WO2019016016A1

WO2019016016A1 - Autonomous painting robot and control method

Info

Publication number: WO2019016016A1
Application number: PCT/EP2018/068576
Authority: WO
Inventors: Alain PATCHONG
Original assignee: Mexence Digital & Robotics
Priority date: 2017-07-17
Filing date: 2018-07-09
Publication date: 2019-01-24
Also published as: PT3655169T; EP3655169B1; ES2882130T3; EP3655169A1; FR3068898A1

Abstract

The invention relates to an autonomous painting robot (10) for painting inside (2) walls (8), comprising: a main body (12), a transverse direction T, a support polygon (40) defined by wheels (16) of the robot (10), a paint (46) sprayer (22) configured to spray paint (46) in the transverse direction T, said sprayer (22) being disposed in the transverse continuation of the support polygon; a vertical slide (26) connecting the sprayer (22) to the body (12) in a sliding manner, said robot being noteworthy in that it also comprises a vertical space (28) transversely separating the slide (26) from the body (12), and in that it comprises a joint (30) transversely connecting the slide (26) to the body (12), the joint (30) forming a solid that continues the body (12) and extends exclusively outside the support polygon (40).

Description

AUTONOMOUS PAINTER ROBOT AND CONTROL METHOD Technical field

The invention relates to an autonomous painter robot for applying paint in living and office rooms. The invention also relates to a control method of an autonomous painter robot in a room to be decorated.

Prior art

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

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

However, the maintenance of this robot is complex and must be done frequently. Indeed, it presents a large number of moving parts that are exposed to the cloud of paint. In use, suspended paint droplets solidify in mechanical bonds that degrade prematurely. The progressive depositing of paint blocks the bonds, and reduces the precision of movement. In addition, the painting masks the optical means of the autonomous robot, which penalizes the ability to map its environment or to detect obstacles. The ability to control painted or painted surfaces is also limited.

CN 101412008 A discloses a painting robot with multiple joints. It is complex and cumbersome.

DE 20 2009 005 562 U1 discloses a funnel for a spraying device.

Summary of the invention

Technical problem

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

Technical solution

It will be understood that the invention proposes a vehicle painting independently, which comprises a slide transversely at a distance and transversely in front of the body.

The invention relates to an autonomous painter robot configured to paint vertical walls of interior rooms, including living rooms or office rooms, the robot comprising: a main body, a transverse direction, a support polygon, in particular defined by robot wheels, a paint sprayer configured to project paint in the transverse direction T, said sprayer being disposed in the transverse extension of the lift polygon; a vertical slide slidably connecting the sprayer to the body, remarkable in that it further comprises a vertical space transversely separating the slide of the body.

The invention also relates to an autonomous painter robot, the robot comprising: a body; an effector including able to spray paint; a slide connecting the effector to the body; wheels defining a lift polygon of the robot, at least one of said wheels having an axis of rotation fixed relative to the body; remarkable in that the robot comprises a space separating the slide from the lift surface along said axis, and / or a lateral space laterally connecting the slide to the polygon.

The invention also relates to an autonomous robot painter, the robot comprising: a main body, a longitudinal direction, a polygon of levitation means for driving in a longitudinal direction, a paint sprayer configured to project paint transversely to the longitudinal direction, said sprayer being disposed longitudinally at the level of the lift polygon; a vertical slide slidably connecting the sprayer to the body, characterized in that it further comprises a vertical space transversely separating the slide of the body; and / or transversely connecting the slide to the polygon and / or the body.

According to advantageous embodiments of the invention, the robot may comprise one or more of the following characteristics, taken separately or according to all the possible technical combinations:

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

- The robot comprises a junction connecting transversely the slide to the body.

- The sprayer includes a funnel with a rectangular opening.

- The sprayer is configured to reduce the length of the opening perpendicular to the transverse direction.

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

- The slide is a telescopic pulley slide, including internal motor.

- The body has a cylindrical shape or a polyhedron shape having a main elongation arranged along the axis of sliding of the slide, the transverse width of the robot is optionally less than or equal to: 90 cm, or 80 cm, or 70 cm, or 60 cm.

- The body comprises optical means remote from the slide, and / or ultrasonic sensors at a distance from the slide.

- The vertical space separating the slide from the body extends mainly vertically. - The levitation polygon forms a triangle, or a rectangle, or a trapezoid, or a hexagon.

- In vertical projection in a horizontal plane, the slide is outside and / or away from the support polygon; and / or the space separates the slide from the body.

