Concrete surface processing machines, systems and methods for processing a concrete surface

Abstract

A machine (100) for processing a concrete surface, the machine comprising: a control unit (101); and at least three tool carriers (110) arranged to rotate about a respective tool carrier axis, wherein at least one of the tool carriers (110) is arranged to generate a variable force acting on the machine relative to the concrete surface in response to a control signal generated by the control unit (101), wherein the control signal is configured to provide a movement of the machine relative to the surface.

Description

Technical Field

[0001] This disclosure relates to machines for processing concrete and stone surfaces, such as floor grinders and trowels. The disclosed machines include devices for self-motion and are suitable for autonomous or remote control operation. Background Technology

[0002] Concrete surfaces are commonly used for flooring in both residential and industrial settings. The size of concrete surface floors ranges from a few square meters in a residential garage to thousands of square meters in a larger industrial facility. Concrete surfaces offer a cost-effective and durable flooring alternative and have therefore gained popularity in recent years.

[0003] Concrete surface preparation is carried out in steps. After the concrete is poured, the surface is first troweled, and then ground smooth once the surface has reached a sufficient level of maturity. If desired, the matured concrete surface can then be polished to a gloss finish. Floor grinders and / or trowels can be used to efficiently process the concrete surface.

[0004] Floor grinders and trowels differ in size but are generally quite large. US 7775740 B2 discloses an exemplary trowel for processing larger concrete surfaces. US 6846127 B1 discloses an exemplary trowel for processing smaller and medium-sized concrete surfaces. Typically, different types of concrete surface processing tools are used depending on the size of the concrete surface and the concrete processing task at hand.

[0005] DE 19542728 C1 relates to a concrete surface processing machine that is considered easier to operate due to the presence of an electronic control unit that compensates for irregularities, tilts, etc., that may exist on the concrete floor surface.

[0006] US 3936212 A discloses a power trowel with a single power supply fixed to a frame and connected to three trowels via a complex linkage mechanism.

[0007] WO 2020102458 A1 illustrates an autonomous power finisher based on two tool holders.

[0008] CN 1598218 A discloses a four-rotor power trowel having a central power source arranged to drive the rotors via a mechanical linkage.

[0009] A more flexible machine system is needed that can be used for both small and large surfaces.

[0010] A more efficient device is also needed to power the tool racks on concrete surface processing machines. Summary of the Invention

[0011] The purpose of this disclosure is to provide improved concrete surface processing machines and systems for processing concrete surfaces.

[0012] This objective is achieved by a concrete surface processing machine for processing concrete surfaces. The machine includes a control unit and at least three tool holders arranged to be driven by respective electric motors. These tool holders are arranged to rotate about their respective tool holder axes, wherein at least one of the tool holders is arranged to generate a variable force acting on the machine relative to the concrete surface in response to a control signal generated by the control unit, wherein the control signal is configured to provide movement of the machine relative to the surface. Thus, the machine is able to move itself across the concrete surface and simultaneously process the concrete surface by, for example, grinding or troweling. Advantageously, the machine is able to move in the forward direction and simultaneously rotate about its center of mass, which provides, for example, improved concrete polishing. The machine is controlled by the control unit and does not require operator intervention. Instead, the machine is preferably remotely controlled or autonomously operated to process concrete surfaces. The fact that each tool holder has its own electric motor means that complex transmission mechanisms from a central power source (such as chain or belt drives) are unnecessary, and simplifies tool holder control because these electric motors can be controlled independently of each other, for example, in terms of applied torque or shaft speed.

[0013] In one particularly advantageous example, the electric motor is arranged to tilt together with the tool holder, that is, the tool holder rotates about the same axis as the motor shaft. This makes the connection between the power source and the tool holder even less complicated.

[0014] Because each tool holder is connected to a corresponding motor, the distance between the motor and the tool holder can be very short, on the order of a few centimeters. This allows the drive shaft to be designed to be short and durable, which is an advantage.

[0015] According to several aspects, the total weight of the machine is less than 30 kg, and preferably no more than 25 kg. This lightweight machine can be easily transported between work sites. For smaller jobs, a single machine can be used, while for larger jobs, multiple machines can be combined to process larger concrete surfaces. Thus, a flexible and versatile concrete processing system is provided. The machine's coverage area can be contained within a square of 100 cm × 100 cm; that is, the machine can also be manufactured very compactly in terms of size. However, it should also be understood that many of the ideas discussed herein can also be applied to standard-sized concrete surface processing machines, such as conventional-sized floor grinders and trowels. Thus, while the proposed technology and machine are advantageously used with smaller machines, they do not preclude their use with larger machines. According to several aspects, at least one tool holder axis is arranged to be tiltable in one or two dimensions relative to the machine's base plane to generate movement of the machine relative to the surface, wherein a control unit is arranged to control the tilting of the tool holder axis via control signals. By tilting one or more tool holder axes, a stable and robust device for self-movement is provided. This form of self-movement is also easily controlled by the control unit. This allows for rotation around the center of mass and motion in the forward direction. As mentioned above, the tool holder is advantageously directly connected to the motor shaft of the corresponding electric motor, which then tilts together with the tool holder. Because the electric motor is arranged at an angle, the tool holder, directly connected to the motor shaft, tilts together with the motor. Thus, during tilting, the axis of rotation of the tool holder is aligned with the axis of rotation of the motor rotor.

[0016] According to several aspects, at least two of the tool holder axes are arranged to be tiltable relative to the base plane, wherein the corresponding kinetic forces generated by the at least two corresponding tool holders are configured to produce a desired torque around the machine's center of mass. This means that the entire machine can be rotated in a controlled manner around its center of mass or around its centroid, which is an advantage because this type of planetary rotation would typically further propel concrete processing operations. Traditional floor grinders typically include: tool holders arranged to rotate around corresponding tool holder axes; and planetary rotating mechanisms that cause the tool holders to rotate around planetary rotation axes different from the tool holder axes. This type of machine requires complex drive mechanisms to actuate different rotations. Conversely, by rotating the entire machine, planetary drives are no longer necessary, which is an advantage.

