• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a robot comprising: - a mobile device comprising: • a frame, • a plurality of motorized displacement means, fixed to the frame, • hooking means fixed to the free end of the displacement means, • a articulated working arm, fixed on the frame on the side of the attachment means, • a movable tool holder on the free end of the working arm enters at least two defined positions, • at least two work tools supported by the door tool, each of the two tools being able to assume one of the working positions, the arrangement of the working arm being adapted to pressurize the working tool in the working position and to move it in a predetermined movement; a support base, housing the means delivering the energy and fluids necessary for the mobile device; at least one connecting means for bringing the energy and the fluids of the mobile apparatus from the support base.
    公开号:FR3066942A1
    申请号:FR1754912
    申请日:2017-06-02
    公开日:2018-12-07
    发明作者:Philippe Armand Leo Leroy
    申请人:Veymont Tech；
    IPC主号:
    专利说明:

    a plurality of motorized displacement means, fixed to the frame, attachment means attached to the free end of the displacement means, an articulated working arm, attached to the frame on the side of the attachment means, a tool holder 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 can take one of the working positions, the arrangement of the working arm being adapted to pressurize the working tool in the working position and to move it in a predetermined movement;
    - a support base, housing the means delivering the energy and the fluids necessary for the mobile device;
    - At least one connection means for bringing the energy and the fluids of the mobile device from the support base.

    AUTONOMOUS ROBOT, PARTICULARLY 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 intended for cleaning a glass surface.
    The invention aims first of all to propose an autonomous robot which can be used for cleaning large glass surfaces, such as for example on tall buildings, or cleaning glass surfaces which are difficult to access or which have specific security constraints.
    An autonomous robot as targeted by the invention can however be used in a broader context, the mobile device being able to be equipped with specific means of movement allowing it to move on other types of surfaces and being able to carry other tools as cleaning tools, such as means of inspection or deposit of material.
    The term “autonomous robot” is understood here to mean the usual sense of technology, namely equipment the mobile device of which is robotized, that is to say constitutes a mechatronic device, to enable it to move independently and cleaning a surface or performing a work operation on a surface automatically, ie without human intervention.
    Although described with reference to the main intended application, namely the cleaning of glass surfaces, the invention can be applied to any type of autonomous robot capable of moving over a surface in order to perform cleaning actions, repair, inspection, ...
    State of the art
    The popularity of buildings with large glass surfaces creates a great need in terms of cleaning these surfaces. However, cleaning by human labor is costly, restricting the safety of people and property in the environment of the areas to be cleaned, or even impossible in some cases.
    Thus, it can 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 main categories can be distinguished: solutions adapted to a domestic context, where the surfaces to be cleaned are limited and the security constraints relatively low, and solutions adapted to a cleaning of large surfaces where the security constraints can be preponderant, as in the case of exterior glazing of buildings facing the public highway or on sensitive equipment.
    The solutions of the first category consist essentially of small robots directly carrying the necessary reserves of fluids and energy and maintaining themselves on the glass surface using suction cups or magnetic systems.
    Given the quantities of fluids necessary for cleaning a large glass surface, this type of solution is not suitable for a context other than the domestic one.
    Several solutions of the second category have been the subject of patent protection.
    Patent application CN 105534392A discloses an autonomous robot capable of being maintained on glass surfaces thanks to suction cups carried by robotic arms. The cleaning solution adopted consists of a cloth that can be rotated. However, such a cleaning means does not make it possible to carry out an effective and rapid cleaning.
    Patent application WO 9324044 A1 discloses a window cleaning device comprising a squeegee, the movement of which reproduces that which a professional window cleaner would perform. This device requires in particular the installation of rails and therefore requires a particularly cumbersome installation process, which involves a high time and therefore a high cleaning cost.
    There is therefore a need to improve the automated cleaning solutions for glass surfaces, in particular to allow a complete, efficient, quick and easy washing, while respecting safety standards.
    More generally, there is a need to provide an autonomous robot which can be capable of carrying out a work operation in a complete, efficient, rapid and easy to implement manner while respecting safety standards in restrictive environments, in particular very difficult for a human to access.
    The object of the invention is to respond at least in part to this (s) need (s).
    Statement of the invention
    To do this, the invention relates to an autonomous robot comprising:
    - a mobile device comprising:
    • a frame, • a plurality of motorized displacement means, fixed to the frame, • attachment means to a surface, each attachment means being attached to the free end of one of the displacement means, • an arm of articulated work, fixed on the frame on the side of the hooking means, • a tool holder mounted mobile on the free end of the work arm between at least two defined positions, called work positions, • at least two tools work 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 pressurize each working tool in its working position and to move it according to a predetermined movement, in particular according to a continuous movement making it possible to cover the entire working area of the surface contained in the area delimited by the attachment means;
    - a support base, housing the means delivering the energy necessary to the motorized displacement means and to the control-command unit of the mobile device, and where appropriate one or more working fluids intended to supply the tools for job ; and
    - At least one connection means for supplying energy and, if necessary, the working fluid (s) of the mobile device from the support base.
