FR3138453A1 - Device and method for applying a marking to a surface - Google Patents

Abstract

There is provided a device (24) for applying marking to a surface (14), comprising: a frame (30); marking means (32) mounted on the frame (30), the marking means (32) being configured to apply marking to the surface (14); a directional gear (34) mounted in particular on a first end of the chassis (30), the directional gear (34) being adapted to control the direction of the device (24) to follow a desired direction; a motorized advancement means (36), mounted in particular on a second end of the chassis (30), opposite the first end, the advancement means (36) being configured to ensure movement of the device (24) in the desired direction. Abstract Figure: Figure 2

Description

Device and method for applying a marking to a surface

The present disclosure falls within the field of techniques for applying marking to a surface.

Floor markings are typically used in warehouses to enable navigation of automated vehicles used to retrieve stored items. Automatic vehicles can follow floor markings and measure a distance traveled to determine their position in the warehouse. These vehicles are notably called Véhicules Auto Guides (or “ Auto Guided Vehicles ” according to the corresponding Anglo-Saxon acronym).

Conventionally, ground marking is carried out manually by an operator, for example by applying adhesive tape or paint. Ground marking can in particular be applied by following a line projected by a laser, or by a ruler positioned successively on the ground. However, such manual application is imprecise. The operator must navigate a complex environment, with item storage racks forming narrow passages and low obstacles to pass through. The marking obtained is not sufficiently precise to be followed by an automated guided vehicle.

There is therefore a need for a device allowing the application of floor markings that can be followed by an automatic vehicle, particularly in warehouses. There is also a need for such a device allowing the application of marking precisely.

Summary

A device is proposed for applying marking to a surface, comprising:
- a chassis;
- marking means mounted on the chassis, the marking means being configured to apply marking to the surface;
- a directional train mounted in particular on a first end of the chassis, the directional train being adapted to control the direction of the device to follow a desired direction;
- a motorized advancement means, mounted in particular on a second end of the chassis, opposite the first end, the advancement means being configured to ensure movement of the device in the desired direction.

Such a device makes it possible to carry out floor markings along a surface, in particular the floor of a storage warehouse, without intervention by an operator. Such a device also makes it possible, quite advantageously, to carry out marking along a desired path over several tens of meters, whatever the state of flatness of said surface.

Optionally, the marking means may comprise a supply reel configured to receive a roll of adhesive tape.

Thus, the marking applied by the device on the surface can take the form of an adhesive strip unrolled from the roll of adhesive strip mounted on the supply reel. The adhesive strip ensures precise marking, without risk of burring, and is therefore particularly suitable for guiding an autonomous vehicle.

Optionally, the means of advancement can be an applicator roller, the applicator roller being configured to ensure application of the adhesive strip unrolled from the supply reel on the surface, applied under pressure between the surface and the applicator roller.

The applicator roller allows both the progression of the device in the desired direction and the application of the adhesive strip, by applying pressure on the adhesive strip against the surface during the movement of the device. The deposited adhesive strip cannot deviate from the desired direction, allowing precise marking.

Optionally, the marking means may further comprise:
- a guide piece forming an insertion guide for the unrolled adhesive strip between the applicator roller and the surface when the unrolled adhesive strip extends between the emitting reel and the applicator roller; And
- a tensioning drum mounted to rotate on the chassis, in particular above the applicator roller, the tensioning drum defining a point of inflection of the unrolled adhesive strip when the unrolled adhesive strip extends between the supply reel and the part of guidance, ensuring the tensioning of the adhesive strip on the guide piece.

Thus, it is possible to ensure that the edges of the adhesive strip are applied precisely, with a tolerance of the order of a millimeter, preferably a tenth of a millimeter, compared to a traveled length of several tens of millimeters. meters. In addition, tensioning by the tensioning drum prevents the formation of possible folds or bubbles in the adhesive tape unrolled from the supply reel. This ensures that the adhesive strip is continuously pressed to the ground when applying the marking.

Optionally, the marking means may further comprise:
- a recovery reel rotatably mounted on the chassis to wind up a covering of the unrolled adhesive tape; And
- a return drum rotatably mounted on the frame between the guide part and the recovery coil, the return drum forming a point of inflection of the coating when the coating extends between the guide part and the recovery coil .