[0017] According to several aspects, at least one tool holder axis is arranged to be tiltable by a servo mechanism connected to an eccentric actuator. The servo mechanism represents a robust actuator suitable for the task and is easily controlled by a control unit. The servo mechanism provides high-resolution control, meaning that very small tilt angles can be controlled from the control unit. The servo mechanism can, of course, be arranged to be supported on a motor so that the motor, along with the tool holder directly attached to the motor shaft, tilts together.

[0018] According to several aspects, at least one tool holder with a tiltable axis is supported by a disc spring. This disc spring provides a robust component and is also cost-effective and easy to manufacture.

[0019] For several reasons, the motor and / or transmission of the tilting tool holder are arranged to be tiltable relative to the base plane. By tilting the entire drive mechanism, a cost-effective and robust design is achieved. The complexity of the tilting mechanism is also reduced. Because the entire drive assembly is tilted, there is no need for complex mechanical linkages between the tool head and the drive motor.

[0020] According to several aspects, at least one of the tool holders is configured to be displaceable along a respective tool holder axis by a control unit to adjust the normal load associated with the tool holder. The control unit is arranged to control the displacement of the tool holder via control signals to provide movement of the machine relative to a surface. This type of self-moving principle is cost-effective and easy to assemble. The tool holder can also be arranged to be displaceable in a plane transverse to the base plane of the machine and have a similar effect.

[0021] According to several aspects, at least one of the tool holders is arranged to rotate at a variable speed. A control unit is arranged to control the variable speed of the tool holder via control signals to provide movement of the machine relative to the surface. Many existing electric motors implement controllable motor speeds. Thus, the control unit can easily interact with the motor to adjust the tool speed in a convenient manner. The variable speed can be configured as a variable motor shaft speed and / or a variable transmission ratio.

[0022] According to several aspects, the machine comprises four tool racks arranged in a square configuration around the machine's centroid. This square configuration is stable and easily controlled to achieve the desired self-movement.

[0023] According to several aspects, the first tool holder is arranged to rotate at a different speed in a different direction of rotation compared to the second tool holder. By using different directions of rotation, the two tool holders complement each other, and thus provide a machine that is easier to control by the control unit.

[0024] According to several aspects, the machine includes one or more rechargeable batteries configured to power one or more electric motors on the machine. These batteries can advantageously be inductively charged. For example, the machine may include an inductive charging circuit arranged to connect to an external power source to recharge the one or more rechargeable batteries. Rechargeable batteries typically provide efficient machine operation, even in work locations where a reliable mains power supply is lacking.

[0025] According to several aspects, the control unit is arranged to receive control signals at least partially from external remote control devices and / or from external systems used for autonomous drive. The control unit can also be arranged to generate control signals at least partially as autonomous drive control signals. This has the advantage of eliminating the need for an operator to operate the machine, or at least eliminating the need for an operator to be located near the machine. This is because the relatively lightweight machine is then able to process concrete surfaces that are not yet fully mature (i.e., soft). An operator is most likely to leave footprints on these surfaces, but now the operator can be located at a distance, or even not present near the concrete surface to be processed. The autonomous system can also process concrete surfaces during non-working hours.

[0026] According to several aspects, the machine includes a control unit with a radio transceiver arranged to establish a communication link with at least one other machine. In this way, the machine can form a mesh network with other machines, which can be used by a group of machines (referred to herein as a cluster) to collaboratively process larger concrete surfaces. The mesh network can also be used to relay information between machines in the cluster and from a remote control unit to one or more machines in the cluster.

[0027] According to several aspects, the machine includes a cover having one or more proximity sensors and / or impact sensors configured to detect when the cover approaches and / or contacts an obstacle. The machine also includes a control unit arranged to perform a situation avoidance maneuver in response to the one or more sensors detecting proximity and / or contact with an obstacle. Safety is ensured because the machine will quickly and reliably detect any obstacles in its path. The situation avoidance maneuver can, for example, be a complete stop of the machine. The situation avoidance maneuver can also include reversing the machine away from the path it entered in the situation.

[0028] According to several aspects, the machine includes an emergency stop control input device arranged so that it is accessible on the outer surface of the machine when in use. This emergency stop control input device can be used by an operator or technician to disable the machine in case of an error, which is an advantage.

[0029] Depending on several aspects, one or more tool holders are arranged for any of the following multiple tools: smoothing concrete surfaces, troweling concrete surfaces, grinding concrete surfaces, or polishing concrete surfaces. This has the advantage that the same machine can be used for a wide range of different tasks. For example, one or more tool holders may include corresponding polishing tools arranged for grinding operations or troweling tools, wherein each polishing tool includes a support structure arranged to carry a polishing blade. The support structure and the polishing blade can be designed to be symmetrical, such that the support structure can rotate in both clockwise and counterclockwise directions.

[0030] According to several aspects, the machine includes a positioning system arranged to position the machine in a coordinate system relative to the concrete surface. This positioning system facilitates the motion control of the machine.

[0031] This document also discloses systems and methods for processing concrete surfaces, in connection with the advantages mentioned above. Specifically, methods for processing concrete surfaces are disclosed, including deploying a cluster of concrete surface processing machines to collaboratively process the surface.

[0032] Generally, unless otherwise expressly defined herein, all terms used in the claims will be interpreted according to their ordinary meaning in the art. All references to “a / an / the element, device, component, apparatus, step, etc.” will be interpreted openly as at least one instance of that element, device, component, apparatus, step, etc., unless otherwise expressly stated. Unless expressly stated, the steps of any method disclosed herein need not be performed in the exact order disclosed. Further features and advantages of the invention will become apparent when examined in conjunction with the appended claims and the following description. Those skilled in the art will recognize that different features of the invention can be combined to produce embodiments other than those described below without departing from the scope of the invention. Attached Figure Description

[0033] This disclosure will now be described in more detail with reference to the accompanying drawings.

[0034] Figures 1A to 1C An exemplary self-propelled floor polisher is shown.

[0035] Figure 2 It illustrates the principle of machine movement.

[0036] Figures 3A to 3B The tilt of the tool head is shown schematically.

[0037] Figure 4 The movement of the machine is illustrated schematically.

[0038] Figure 5 This is a cross-sectional view of an exemplary machine.

[0039] Figure 6 Details of the interior of an exemplary machine are shown.

[0040] Figure 7 Details of the electric motor used in the machine are shown.