    Thus, the invention essentially consists of an autonomous robot, the support base of which is decoupled from the mobile part, capable of being maintained and of moving on a work surface which may be vertical, and the arrangement of the work arm of which allows work to be optimized in time. and in efficiency.
    The mobile device takes the equipment strictly necessary to perform its tasks, which can include cleaning a surface, inspecting it, depositing 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 to maintain and move the mobile device. The control unit of the mobile device is, however, on board 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 gondola or along a lifeline. It can also be located below the latter, for example at the foot of the area to be cleaned or on a platform. Thus, the installation of the support base can take advantage of existing equipment in the building, reducing the complexity and cost of setting up the robot.
    The support base carries the energy required to move the mobile device as well as working fluids if necessary. The working fluids can be water, a cleaning liquid, compressed air ...
    The support base has a limited number of functions: depositing the mobile device on the work surface and picking it up, deploying the connection 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 connection means connecting the support base to the mobile device makes it possible to transmit energy, any information signals such as an indication of battery charge or of fluid level, and / or the working fluids .
    The mobile device comprises displacement means actuated by a plurality of motors and valves all controlled by a piloting program. This program allows the mobile device to position itself in its environment, in particular using sensors, which are for example range finders 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 movements necessary to reach an intervention site or the support base. The pilot program can also include a remote control mode, in which an operator takes remote control of the mobile device.
    Preferably, the motorized displacement means are articulated arms forming legs. The legs may include two articulated arm segments, one of which supports a hooking means.
    One or both of the arm segments can then be articulated to provide several degrees of freedom. This can be useful in order to allow the mobile device to move on non-planar surfaces, in particular on surfaces with a dihedral type geometry.
    According to a particular embodiment, the attachment means is a suction cup that can adhere to the work surface by air depression, which is particularly suitable for moving and holding on a glass surface. The attachment means can also be an electromagnet, which is particularly suitable for a metal surface, for example of iron, or a clamp, which allows the mobile device to grasp hooks.
    When the attachment means is a suction cup, the sequence for attaching a suction cup to a work surface preferably comprises the steps consisting in: positioning the suction cup in contact with the surface, blowing 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 to the surface. Checking the pressure in the suction cup ensures that the suction cup is securely attached to the surface.
    The structure of the legs makes it possible in particular to lift the hooking means, which gives the mobile device the ability to overcome obstacles of modest size such as glazing beads of glazed structures.
    The mobile device also includes a working arm fixed to the frame on the side of the hooking means. The attachment of the working arm on this side of the frame avoids inducing excessive forces on the attachment means when the working arm pressurizes against the working surface. Thus, an attachment to the frame on the side opposite to the attachment means would introduce the risk of causing one or more of the attachment means to come loose. In addition, the arrangement of the working arm on the side of the hooking means makes it possible to determine an optimal 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 with a cleaning liquid beforehand, can be entrained by the working arm in a cycloid type movement along a path covering the area to be cleaned delimited by the attachment means. This type of movement makes it possible to effectively impregnate the area to be cleaned with cleaning liquid and to carry out a first surface cleaning. The squeegee can be driven by the working arm 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 work tools also include a fluid suction tool. This tool can vacuum the residual liquids remaining after the passage of the squeegee.
    According to another embodiment, the working tools include 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 hooking means, adapted to modify the tool in the working position by acting on the tool holder. The advantage of this mechanism is that it allows the tool to be changed without having to carry a motor on the working arm. Indeed, the latter must remain as light as possible in order to be able to move 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 cord in case the mobile device loses contact with the surface on which it is moving. The support base is capable of detecting the detachment of the mobile device by monitoring the variation of the force applied to the umbilical cord, and can recover the mobile even if the latter is inert.
    Advantageously, if the mobile device is located below the support base, the latter adjusts the free length of the connecting cord as a function of 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 stuck at the location of the support base, to limit the maximum unwinding of the umbilical cord. This adds an additional level of security, since the mobile device cannot then be moved in 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 in order 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 work surface on which the mobile device can be hung by its side opposite to the hooking means. The automatic attachment of the mobile device to the work surface is done by the deployment of the attachment means on the work surface, allowing the mobile device to have a support in order to lift and get out of or hooks of the support base. The automatic unhooking of the mobile device from the work surface comprises the following steps: moving the mobile device to a return position on the support base, extension of the motorized movement means to put the frame in position d 'hooking on the hook (s) of the support base, hooking of the mobile device on the hooks of the support base, folding of the hooking means.
    The attachment and detachment operations of the mobile device can also be performed manually by an operator.
