WO2018220090A1

WO2018220090A1 - Autonomous robot intended, in particular, for cleaning a glazed surface

Info

Publication number: WO2018220090A1
Application number: PCT/EP2018/064310
Authority: WO
Inventors: Philippe Armand Léo LEROY
Original assignee: Veymont Technologie
Priority date: 2017-06-02
Filing date: 2018-05-30
Publication date: 2018-12-06
Also published as: FR3066942B1; FR3066942A1

Abstract

The present invention concerns a robot comprising: - a movable apparatus comprising: • a frame, • a plurality of motorised movement means, attached to the frame, • fastening means attached to the free end of the movement means, • a hinged working arm, attached to the frame on the side of the fastening means, • a tool holder that is movable on the free end of the working arm between at least two defined positions, • at least two working tools supported by the tool holder, each of the two tools being capable of assuming one of the working positions, the arrangement of the working arm being suitable for applying pressure to the working tool in the working position and for moving it in a predetermined movement; - a support base, housing the means delivering the energy and fluids required by the movable apparatus; - at least one connecting means for conveying the energy and fluids of the movable apparatus from the support base.

Description

AUTONOMOUS ROBOT, IN PARTICULAR FOR CLEANING A SURFACE

GLASS

Technical area

The present invention relates to the field of robotics, and more particularly relates to an autonomous robot, in particular for cleaning a glass surface.

The invention aims to provide in the first place an autonomous robot that can be used for cleaning large glazed surfaces, such as on high buildings, or the cleaning of glass surfaces difficult to access or with particular security constraints.

An autonomous robot as referred to by the invention can however be used in a wider context, the mobile device can be equipped with specific means of displacement allowing it to move on other types of surfaces and can carry other tools as cleaning tools, such as means of inspection or deposit of material.

By "autonomous robot" is meant here the usual meaning of the technology, namely a device whose mobile device is robotized, that is to say constitutes a mechatronic device, to enable it to move autonomously and to clean a surface or perform a work operation on a surface automatically, ie without human intervention.

Although described with reference to the main application aimed at, namely the cleaning of glazed surfaces, the invention can be applied to any type of autonomous robot capable of moving on a surface in order to perform cleaning, repair, inspection, ...

State of the art

The popularity of buildings with large glazed surfaces leads to a significant need for cleaning these surfaces. However, cleaning by a human workforce is expensive, constraining in terms of the safety of people and goods in the environment of the areas to be cleaned, or even impossible in some cases.

Thus, it may be interesting and sometimes essential to have an automated solution for cleaning such surfaces. Semi-automated or automated cleaning solutions are known. Among these solutions, two broad categories can be distinguished: solutions adapted to a domestic context, where the surfaces to be cleaned are limited and the safety constraints are relatively low, and the solutions adapted to an extensive surface cleaning where the safety constraints can be predominant, as in the case of exterior glazing of buildings overlooking public roads or sensitive equipment.

The solutions in the first category consist mainly of small robots directly carrying the necessary reserves of fluids and energy and standing on the glass surface using suction cups or magnetic systems.

Given the quantities of fluids needed to clean a large glass surface, this type of solution is not suitable for a context other than the domestic one.

Several solutions in the second category have been patented.

The patent application CN 105534392A discloses an autonomous robot capable of standing on glass surfaces with suction cups carried by robotic arms. The cleaning solution adopted consists of a rag that can be rotated. Such cleaning means, however, does not allow to perform an efficient and fast cleaning.

Patent application WO 9324044 A1 discloses a window cleaning device comprising a squeegee whose movement reproduces that which would be effected by a professional glass cleaner. This device particularly requires the installation of rails and therefore requires a particularly heavy implementation process, which implies a time and therefore a high cleaning cost.

There is therefore a need to improve the solutions for automated cleaning of glazed surfaces, in particular to allow a complete wash, efficient, fast and easy to implement while respecting safety standards.

More generally, there is a need to provide an autonomous robot that can be capable of performing a work operation in a complete, efficient, fast and easy to implement manner while respecting the safety standards in constraining environments, including very difficult to access for a human being. The object of the invention is to respond at least in part to this (these) need (s).