[0041] Figures 8A to 8B An exemplary machine is shown.

[0042] Figure 9 It illustrates the principle of machine movement.

[0043] Figure 10 The machine system is illustrated schematically.

[0044] Figures 11A to 11B An exemplary remote control device is shown.

[0045] Figure 11C The control unit for autonomous control is shown schematically.

[0046] Figure 12 An exemplary self-propelled power trowel is shown.

[0047] Figures 13A to 13B Different principles of self-motion are shown.

[0048] Figure 14 This is a flowchart illustrating the method.

[0049] Figure 15 The control unit is shown schematically.

[0050] Figure 16 The computer program product is shown. Detailed Implementation

[0051] The invention will now be described more fully below with reference to the accompanying drawings, in which certain aspects of the invention are illustrated. However, the invention may be embodied in many different forms and should not be construed as being limited to the embodiments and aspects set forth herein; rather, these embodiments are provided by way of example, making this disclosure thorough and complete, and fully conveying the scope of the invention to those skilled in the art. Throughout the specification, similar reference numerals denote similar elements.

[0052] It should be understood that the present invention is not limited to the embodiments described and illustrated herein; rather, those skilled in the art will recognize that many changes and modifications can be made within the scope of the appended claims.

[0053] Figures 1A to 1CA machine 100 for processing concrete surfaces is shown. The machine is supported on the concrete surface by four rotatable tool heads. Each tool head includes a tool, such as a grinding disc, held by a tool holder 110. This particular machine includes four tool holders 110 arranged in a square configuration around the machine's centroid C. The following will be combined with... Figure 8A and 8B Examples including three tool racks are discussed in more detail, and it is also possible to use more than four tool racks. Some aspects of the invention can also be applied to machines having two tool racks.

[0054] A tool head, arranged to process concrete surfaces, extends within the base plane 120 of the machine. During operation of the machine 100, the base plane coincides with the concrete surface to be processed. In other words, the base plane essentially forms the bottom surface of the machine 100.

[0055] Figure 1C The machine 100 shown is equipped with tools for floor grinding or floor polishing. Therefore, the tool holder 110 holds tool heads arranged for grinding operations, such as diamond tools for grinding concrete surfaces. Grinding tools can have different grit sizes for different operations, i.e., coarse grit for leveling and fine grit for polishing. These tools can also be referred to as grinding heads.

[0056] The following text combines Figure 12 The discussion focuses on tool holders that hold tools used for troweling operations (i.e., trowel blades). Other types of tools can also be carried by tool holders. For example, these tool holders can hold soft tool heads arranged to provide only self-movement through machine 100 with minimal damage to the concrete surface. These tool heads can be used in transport modes of operation or when the concrete surface is measured by means of sensors arranged on machine 100, such as radar sensors, vision-based sensors, or lidar sensors. These sensors can be configured to detect any cracks, scratches, discoloration, etc., on the concrete surface. These sensors may also include surface temperature sensors and / or humidity sensors, wherein a control unit is arranged to estimate the maturity of the concrete surface.

[0057] Typically, a tool holder is a structure arranged to hold concrete processing tools, such as grinding discs or a set of trowel blades. A tool holder with attached tools can be referred to as a tool head. A grinding head is a tool head arranged for grinding or polishing concrete surfaces, while a trowel head is a tool head arranged for troweling operations.

[0058] The specific machine 100 differs from known machines in that it is relatively small in size and weight, and does not include any manual controls that an operator could use to steer the machine, such as manual control handles. Instead, the machine is self-propelled and includes an onboard control unit 101 that controls various operations of the machine without the operator needing to be near it. The following is about... Figure 15 The control unit 101 will be discussed in more detail. (and...) Figures 1A to 1C Exemplary machines similar to the machine 100 shown can be associated with a total weight of less than 30 kg and preferably no more than 25 kg. The machine coverage area (i.e., the portion of the concrete surface 210 covered by the grinder) is contained in a square of 100 cm × 100 cm, and preferably no more than 70 cm × 70 cm. However, it should be understood that many of the techniques discussed herein are also advantageously applicable to larger floor grinders and trowels.

[0059] The machine discussed herein can be used for any of the following: smoothing concrete surfaces, troweling concrete surfaces, grinding concrete surfaces, and / or polishing concrete surfaces. Thus, by means of the convenient replacement of tools on the rotatable tool holder 110, the machine 100 with the tool holder 110 can be used for different types of concrete processing operations, such as troweling and grinding.

[0060] The tool holder 110 can also be equipped with soft or flexible discs, such as rubber discs, designed to provide self-movement with minimal damage to the concrete surface. These transport discs can be mounted on the machine when it needs to traverse sensitive concrete surfaces that are not yet fully mature. The disc radius can be configured to be larger than the radius of the polishing tool to reduce impact on the concrete surface.

[0061] The transport mode disk can also be used by the machine to measure concrete surfaces, i.e., by using one or more sensors configured to measure one or more characteristics of the concrete surface, such as any of radar sensors, vision-based sensors, and / or lidar sensors configured to detect scratches, uneven surface sections, discoloration, or damage (such as cracks) in the concrete surface.

[0062] One or more sensors may also include surface temperature sensors and / or humidity sensors, wherein the control unit is arranged to determine the concrete maturity associated with a segment of the concrete surface. The concrete maturity level can be determined, for example, by a lookup table of temperature and humidity levels, or humidity index only.

[0063] Machine 100 is light enough to be carried by an operator, for example, via a handle 150 mounted on the machine's cover 130. This means the machine is very easy to deploy and can be moved conveniently between work sites, such as in the back of a truck or even a car.

[0064] Machine 100 is preferably, but not necessarily, powered by batteries. Electrical connector 160 can be located on the top side of the machine for easy access to the battery charger cable.

[0065] For larger jobs, i.e., for processing larger surfaces, multiple machines (up to 100) can be used in a floor polishing system. The following will combine... Figure 10 Let's discuss this type of system in more detail.