    Preferably, the mobile device includes an inertial detector adapted to determine the acceleration of the mobile device and, advantageously, also includes protective elements housed in the frame adapted to protect the mobile device in the event of unwanted contact with an exterior surface. The inertial detector can 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 the parts of the mobile device protected by protective elements can come into contact with an exterior surface. The mobile device can also incorporate a parachute that can be triggered in the event 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 height, in particular on a lifeline integrated into the building or on a nacelle integrated into the building;
    b / attachment of the mobile device to the glass surface;
    c / movement of 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 over the first area to be cleaned according to oscillating movements;
    g / placing in a working position a squeegee, as another of the working tools;
    h / passage of the squeegee over the first zone to be cleaned according to a continuous and uniform movement;
    hl / if necessary, if the robot includes a suction tool, placing the suction tool in the working position and suction of the residual liquid from the passage of the squeegee;
    i / displacement of the movable body to a second next area to be cleaned;
    j / repetition of steps c / i / until the glass surface is completely cleaned and the robot is returned to its initial hooking position;
    k / removal of the mobile device from the glass surface.
    The support base is not intended to move when the mobile device is in operation on the work surface: it does not move until the mobile device is attached to it.
    detailed description
    Other advantages and characteristics of the invention will emerge more clearly on reading the detailed description of the invention given by way of illustration and not limitation, with reference to the following figures among which:
    - Figure 1 is a schematic perspective view of the mobile device part of an example of an autonomous robot according to the invention;
    - Figure 2 is a schematic view from below of the mobile device according to Figure 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 underside of the mobile device during a cleaning operation;
    - Figure 5 is a schematic view of the mobile device in the attachment phase to the support base;
    - Figure 6 is a schematic view of the hooks for hooking the base support on which is hooked the mobile device;
    - Figure 7 is a schematic view of the tool changing mechanism;
    - Figure 8 is a schematic view of the tool changing mechanism shown in a position different 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, intended to perform work on a surface, in particular a vertical glazed surface.
    The mobile device 1 comprises a frame 11 which supports motorized displacement means 2, a working arm 3 as well as 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 hinged together by rotary connections along an axis substantially perpendicular to the work surface. The segment 21, which constitutes the leading segment, is articulated to the frame 11 by a rotary link. Having four movement arms ensures that the mobile device can be permanently hung on the work surface by three support points.
    At the end of each arm segment 22 is fixed a hooking means 23, preferably consisting of a suction cup. The function of these suction cups is to keep 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 axis. This feature allows the mobile device in particular to pass obstacles of moderate height.
    The articulated arms 2 can be mechanically locked in position, to allow the mobile device to keep 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 capable of supporting a tool holder 32 with a single tool, such as a squeegee 31 shown in Figures 1 and 2, or a tool holder 32 with several tools as shown in Figures 6 and 7, which can support a multitude of tools, such as a sponge ίο and a squeegee 31. Among other possible tools include a fluid vacuum cleaner, a camera, a deposit tool of material ...
    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 the pressurization of the tool on the working surface.
    In addition, the working arm 3 is arranged so that it can carry and move a tool in a continuous movement 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 can consist of two segments hinged together along an axis substantially perpendicular to the working surface, the free segment carrying the tool 31.
    The pressurization of the tool 31 in the working position on the working surface is carried out by means of the simultaneous retraction of all the suction cups under the effect of the retraction of their motorized axes. Thus, this retraction causes the frame 11 to approach the working surface and thus to put the tool 31 in contact with pressure against the surface. Similarly, putting the working surface out of contact is achieved by moving the frame away from the surface by deploying the motorized axes of the suction cups.
    There is shown in Figure 3 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. The base- support 5 can advantageously include an automatic winder 51 of the cord 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 device 1. As can be seen, the constitution and arrangement of the arms allows the mobile device 1 to clean the entire glass surface, including the corners formed by the glazing beads 7.
    FIG. 5 represents the mobile device 1 illustrated previously in the hanging phase on the support base 5.
    FIG. 6 represents a view from the side of the support base facing the mobile device during the hanging or unhooking phase of the latter. The hooks 53 allow the mobile device to hang on 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 comprises a tool support part 33 provided with a hexagonal tip. A retractable element 34 is fixed to the frame 11 and can be retracted therein. This retractable element 34 comprises a socket 35 of shape complementary to the hexagonal end piece of the support piece 33.
    The tool holder tool change is done as follows:
    - the retractable element 34 is deployed outside the frame 11,
    the working arm 3 is then 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 makes it possible to pivot the support piece 33 and thereby change the tool in the working position.
    FIG. 8 represents the tool changing mechanism when the end piece of the support piece 33 is inserted into the socket 35.
    The invention is not limited to the examples which have just been described; one can in particular combine together characteristics of the examples illustrated within variants not illustrated.
