) 2019-01-18

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