[0066] Machine 100 optionally includes a cover 130 having one or more proximity sensors and / or impact sensors configured to detect when the cover approaches and / or contacts an obstacle. The machine also includes a control unit 101, 1500 arranged to perform a situation avoidance action in response to one or more sensors detecting proximity and / or contact with an obstacle. The sensing system can be configured to stop the machine when it contacts an obstacle or even before the machine actually impacts the obstacle. Pressure sensors can be used to detect when the machine impacts an obstacle, while radar sensors and / or ultrasonic sensors can be arranged to detect when the machine is about to impact an obstacle. Situation avoidance actions may include stopping the grinder, or may involve performing an avoidance action to prevent a collision with the obstacle.

[0067] For additional safety, machine 100 may also include an emergency stop control input device 140 arranged to be accessible on the outer surface of the machine when in use, such as Figure 1A and Figure 1B As shown. In the event of an error, the operator can press a button, which will immediately stop the machine. Of course, the emergency stop button can also be located away from machine 100 and connected to the machine via a wireless link, for example, on a remote controller used to control machine 100.

[0068] Also refer to Figure 2 Machine 100 is self-propelled, thus moving in a controlled manner in direction F. This movement is achieved by angulating one or more tool holder axes A relative to the base plane 120 at an angle. The tilt is generated by the inclination. This tilt produces a difference in the normal force N on the tool holder, causing the rotational motion R of the tool holder 110 to generate a force F in a direction perpendicular to the tilt direction.

[0069] This tilting can be achieved by tilting the entire drive unit, as shown in the following... Figure 5 and Figure 6The example shown is shown below. Alternatively, pulleys or the like, fixedly connected to the tool holder 110, can be tilted to achieve the desired effect. This will be discussed in conjunction with... Figure 8A and Figure 8B Discuss instances of this type of system.

[0070] Figure 3A and Figure 3B The principle of tilt is illustrated in more detail. Here, the tilt is represented by a two-dimensional vector T. The magnitude of vector T indicates the level of tilt, i.e., the angle. The magnitude of the force F produced is perpendicular to the direction of the inclination T, and the magnitude of the force depends on the horizontality of the inclination, such that a larger inclination produces a relatively larger force F, as shown in the example. Figure 3A As shown, a smaller tilt (i.e., at a smaller angle) produces a smaller force F. Rotational speed ω also affects the generated force. For most grinding discs, the generated force increases more or less linearly with rotational speed until a peak value, at which point the generated force begins to decrease with rotational speed. Triangle 310 indicates the reference direction of the tilt. The type of tool head used and the maturity level of the concrete (i.e., the friction between the tool head and the concrete surface) also affect the magnitude of the generated force F. Therefore, the control unit 101 can control the direction and magnitude of the tilt by sending control signals to the tilt actuator, thereby controlling the generated force.

[0071] In short, Figures 1A to 1C A machine 100 for processing concrete surfaces is shown. The machine includes: a control unit 101; and at least three tool holders 110 arranged to rotate about respective tool holder axes A. At least one of these tool holders 110 is arranged to generate a variable force F relative to the concrete surface acting on the machine. i The direction and / or magnitude of the force are generated in response to a control signal from control unit 101. The control signal is configured to cause machine 100 to move relative to the surface.

[0072] As discussed above, one option for generating movement of the machine relative to the concrete surface is that at least one tool holder axis is arranged to be tiltable in one or two dimensions relative to the machine's base plane 120. This tilting can be used to generate movement of the machine in the forward direction F as well as controlled rotation of the machine about its centroid relative to the concrete surface.

[0073] This propulsion concept involving tool head tilting is associated with several advantages. For example, because the forces are generated by tilting, the tool holders can be arranged to rotate at the same absolute speed ω. This means the motor can be optimized for a given fixed speed, where no speed control device is needed, or at least no complex speed control device is required. Having at least three tool heads provides a degree of stability to the machine, making it suitable for operator-free control, such as through remote control or autonomous operation. However, four or more tool heads are preferred, as this further simplifies propulsion control and increases machine stability.

[0074] Alternatively, or in conjunction with tilting, at least one of these tool holders 110 can be configured to be displaceable along the respective tool holder axis via a control unit 101 to adjust the normal load w associated with the tool holder. i The control unit 101 can then control the displacement of the tool holder via control signals to provide movement of the machine relative to the concrete surface 210. (Reference) Figure 1C If, for example, the weight on the upper left grinding disc 110a is greater than the weight on the other grinding discs, then the machine 100 will begin to rotate around the upper left grinding disc 110a. If more weight is then transferred to the upper right grinding disc 110b, the center of rotation will shift toward the upper left grinding disc and also change direction, because the two discs rotate in opposite directions. Now, by repeatedly shifting the weight among the multiple grinding discs in this way, movement of the machine relative to the concrete surface can be obtained. The control unit 101 controls the displacement of the tool holder along the vertical direction to obtain the desired movement, for example, a slow rotation around the centroid of the machine, compensated by controlled forward movement along direction F.

[0075] The tool rack can also be arranged to move controllably between multiple positions in a plane transverse to the base plane 120 in response to a control signal generated by the control unit 101. This provides an alternative device for the self-movement of the machine 100.

[0076] Furthermore, at least one of these tool holders 110 can be arranged to rotate at a variable speed ω, and the control unit can be arranged to control the variable speed ω of the tool head via a control signal to provide movement of the machine relative to the surface. It should be understood that the rotational speed has a similar effect on the force distribution of the machine as the normal load on the tool head. Thus, the control unit 101 can generate a control signal to control the rotational speed, and thereby obtain the desired movement of the machine relative to the concrete surface.

[0077] The following will combine Figure 16 The control of tilt, normal load, and rotational speed will be discussed in more detail.

[0078] like Figure 4As shown, the four tool rack axes A can be advantageously arranged to be tilted at 20°, 30°, and T° relative to the base plane 12°. This means that four corresponding kinetic forces F1, F2, F3, and F4 are generated. The combined resultant force F... 总 To provide motion and torque M around the machine's center of mass 410 z . Figure 4 A specific advantage of the device 400 is that the tool heads are arranged in pairs with opposite directions of rotation. The pair of tool heads provides more direct forward motion control because they are stable to each other.