Thus, when the adhesive tape includes a coating on an adhesive side of the adhesive tape, this can be removed and wrapped around the recovery spool. Passing the liner around the inflection point ensures that the recovery spool does not pull on the adhesive strip.

Optionally, the device may also include:
- an electric motor mounted on the chassis;
- a transmission belt configured to transmit the rotation of the electric motor to the applicator roller and to the recovery coil,
- a clutch with torque limiter function, provided between the transmission belt and the recovery coil.

This ensures synchronized movement between the applicator roller and the recovery drum. The clutch further allows for constant tension on the liner despite the continued increase in liner diameter around the recovery spool.

A person skilled in the art will know how to select the material which constitutes the applicator roller, in particular through its hardness, so as to exert optimal pressure on the adhesive strip. Preferably, the applicator roller will be made of polyurethane, very preferably semi-rigid polyurethane.

Thus, the applicator roller can apply a satisfactory force on the adhesive strip against the surface. In particular, it is possible to avoid the formation of air bubbles between the applied tape and the surface.

Optionally, the directional train can comprise two wheels steerable by a motor, the two wheels and the advancement means forming a tripod, preferably the two steerable wheels form the front of the device and the advancement means form the rear of the device when the device moves.

The device in the form of a tripod includes three points of contact with the ground, so that it is in isostatic equilibrium. In addition, the directional train can form the front of the device to control the direction of the device by pivoting around the advancement means. A position error relative to the desired direction can be converted into a rotation error around the pivot point, ensuring that the device is continually oriented toward the desired direction.

Optionally, the device may also include:
- a linear optical sensor mounted on the first end of the chassis, the linear optical sensor being configured to detect a vertical plane relative to the surface, the vertical plane being defined by a plane laser, and the desired direction corresponds to the direction of the plane vertical.

Thus, the device can apply perfectly straight ground markings, following the vertical plane. Indeed, Self-Guided Vehicles may have to move in straight lines to optimize their route, but also to avoid the many obstacles (such as the posts of storage racks) which mark out the warehouses in which they are required to move. move. In addition, the linear optical sensor gives the device the ability to detect the vertical plane of the laser regardless of the flatness of the terrain. The device is not sensitive to changes in position in the vertical direction relative to the surface.

Optionally, the device may also include:
- a linear optical sensor mounted on the frame to be oriented in the direction opposite to the surface, the linear optical sensor being configured to detect a line or a pattern projected towards the surface, the line or the projected pattern being defined by a projector, and the desired direction matches the projected line or pattern.

Depending on this option, the device can apply markings to the ground along straight lines, curved lines or even in any pattern. The curved lines or pattern can, for example, allow storage racks to be bypassed, or even allow the device to be used for marking sports fields. In addition, the linear sensor always allows the device to detect the projected line or pattern regardless of the flatness of the terrain, especially because the optical sensor can detect the projected line or pattern from a ceiling.

Optionally, the device can have a height of between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width of between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length of between 100 mm and 450 mm. mm and 650 mm, preferably between 100 mm and 400 mm.

Thus, the device is particularly suited to navigating in complex environments, with narrow passages and obstacles to cross. The device can pass between and under obstacles, depending on the nature and shape of said obstacles.

According to another aspect, an assembly is proposed comprising the device, and a roll of adhesive tape mounted on the supply reel, an adhesive strip unwound from the roll of adhesive tape being adapted to be applied to the surface by passing between the applicator roller and the surface.

Optionally, the roll of adhesive tape can be mounted cantilevered on the supply reel. When a roll is empty, it can easily be removed from the application drum and a new roll can be loaded onto the application drum.

According to another aspect, there is proposed a system comprising the device and a plane laser or a projector configured to define the desired direction, the linear optical sensor being configured to detect the desired direction.

Thus, the device can be guided in the desired direction defined by the plane laser or the projector. The plane laser can define a vertical plane, so that the desired direction is a straight line and the applied marking is perfectly rectilinear. Alternatively, a ceiling mounted spotlight can define a straight line, a curved line or any pattern, and the marking applied can be straight, curved or form a pattern. In both cases, the device is not sensitive to changes in position in the vertical direction relative to the surface.

