FR3068898A1 - AUTONOMOUS PAINTER ROBOT AND CONTROL METHOD - Google Patents

Abstract

An autonomous painter robot (10) configured to paint vertical walls (8) of interior pieces (2), such as living rooms or office rooms, the robot (10) comprising: a body main beam (12), a transverse direction, a lift polygon (40), in particular defined by wheels (16) of the robot, a paint sprayer (22) configured to project paint in the transverse direction, said sprayer being arranged transversely at the level of the levitation polygon (40); a vertical slide (26) slidably connecting the sprayer (22) to the body. A vertical space (28) transversely separates the slide (26) from the body (12). The invention also proposes a method of controlling the robot (10) during the painting of a wall (8).

Description

Description

AUTONOMOUS PAINTER ROBOT AND CONTROL METHOD

Technical area

The invention relates to a stand-alone robot painter for applying paint in living and office rooms. The invention also relates to a method for controlling an autonomous robot painter in a room to be decorated.

Prior art

A robotic painter manages to deposit paint autonomously in living rooms. Such a robot applies homogeneous layers of paint at a high rate, which reduces the duration of a construction site as of renovation. Such a robot comprises a chassis mounted on wheels, and a link sliding vertically so as to move up and down a paint sprayer arm.

The published patent document WO 2016/109721 A1 discloses a robot painter with a lower body provided with links to the ground. Front and rear telescopic arms extend vertically from the lower body and guide the vertical movement of a paint head. The robot is capped by a plate connecting the vertical bars. This plate is raised until it reaches the ceiling. This movement is ensured by the telescopic arms, and results in the robot being held in position, in particular at the level of the ceiling. This robot also makes it possible to paint the recesses between two sections of walls in the same room.

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. In use, the droplets of paint in suspension solidify in the mechanical bonds which degrade prematurely. The progressive deposition of paint blocks the bonds, and reduces the precision of movement. In addition, the painting 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 or painted surfaces is also limited.

Summary of the invention

Technical problem

The object of the invention is to solve at least one of the technical problems mentioned above. The invention also aims to preserve the painting precision of an autonomous robot painter. The invention also aims to reduce the impact of paint on the autonomous robot painter.

Technical solution

It will be understood that the invention provides an autonomous painting vehicle, which includes a slide transversely at a distance and transversely opposite the body.

The subject of the invention is an autonomous robot painter 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 wheels of the robot, a paint sprayer configured to spray paint in the transverse direction T, said sprayer being arranged in the transverse extension of the support 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.

The invention also relates to 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 relative to the body; remarkable in that the robot comprises a space separating the slide from the lift 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 support polygon, drive means in a longitudinal direction, a paint sprayer configured to spray paint transversely in the longitudinal direction, said sprayer being arranged longitudinally at the level of the support 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 connecting the slide transversely to the polygon and / or to the body.

According to advantageous modes of the invention, the robot can include one or more of the following characteristics, taken in isolation or according to all possible technical combinations:

- The space extends over the majority of the height of the body.

- The robot includes 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 a spray paint recovery port, the robot comprising a spray paint suction module via the recovery port.

- 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 possibly less than or equal to: 90 cm, or 80 cm, or 70 cm, or 60 cm.

- The body includes 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 between the slide and 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 provides more freedom of movement. A pivot link, 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 connections 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 arranged at the top of the body.

From the point of view of the optical means, the slide at least partially masks the sprayer.

The subject of the invention is also a method of controlling an autonomous robot painter 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 vertically move the sprayer relative to to the body, wheels defining a first axis of rotation in a transverse direction T and a second axis of rotation, a robot support polygon and a paint sprayer configured to spray 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) applying a strip of vertical paint by the sprayer on the wall, then a step (b) moving the robot , remarkable in that the slide is transversely away from the support polygon, and in that at step (b) displacement, the robot moves at most half the width of the paint strip, perpendicular to the transverse direction T, the robot possibly being in accordance with the invention.

According to advantageous modes of the invention, the process can include one or more of the following characteristics, taken in isolation or according to all 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 includes a funnel through which the paint is sprayed 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 difference between the surface of the wall and the free end of the funnel.

- In step (a) application, the part has a height 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 room includes a door limiting access, the door height 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 axle is formed by at least one or at least two wheels.

In general, the advantageous modes of each object of the invention are also applicable to the other objects of the invention. Each object of the invention can be combined with the 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 one another, according to all possible technical combinations, unless the opposite is not explicitly mentioned.

Advantages of the invention

The measures of the invention are interesting in that the space becomes a separation space which reduces the proportion of the paint in suspension reaching the body of the robot. The moving parts, the optical means, and the slots in the outer cover of the body are less exposed to the droplets. The movement, environmental analysis and cooling capacities of the electrical modules are thus preserved. The risk of breakdown and accident is reduced. The robot manages to operate autonomously for a longer time while guaranteeing 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 precision of rapid movements. This increases due to the parallelism between the spraying direction and the axis of rotation of the wheels.