- The slide is arranged transversely between the body and the sprayer, and / or connects transversely.

- The slide is movable between an expanded configuration and a retracted configuration in which the slide is vertically in relation to the body.

- The slide is configured to extend at least over the entire height of the body.

- The slide comprises a plate connected to the body and a plate connected to the sprayer, said plates being movable vertically relative to each other.

- The robot comprises a pivot connection connecting the sprayer to the slide, said pivot link having a horizontal pivot axis. A ball joint offers more freedom of movement. A pivot connection, that is to say a single axis of rotation, is more limited but remains more robust. The robot equipped in this way remains more reliable.

- The wheels form ground connections.

- The wheels comprise at least one or are wheels mecanum.

- The transverse width of the robot is greater than the longitudinal length of the robot, the width being optionally measured from a free end of the sprayer, for example in the extended or retracted position.

- The opening of the funnel has a vertical axis and a longitudinal axis longer than the vertical axis, said axes being perpendicular to the transverse direction; the longitudinal axis being horizontal. - The space extends over substantially the entire height of the body, and / or the height of the slide in its retracted configuration, and / or the majority of the height of the robot, in particular in the retracted configuration of the slide.

- The transverse direction is fixed relative to the body.

- The junction is arranged at the top of the body.

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

The invention also relates to a control method of an autonomous painter robot configured to paint an interior part wall, the robot comprising a main body, a slide connecting the sprayer to the main body so as to vertically move the sprayer relative to to the body, wheels defining a first axis of rotation in a transverse direction T and a second axis of rotation, a lift polygon of the robot and a paint sprayer configured to project paint in the transverse direction, the slide and the polygon with the lift being between the first axis of rotation and the second axis of rotation, the method comprising the following steps: (a) applying a vertical paint strip by the sprayer on the wall, and then a step (b) moving the robot , remarkable in that the slide is transversely away from the support polygon, and that in step (b) displacement, the robot moves at most half the width of the paint strip, perpendicular to the transverse direction T, the robot being optionally in accordance with the invention.

According to advantageous embodiments of the invention, the method may comprise one or more of the following characteristics, taken separately or according to all the possible technical combinations:

- During step (a) application, the wall has two walls connected by a wedge overlapped by the paint strip, during step (a) application the inclinations of the walls relative to the transverse direction T are equal.

- The sprayer comprises a funnel through which the paint is projected on the wall, during step (a) application, the gap E between the funnel and the wall is between 0.10 cm and 1.00 cm. - The band comprises a width perpendicular to the vertical direction.

- The gap E between the funnel and the wall is between 0.30 cm and 0.80 cm.

- The gap E between the funnel and the wall is a mean gap between the surface of the wall and the free end of the funnel.

- In step (a) application, the piece has a height of between 2.00m and 3.00m, and / or a width less than or equal to: 3.00m, or 2.00m, or 1, 00m.

- In step (a) application, the room comprises a door limiting access, the height of the door being between 2.00m and 2.50m, and / or its width being between 70cm and 90cm.

- The axes of rotation form a front axle and a rear axle.

- The axes are parallel.

- One of said axes, including the first, is fixed relative to the body.

- At least one of each axis is formed by at least one or at least two wheels.

In general, the advantageous modes of each object of the invention are also applicable to the other objects of the invention. Each object of the invention is combinable with the other objects, and the objects of the invention are also combinable with the embodiments of the description, which in addition are combinable with each other, according to all possible technical combinations, unless otherwise not explicitly mentioned.

Advantages of the invention

The measures of the invention are interesting in that the space becomes a separation space which reduces the proportion of the suspension paint reaching the body of the robot. The moving parts, the optical means, and the slots in the outer cover of the body are less exposed to the droplets. Thus the capabilities of movement, environmental analysis, and cooling of electrical modules are preserved. The risks of breakdown and accident are reduced. The robot manages to operate autonomously more a long time while guaranteeing a high margin of safety and quality. The solutions of the present invention are particularly relevant for corners.

The configuration with a transverse spray, integrated in the length of the body, or at least in the longitudinal grip of the wheels, facilitates the management and the precision of the fast displacements. This increases thanks to the parallelism between the direction of spray and the axis of rotation of the wheels.

The adoption of a funnel end of the robot makes it possible to marry the surface of the wall, and to limit the escape of the paint mist that can pollute the environment. Again, the functional surfaces of the robot are preserved. The preparatory operation of adhesive tape bonding becomes optional.