According to another aspect, a method is proposed for applying a marking to a surface comprising:
- place the device on the floor of a warehouse comprising one or more storage racks;
- define a desired direction;
- activate the advancement means to advance the device in the desired direction, passing in particular under the storage rack(s), and/or between the storage racks;
- apply the marking to the surface using the marking means while the device advances;
- activate the directional train to align the device with the desired direction during the advancement of the device.

Thus, the device applies linear marking while progressing in a complex environment, passing between and under obstacles formed by storage racks.

Optionally, activating the advancement means, applying the marking and activating the directional train can be carried out autonomously. Applying the marking does not require operator intervention.

Optionally, the device may include a supply coil and an applicator roller and actuating the advancement means may include:
- control the rotation of the applicator roller to jointly advance the device in the direction to be followed and to exert an application force on the adhesive strip unrolled against the surface.

Optionally, the applicator roller can exert an application force on the unrolled adhesive strip greater than or equal to 40 N, or even greater than 50 N.

Optionally, the device may include a linear optical sensor, defining the direction to follow may include directing a plane laser to define a vertical plane relative to the surface, and the method may further include,
- orient the directional train to align the linear optical sensor with the vertical plane during the advancement of the device.

Optionally, the device may include a linear optical sensor, defining the direction to follow may include directing a projector to project a line or pattern towards the surface,
and the method may further comprise,
- orient the directional train to align the linear optical sensor with the line or pattern projected during the advancement of the device.

According to yet another aspect, it is proposed a use of the device for the application of a marking, of the assembly, of the system, or even of the method for tracing linear marks, in particular of adhesive tape, used for guiding of automated guided vehicles in storage warehouses.

Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which:

Fig. 1A, Fig. 1B

And schematically illustrate a top view of a warehouse in which a system for drawing floor markings is placed.

Fig. 2

schematically illustrates a perspective view of an assembly that can be implemented in the system of Figures 1A and 1B.

Fig. 3

schematically illustrates a longitudinal sectional view of a detail of the entire .

Fig. 4

schematically illustrates a perspective view of the detail of the .

Fig. 5

schematically illustrates in perspective a directional train that can be implemented throughout the .

Fig. 6

illustrates the directional train of the from a different perspective.

Fig. 7

schematically in perspective a second detail of the entire and a plane laser.

Fig. 8

schematically illustrates a side view of a third detail of the entire .

Fig. 9

schematically illustrates the entire from a different perspective.

Fig. 10

illustrates a flowchart of a method of applying linear marking to a surface.

Figures 1A and 1B schematically illustrate a top view of a warehouse 10 and in which a system 12 is placed for creating floor markings. By warehouse we mean a logistics building intended for the storage and distribution of items.

The warehouse 10 comprises a surface 14 (or floor) on which is arranged a plurality of storage racks 16 intended to receive the articles. The storage racks 16 can extend throughout the volume of the warehouse 10, that is to say in the longitudinal x and lateral directions y defined in the plane of the surface 14, and the vertical direction z, normal on the surface 14. The storage racks 16 can be spaced 800 mm, 600 mm or even 400 mm apart in the longitudinal and lateral directions x,y and can form a space between the surface and the storage rack 16 depending on the direction vertical z less than 800 mm, see less than 600 mm. The system 12 described below is adapted to navigate this complex environment.

The ground marking includes one or more straight lines extending over the surface 14. By “straight line” we mean in the warehouse 10 a line which deviates only a few millimeters from the perfect straight line over a distance of a hundred of meters. The straight lines of the marking can extend over a distance greater than 40 m, greater than 60 m, or even greater than 80 m. The straight lines can pass between the storage racks 16, or even below the storage racks 16. The straight lines allow the guidance of automatic vehicles. The automated vehicles are configured to navigate the warehouse 10 using the straight lines to remove and/or place items on the storage racks 16.

The straight lines here form a grid composed of horizontal lines 18 and vertical lines 20. The horizontal and vertical lines 18, 20 extend over the surface 14 in the longitudinal x and lateral y directions. Such a grid allows precise navigation of the automatic vehicle throughout the warehouse, and the automatic vehicles can optimize their route.

The system 12 here comprises a plane laser 22 and a device 24 for applying the marking to the surface 14.

The plane laser 22 is configured to define a desired direction for the device 24. By desired direction, we mean here the direction to be followed by the device 24 to apply the vertical and horizontal lines 18, 20 of the marking on the surface 14. The marking is applied along the desired direction.

