WO2017220803A2 - Appareil de traitement de surface - Google Patents

Appareil de traitement de surface Download PDF

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Publication number
WO2017220803A2
WO2017220803A2 PCT/EP2017/065595 EP2017065595W WO2017220803A2 WO 2017220803 A2 WO2017220803 A2 WO 2017220803A2 EP 2017065595 W EP2017065595 W EP 2017065595W WO 2017220803 A2 WO2017220803 A2 WO 2017220803A2
Authority
WO
WIPO (PCT)
Prior art keywords
surface treatment
support frame
treatment apparatus
unmanned aerial
treated
Prior art date
Application number
PCT/EP2017/065595
Other languages
English (en)
Other versions
WO2017220803A3 (fr
Inventor
Arto Koivuharju
Original Assignee
Arto Koivuharju
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Arto Koivuharju filed Critical Arto Koivuharju
Priority to EP17735418.0A priority Critical patent/EP3474999A2/fr
Publication of WO2017220803A2 publication Critical patent/WO2017220803A2/fr
Publication of WO2017220803A3 publication Critical patent/WO2017220803A3/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
    • 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
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C1/00—Apparatus in which liquid or other fluent material is applied to the surface of the work by contact with a member carrying the liquid or other fluent material, e.g. a porous member loaded with a liquid to be applied as a coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/28—UAVs specially adapted for particular uses or applications for manufacturing or servicing for painting or marking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the present invention is concerned with an apparatus for treating a surface such as a wall or ceiling.
  • an invention described herein is concerned with an airborne apparatus which cooperates with a surface to be treated to allow safe and accurate work to be performed on a target surface.
  • walls and ceilings for example are treating in a wide variety of ways.
  • One very common treatment is rendering i.e. applying a layer of plaster or render to the brick surface to create a smooth and aesthetic surface.
  • a surface treatment apparatus comprising a support frame, said support frame comprising one or more lift generating portions arranged in use to cause vertical movement of the support frame and one or more biasing portions arranged in use to bias the support frame against a surface to be treated, wherein the lift generating portions and biasing portions are arranged to cause movement in generally orthogonal directions to each other, and wherein the support frame defines an internal region arranged to receive one or more robotic arms or surface treatment devices.
  • an apparatus that can move relative to a surface which is to be treated by the device in a vertical direction whilst providing an internal region or space which can accommodate a variety of surface treating or finishing tooling.
  • the apparatus further comprises a biassing portion which acts to bias or push the apparatus against the wall to be treated.
  • a biassing portion which acts to bias or push the apparatus against the wall to be treated. This positively locates the apparatus in position against the surface, for example a wall. This biassing action prevents movement of the apparatus during the treatment process and reacts against and reaction forces acting on the apparatus as a result of the treatment process.
  • render ejected from the apparatus would create an opposite reaction force directing the apparatus away from the wall.
  • surface treatment is intended to cover a range of surface finishing operations that presently take place in the construction industry and which are performed manually by raising operatives (humans) on scaffolding or access platforms.
  • the support frame may be any suitable structure which is sufficiently strong to support the robotic arms or treatment devices contained within the boundary of the frame.
  • the support frame may for example be formed of a tubular structure defining an interior space to receive the arms or devices.
  • a suitable material such as titanium, aluminium or another low density material or alloy may be used.
  • Equally carbon fibre or carbon reinforced plastic materials may be used.
  • the one or more lift generating portions are arranged to cause the apparatus to move vertically.
  • the lift generating portions may be any suitable arrangement that causes lift. They may, for example, be in the form of a plurality of rotatable propellers which generate vertical lift on activation.
  • the plurality of propellers may be independently controlled and manipulated to allow for movement of the apparatus in x, y and z directions.
  • the propellers may be powered by an electrical battery incorporated in the apparatus powering a plurality of electric motors coupled to the propellers.
  • the one or more biassing portions may similarly be one or more electrically powered propellers which are activated to generate a horizontal thrust biassing or pushing the apparatus against the surface to be treated.
  • a small gas turbine could be used to generate even greater biassing force.
  • the apparatus may be specifically adapted to be forced and biassed into contact with a surface.