Brief description of the drawings

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

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

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

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

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

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

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

Description of an embodiment

In the following description, the longitudinal direction corresponds to the main direction of movement of the robot. The longitudinal direction is possibly perpendicular to the transverse direction. The dimensions can be considered when the robot applies paint, especially in at least one position of the slide.

Figure 1 shows an interior part 2 of a construction, such as a home or offices.

The height between the floor 4 and the ceiling 6 may be 2.55m, or more generally between 2.00m and 3.00m. In widespread manner in the interior rooms, access is via a door (not shown), whose height may be less than or equal to 2.05m; and whose width may be less than or equal to 0.90 m. The size of the door forms an obstacle constraining access to the room 2. A vertical wall 8 connects the floor 4 to the ceiling 6, and its surface is painted by a robot autonomous painter 10.

The robot 10 may be a vehicle, in particular an automobile. It may comprise a main body 12, in particular formed by an optionally rectangular outer cover 14. The robot 10 may comprise ground connections, such as wheels 16 or caterpillars. The wheels 16 may comprise flexible treads. An air cushion device is possible. The wheels 16 may be of the type mecanum. Their treads are formed by a series of rollers rotating relative to a rim, the axes of rotation of the rollers being inclined with respect to the axis of rotation of the rim relative to the body 12.

The robot 10 is autonomous in that it can include a dedicated power supply, such as an electric accumulator housed in the cover 14, for example next to paint cartridges. Alternatively or in addition, it can be connected by cable to an external source of energy. In addition, it can ship one or more paint tanks (not visible).

The robot 10 may include a mapping system 18 for drawing a plane of the part as well as each wall 8 to be painted. Thanks to a computer program of navigation, he manages to calculate an optimal course. The mapping system 18 may include optical means 20, for example forming the top of the body 12, and / or placed on a face of the body 12. The optical means 20 may be distributed around the body 12. The optical means 20 may include a thermal camera, and / or an infrared sensor. They can help to define a plan of the room as well as to detect possible obstacles. This last function can also be performed by ultrasonic sensors. In addition or alternatively, the plane of the part 2 can be preset and then loaded into a computer memory unit of the robot.

The application of paint can be carried out by means of a sprayer 22. The latter comprises a nozzle 23 projecting a jet or a cloud of paint that dyes or pigments the wall 8 when the paint is deposited there. Optionally, the sprayer 22 comprises a funnel 24. The funnel 24 has an internal clearance whose inner section increases towards the wall 8. The veil of the funnel 24 limits the diffusion of the paint, and allows to control the sharpness of the edges of the impression of the sprayer.

The sprayer 22 is implanted laterally with respect to the body 12. Its spray paint emerges at a distance from the body, which limits the soiling. The spray of paint via the sprayer can be performed in the transverse direction T, which can correspond to the axis of rotation of at least one or two wheels 16; said wheel (s) 16 being steering (s) and / or driving (s).

A slide 26 movably connects the sprayer 22 to the body 12 of the robot 10. The slide 26 can be vertically telescopic. It is represented in solid lines in its retracted configuration, or low configuration; and dashed lines in its deployed configuration, or high configuration. Thus, the sprayer 22 manages to scan the entire height of the body 12, and even the entire height of the wall 8.

The slide 26 may be pulleys and cables (not visible), which offers an interesting durability in the field of painting despite the round trips to be followed by the sprayer 22. An internal motor drives each cable to actuate the sprayer.

A space 28 can separate the slide 26 from the body 12. Optionally, this space 28 touches the body 12 and the slide 26. These portions may delimit it transversely. It can be delimited longitudinally by the slide. The space 28 forms an interface, and / or a recess; between the slide 26 and the body, respectively the wheels, when the slide is in retracted configuration. The space 28 may be essentially empty. It extends over most of the height of the body 12 and / or the slide 26. The space 28 separates, at least partially, the optical means 20 of the slide 26.

A junction 30 connects the slide 26 to the body 12. It extends transversely from one to the other. It can form a solid extending the body 12. The junction 30 preferably extends exclusively outside the support polygon 40. The plates 32 of the slide 26 are joined to the body 12, possibly via the junction 30, and the sprayer 22. The plates 32, or trolleys, can each sweep the slide.

The robot can be configured to paint horizontal surfaces, such as floors and ceilings, for example by means of a ball or pivot whose travel allows a vertical spray. However, a configuration that favors or is limited to vertical surfaces increases the reliability of the robot thanks to greater robustness and better sealing to paint mist.