Presentation of the invention

To do this, the subject of the invention is an autonomous robot comprising:

a mobile device comprising:

• a frame,

A plurality of motorized moving means, fixed to the frame,

Means of attachment to a surface, each attachment means being attached to the free end of one of the moving means,

An articulated working arm, fixed on the frame on the side of the attachment means,

A tool-holder movably mounted on the free end of the working arm enters at least two defined positions, called working positions;

At least two work tools supported by the tool holder, each of the two tools being able to assume one of the working positions, the arrangement of the articulated working arm being adapted to press each work tool into its position of work and move in a predetermined movement, including a continuous movement to cover the entirety of a working area of the surface contained in the area defined by the attachment means;

a support base, housing the means supplying the energy required for the motorized movement means and the control unit of the mobile device, and, if appropriate, one or more working fluids intended to feed the tools of job ; and

at least one connecting means for bringing the energy and possibly the working fluid (s) of the mobile device from the support base.

Thus, the invention consists essentially of an autonomous robot whose base-support is decoupled from the mobile part able to hold and to move on a working surface which can be vertical and whose arrangement of the working arm allows an optimized work in time and efficiency.

The mobile device carries the equipment strictly necessary to fulfill its tasks, which may include the cleaning of a surface, its inspection, the deposition of material ... In this way, the mass of the mobile device is minimized. This allows in particular to optimize the speed of movement and the energy required for the maintenance and movement of the mobile device. The control unit of the mobile device is however embarked on the latter; this avoids any risk of computer intrusion from the support base.

The support base can be located above the mobile device, for example on a nacelle or along a lifeline. It can also be below the latter, for example at the foot of the area to be cleaned or on a platform. Thus, the installation of the base-support can take advantage of the existing equipment of the building, reducing the complexity and the cost of setting up the robot.

The base-support carries the energy necessary for the movements of the mobile device as well as the working fluids if necessary. Working fluids can be water, a cleaning liquid, compressed air ...

The base-support has a limited number of functions: the deposit of the mobile device on the work surface and its collection, the deployment of the connecting means. The simplicity of these commands allows the use of a PLC instead of a computer system, thus avoiding any risk of computer intrusion.

A connecting means connecting the base-support to the mobile device transmits the energy, any information signals such as an indication of battery charge or fluid level, and / or working fluids .

The mobile apparatus comprises moving means actuated by a plurality of motors and valves all controlled by a control program. This program allows the mobile device to position itself in its environment, particularly using sensors, which are for example rangefinders or cameras, to adapt to the configuration of its environment, for example by avoiding a present obstacle. on the work surface, and to determine the necessary movements to reach a place of intervention or the base-support. The control program may also include a remote control mode in which an operator remotely takes control of the mobile device.

Preferably, the motorized displacement means are articulated arms forming tabs. The legs may comprise two articulated arm segments, one of which supports a hooking means.

One or both of the arm segments can then be articulated to benefit from multiple degrees of freedom. This can be useful to allow the device mobile to move on non-planar surfaces, particularly on surfaces with dihedral geometry.

According to a particular embodiment, the attachment means is a suction cup that can adhere to the working surface by air depression, which is particularly suitable for movement and maintenance on a glass surface. The attachment means may also be an electromagnet, which is particularly suitable for a metal surface such as iron, or a clamp, which allows the mobile device to capture hooks.

When the attachment means is a suction cup, the sequence of hanging a suction cup on a work surface preferably comprises the steps of: positioning the suction cup in contact with the surface, blow compressed air via the suction cup in order to evacuate any impurities present on the surface, depressurize the suction cup in order to obtain its attachment on the surface. The control of the pressure in the suction cup makes sure that it is hooked on the surface.

The structure of the legs allows in particular to lift the attachment means, which gives the mobile device the ability to bypass obstacles of modest size such as glazing glazing beads.

The mobile device also comprises a working arm fixed to the frame on the side of the attachment means. The fixing of the working arm on this side of the frame avoids inducing excessive forces on the attachment means when the working arm is pressurized against the work surface. Thus, a fixation on the frame on the side opposite to the attachment means would introduce the risk of disengaging one or more of the attachment means. In addition, the arrangement of the working arm on the side of the hooking means makes it possible to determine an optimum area to be cleaned, delimited by the hooking means.