  • the apparatus can move vertically (and in x and z directions) so as to be positioned proximate to the surface to be treated and then the biassing portion activated to push the apparatus firmly against the surface before and during the treatment process.
  • the robotic arms or surface treatment devices may be any suitable surface treatment apparatus.
  • the space defined by the support frame conveniently provides a region or space into which the surface treatment devices can be carried and from which they can operate on the surface being treated.
  • the space may additionally contain power supplies, materials (paint, render) and other equipment necessary for the desired surface treatment process.
  • the space may include a plug and socket type arrangement which can conveniently allow a plurality of different tools to be inserted into the space and plugged in.
  • the apparatus may be provided with a power supply which can communicate electrical power to the device or tooling when it is plugged in.
  • a generic housing may be provided which is configurable to perform different operations according to the device which is located within the inner space of the apparatus.
  • the robotic arms may conveniently extend and retract from within the support frame to allow for movement of the apparatus and operation of the treatment process.
  • the support frame may, as discussed above, be an open frame structure in which all of the faces of the structure may be open i.e a space frame type structure. This reduces aerodynamic drag as the apparatus moves and reduces overall weight.
  • the face of the support structure on an opposing side of the structure to the biassing portion may be the open face of the structure.
  • the internally mounted surface treatment devices can extend through this open face to interact/treat the surface.
  • the apparatus may be provided with a plurality of surface abutment portions arranged in use to contact the surface to be treated. This provides a physical connection between the apparatus and the surface.
  • the abutment portions themselves may be in any suitable form depending on the treatment operation to be performed.
  • the abutment portions may be in the form of a plurality of wheels which allow the apparatus to roll over the treatment surface.
  • the wheels may have parallel axes of rotation such that the apparatus moves in a straight line on activation of the lift generating portions. This allows a line or strip of surface to be treated by movement of the apparatus relative to the surface.
  • the surface treatment devices may be fixed within the support frame with movement relative to the surface being achieved by movement of the whole apparatus.
  • the treatment devices may have a degree of movement within the support structure such that the support structure is positioned and the internal treatment devices move relative to the surface whilst the apparatus is fixed and biassed against the surface.
  • the abutment portions may alternatively be in the form of suction cups which draw the apparatus onto the wall surface. This may for example be particularly convenient when the surface to be treated is smooth allowing the suction cups to create a suitable vacuum.
  • the robotic arms or surface treatment devices contained within the space defined by the support frame may be selected depending on the particular surface treatment operation to be performed.
  • Operations that may be performed by surface treatment apparatus contained within the support frame may include: rendering/plastering
  • the robotic arms may also be configured to perform one or more of the followings operations (which may be used interchangeably in the list above): spraying and 3D printing on the treatment surface
  • the apparatus may additionally comprise one or more sensors arranged to measure distances, materials and to determine the surface profile of the surface to be treated. For example, the apparatus may utilise one or more cameras to determine the amount of material needed for repairing or wall treatments.
  • the apparatus may additional comprise shielding to prevent materials, for example paint or render, from being erroneously directed at the wrong areas. These may, for example, be in the form of concave portion or 'umbrella' shaped cover or covers around the material dispensing nozzles.
  • Excess material may for example be collected by one or more suction nozzles for reducing dust caused by the surface treatments.
  • the material may be carried in a suitable vessel within the support frame.
  • the support frame may then be provided with a vessel and pumping apparatus operable to pump render or paint (for example) from the vessel to the moveable nozzle.
  • the apparatus may be provided with material from the ground i.e. from a ground based source.
  • the apparatus may further comprise a flexible supply conduit (a pipe or hose) through which materials can be supplied to the apparatus.
  • the flexible supply conduit may be in the form of an elastomeric hose arranged in use to supply render or paint to the surface treatment apparatus or sand/air for sand blowing, shotcrete, insulation foam or fillers.
  • the apparatus may further advantageously comprise a smoothing portion arranged to contact the surface to be treated and to slide relative to the surface upon movement of the support frame relative to the surface to be treated.