[0079] Each force F i It is a two-dimensional vector force in the base plane 120. As discussed above, its direction is determined by the rotation direction of the tool head and by the tilt angle T and the relative load on the tool head compared to other tool heads. The magnitude of the force depends on many different factors. Some of the more important factors include the weight w on the tool head. i The normal force. When the variable height suspension system is installed and connected to one or more tool heads, this normal force can be adjusted. Thus, at least one tool holder 110 can be configured to have a normal load w associated with the tool holder. i The variable height mount is controlled by control unit 1500. This variable height mount can also be used to calibrate the machine to obtain more stable behavior from the tool head propulsion system. The variable height tool holder can be implemented, for example, by mounting the tool holder on one or more spindles controlled by control unit 101. Other types of linear actuators can also be used.

[0080] As discussed above, the magnitude of the force also depends on the rotational speed of the grinding disc. The relationship between these factors and the resulting force is given by a function:

[0081] Among them, T i ω is a two-dimensional tilt vector representing the direction and magnitude of the tilt of the i-th toolhead. i It is the rotational speed of the i-th tool head, and w i It is the weight of the normal force on the i-th toolhead, indicating the force of the toolhead. This function is typically an approximation of the true relationship between the parameters and the resulting force. This approximation can be achieved through a combination of, for example, analytical derivation and laboratory experiments. Calibration routines can be performed to adjust the function to match given equipment and operating conditions.

[0082] Typically, the rotation around the center of mass 410 is caused by the torque M. z The generated

[0083] Among them, Figure 4 In the middle, N=4. By changing the force F i It enables the machine to perform steering movements, thereby generating non-zero torque M. z Therefore, by changing the tilt angle of this group in a controlled manner... Or the tilt amplitude of this group And / or by changing the rotation speed And / or by changing the normal load This allows the machine to steer or move along an arc-shaped path. It should be understood that speed and weight are entirely optional control parameters. Only tilting needs to be controlled. The basic functions are obtained through control.

[0084] Resultant force F tot (Ignoring friction, etc.) is given below:

[0085] This quantity determines the machine's direction and speed of movement. The following will combine... Figure 15 In more detail, the control unit 101 can be configured to generate a desired resultant force to move the machine in a desired direction and / or a desired torque to rotate the floor polisher by producing one or more control signals to different actuators on the machine 100. The combination of a non-zero resultant force and a non-zero torque around the center of mass will produce motion of the machine along an arc-shaped path. Preferably, this is optimized by the control unit 101 for a given floor surface processing operation.

[0086] The machine disclosed herein can be associated with different operating modes. In the transport mode of operation, the machine can be configured by control unit 101 to move relatively quickly toward a target destination along a straight path without rotating around its centroid. This operating mode is preferred when moving machine 100 from one place to another. The transport mode of operation can be optimized for transporting machine 100 without leaving marks on concrete surfaces that may not be fully mature.

[0087] Machine 100 can also be associated with an operating task or active mode. For example, this mode is used when grinding or troweling concrete surfaces. The operating task mode can include rotation around the machine's centroid in conjunction with forward movement. The operating task mode can be optimized for grinding or troweling performance.

[0088] Force distribution in the control unit can be performed in many different ways. One way to perform force distribution is by analyzing and solving the force equations and torque equations. Another, less computationally intensive way to perform force distribution and toolhead coordination is to maintain a set of lookup tables (LUTs) with suitable tilt values ​​for different operations. Of course, these LUTs may need to be calibrated periodically.

[0089] Another preferred method for force distribution and toolhead coordination is to implement a feedback system, in which one or more sensors are used to detect the machine's current motion behavior. These sensors can include, for example, any of an inertial measurement unit (IMU), electronic compass, radar transceiver, Global Positioning System (GPS), and indoor positioning system transceiver. The control unit is then able to control this set of tilt angles. And / or the size of the tilt of the group To achieve the desired motion of the machine. A set of rules can be formulated to determine how to achieve the desired effect. For example, to increase velocity in the forward direction, an increased tilt can be applied, such as... Figure 4 As shown. In order to reduce the torque around the center of mass, that is, to drive more straight, the tilt angle on one side can be changed, or the tilt magnitude on one side can be changed.

[0090] Depending on the surface finishing task at hand, a limit may be imposed on the maximum permissible tilt angle. This is because an excessively large tilt angle may create marks on the concrete surface, which is certainly undesirable.

[0091] Figure 5 It shows Figures 1A to 1C A cross-sectional view of machine 100. One or more tool holders are preferably supported by means of a disc spring device that allows tilting of the tool holder's central axis A. In this example, because tool holder 110 is directly attached to the motor shaft, these central axes coincide with the motor shaft. Figure 5 Two separate electric motors 510 are shown. Each motor drives a corresponding tool holder. This is advantageous because it eliminates the need for complex transmission mechanisms, such as belt drives. The tool holder axes are arranged to connect to... Figure 6 The servo mechanism 520 based on the eccentric actuator 610 is shown in more detail as tiltable T.

[0092] Tool holders 110 are arranged to be driven by corresponding electric motors 510. Typically, the shafts of the motors 510 can be directly connected to the tool holders 110, or connected via some intermediate device. This has the advantage that the motors 510 can be controlled independently of each other by the control unit 101, because there is no need for complex transmissions connecting a central power supply to different tool holders, allowing for individual control of each tool holder. For example, the control unit 101 can control the rotational speed of one tool holder by simply controlling the associated motor without controlling the others. Due to the individual and independently controllable motors, different torques can also be applied to different tool holders to produce a straight-forward motion.

[0093] Note that the motor 510 is arranged relatively close to the tool holder 110. This is an advantage from a mechanical robustness perspective. According to one example, the distance between the tool holder 110 and its corresponding motor is less than half the diameter D of the tool holder. This distance can be, for example, less than 5 cm for small machines and less than 30 cm for large machines.

[0094] The motor shaft of the electric motor 510 is axially aligned with the corresponding rotation axis of the tool holder 110.

[0095] Motors located away from the central machine position can be connected to control unit 101 via power cables arranged to directly power the motors or via corresponding control cables terminating at separate control units for each motor. These cables are easier to route compared to complex transmission systems involving belts and pulleys, or chains and sprockets.

[0096] As mentioned above, the motor 510 can be arranged together with the tool rack in a tiltable manner, or fixedly mounted to the frame of the machine, in which case the tool rack is arranged to be tiltable by a separate device.