Here, the desired direction is defined by a vertical plane 26, namely a plane perpendicular to the surface 14 (parallel to the z axis). The plane laser 22 emits the vertical plane 26 to be detected by the device 24. The vertical plane 26 allows the device 24 to perceive the desired direction whatever its position in the vertical direction z. The vertical plane 26 allows the device 24 to be insensitive to changes in height (variations in vertical direction z) along the surface 14.

As illustrated in Figures 1A and 1B, the desired direction can be adjusted by rotating the plane laser 22 on itself. The plane laser 22 can be turned on itself until it extends parallel to a horizontal or vertical line 28, 20 to be marked on the surface 14.

As more visible on the the device 24 essentially comprises a chassis 30 on which is mounted a marking means 32, a directional train 34 and an advancement means 36. The device 24 is adapted to move following the desired direction and jointly applying the marking on the surface 14.

The frame 30 here takes the form of a substantially flat plate. The frame 30 can for example be a metal or plastic plate, cut by laser. The chassis 30 allows the assembly of the device 24, by forming a mounting surface, in particular for the marking means 32, the directional train 34 and the advancement means 36.

As illustrated, the marking means 32 here comprises a supply coil 38 mounted on the frame 30. The supply coil 38 takes the form of a rimmed cylinder. A roll of adhesive tape 40 can be mounted on the supply reel 38 to form an assembly with the device 24. The ground marking applied then takes the form of adhesive strip unrolled 42 from the supply reel 38. Such marking does not risk drool, and is thus particularly suitable for guiding automatic vehicles within the warehouse 10.

The roll of adhesive tape 40 is in particular mounted cantilevered on the supply reel 38. The roll 40 is then accessible (there is no casing around the roll), so that it is easy to replace the roll 40 when the adhesive strip of roll 40 is used up.

The marking means 32 further comprises a guide piece 44 and a tensioning drum 46 adapted to unwind the adhesive strip from the roller 40 and guide it towards an applicator roller 48.

The applicator roller 48 here corresponds to the advancement means 36 of the device 24. The applicator roller 48 is mounted on one end of the frame 30 intended to form the rear of the device 24 when the device 24 moves. The applicator roller 48 is in particular a cylindrical part controlled in rotation by a motor 50. The applicator roller 48 ensures the movement of the device 24 and, jointly, the application of pressure on the adhesive strip supplied between the surface 14 and the roller applicator 48. The applicator roller 48, controlled in rotation, advances the device 24 and unwinds the adhesive strip from the supply reel 38 and applies it against the surface 14.

The applicator roller 48 is made of material having a hardness of between 40 and 100 shores. The hardness of the material forming the applicator roller 48 is chosen to avoid the formation of bubbles during the application of the unrolled adhesive strip 42 on gravel present on the surface 14. In particular, the hardness of the material makes it possible to apply a force on the unrolled adhesive strip 42 against the surface greater than 40 N, or even greater than 50 N. Preferably, the material is semi-rigid polyurethane.

The guide part 44 takes the form of a claw surrounding a portion of the applicator roller 48 (see ). The guide piece 44 forms a guide for insertion of the unrolled adhesive strip 42 between the applicator roller 48 and the surface 14. The guide piece 44 ensures good positioning of the unrolled adhesive strip 42 between the applicator roller 48 and the surface 14, to ensure precise positioning of the unrolled adhesive strip 42 on the surface 14.

The tensioning drum 46 is rotatably mounted on the chassis 30. The tensioning drum 46 is mounted substantially above the applicator roller 48, to form a point of inflection of the adhesive strip 42 when the adhesive strip is unwound from the supply reel 38. Thus, the unrolled adhesive strip 42 extending between the supply reel 38 and the applicator roller 48 is put under tension by the tensioning drum 46 and can be pressed against the guide piece 44. The adhesive strip can be unrolled from the supply coil 38, be tensioned by the tensioning drum 46, be pressed against the guide piece 44 before being applied under pressure against the surface 14 by the applicator roller 48.

Furthermore, in certain cases, the adhesive surface of the adhesive strip 42 is covered with a coating 52, i.e. a plastic film protecting the adhesive surface. Therefore, the marking means 32 can further comprise a return drum 54 adapted to wind the covering 52 around a recovery reel 56.