Figure 2 shows back the autonomous painter robot 10 illustrated in Figure 1. This FIG. 2 shows the displacement D of the robot 10 which is shown in dashed line in the first position, and in continuous line in the second position.

A first strip 34 of paint was deposited when the robot 10 occupied the first position. The sprayer 22 has traveled the wall 8 over its entire height. Following the displacement D of the robot 10 in its longitudinal direction L, the robot 10 stopped. Then he applies a second band 36 which partially covers the first, for example when it remains wet. The overlap area 38 may be 50% of the width of the strips (34; 36). In this zone 38, two layers of paint pile up. The width of the overlap area 38 is equal to the displacement D.

FIG. 3 shows the robot 10 overhanging. From left to right, the body 10, the junction 30, a plate 32, the slide 26, another plate 32, the sprayer 22 with its nozzle 23 and its funnel 24 are observed. 8. The space 28 delimiting the body 12 and the slide 26 is covered by the junction 30. The longitudinal direction L is perpendicular to the transverse direction T.

The wheels 16 define the levitation polygon 40 of the robot 10. The sprayer 22 is placed longitudinally at the level of the levitation polygon 40, and / or in the transverse extension of the polygon of lift 40. This position to the right of the polygon facilitates the positioning of the sprayer 22 in front of the wall 8, and facilitates the painting of the corners 42 between two inclined walls.

FIG. 4 shows a view from above of the sprayer 22 according to the invention, as well as the impressions 44 of paints which are produced as a function of the configuration of the funnel 24.

The funnel 24 is longitudinally adjustable. It is configured to reduce the size of the opening. It may comprise moving parts and one or more actuators, for example arranged to separate or move the moving parts.

The funnel 24 is drawn with a continuous line in retracted or closed configuration, and with a dashed line in deployed configuration or open configuration. The same representation mode applies to the imprints 44. In the deployed configuration, the length of the imprint 44 is maximum. It is reduced in the retracted configuration, and can form a square. The paint on the corners and edges is simplified.

Figure 5 is a longitudinal and vertical section of the sprayer 22 inside the funnel 24. Paint 46 is projected against the surface of the wall 8 to cover it, in particular in several layers.

For example, in the lower part, the funnel 24 has a recovery orifice 48. This recovery orifice 48 makes it possible to collect the paint mist 46 which does not reach the wall, and which remains in suspension inside the funnel 24 or the risk of circumventing the wall 8. The funnel 24 comprises a third or a quarter at the end wall side 8, that is to say, in the form of the opening, the orifice being advantageously formed in said third or said quarter respectively.

The robot may have a suction with a pipe 50 connected to the orifice 48 in order to evacuate the paint mist 46. By this, the impression of paint becomes even more clear because only the droplets of paint 46 whose trajectory is controlled These droplets advantageously have straight trajectories thanks to their kinetic energies.

In order to further increase the accuracy of the edges of the impression, the sprayer 22, and in particular the funnel 24, can be brought closer to the wall 8. The gap E separating may be of the order of 0.50 cm. This difference can be measured at the opening 52. The gap E can be an average difference.

FIG. 6 represents an autonomous painter robot according to a second embodiment of the invention. This FIG. 6 repeats the numbering of the preceding figures for identical or similar elements, however, the numbering is incremented by 100. Specific numbers are used for the elements specific to this embodiment.

The second embodiment is substantially identical to the first embodiment, it differs however in the shape of the body 1 12 and the implantation of the wheels 1 16. The body 1 12 can be hexagonal seen from above. The robot 1 10 may comprise a lower base 154. This base 154 may be circular. Two main wheels 156 may protrude from the base 154 and / or the body. These main wheels 156 may be driving and steering, for example by turning in the opposite direction. Auxiliary wheels 158 may be idle wheels.

The axis of rotation of the main wheels 156 may be fixed relative to the body 1 12, and form the transverse direction T, and / or be perpendicular to the longitudinal direction L. The lifting polygon 140 generally forms a triangle, and possibly a hexagon. The slide 126 movably carries the sprayer 122. It is in the transverse extension of the lift polygon 140. It can be separated by the space 128. The latter can also touch the slide 126, the body 1 12 and the base 154.

The teaching of the first embodiment can be applied in full to the second embodiment. These embodiments may be combined. They can be applied to the following process.