  • a surface treatment system comprising a primary unmanned aerial vehicle and a plurality of secondary unmanned aerial vehicles, said primary vehicle comprising a support frame, said support frame comprising one or more lift generating portions arranged in use to cause vertical movement of the support frame and one or more biasing portions arranged in use to bias the support frame against a surface to be treated, wherein the lift generating portions and biasing portions are arranged generally orthogonally to each other, and wherein the support frame defines an internal region arranged to receive one or more surface treatment devices.
  • a primary unmanned aerial vehicle can apply the surface treatment and a plurality of secondary UAVs can provide support to the primary UAV by carrying and supporting one or more supply lines to the primary UAV.
  • These supply lines may for example be power lines such as electrical power or lines that supply material which is to be applied by the primary UAV. They could for example be paint, render or the like.
  • the supply line may be an elongate flexible conduit fluidly connecting the primary unmanned aerial vehicle to a material source.
  • the supply line may be arranged to be supported at predetermined intervals along its length by the plurality of secondary unmanned aerial vehicles.
  • the supply line may additionally remove material from the apparatus, for example the supply line may include a suction line to suck debris from the apparatus which may, for example, be created by an abrasive operation e.g. grinding or blasting.
  • a suction line to suck debris from the apparatus which may, for example, be created by an abrasive operation e.g. grinding or blasting.
  • the system may further comprise a flight controller arranged to navigate the primary unmanned aerial vehicle to a desired location where surface treatment is to occur and to independently control each of said plurality of secondary unmanned aerial vehicles to support the elongate flexible conduit in mid-air.
  • the flight controller may be configured to cause the plurality of secondary unmanned aerial vehicles to move relative to the primary unmanned aerial vehicle such that the elongate flexible conduit does not apply a tensile force to the primary unmanned aerial vehicle. This prevents unwanted movement of the primary UAV either during positioning and/or when in- situ.
  • the tensile force caused by the weight of the supply line on the primary UAV may prevent the primary UAV from being accurately position or it may cause the primary UAV to move as material is pumped along the supply line.
  • the primary UAV may be adapted to perform a range of different tasks or actions to effect the 'treatment' of the surface.
  • the term 'treatment' is intended to include such a variety of actions to tasks associated with building and/or renovating.
  • the surface treatment may be any one of:
  • the system or apparatus may further be provided with one or more surface profile sensors arranged in use to determine the surface profile against which the apparatus is biased.
  • the system can be configured to perform surface assessment before performing any form of treatment.
  • the apparatus may be programmed to apply a particular surface roughness or profile and may first scan the target surface and treat areas that do not meet the predetermined surface profile, for example with render or the like.
  • the apparatus may also detect areas where paint has eroded and repair the area by repainting that region or remove the paint (such as sandblasting or sanding).
  • the primary and secondary UAVs may be controlled to position the primary unmanned aerial vehicle at a position where surface treatment is to occur and to subsequently control the secondary unmanned aerial vehicles to couple a flexible conduit to the primary unmanned aerial vehicle. It will be recognised that the features of the aspects of the invention(s) described herein can conveniently and interchangeably be used in any suitable combination
  • an invention described herein advantageously provides an apparatus that can be positioned in previously difficult locations using the lift generating portions. Furthermore the apparatus can be securely held in position by means of the biassing portions. In cooperation with a series of UAVs an accurate and flexible system is provided which allows a range of processes to be performed by virtue of the flexibility to incorporate a range of tools or processing equipment within the frame of the apparatus.
  • Figure 1 shows a third angle view of an apparatus according to the invention
  • Figure 2 shows a side elevation of the apparatus
  • Figure 3 shows a plan view for the apparatus
  • Figure 4 shows a view from beneath the apparatus
  • Figure 5 shows a view of a primary UAV and a plurality of secondary UAVs
  • Figure 6 shows a side elevation of a primary UAV with a nozzle and guard arrangement
  • Figure 7 shows a primary UAV and a pair of secondary UAVs
  • Figure 8 shows an alternative embodiment of a UAV for applying solar panels