The adoption of a funnel at the end of the robot allows to marry the surface of the wall, and to limit the escape of paint fog which can pollute the environment. Again, the functional surfaces of the robot are preserved.

The preparatory operation of sticking protective tape becomes optional.

Brief description of the drawings

FIG. 1 represents a view in the longitudinal direction of an autonomous painter robot according to a first embodiment of the invention.

FIG. 2 shows a view in the transverse direction of an autonomous painter robot according to the first embodiment of the invention.

Figure 3 sketches a top view of an autonomous robot painter according to the first embodiment of the invention.

Figure 4 is an enlargement of a top view of the sprayer according to the invention.

Figure 5 is an enlargement of a section of the sprayer according to the invention.

FIG. 6 represents a top view of an autonomous robot painter according to a second embodiment of the invention.

FIG. 7 is a diagram of the control method of an autonomous robot painter according to the invention.

Description of an embodiment

In the following description, the longitudinal direction corresponds to the main direction of movement of the robot. The longitudinal direction is possibly 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.

Figure 1 shows 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 2.55m, or more generally be between 2.00m and 3.00m. Widely in interior rooms, access is via a door (not shown), the height of which can be less than or equal to 2.05m; and whose width 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 robot painter 10.

The robot 10 can be a vehicle, in particular an automobile. It may include a main body 12, in particular formed by an outer cover 14 possibly rectangular. The robot 10 can include links to the ground, such as wheels 16 or tracks. 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 power 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).

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, for example forming the top of the body 12, and / or placed on one 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 possible obstacles. This latter function can also be performed by ultrasonic sensors. In addition or as an alternative, the plan of room 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 spray or a cloud of paint which dyes or pigments the wall 8 when the paint is deposited there. Optionally, the sprayer 22 includes a funnel 24. The funnel 24 has an internal clearance whose internal section 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 the sharpness of the edges of the sprayer's imprint.

The sprayer 22 is installed laterally with respect to the body 12. Its spray of paint exits at a distance from the body, which limits soiling. The spraying of paint via the sprayer can be carried out in the transverse direction T, which can correspond to the axis of rotation of at least one or two wheels 16; said one or more wheel (s) 16 being steer (s) and / or drive (s).

A slide 26 movably connects the sprayer 22 to the body 12 of the robot 10. The slide 26 can be telescopically vertically. 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.

The slide 26 can be pulleys and cables (not visible), which offers an interesting durability in the field of painting despite the back and forth that must follow the sprayer 22. An internal motor drives each cable to operate the sprayer.

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 may be essentially empty. It extends over the majority of the height of the body 12 and / or of 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. Plates 32 of the slide 26 are joined to the body 12, possibly 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. However, a configuration favoring, or limited to, vertical surfaces increases the reliability of the robot thanks to better robustness and better sealing against paint fog.

Figure 2 shows the back of the autonomous robot painter 10 illustrated in Figure 1. This Figure 2 highlights the movement D of the 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 stopped. Then he applies a second strip 36 which partially covers the first, for example when the latter remains wet. The overlap area 38 can represent 50% of the width of the strips (34; 36). In this zone 38, two thicknesses of paint pile up. The width of the overlap area 38 is equal to the displacement D.

FIG. 3 shows the robot 10 overhanging. From left to right, there is 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 face 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 support polygon 40, and / or in the transverse extension of the support polygon 40. This position in line with 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.

FIG. 4 shows a top view of the sprayer 22 according to the invention, as well as the imprints 44 of paints which are produced 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 spread or bring the moving parts closer.

The funnel 24 is drawn using a solid line in the retracted or closed configuration, and using a dotted line in the deployed configuration or the open configuration. The same mode of representation applies to the cavities 44. In the deployed configuration, the length of the cavity 44 is maximum. It is reduced in the retracted configuration, and can form a square. The painting of the corners and edges is thereby simplified.

FIG. 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.

For example in the lower part, the funnel 24 has a recovery orifice 48. This recovery orifice 48 makes it possible to collect the spray of paint 46 which does not reach the wall, and which remains in suspension inside the funnel 24 or risking bypassing 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 suction with a pipe 50 connected to the orifice 48 in order to evacuate the paint mist 46. By this, the paint imprint becomes even sharper because only the paint droplets 46 whose trajectory is controlled reach the wall 8. These droplets advantageously have straight paths thanks to their kinetic energies.

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 distance E separating them can 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.