According to a particular embodiment, the working tools carried by the working arm comprise a sponge and a squeegee, in particular for cleaning a glass surface. The sponge, possibly sprayed beforehand with a cleaning liquid, can be driven by the working arm in a cycloid-like movement along a path covering the area to be cleaned delimited by the attachment means. This type of movement effectively impregnates the area to be cleaned with cleaning liquid and performs a first superficial cleaning. The squeegee can be driven by the arm of work following the passage of the sponge in a continuous movement reproducing the movement of a professional window washer and allowing the squeegee to cover the entire area to be cleaned delimited by the attachment means.

Preferably, the working tools also comprise a fluid suction tool. This tool can suck any residual liquids remaining after the squeegee has passed.

According to another embodiment, the working tools comprise an inspection camera and / or a material deposition tool such as a resin or a gel.

Advantageously, the frame comprises a motorized retractable element, fixed on the side of the attachment means, adapted to modify the tool in the working position by acting on the tool holder. The advantage of this mechanism is to allow the tool change without the need to embark a motor on the work arm. Indeed, the latter must remain as light as possible in order to be able to evolve the working arm at a satisfactory speed and not to use too much power.

Preferably, the connecting means is an umbilical cord. If the support base is above the mobile device, the umbilical cord can also serve as a safety cordon in case the mobile device loses contact with the surface on which it is moving. The base-support is able to detect the stall of the mobile device by monitoring the variation of the force applied to the umbilical cord, and can recover the mobile even if it is inert.

Advantageously, if the mobile device is below the support base, the latter adjusts the free length of the connection cord according to the distance between the support base and the mobile device so that the mobile device supports as little as possible the weight of the connecting means. The support base may be able to take into account external information, such as a label affixed at the location of the support base, to limit the maximum unwinding of the umbilical cord. This adds an extra level of security, since the mobile device can not then be moved into an area outside the area delimited by the maximum unwinding of the cord.

According to a particular embodiment, the support base comprises motorized means for moving to deposit the mobile device at a predetermined location on the work surface and recover it. Preferably, the support base is equipped with one or more hooks fixed on the side facing the working surface on which the mobile device can be hooked by its opposite side to the hooking means. The automatic attachment of the mobile device on the work surface is done by the deployment of the attachment means on the work surface, allowing the mobile device to have a support to lift and exit the or hooks of the base-support. The automatic stall of the mobile device from the work surface comprises the following steps: moving the mobile device to a return position on the support base, extending the motorized moving means to put the frame in position d hooked on the hook or hooks of the support base, attachment of the mobile device on the hooks of the support base, withdrawal of the attachment means.

The hooking and unhooking operations of the mobile device can also be performed manually by an operator.

Preferably, the mobile device comprises an inertial detector adapted to determine the acceleration of the mobile device and, advantageously, also comprises protection elements housed in the frame adapted to protect the mobile device in case of undesired contact with an outer surface. The inertial detector may in particular be used to detect a possible fall of the mobile device. If a fall is detected, the mobile device can move to a safe position, such that only parts of the mobile device protected by protection elements can come into contact with an outer surface. The mobile device can also incorporate a parachute that can be triggered in case of a fall, especially if the support base is below the mobile device at the time of the fall.

The invention also relates to a method for cleaning a glazed building surface implemented by an autonomous robot as described above, comprising the following steps:

a / installation of the support base at the foot of the surface to be cleaned or at a height, in particular on a life line integrated into the building or on a nacelle integrated into the building;

b / hooking up the mobile device on the glass surface;

cl moving the mobile device to a first area to be cleaned contained in the area delimited by the attachment means; d / spraying cleaning liquid on the first area to be cleaned or on a sponge, as one of the working tools;

e / placing in the working position of the sponge;

f / passage of the sponge on the first zone to be cleaned according to oscillating movements;

g / putting in the working position of a squeegee, as another working tool;

h / passage of the squeegee on the first zone to be cleaned in a continuous and uniform movement;

hl / if necessary, if the robot has a suction tool, put in the working position of the suction tool and suction residual liquid from the passage of the squeegee;

moving the movable body to a second area to be cleaned next; j / repetition of steps cl to it until complete cleaning of the glass surface and that the robot is returned to its initial position of attachment;

kl stall of the mobile device from the glass surface.