  • FIG. 9 shows a still further embodiment of a UAV cooperating with a supply line support winch. While the invention is susceptible to various modifications and alternative forms, specific embodiments are shown by way of example in the drawings and are herein described in detail. It should be understood however that drawings and detailed description attached hereto are not intended to limit the invention to the particular form disclosed but rather the invention is to cover all modifications, equivalents and alternatives falling within the spirit and scope of the claimed invention Detailed Description
  • Figure 1 shows a third angle view of an apparatus according to an invention described herein.
  • the surface treatment apparatus 1 comprises a support frame 2.
  • the support frame is in the form of a frame or cage defining an inner space or envelope 3 surrounded by the frame structure.
  • the frame structure may be any suitable shape to accommodate the surface treatment devices (discussed below).
  • the support frame may be formed, for example, of a plurality of titanium tubes defining a cube frame and shown in figure 1 .
  • the upper surface 4 of the frame 2 comprised the lift generating portions 5 which in this arrangement are in the form of 4 independent propellers 6.
  • Each propeller is independently controlled by means of an electric motor. It will be recognised that independent operation of the 4 propellers allows the apparatus to move vertically and also in an x and y direction. This can be achieved with conventional unmanned aerial vehicle (UAV) or drone technology.
  • UAV unmanned aerial vehicle
  • the apparatus further comprises a biassing portion 7 which is located on the rear side of the apparatus (the 'front' side being the side from which surface treatment is performed.
  • the biassing portion 7 comprises a pair of propellers 8. Activation of the propellers 8 (again by means of electrical motors) causes the apparatus to be forced or biassed in a direction A shown in figure 1 .
  • the biassing portion 7 is located on an opposing face of the apparatus in figure 1 but it will be recognised that the biassing portion could be located on an alternative face of the apparatus.
  • the important aspect being that the biassing force acts in the direction of the surface to be treated.
  • the lift generating portion and biassing portion are configured to cause movement in a generally orthogonal direction to each other. Put another way, the lift generating portion allows the apparatus to move vertically and in x and y directions to position the device.
  • the biassing portion acts to force the apparatus firmly against the surface to be treated.
  • the apparatus may also comprise a plurality of wheels or rollers 9.
  • the wheels act to roll against the surface to be treated as the apparatus moves in direction B shown in figure 1 .
  • the wheels shown in figure 1 have parallel axes of rotation such that all of the wheels 9 rotate together allowing for movement in the direction B upon activation of the lift generating portion 5.
  • the rollers advantageously allow the apparatus to roll along the wall surface preventing damage.
  • the inner space or envelope 3 may be provided with a plurality of different tools or surface finish/treatment devices.
  • the inner space 3 is provided with a pair of nozzles 10A, 10B.
  • Each nozzle 10A, 10B is mounted on a rail 1 1 A, 1 1 B.
  • the nozzles may be fixed to the rails or alternatively movable such that each nozzle may move along the respective rail in direction B.
  • the nozzles 10A, 10B could for example move along the rail by means of a linear actuator (not shown) or a worm gear drive.
  • the nozzles may be configured to move along the horizontal rails 12A, 12B to allow for movement of the nozzle in direction C shown in figure 1 .
  • the apparatus can be position at the desired location by activation and control of the lift generating portion 5 and then biassing against the surface by activation of the biassing portion 7.
  • the nozzles 10A and 10B can then be moved relative to the surface in directions B and C to effect surface treatment across the entire area defined by the vertical and horizontal rails.
  • the nozzles could alternatively be moveable by means of a robotic arm positioned within the inner space 3.
  • the nozzles may apply different materials to the surface by means of a pressed supply of liquid or semi-liquid material.
  • the nozzles could be supplied with plaster or render which is projected from the end of the nozzle onto the surface to be treated.
  • the paint or render may be supplied to the apparatus via supply line 13 which communicates paint or render from a reservoir to the nozzles. This may for example be a long elastomeric pipe or hose.
  • Figure 2 shows a view of the apparatus from the front i.e. towards the pair of nozzles. Like reference numerals are used corresponding to those used in figure 1 .
  • Figure 3 is a rear view of the apparatus showing the supply line 13.
  • the supply line may be replaced by an internal tank or reservoir mounted in the inner space 3.
  • the reservoir may be provided with a pump and conduit such that the paint or render can be supplied to the nozzles 10A, 10B.
  • Figure 4 is a view from above the apparatus and illustrates an additional (and optional) splash guard 14.