    Other variants and advantages of the invention can be achieved 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 over the entire work surface.
    权利要求:
    Claims (12)
    [1" id="c-fr-0001]
    1. Autonomous robot, in particular intended 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, • attachment means (23) to a surface, each attachment means being attached to the free end of one of the displacement means, • an articulated working arm (3), fixed to the frame on the side of the hooking means, • a tool holder (32) mounted movably 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 according to a predetermined movement, in particular according to a continuous movement making it possible to cover the entire working area of the surface contained in the area delimited by the means hitch hage;
    - a support base (5), housing the means delivering the energy necessary to the motorized displacement means and to the control-command unit of the mobile device, and where appropriate one or more working fluids intended to supply work tools; and
    - at least one connecting means (4) for supplying the energy and, where appropriate, the working fluid (s) of the mobile device from the support base.
    [2" id="c-fr-0002]
    2. Autonomous robot according to claim 1, the motorized displacement means (2) being articulated arms forming legs.
    [3" id="c-fr-0003]
    3. Autonomous robot according to one of the preceding claims, the attachment means (23) being chosen from suction cups adapted to adhere to the surface by air depression, electromagnets or clamps.
    [4" id="c-fr-0004]
    4. Autonomous robot according to one of the preceding claims, the working tools comprising a sponge and a squeegee.
    [5" id="c-fr-0005]
    5. Autonomous robot according to claim 4 further comprising a fluid suction tool.
    [6" id="c-fr-0006]
    6. Autonomous robot according to one of claims 1 to 5, the working tools comprising an inspection camera and / or a material deposition tool such as a resin or a gel.
    [7" id="c-fr-0007]
    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" id="c-fr-0008]
    8. Autonomous robot according to one of the preceding claims, the connecting means (4) being an umbilical cord.
    [9" id="c-fr-0009]
    9. Autonomous robot according to one of the preceding claims, the support base (5) comprising motorized means for moving the mobile device and bringing it into an attachment position on the surface and vice-versa.
    [10" id="c-fr-0010]
    10. Autonomous robot according to one of the preceding claims, the mobile device (1) comprising an inertial detector adapted to determine the acceleration of the device.
    [11" id="c-fr-0011]
    11. Autonomous robot according to one of the preceding claims, further comprising protective elements housed in the frame, adapted to protect the mobile device in the event of unwanted contact with an external surface.
    [12" id="c-fr-0012]
    12. Method for cleaning a glazed building surface implemented by an autonomous robot according to one of the preceding claims, comprising the following steps:
    a / installation of the support base at the foot of the surface to be cleaned or at height, in particular on a lifeline integrated into the building or on a nacelle integrated into the building;
    b / attachment of the mobile device to the glass surface;
    c / movement of 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 over the first area to be cleaned according to oscillating movements;
    g / placing in a working position a squeegee, as another of the working tools;
    h / passage of the squeegee over the first zone to be cleaned according to a continuous and uniform movement;
    5 hl / if necessary, if the robot includes a suction tool, placing the suction tool in the working position and suction of the residual liquid from the passage of the squeegee;
    i / displacement of the movable body to a second next area to be cleaned;
    10 d / repetition of steps c / to i / until the glass surface has been completely cleaned and the robot is returned to its initial hooking position;
    k / removal of the mobile device from the glass surface.
    类似技术:
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    同族专利:
    公开号 | 公开日
    WO2018220090A1|2018-12-06|
    FR3066942B1|2019-07-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0401120A1|1989-06-02|1990-12-05|Bouygues|Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls|
    US20130037050A1|2011-08-09|2013-02-14|Chi-Mou Chao|Cleaner and path controlling method thereof|
    WO2015056957A1|2013-10-18|2015-04-23|김경식|Window cleaning robot|CN109620070A|2018-12-11|2019-04-16|河北机电职业技术学院|A kind of intelligent bionic glass-cleaning robot|GB9211146D0|1992-05-26|1992-07-08|O C S Group Limited|Improvements in window cleaning|
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    法律状态:
    2018-05-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-12-07| PLSC| Search report ready|Effective date: 20181207 |
    2020-06-11| PLFP| Fee payment|Year of fee payment: 4 |
    2021-06-04| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1754912A|FR3066942B1|2017-06-02|2017-06-02|AUTONOMOUS ROBOT, IN PARTICULAR FOR CLEANING A GLAZED SURFACE|
    FR1754912|2017-06-02|FR1754912A| FR3066942B1|2017-06-02|2017-06-02|AUTONOMOUS ROBOT, IN PARTICULAR FOR CLEANING A GLAZED SURFACE|
    PCT/EP2018/064310| WO2018220090A1|2017-06-02|2018-05-30|Autonomous robot intended, in particular, for cleaning a glazed surface|
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