Figure 7 is a diagram of the control method or control of an autonomous painter robot.

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

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

In step (a) application 200, the wall has two walls connected by a corner, as detailed in Figure 3. The paint stripe can overlap the corner. During step (b) displacement 202, and / or during step (a) application 200 the inclinations of the walls relative to the transverse direction are equal. When the robot is painting a corner, it can rotate on itself and advance less than one bandwidth. When starting a wall after a corner, the development of its path may be greater than a bandwidth. Both advancement and development can be calculated from the robot's center of gravity.

Claims

claims

1. Stand-alone painter (10; 1 10) configured to paint vertical walls (8) of interior rooms (2), including living rooms or office rooms, the robot (10; 1 10) comprising:

a main body (12; 1 12),

a transverse direction T,

a lift polygon (40; 140) defined by wheels (16; 1 16) of the robot (10; 1 10),

a sprayer (22; 122) of paint (46) configured to spray paint (46) in the transverse direction T, said sprayer (22; 122) being disposed in the transverse extension of the lift polygon (40; 140);

a vertical slide (26; 126) slidably connecting the sprayer (22; 122) to the body (12;

characterized in that it further comprises

a vertical space (28; 128) transversely separating the slide (26; 126) from the body (12; 1 12), and comprising a junction (30) transversely connecting the slide (26; 126) to the body ( 12; 1 12), the junction (30) forming a solid extending the body (12; 1 12) and extending exclusively outside the support polygon (40; 140).

2. Robot (10; 1 10) according to claim 1, characterized in that the space (28;

128) extends over most of the height of the body (12; 1 12).

3. Robot (10; 1 10) according to one of claims 1 to 2, characterized in that the sprayer (22; 122) comprises a funnel (24) with a rectangular opening (52).

Robot (10; 1 10) according to claim 3, characterized in that the sprayer (22; 122) is configured to reduce the length of the opening (52) perpendicular to the transverse direction T.

5. Robot (10; 1 10) according to one of claims 3 to 4, characterized in that the funnel (24) comprises a spray recovery port (48) sprayed (46), the robot (10; 10) comprising a paint suction module (46) sprayed via the recovery port (48).

6. Robot (10; 1 10) according to one of claims 1 to 5, characterized in that the slide (26; 126) is a telescopic slide pulleys, including internal motor.

7. Robot (10; 1 10) according to one of claims 1 to 6, characterized in that the body (12; 1 12) has a cylindrical shape or a polyhedron shape having a main elongation arranged along the axis of slide of the slide (26; 126), the transverse width of the robot (10; 1 10) is optionally less than or equal to: 90 cm, or 80 cm, or 70 cm, or 60 cm.

8. Robot (10; 1 10) according to one of claims 1 to 7, characterized in that the body comprises optical means (20) remote from the slide (26; 126).

9. A method of controlling an autonomous painter robot (10; 1 10) configured to paint a wall (8) of an inner part (2), the robot (10; 1 10) comprising a main body (12; a slider (26; 126) connecting the sprayer (22; 122) to the main body to vertically move the sprayer (22; 122) relative to the body, wheels (16; 1 16) defining a first axis of rotation in a transverse direction T and a second axis of rotation, a lift polygon (40; 140) of the robot (10; 1 10) and a sprayer (22; 122) of paint (46) configured to project paint (46). ) in the transverse direction T, the slide (26; 126) and the lift polygon (40; 140) being between the first axis of rotation and the second axis of rotation, the method comprising the following steps:

(a) applying (200) a web (34; 36) of paint (46) vertically by the sprayer (22; 122) to the wall (8) and then a step

(b) moving (202) the robot (10; 1 10),

characterized in that

the slider (26; 126) is transversely away from the lift polygon (40; 140), and in that in step (b) displacement (202), the robot (10; 1 10) moves at most half the width of the strip (34; 36) of paint (46) perpendicularly in the transverse direction T, the robot (10; 1 10) being according to one of claims 1 to 9.

10. Method according to claim 9, characterized in that during step (a) application (200), the wall (8) has two walls connected by a wedge (42) overlapped by the strip (34; paint (46), during the step (a) application (200) the inclinations of the walls relative to the transverse direction T are equal.

1 1. Method according to one of claims 9 to 10, characterized in that the sprayer (22; 122) comprises a funnel (24) through which the paint (46) is projected onto the wall (8) during the step (a). ) application (200), the gap E between the funnel and the wall (8) is between 0.10 cm and 1.00 cm.