  • the guard 14 acts to capture any material which might be reflected from the surface being treated i.e. it prevents render or paint being reflected and spraying onto other parts or areas of the wall or surface.
  • Figure 5 shows a side view of the apparatus with the guard 14 in place.
  • Figure 5 also shows the supply line 13 and additionally the internal conduit 15 that carries the internal pipework that fluidly connects the supply line 13 to the small hoses 16 attached to each of the nozzle 10A.
  • Figure 6 shows the opposing side of the apparatus with supply line 13, and small hose 16, this time connected to nozzle 10B.
  • Figure 7 shows an apparatus as described with reference to figures 1 to 6 cooperating with a plurality of secondary unmanned aerial vehicles 17A, 17B.
  • the surface treatment apparatus functions as a primary unmanned aerial vehicle 1 , supported by a pair of secondary unmanned aerial vehicles 17A, 17B.
  • the secondary vehicles 17A, 17B support portions of the supply line 13.
  • Each secondary vehicle is provided with a coupling which holds the supply line at a predetermined position. As the secondary vehicles move they can carry portions of the supply line. The support prevents the entire weight of the supply line 13 from being applied to the conduit 15 as illustrated by curves 18,19 in the supply line.
  • the primary vehicle 1 can move and position itself at the desired location and activate the biassing portion. As the primary vehicle moves it can be followed by a plurality of secondary vehicles. In figure 7 only two are shown but it will be recognised that any number could be used, each following the path of the previous vehicle to the target destination.
  • FIG 8 shows an alternative UAV which is adapted to position discrete objects on to a wall or surface.
  • This may, for example, be a solar panel. Arranging a plurality of solar panels on a wall can create a solar array.
  • the UAV 1 comprises a support frame 20 which contains the tooling. Support portions 21 are arranged at one end of the UAV and abut against the wall or surface when in use. Tooling 22 is arranged at the front of the UAV for cooperation with the wall or surface. The tooling is supplied with power/materials by the internal supply conduits 23 which connect the tooling 22 to the reservoir/batteries 26 of the UAV.
  • the tooling 22 may be adapted so that it can extend away from the UAV towards the wall in direction X.
  • a solar panel may be provided with an adhesive backing such that movement of the tooling (carrying the panel) in the X direction brings the panel into contact with the wall against which is adheres. The process can be repeated to create a solar array.
  • the panels may for example be mounted by the apparatus on rails and connected together mechanically and/or electrically by connectors or fasteners on the sides of the panels.
  • the rail may for example incorporate a wire providing for an electrical connection.
  • the embodiment shown in Figure 8 additionally comprises an optical camera 27 which can be used to convey images of the operation of the tooling to the user and/or provide information on the surface to be worked upon by the UAV.
  • Sensors 28 may additionally be incorporated such as ultrasound, thermal imagers, lidar or other laser scanner.
  • the UAV is powered by an 8 propeller arrangement 25.
  • FIG. 9 shows a still further embodiment of a surface treatment apparatus described herein.
  • the UAV 1 cooperated with a movable supply line support winch 29.
  • the UAV may be provided with a movable winch 29 which can be positioned by the UAV above the area which it to be treated or worked upon.
  • the movable winch 29 is provided with cables 30 which is can coil onto a drum by means of an electric motor.
  • the cables 30 are provided with a loop, hook or other means 31 to support the supply lines 32 as the UAV works on the wall or surface.
  • the UAV communicates with the winch and issues instructions as to how much the winch to coil the cables 30 to prevent the supply lines 32 from applying forces to the UAV.
  • the loop 31 by means of movement of the winch.
  • One a vertical strip of wall has been treated or worked upon the UAV can fly up to the winch and using a coupling means lift the winch into a new position before commencing surface treatment on the next portion of wall or surface.
  • the surface treatment apparatus comprised a primary flying UAV portion and a detachable winch portion 29.
  • the winch may advantageously be provided with a counterweight allowing the drum of the winch to extend over the side of the building as shown for example in figure 9.
  • the winch could lift the UAV allowing the upper propellers to be deactivated.
  • a biasing propeller may be optionally used in this embodiment and is not shown in figure 8.
  • Control of the apparatus may be using a conventional hand held controller.
  • haptic gloves and virtual reality glasses may be used.
  • the collective control of the primary and secondary vehicles may be such that the user controlled flightpath of the primary UAV is recorded in three dimensions and each of the secondary UAVs is controlled so as to fly at a predetermined separation along the same flight path.
  • this supply lines can be supported so as to follow the flight path through complex geometries.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