The recovery coil 56 is rotatably mounted on the frame 30. The recovery coil 56 is here a hollow cylindrical part controlled in rotation by the motor 50 also controlling the applicator roller 48. The coating 52 can be wound around the coil of recovery 56 by rotation of the recovery coil 56, together with the advancement of the device 24.

The recovery coil 56 is separated from the motor 50 by a torque limiting clutch 58. The clutch 58 ensures that the tension applied to the coating 52 is constant even if the diameter of the coating 52 is wound around the recovery coil 56 increase.

The return drum 54 can be rotatably mounted on the frame 30, between the recovery reel 56 and the applicator roller 48. The return drum 54 forms a point of inflection of the coating 52, to prevent the recovery reel from 56 applies tension to the unrolled adhesive strip 42.

As notably visible at the , the applicator roller 48, the tensioning drum 46 and the return drum 54 can be assembled in a support 60 to form a subassembly. The subassembly facilitates the assembly of the device 24. It appears possible to form the subassembly before mounting the support 60 on the chassis 30, for example by screwing. In addition, the guide part 44 can be an integral part of the support 60.

In this case, here, the support 60 comprises two portions 62, 64 parallel to each other. A first portion 62 can be fixed to the frame 30, and a second portion 64 can be spaced from the frame 30 and connected to the first portion 62, for example by screwing. The tensioning drum 46 and the applicator roller 48 extend transversely between the two portions 62, 64 to be supported at their two ends. The guide part 44 is here formed by a projection projecting from each of the portions 62, 64.

The directional train 34 is mounted on one end of the chassis 30 opposite the end on which the advancement means 36 is mounted. The directional train 34 is intended to form the front of the device 24 when the device 24 moves. The directional train 34 is configured to control the direction of the device 24 from the front of the device 24. Therefore, a position error of the device 24 can be converted into a rotation to be performed around the pivot point, here defined by the applicator roller 48. The applicator roller 48 being behind the directional train 34 when the device 24 moves, the position correction can be smoothed during the movement of the device 24. A sudden change in direction of the marking applied to the surface 14 is avoided.

As more visible on the , the directional train 34 here comprises two steerable wheels 66 arranged on either side of the chassis 30. The device 24 is then a tripod, with three points of contact on the surface (the applicator roller 48 and each of the steerable wheels 66) . The tripod configuration gives the device 24 an isostatic balance.

Here, each steerable wheel 66 is arranged on a wheel support 67. Each wheel support 67 is mounted to rotate relative to the chassis 30 along a vertical axis normal to the axis of rotation of the steerable wheels 66. Each wheel support 67 is connected by a ball joint 69 to a steering bar 68 extending transversely to the chassis 30. The two steerable wheels 66 are thus kept parallel by the steering bar 68.

The orientation of the steerable wheels 66 is controlled by means of a motor 70, preferably a servo-motor, which acts on the steering bar 68. As more visible on the , the motor 70 is connected to one of the steerable wheels 66 by an output arm 71 and a control rod 73. The output arm 71 extends from the motor 70 in the direction normal to the axis of rotation of the motor 70. The control rod 73 extends between one end of the output arm opposite the engine 70 to the wheel support 67, substantially parallel to the steering bar 68. The control rod 73 has at its two ends a ball joint 75 for connection on the one hand to the output arm 71 and on the other hand to the wheel support 67. The control rod 73 is driven in the transverse direction relative to the chassis 30, towards the right or towards the left, as necessary, by the motor 70. When the device 24 deviates from the desired direction, the motor 70 can be activated to correct the orientation of the device 24 and reach the desired direction.

In the example illustrated, the directional train 34 is mounted on a mount 72 fixed to the chassis 30, for example by screwing. The mount 72 facilitates the assembly of the device 24. The directional train 34 can be assembled before being fixed on the chassis 30.

The device 24 further comprises a linear optical sensor 74 mounted on the frame 30, for example a CCD sensor. As visible at , the linear optical sensor 74 can detect the vertical plane 26 defined by the plane laser 22. The linear optical sensor 74 gives the device 24 the ability to follow the desired direction when this is defined by a laser.