FIG. 6 represents an autonomous robot painter according to a second embodiment of the invention. This figure 6 shows the numbering of the previous figures for the same or similar elements, the number 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 location of the wheels 116. The body 112 may be hexagonal seen from above. The robot 110 may include a lower base 154. This base 154 may be circular. Two main wheels 156 may protrude from the base 154 and / or from the body. These main wheels 156 can be driving and steering, 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 may be fixed relative to the body 112, and form the transverse direction T, and / or be perpendicular to the longitudinal direction L. The lift 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 from it by the space 128. The latter can also touch the slide 126, the body 112 and the base 154 .

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.

FIG. 7 is a diagram of the process for controlling or piloting an autonomous painting robot.

The process can be iterative. It can include the following steps:

(a) application 200 of a vertical strip of paint by the sprayer on the wall, (b) displacement 202 of the robot, where the robot moves along the painted wall by at most half the width of the strip of painting, perpendicular to the transverse direction.

During step (a) application 200, the wall has two walls connected by a corner, as detailed in FIG. 3. The strip of paint 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 and move less than a bandwidth. When it starts a wall after a corner, the development of its trajectory can be greater than a bandwidth. The advance as the developed can be calculated from the center of gravity of the robot.

Claims (12)

claims 1. Autonomous robot painter (10; 110) configured to paint vertical walls (8) of interior rooms (2), in particular living rooms or office rooms, the robot (10; 110) comprising: a main body (12; 112), a transverse direction T, a support polygon (40; 140), in particular defined by wheels (16; 116) of the robot (10; 110), a sprayer (22; 122) of paint (46) configured to spray paint (46) in the transverse direction T, said sprayer (22; 122) being arranged in the transverse extension of the support polygon (40; 140); a vertical slide (26; 126) slidingly connecting the sprayer (22; 122) to the body (12; 112), characterized in that it further comprises a vertical space (28; 128) dividing the slide (26) ; 126) of the body (12; 112). 2. Robot (10; 110) according to claim 1, characterized in that the space (28; 128) extends over the majority of the height of the body (12; 112). 3. Robot (10; 110) according to one of claims 1 to 2, characterized in that it comprises a junction (30) transversely connecting the slide (26; 126) to the body (12; 112). 4. Robot (10; 110) according to one of claims 1 to 3, characterized in that the sprayer (22; 122) comprises a funnel (24) with a rectangular opening (52). 5. Robot (10; 110) according to claim 4, characterized in that the sprayer (22; 122) is configured so as to reduce the length of the opening (52) perpendicular to the transverse direction T. 6. Robot (10; 110) according to one of claims 4 to 5, characterized in that the funnel (24) comprises a recovery orifice (48) of sprayed paint (46), the robot (10; 110) comprising a paint suction module (46) sprayed via the recovery orifice (48). 7. Robot (10; 110) according to one of claims 1 to 6, characterized in that the slide (26; 126) is a telescopic slide with pulleys, in particular with internal motor. 8. Robot (10; 110) according to one of claims 1 to 7, characterized in that the body (12; 112) has a cylindrical shape or a polyhedron shape having a main elongation arranged along the sliding axis of the slide (26; 126), the transverse width of the robot (10; 110) is possibly less than or equal to: 90 cm, or 80 cm, or 70 cm, or 60 cm. 9. Robot (10; 110) according to one of claims 1 to 8, characterized in that the body comprises optical means (20) spaced from the slide (26; 126). 10. A method of controlling a stand-alone robot painter (10; 110) configured to paint a wall (8) of an interior part (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 vertically move the sprayer (22; 122) relative to the body, wheels (16; 116) defining a first axis of rotation in a transverse direction T and a second axis of rotation, a support polygon (40; 140) of the robot (10; 110) and a paint sprayer (22; 122) (46) configured to spray paint (46) in the transverse direction T, the slide (26; 126) and the support polygon (40; 140) being between the first axis of rotation and the second axis of rotation, the method comprising the following steps: (a) application (200) of a strip (34; 36) of vertical paint (46) by the sprayer (22; 122) on the wall (8), then a step (b) displacement (202) of the robot ( 10; 110), characterized in that the slide (26; 126) is transversely spaced from the support polygon (40; 140), and in that in step (b) displacement (202), the robot ( 10; 110) evolves at most half the width of the strip of paint (34; 36) (46), perpendicular to the transverse direction T, the robot (10; 110) possibly being in accordance with one of claims 1 to 9. 11. Method according to claim 10, characterized in that during step (a) application (200), the wall (8) has two walls connected by a corner (42) overlapped by the strip (34; 36) paint (46), during step (a) application (200) the inclinations of the walls with respect to the transverse direction T are equal. 12. Method according to one of claims 10 to 11, characterized in that the sprayer (22; 122) comprises a funnel (24) by which the paint (46) is sprayed onto the wall (8), during the step (a) application (200), the distance E between the funnel and the wall (8) is between 0.10 cm and 1.00 cm.