[0097] Note that drive units, including the separate and independently controllable electric motors discussed herein, can also be applied to standard-sized floor grinders and trowels. Therefore, the drive units are not limited to smaller machines, although they may be particularly well-suited for such smaller concrete surface finishing machines, such as those described above. Figures 1A to 1C Machine 100 is under discussion.

[0098] Figure 6 Details of the interior of machine 100 are shown. Each tool holder and tool head is tiltable in two dimensions via two servo mechanisms 520 connected to an eccentric actuator 610. In this case, the eccentric actuator engages the electric motor, but a ball joint, for example, can also be arranged between the motor shaft and the tool holder, allowing the servo mechanism to act on the tool holder without tilting the electric motor.

[0099] As one of these servo systems rotates its corresponding axis, the eccentric component forces the tool head to tilt at an angle determined by the servo actuation. Note that since there is no drive from the central power source outward to the tool holder 110, significant space is now available for different types of components, such as the battery and control unit. In fact, the complex mechanical linkages seen in the prior art have now been replaced by cables that are much easier to route from the control unit 101 to the motor.

[0100] Figure 7An exemplary tilting device is shown in more detail. The eccentric wheel 710 is slightly asymmetrical, such that tilting action is produced by rotating the corresponding shaft. The eccentric wheel 710 is supported on a track on top of the motor 510. Both the eccentric wheel and the track are formed of a durable material capable of withstanding mechanical stress. For example, hardened steel with a Rockwell hardness (HRC) between 45 and 57, and preferably between 50 and 55, may be suitable. Figure 7 An example of a drive mechanism is provided, wherein the electric motor 510 is arranged to be tiltable together with the tool holder. Figure 7 In this example, the rotation axes of the motor shaft and the tool holder are also aligned during the tilting of the tool holder.

[0101] Typically, according to this disclosure, the motor shaft can be fixedly attached to the tool holder. Tilt of the motor then translates into a corresponding tilt of the tool holder, and rotation of the motor shaft causes a corresponding rotation of the tool holder. This is advantageous because no joint is required between the motor shaft and the tool holder.

[0102] Of course, different types of bearings could also be envisioned to support the eccentric wheel on the track.

[0103] The machine discussed herein can be powered by one or more rechargeable batteries configured to power one or more electric motors 510 on machine 100. These batteries can advantageously be charged using an inductive charging circuit arranged to connect to an external power source and recharge the one or more rechargeable batteries. For example, the coil can be directly embedded into the concrete surface to be machined. The following will combine... Figure 10 Let's discuss an example of this power supply 1040 in more detail. The machine can then approach the power supply as needed, much like an automatic lawnmower.

[0104] Figures 8A to 8B Another exemplary machine 800 is shown, in which at least some of the techniques disclosed herein can be advantageously used. This machine includes three tool racks 110, but a configuration with four or more tool racks is also possible. The tool racks 110 are arranged to be driven via a central electric motor 840 (first motor) through a belt, chain, or gear drive 830. The first motor 840 is shown here as an electric motor, although an internal combustion engine would also be acceptable. The entire bottom structure (often referred to as a “planetary device” 820) is rotated by a second motor 850. This type of dual-drive machine is previously known and therefore will not be discussed in more detail here.

[0105] Machine 800 includes three tool holders 110 arranged to rotate about a respective tool holder axis A, wherein at least one tool holder axis is arranged to be tiltable in two dimensions relative to the machine's base to generate movement of the machine relative to a surface. This tilting can be achieved, for example, by tilting pulleys 810 using a set of servo mechanisms and eccentric members as discussed above. However, in conjunction with the above... Figure 4 Compared to the examples discussed, the tilt control is slightly more advanced because the rotation angle β of the planetary mechanism must also be taken into account. Figure 9 The tilt control concept is illustrated, in which a single tool head rotates once on a planetary mechanism. Triangle 950 indicates the reference direction of the tool head.

[0106] When the first planetary angle β = 0, the tilt angle T should be 90 degrees to produce... Figure 9 The force F points upwards. As the planetary gear rotates, the tilt angle must be adjusted according to the current rotation angle β of the planetary gear. After some time, the tool head reaches a second position 920, where the tilt angle has compensated for the rotation of the planetary gear to maintain the force F pointing in the same direction as before. The tilt angle has been continuously adjusted to take into account the rotation of the planetary gear, so that the generated force remains in the same direction. After some more time, as shown in position 930, and then as shown in position 940, the tilt angle is adjusted.

[0107] This example assumes that the second motor 850 is arranged to produce planetary motion. However, the tool head itself can also be used to produce arbitrary planetary motion via the machine. In this case, the tilt angle is determined to generate a non-zero torque M. z This non-zero torque produces the desired planetary motion.

[0108] Typically, a control unit 1500, such as control unit 101, can be configured to distribute force on the tool head to obtain the desired motion of the machine, such as a given speed in a given direction, possibly compensated by non-zero torque to obtain planetary motion through the machine. Control unit 1500 then considers the following relationship...

[0109] And determine a solution that includes the force distribution. Given a force distribution. The control unit 1500 is then configured to include the tilt angle T. i The tool header parameters, and optionally β, ω i w i

[0110] Where β can be a function of time, ωi It is the rotational speed of the i-th tool head, and w i This is the weight associated with the i-th tool head, which can be adjusted, for example, by controlling a variable height suspension system for the tool head. It should be understood that the rotational speed and weight are entirely optional control parameters. Only tilting needs to be adjusted. The basic functions are obtained through control.

[0111] Depends on force distribution In coordination with the tool head, planetary motion can be generated in either clockwise or counterclockwise directions. The planetary motion is preferably compensated by the forward motion of the machine 800 to move in a controlled manner on the concrete surface during polishing.

[0112] Figure 10 An exemplary concrete surface processing system 1000 is shown, comprising multiple machines 100, 800 as discussed above. The multiple machines can be of the same type, i.e., small machines (such as machine 100) or larger machines (such as machine 800). However, additional advantages can be gained if a combination of different machines is used to process larger concrete surfaces. One advantage is that the smaller machines can then process areas requiring significant movement and which might be difficult for larger machines to access, while the larger machines can perform tasks involving larger dimensions.