The linear optical sensor 74 is mounted substantially in the vicinity of the directional train 34, above the directional train 34. Thus, the linear optical sensor 74 is intended to be close to the surface 14 during the application of the marking on the surface by the device 24. The linear optical sensor 74 is then insensitive to defects in the surface 14 which could destabilize the device 24 and therefore misalign the linear optical sensor 74 with respect to the vertical plane 26.

The linear optical sensor 74 is mounted on the frame 30 to extend transversely to the vertical plane 26. The linear optical sensor 74 can detect the vertical plane 26 whatever its height relative to the plane laser 22. The device 24 is insensitive to variations in height (variations in the z direction) when it moves along the surface 14.

The linear optical sensor 74 can be inserted into a housing 76. The housing 76 can protect the linear optical sensor 74 from possible shocks or dirt. The housing 76 may include an opening 78 surmounted by a filter 80, allowing the linear optical sensor 74 to perceive the vertical plane 26.

In addition, a light strip 82 can be provided, for example formed by LEDs. The light strip 82 can be provided substantially above the linear optical sensor 74. The light strip 82 makes it possible to display the position of the vertical plane 26 relative to the center of the optical sensor 74. In this case, the linear sensor 74 has a width of approximately 10 mm and the light strip 82 has a width of approximately 100 m. A factor of 10 between the two widths allows precise visual feedback on the difference between the orientation of the device 24 and the desired direction.

There illustrates in more detail a system for transmitting the rotation of the motor 50 towards the applicator roller 48 and the recovery coil 56. The transmission system can be provided on one side of the chassis 30 opposite the advancement means 36, from the supply coil 38 and/or the recovery coil 56. The transmission of the movement is thus separated from the adhesive strip 42 by the frame 30.

The transmission system here comprises a first pulley 84 connected to the output shaft of the motor 50, a second pulley 86 connected to the applicator roller 48 and a third pulley 88 connected to the recovery coil 56. A belt 90 makes it possible to connect the three pulleys between them. This ensures synchronous rotation of the applicator roller 48 and the recovery coil 56. The clutch with torque limiter function 58 can be mounted between the third pulley 88 and the recovery coil 56.

As more visible on the , the transmission system can be protected by a box 92 mounted on the chassis 30, in particular by screwing. The housing 92 can protect the transmission system from possible shocks or dirt.

The device 24 can also include a control unit 94. The control unit 94 can be mounted on the side of the chassis 30 opposite the advancement means 36 and the marking means 32. The control unit 94 can be provided in a second housing 96, making it possible to protect the components of the control unit 94 from shocks and/or possible dirt.

The control unit 94 may include a microcontroller 98 adapted to receive data from the linear optical sensor 74 and to control the motors 70, 50 of the directional train 34 and of the advancement means 36.

The control unit 94 may also include a switch 100 and an emergency stop button 102, allowing an operator to control the device 24. The switch 100 and the emergency stop button 102 may in particular be extend through the housing 96, to be connected to the microcontroller 98 while being accessible to the operator.

The device 24 further comprises a battery 104 mounted on the chassis 30 to power the device 24. The device 24 is autonomous, and can navigate the warehouse 10 by applying the marking without operator intervention.

Finally, in the example illustrated, a handle 106 can be mounted on the chassis 30, in particular on an upper part of the chassis 30, distant from the advancement means 36 and the directional train 34. The handle 106 allows the device to be gripped 24. The device 24 is easily transportable.

The device 24 described above has a height of between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width of between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length of between 100 mm and 650 mm, preferably between 100 mm and 400 mm. The device 24 is compact. It is therefore suitable for applying marking in a complex environment, with narrow passages and low obstacles. The device 24 can in particular apply the marking by passing between and under the storage racks 16 of the warehouse 10.

We subsequently describe a method for applying the marking to the surface 14, with reference to the .

According to a first step 110, the device 24 is placed on the surface (the floor) of the warehouse 10. The device 24 is in particular placed to face a horizontal line 18 or a vertical line 20 of the marking to be produced by the device 24. The device 24 is placed so that the directional train 34 forms the front of the device 24, and the advancement means 36 is at the rear of the device 24. As described above, the position correction can be smoothed during the movement of the device 24. A sudden change in direction of the marking applied to the surface 14 is avoided.