L'invention concerne un appareil de traitement de surface comprenant un cadre de support, ledit cadre de support comprenant une ou plusieurs parties de génération de levage agencées lors de l'utilisation pour provoquer un mouvement vertical du cadre de support et une ou plusieurs parties de sollicitation agencées lors de l'utilisation pour solliciter le cadre de support contre une surface devant être traitée. Les parties de génération de levage et les parties de sollicitation sont agencées de manière généralement orthogonale les unes par rapport aux autres, et le cadre de support définit une région interne agencée pour recevoir un ou plusieurs bras robotiques ou dispositifs de traitement de surface.
PCT/EP2017/065595 2016-06-23 2017-06-23 Appareil de traitement de surface WO2017220803A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17735418.0A EP3474999A2 (fr) 2016-06-23 2017-06-23 Appareil de traitement de surface

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1610986.0 2016-06-23
GB1610986.0A GB2551565B (en) 2016-06-23 2016-06-23 A UAV apparatus for surface treatment

Publications (2)

Publication Number Publication Date
WO2017220803A2 true WO2017220803A2 (fr) 2017-12-28
WO2017220803A3 WO2017220803A3 (fr) 2018-04-19

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PCT/EP2017/065595 WO2017220803A2 (fr) 2016-06-23 2017-06-23 Appareil de traitement de surface

Country Status (3)

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EP (1) EP3474999A2 (fr)
GB (1) GB2551565B (fr)
WO (1) WO2017220803A2 (fr)

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WO2019160941A1 (fr) * 2018-02-15 2019-08-22 Wagner Spray Tech Corporation Système de pulvérisation aérienne de liquide
WO2020075562A1 (fr) * 2018-10-12 2020-04-16 株式会社プロドローン Aéronef sans pilote et procédé de revêtement
IT201800009729A1 (it) * 2018-10-24 2020-04-24 Pierangelo Vercellino Utensile mobile di spruzzatura
IT201800010325A1 (it) * 2018-11-14 2020-05-14 Pierangelo Vercellino Dispositivo di erogazione a getto per applicazioni di spruzzatura su superfici parietali
KR20200061458A (ko) * 2018-11-23 2020-06-03 한국로봇융합연구원 복합 재난 상황 지원을 위한 쿼드콥터
CN113182936A (zh) * 2020-01-29 2021-07-30 波音公司 使用无人驾驶飞行器的结构修理
CN113494168A (zh) * 2021-07-28 2021-10-12 广西尚铭工程机械有限公司 一种悬浮式高楼外墙粉刷系统
JP7217551B1 (ja) 2021-10-27 2023-02-03 株式会社E・C・R 無人飛翔体
NO20221115A1 (en) * 2022-10-18 2024-04-19 Ktv Working Drone As System and method for projecting a solution onto a façade of a structure

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FR3089239B1 (fr) * 2018-12-04 2022-05-13 Vinci Construction France Procédé de rénovation d’une façade d’un bâtiment

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US10399676B2 (en) * 2014-03-31 2019-09-03 Working Drones, Inc. Indoor and outdoor aerial vehicles for painting and related applications
US20170210470A1 (en) * 2014-04-03 2017-07-27 Ricard Pardell Agcfds: automated glass cleaning flying drone system
ES2741330T3 (es) * 2014-04-24 2020-02-10 Roi Neustadt Dispositivo de vuelo estacionario para dibujar en paredes

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019160941A1 (fr) * 2018-02-15 2019-08-22 Wagner Spray Tech Corporation Système de pulvérisation aérienne de liquide
US11065636B2 (en) 2018-02-15 2021-07-20 Wagner Spray Tech Corporation Aerial fluid spraying system
WO2020075562A1 (fr) * 2018-10-12 2020-04-16 株式会社プロドローン Aéronef sans pilote et procédé de revêtement
JP2020059001A (ja) * 2018-10-12 2020-04-16 株式会社プロドローン 無人航空機
IT201800009729A1 (it) * 2018-10-24 2020-04-24 Pierangelo Vercellino Utensile mobile di spruzzatura
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EP3474999A2 (fr) 2019-05-01
GB2551565B (en) 2019-09-04

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