The base-support is not intended to move when the mobile device is operating on the work surface: it moves only when the mobile device is hooked to it.

detailed description

Other advantages and features of the invention will emerge more clearly from a reading of the detailed description of the invention, given by way of illustration and without limitation with reference to the following figures among which:

FIG. 1 is a schematic perspective view of the mobile apparatus part of an example of an autonomous robot according to the invention;

FIG. 2 is a schematic view of the underside of the mobile device according to FIG. 1;

- Figure 3 is a schematic view of the assembly consisting of the mobile device and the support base in operation;

- Figure 4 is a schematic view of the bottom of the mobile device during a cleaning operation; - Figure 5 is a schematic view of the mobile device in the attachment phase at the base-support;

FIG. 6 is a diagrammatic view of the hooking hooks of the support base on which the mobile apparatus is hooked;

Figure 7 is a schematic view of the tool change mechanism;

- Figure 8 is a schematic view of the tool change mechanism shown in a different position from that of the previous figure.

FIGS. 1 to 8 show a mobile device 1 and a support base 5 of an autonomous robot according to the invention, designed to perform work on a surface, in particular a vertical glazed surface.

The mobile apparatus 1 comprises a frame 11 which supports motorized displacement means 2, a working arm 3 and an umbilical cord 4.

According to the embodiment illustrated in Figures 1 and 2, the displacement means 2 consist of four arms each comprising two segments 21, 22 articulated together by rotating connections along an axis substantially perpendicular to the working surface. The segment 21, which constitutes the driving segment, is articulated to the frame 11 by a rotating link. Having four moving arms ensures that the mobile device can be permanently attached to the work surface by three fulcrums.

At the end of each arm segment 22 is fixed a hooking means

23, preferably constituted by a suction cup. These suction cups have the function of keeping the mobile device on a work surface. Each of the suction cups 23, installed at the end of a motorized axis such as a threaded rod or a jack, can be retracted by the retraction of the motorized axle. This feature allows the mobile device to pass obstacles of moderate height.

The articulated arms 2 can be mechanically locked in position, to allow the mobile device to maintain a fixed position without consuming energy.

The frame 11 also comprises, on the side of the suction cups 23, a working arm 3. The latter is able to support a tool holder 32 with a single tool, such as a squeegee 31 shown in FIGS. 1 and 2, or a toolholder 32 with several tools as shown in Figures 6 and 7, which can support a multitude of tools, such as a sponge 36 and a squeegee 31. Among other possible tools include a vacuum cleaner fluids, a camera, a material deposition tool ...

Preferably, the working arm 3 is pivotally mounted around the center of the frame, in order to limit and balance the forces induced on the suction cups by pressurizing the tool on the work surface.

In addition, the working arm 3 is arranged so that it can carry and move a tool in a continuous motion covering the entire area between the suction cups, while maintaining the tool 31 with pressure against the work surface. This optimizes the working time, because for a fixed position of the mobile device, the working area is maximized.

As shown in FIG. 2, the working arm 3 may consist of two segments articulated together along an axis substantially perpendicular to the working surface, the free segment carrying the tool 31.

Pressurizing the tool 31 in working position on the work surface is achieved through the simultaneous retraction of all the suction cups under the effect of the retraction of their motorized axes. Thus, this retraction causes the frame 1 1 to approach the working surface and thus to put the tool 31 in contact with pressure against the surface. Similarly, the off-contact of the work surface is achieved by moving away from the frame of the surface by the deployment of the motorized axes of the suction cups.

FIG. 3 shows the assembly consisting of the support base 5 and the mobile device 1 connected by the cord 4, in the working configuration of the mobile device cleaning a glass surface comprising glazing beads 7. support 5 may advantageously comprise an automatic reel 51 of the bead 4. As illustrated, the support base 5 is attached to a support rail, usually called lifeline 52.

FIG. 4 illustrates a particular position of the mobile apparatus 1. As can be seen, the constitution and the arrangement of the arms allows the mobile apparatus 1 to clean the entire glass surface, including the corners formed by the glazing beads 7.

FIG. 5 represents the mobile device 1 previously illustrated during the attachment phase on the support base 5. Figure 6 shows a side view of the support base facing the mobile device during the hooking phase or stall of the latter. The hooks 53 allow the mobile device to cling to the support base 5.