According to a second step 200, the desired direction is defined. The desired direction corresponds to the vertical line 18 or horizontal 20 of the marking to be made by the device 24. Here, the desired direction is defined by the vertical plane 26 emitted by the plane laser 22. The plane laser 22 can be oriented by being rotated on itself until the direction of the vertical plane 26 extends along the horizontal line 18 or vertical 20 to be produced, and the vertical plane 26 is perceived by the linear optical sensor 74 of the device 24 (see figures 1A and 1B)

According to a third step 300, the advancement means 36 is actuated to advance the device 24 in the desired direction. The advancement means 36 progresses within the warehouse 10 passing between and below the storage racks 16. The marking can thus be applied after the installation of said storage racks 16, avoiding possible deterioration of the marking during installation of storage racks 16.

According to a fourth step 400, carried out in parallel with the third step 300, the marking is applied to the surface 14 by the marking means 32. The marking is applied to the surface at the same time as the advancement of the device 24 in the direction desired. Here, the marking is an adhesive strip unrolled 42 from the supply reel 38 and applied under pressure against the surface 14 by the applicator roller 48. The marking on the ground and the advancement of the device 24 are carried out by the applicator roller 48, ensuring a precise marking. Note that the applicator roller 48 applies an application force to the unrolled adhesive strip 42 greater than 40 N, or even greater than 50 N, avoiding the formation of bubbles between the surface 14 and the unrolled adhesive strip 42.

According to a fifth step 500, carried out in parallel with the third and fourth steps 300, 400, the directional train 34 is actuated to align the device 24 with the desired direction during the advancement of the device 24. The directional train 34 can continuously detect the direction desired, and correct the trajectory of the device 24. Here, the vertical plane 26 emitted by the plane laser 22 can be detected by the linear optical sensor 74. A deviation of the device 24 relative to the vertical plane 26 can be corrected by modifying the orientation of the steerable wheels 66 so as to pivot the device 24 around the pivot point formed by the applicator roller 48. The correction can be controlled by the motor 70, inducing a pivoting of the wheel supports 67 so as to reduce the deviation of position observed by the optical sensor 74 relative to the vertical plane 26.

The invention is not limited to the examples described above but is, on the contrary, capable of numerous variants accessible to those skilled in the art.

For example, the desired direction can be defined by any other means. The desired direction can be defined by a laser line, or by a physical guide such as a ruler or a rope.

In a particular example, the desired direction can be defined by a projector configured to project a straight line, a curved line, or even any pattern towards the surface. Any pattern may include a succession of straight lines and/or curved lines following different directions. Any pattern can also form a geometric shape, for example a polygon or an oval. The projector can, for example, be mounted on a ceiling. The optical sensor can then be mounted on the frame 30 oriented upwards relative to the surface, to detect the projected line or pattern. The device can follow the desired direction by applying the marking to the ground in straight lines, curved lines, or by forming a pattern. Such markings make it possible in particular to bypass storage racks, or to draw lines on sports fields.

Marking can be any other type of marking on a surface, including paint. The marking means 32 can then include a support for a spray paint can, or even a brush for applying the marking.

The directional train 34 can take a shape other than that illustrated. The steering gear 34 may include one or more wheels, and each wheel may be steerable individually or together.

Likewise, the means of advancement 36 can be one or more wheels, or even a roller skate or even a caterpillar.

Claims (17)