[0113] One or more of these machines can be configured with multiple transport mode toolheads, allowing the machines to traverse multiple sections of the concrete surface that are not yet sufficiently mature for processing. These machines can then act as reconnaissance aircraft, measuring the concrete surface and reporting back to other machines when a sufficient level of maturity has been reached on a given concrete section for a given concrete processing operation.

[0114] The machines may include a control unit 1500 having a radio transceiver arranged to establish a communication link to at least one other machine 100a, 100b. In this way, multiple machines can form a mesh network to exchange information and perform arbitration in the event of any control conflicts.

[0115] Multiple machines can also be coupled, for example, via a wireless radio link to a central control unit 1010 arranged to control floor polishing operations on concrete surface 210. The central control unit 1010 can control a "cluster" of machines to complete a larger floor polishing task.

[0116] The machine may also include a positioning system arranged to position the corresponding machine in a coordinate system relative to the concrete surface 210. The central control unit 1010 is able to use the positioning data to control the floor processing operation.

[0117] The control unit 101 on the machine is arranged to control the tilt T of at least one tiltable tool holder 110 in response to a control signal to produce the desired movement of the machine relative to the concrete surface 210.

[0118] According to some aspects, the machine is configured to receive control signals from external remote control devices 1110 and 1120, such as Figure 11A and Figure 11B Example.

[0119] Depending on several other aspects, the machine is configured to receive control signals from an external system for autonomous operation. This type of system can, for example, be implemented in a central control unit 1010.

[0120] According to some other aspects, the machine includes a control unit 1500 arranged to generate control signals as autonomous drive control signals.

[0121] The inductive charging station can be embedded in the concrete surface. Machines 100, 100a, and 100b can then periodically return to the charging station to replenish their energy storage, i.e., to charge their onboard batteries.

[0122] One or more concrete maturity sensors 1030 may also be embedded in the concrete surface. These sensors measure, for example, temperature and humidity within the concrete slab, and thereby determine the current level of concrete maturity on the concrete surface 210. Based on a time series of data samples, the maturity sensor or central control unit 1010 can extrapolate to estimate the future level of concrete maturity on the concrete surface. Taking into account the maturity level on the concrete surface, this allows the machine cluster to operate in the most efficient locations.

[0123] Figure 11A and Figure 11B Exemplary remote control devices capable of being used to control the various machines 100 discussed herein are shown. The remote control device 1110 is a conventional remote control device connected to the control unit 101 of the machine 100 via a radio link. Figure 11B The remote control device 1120 is a tablet or smartphone connected to the control unit 101 to issue control commands and receive status reports and other information from the control unit 101.

[0124] Figure 11CAn example 1130 of a control unit 101 configured to autonomously control machine 100 is shown. This control unit implements several different software modules: a job task planning module 1132, a machine motion control module 1133, a force distribution module 1134, and a control signal generation module 1135. These software modules can be executed on the same processing circuitry or distributed across more than one machining platform. 1131 represents an input signal. Some functions can also be executed remotely from machine 100, for example, on a remote server accessible from machine 100 via a wireless link.

[0125] Control unit 101 is arranged to receive work task instructions from an operator. A work task includes instructions describing a given work task or a series of work tasks to be performed on an area of ​​a concrete surface. The work task may, for example, include instructions to grind a given area of ​​the concrete surface to a specified smoothness, or to smooth a recently poured concrete slab until a given smoothness has been achieved. The work task may include a map of the concrete surface and potentially also include a key that enables the machine to begin execution. Requesting the key prevents improper use of machine 100. The key may, for example, include a password or encryption certificate.

[0126] The job task planning module 1132 is configured as a scheduled task. This may include, for example, determining which machines might be combined with... Figure 10 The discussion also considers other machines coordinating a series of operations to be performed. For example, the job task planning module can determine the start time for initiating concrete processing operations based on the maturity level of the concrete surface. The job task planning module 1132 can also coordinate multiple machines to collaboratively complete a given specific processing task.

[0127] The job task plan A is then sent to the machine motion control module 1133. In a low-complexity implementation, this machine motion control module may only determine the path, speed, and rotational speed that the machine should follow when processing the concrete surface. A more advanced form of the motion control module can coordinate the movements of several machines 100 to process larger concrete surfaces, such as... Figure 10 As shown. This collaborative processing can be advantageous if the task involves troweling, which may require a large number of machines 100 to move concrete from one area to another on a concrete surface. Upon completion of the processing task, the motion control module 1133 generates the path and motion characteristics B to be followed by the machines 100.

[0128] Force distribution module 1134 receives path data B and generates force distribution from the tool head. C is a time function so that machine 100 follows a planned path and motion characteristics B. This force allocation can be performed according to a lookup table, where certain motions of machine 100 can be converted into the desired force. The force allocation module 1134 may also include a more advanced machine learning algorithm trained to generate force allocations that cause machine 100 to perform the desired motion.

[0129] The control signal generation module 1135 receives the force distribution and converts it into a physical control signal to control the tool rack 110. The resulting one or more control signals 1136 are then sent to different actuators in the machine 100.

[0130] Figure 12 A machine 100 arranged for troweling operations is shown. Tool holders 110 on the machine hold corresponding troweling tools 1200, each troweling tool including a support structure 1220 arranged to carry troweling blades 1210 (1210a, 1210b). In this particular example, the support structure and the troweling blades are symmetrical, such that the support structure 1220 can be rotated in both clockwise and counterclockwise directions by simple reconfiguration of the troweling blades 1210. To change the direction of rotation, the troweling blades are removed from the support structure and installed in the opposite configuration. The upper left tool holder 110a has a troweling blade 1210 mounted for clockwise rotation, while the tool holder 110b has a troweling blade 1210 mounted for counterclockwise rotation.

[0131] The polishing blade 1210 can be attached to the load-bearing structure 1220 by means of threaded fastening members (such as bolts) or by means of quick-release mechanisms (such as swivel locks or the like).

[0132] Figure 13A Several different principles 1300 are shown, by which the tool holder 110 can be used to generate a variable force acting on the machine 100 relative to the concrete surface 210 in response to a control signal generated by the control unit 101. It should be understood that these principles can be applied to both the tool holder for holding the grinding tools (i.e., the grinding head) and the tool holder for holding the trowel blade.