In Figure 7, the tool change mechanism of the tool holder 32 is detailed. The tool holder is carried at the end of the arm 3 and supports two tools, a sponge 36 and a squeegee 31. In this FIG. 6, the sponge 36 is in the working position, that is to say in contact with the work surface. The tool holder has a tool support part 33 with a hexagonal end. A retractable element 34 is fixed to the frame 11 and can be retracted therein. This retractable element 34 comprises a bushing 35 of complementary shape to the hexagonal end of the support piece 33.

The tool change of the tool holder is as follows:

the retractable element 34 is deployed outside the frame 11,

the working arm 3 then comes to be positioned so as to introduce the hexagonal end-piece 33 into the socket 35,

- A motor carried by the retractable element 34 rotates the sleeve 35, which allows to pivot the support member 33 and thereby change the tool in the working position.

FIG. 8 shows the tool change mechanism when the tip of the support piece 33 is inserted into the sleeve 35.

The invention is not limited to the examples which have just been described; it is possible in particular to combine with one another characteristics of the illustrated examples within non-illustrated variants.

Other variants and advantages of the invention can be realized without departing from the scope of the invention.

In particular, the tool holder is not necessarily carried by a working arm. It can be envisaged that the tool holder is installed on a cross table or on any other mechanism allowing the placement and orientation of a tool on the entire work surface.

Claims

An autonomous robot, especially for cleaning a glass surface, comprising:

a mobile device (1) comprising:

A frame (11),

A plurality of motorized displacement means (2), fixed to the frame,

Fastening means (23) to a surface, each fastening means being fixed to the free end of one of the displacement means,

An articulated working arm (3) fixed to the frame on the side of the attachment means,

A tool holder (32) mounted to move on the free end of the working arm between at least two defined positions, called working positions,

At least two working tools supported by the tool holder (32), each of the two tools being able to assume one of the working positions, the arrangement of the articulated working arm being adapted to pressurize each working tool in its working position and to move it in a predetermined movement, in particular in a continuous movement to cover the entirety of a working area of the surface contained in the area defined by the attachment means;

a support base (5) accommodating the means delivering the energy required to the motorized moving means and to the control unit of the mobile device, and if necessary one or more working fluids intended to feed work tools; and

- At least one connecting means (4) for bringing the energy and optionally the (s) working fluid (s) of the mobile device from the base-support.

2. autonomous robot according to claim 1, the motorized displacement means (2) being articulated arms forming tabs.

3. autonomous robot according to one of the preceding claims, the attachment means (23) being selected from suckers adapted to adhere to the surface by air depression, electromagnets or clamps.

4. autonomous robot according to one of the preceding claims, the working tools comprising a sponge and a squeegee.

The autonomous robot of claim 4 further comprising a fluid suction tool.

6. autonomous robot according to one of claims 1 to 5, the working tools comprising an inspection camera and / or a deposition tool material such as a resin or a gel.

7. autonomous robot according to one of the preceding claims, the frame comprising a retractable element (34) motorized, fixed on the side of the attachment means, adapted to modify the tool in the working position by acting on the tool holder.

8. autonomous robot according to one of the preceding claims, the connecting means (4) being an umbilical cord.

9. autonomous robot according to one of the preceding claims, the support base (5) comprising motorized means for moving the mobile device and bring it into a hooking position on the surface and vice versa.

10. autonomous robot according to one of the preceding claims, the mobile device (1) comprising an inertial sensor adapted to determine the acceleration of the device.

11. Autonomous robot according to one of the preceding claims, further comprising protection elements housed in the frame, adapted to protect the mobile device in case of undesired contact with an outer surface.

12. A method of cleaning a glazed building surface implemented by an autonomous robot according to one of the preceding claims, comprising the following steps:

b / hooking up the mobile device on the glass surface;

cl moving the mobile device to a first area to be cleaned delimited by the attachment means;

d / spraying cleaning liquid on the first area to be cleaned or on a sponge, as one of the working tools;

e / placing in the working position of the sponge;

f / passage of the sponge on the first zone to be cleaned according to oscillating movements; g / putting in the working position of a squeegee, as another working tool;

moving the movable body to a second area to be cleaned next;

j / repetition of the steps c / it until the complete cleaning of the glass surface and that the robot is returned to its initial position of attachment;

kl stall of the mobile device from the glass surface.