Device (24) for applying a marking to a surface (14), comprising:
- a chassis (30);
- marking means (32) mounted on the chassis (30), the marking means (32) being configured to apply marking to the surface (14);
- a directional train (34) mounted in particular on a first end of the chassis (30), the directional train (34) being adapted to control the direction of the device (24) to follow a desired direction;
- a motorized advancement means (36), mounted in particular on a second end of the chassis (30), opposite the first end, the advancement means (36) being configured to ensure movement of the device (24) in the desired direction. A device (24) according to claim 1, wherein the marking means (32) comprises a supply reel (38) configured to receive a roll of adhesive tape (40). Device (24) according to claim 2, in which the advancement means (36) is an applicator roller (48), the applicator roller (48) being configured to ensure application of the unrolled adhesive strip (42) from the supply coil (38) on the surface, applied under pressure between the surface and the applicator roller (48). Device (24) according to claim 3, wherein the marking means (32) further comprises:
- a guide piece (44) forming a guide for insertion of the unrolled adhesive strip (42) between the applicator roller (48) and the surface when the unrolled adhesive strip (42) extends between the supply reel (38) and the applicator roller (48); And
- a tensioning drum (46) rotatably mounted on the chassis (30), in particular above the applicator roller (48), the tensioning drum (46) defining a point of inflection of the unrolled adhesive strip (42) when the unrolled adhesive strip (42) extends between the supply reel (38) and the guide piece (44), ensuring the tensioning of the unrolled adhesive strip (42) on the guide piece (44). Device (24) according to claim 4, wherein the marking means (32) further comprises:
- a recovery reel (56) rotatably mounted on the frame (30) to wind up a covering (52) of the unrolled adhesive strip (42); And
- a return drum (54) rotatably mounted on the frame (30) between the guide piece (44) and the recovery coil (56), the return drum (54) forming a point of inflection of the coating ( 52) when the coating (52) extends between the guide piece (44) and the recovery spool (56). Device (24) according to any one of the preceding claims, in which the directional train (34) comprises two steerable wheels (66) by a motor (70), the two steerable wheels (66) and the advancement means (36 ) forming a tripod, preferably the two steerable wheels (66) form the front of the device (24) and the advancement means (36) form the rear of the device (24) when the device (24) moves. Device (24) according to any one of the preceding claims, wherein the device (24) further comprises:
- a linear optical sensor (74) mounted on the first end of the frame (30), the linear optical sensor (74) being configured to detect a vertical plane (26) relative to the surface (14), the vertical plane (26 ) being defined by a plane laser (22), and the desired direction corresponds to the direction of the vertical plane (26). Device (24) according to any one of claims 1 to 6, in which the device further comprises:
- a linear optical sensor mounted on the frame (30) to be oriented in the direction away from the surface (14), the linear optical sensor being configured to detect a line or pattern projected towards the surface (14), the line or the projected pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern. Device (24) according to any one of the preceding claims, in which the device (24) has a height of between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width of between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length between 100 mm and 650 mm, preferably between 100 mm and 400 mm. Assembly comprising the device (24) according to claim 3, and a roll of adhesive tape (40) mounted on the supply reel (38), the unwound adhesive tape (42) from the roll of adhesive tape (40) being adapted to be applied on the surface (14) passing between the applicator roller (48) and the surface (14). Assembly according to claim 10, wherein the roll of adhesive tape (40) is mounted cantilevered on the supply reel (38). A system comprising the device (24) of claim 7 or 8, and a planar laser (22) or projector configured to define the desired direction, the linear optical sensor (74) configured to detect the desired direction. Method for applying a marking to a surface comprising:
- placing a device (24) according to any one of claims 1 to 9 on the floor of a warehouse (10) comprising one or more storage racks (16);
- define a desired direction;
- actuate the advancement means (36) to advance the device (24) in the desired direction, passing in particular under the storage rack(s) (16), and/or between the storage racks (16);
- apply the marking to the surface (14) using the marking means (32) while the device (24) advances;
- activate the directional train (34) to align the device (24) with the desired direction during the advancement of the device (24). Method according to claim 13, in which the device (24) comprises a supply reel (38) and an applicator roller (48) according to claim 3, and actuating the advancement means (36) comprises:
rotating the applicator roller (48) to jointly advance the device (24) in the direction to be followed and to exert an application force on the unrolled adhesive strip (42) against the surface (14). Method according to one of claims 13 or 14, in which the device (24) comprises a linear optical sensor (74) according to claim 7, defining the direction to follow comprises directing a plane laser (22) to define a vertical plane ( 26) relative to the surface (14),
and the method further includes,
- orient the directional train (34) to align the linear optical sensor (74) with the vertical plane (26) during the advancement of the device (24). Method according to one of claims 13 or 14, wherein the device (24) comprises a linear optical sensor according to claim 8, wherein defining the direction to follow includes directing a projector to project a line or pattern towards the surface ( 14),
and the method further includes,
- orient the directional train (34) to align the linear optical sensor with the line or pattern projected during the advancement of the device (24). Use of the device (24) for applying a marking according to one of claims 1 to 9, of the assembly according to one of claims 10 or 11, of the system according to claim 12, or even of the method according to claims 13 to 16 for drawing linear marks, in particular adhesive tape, used for guiding automatically guided vehicles in storage warehouses.