[0133] The first principle of self-motion is based on tilting the tool holder axis A. This produces the combination described above. Figure 2 Example of forward thrust. Tilting can be performed in one or two dimensions, i.e., tilting can be performed relative to one tilt axis x or two tilt axes x and y. By tilting, machine 100 can be moved forward in a straight line and / or rotated about the machine's centroid. When the machine is operating in the transport mode, movement along a straight line may be preferred, while grinding and polishing operations can be best performed when forward movement is combined with controlled rotation of the entire machine about its centroid.

[0134] While tilting the tool head provides the most accurate self-motion control, other principles of self-motion certainly exist. This second principle relies on changing the normal force acting on the tool head, which can be achieved by changing the weight on a given tool head. The tool holder 110 can, for example, be mounted on a spindle or similar object that allows repositioning of the tool head in the vertical direction h along the tool holder axis A. By moving the tool head downward toward the concrete surface, more load is transferred to the tool head. Conversely, by moving the tool head upward away from the concrete surface, the load is transferred away from the tool holder 110. (Reference) Figure 13B By repeatedly shifting the load between, for example, two tool holders 110a and 110b, the machine can be made to move forward in an oscillating manner O1, O2, O3, and O4. Each time the load is transferred to a given tool head; with an increased load, the machine begins to rotate around a rotation center moving toward the tool head. In this way, the control unit 101 can control the tool head to achieve the desired movement of the machine 100.

[0135] By utilizing the third principle of self-motion, the control unit changes the rotational speed ω on different tool heads. The difference in rotational speed produces an effect similar to variable height h. Thus, the control unit 101 is able to generate the desired oscillating motion of the machine 100.

[0136] It should be understood that the control unit 101 can combine all the self-motion principles mentioned above. For example, changes in the tool holder height h and / or speed ω can be used to obtain the desired oscillating motion through the machine 100 or to calibrate the forward motion control system, while the tool holder tilting principle can be used as the main principle of self-motion.

[0137] It should also be understood that different self-motion principles may be required for different specific processing tasks.

[0138] Tool racks can also be arranged horizontally. Figure 1A The base plane 120 shown is movable in the plane. This mechanism provides a means for distributing weight among multiple tool heads on the machine. Thus, concrete surface processing machines 100 and 800 for processing concrete surface 210 are also disclosed herein. The machine includes: a control unit 101; and at least three tool holders 110 that rotate about a respective tool holder axis A, wherein at least one of these tool holders 110 is also arranged to be controllably movable between multiple positions in a plane transverse to the base plane 120 in response to a control signal generated by the control unit.

[0139] Furthermore, as mentioned above, the disclosed self-propelled device enables the machine to rotate in a controlled manner when processing concrete surfaces. Therefore, concrete surface processing machines 100 and 800 for processing concrete surface 210 are disclosed herein. The machine includes: a control unit 101; and at least three tool holders 110 arranged to rotate about a respective tool holder axis A, wherein the tool holder axis is defined at a corner of a region between the axes and parallel to a base plane 120, wherein the machine is arranged to controllably rotate about a machine rotation axis intersecting said region by controlling the rotation and / or position of at least one tool holder in response to a control signal generated by the control unit.

[0140] Figure 14 This is a flowchart illustrating a method for processing concrete surface 210, the method comprising: Step S1: Configure multiple concrete surface processing machines 100, 800 according to the above discussion, i.e., each machine includes: a control unit 101; and at least three tool holders 110, arranged to be driven by a corresponding electric motor and arranged to rotate about a corresponding tool holder axis A, wherein at least one tool holder 110 is arranged to generate a variable force F acting on the machine relative to the concrete surface 210 in response to a control signal generated by the control unit 101. i The control signals are configured to provide movement of the machine relative to the concrete surface 210. Step S2: Deploy multiple machines on concrete surface 210, and Step S3: Process the concrete surface 210 using multiple machines.

[0141] According to some aspects, the process includes controlling multiple machines via remote control devices 1110 and 1120 (step S31).

[0142] According to some other aspects, the process includes autonomous control of each machine (step S32).

[0143] The machines 100 and 800 disclosed herein can also be used to process other types of floor surfaces, such as wood floor surfaces, vinyl floor surfaces, and linoleum floor surfaces. A sanding disc can be mounted on a tool holder 110 to provide sanding functionality via the machines 100 and 800. Furthermore, polishing tools can be attached to the tool holder for polishing floor surfaces.

[0144] Therefore, this paper discloses a method for processing floor surfaces. The method includes: Step S1: Configure one or more floor surface processing machines 100, 800, wherein each machine includes: a control unit 101; and at least three tool holders 110 arranged to rotate about a respective tool holder axis A, wherein at least one of the tool holders 110 is arranged to generate a variable force F acting on the machine relative to the floor surface in response to a control signal generated by the control unit 101. i The control signals are configured to provide movement of the machine relative to the floor surface. Step S2: Deploy one or more machines on the floor surface, and Step S3: Process the floor surface using one or more machines.

[0145] Note that the principle of self-motion discussed in this article can also be applied when processing other types of surfaces, that is, they are not limited to the processing of concrete surfaces.

[0146] In terms of multiple functional units, Figure 15 The general components of control units 101 and 1500 are schematically shown. Processing circuitry 1510 is provided using any combination of one or more suitable central processing units such as CPUs, multiprocessors, microcontrollers, digital signal processors (DSPs), etc., capable of executing software instructions stored in a computer program product, for example, in the form of storage medium 1530. Processing circuitry 1510 may also be provided as at least one application-specific integrated circuit (ASIC) or field-programmable gate array (FPGA).

[0147] Specifically, the processing circuit 1510 is configured to cause the device 180 to perform a set of operations or steps, such as combining Figure 9 The methods discussed are the same as those discussed above. For example, storage medium 1530 may store a set of operations, and processing circuitry 1510 may be configured to retrieve the set of operations from storage medium 1530 to cause the device to execute the set of operations. The set of operations may be set as a set of executable instructions. Thus, processing circuitry 1510 is configured to execute the methods disclosed herein.

[0148] Storage medium 1530 may also include permanent storage, which may be any single or combination of magnetic storage, optical storage, solid-state storage, or even remotely mounted storage.

[0149] The control unit 1500 may also include an interface 1520 for communicating with at least one external device. This interface 1520 may include one or more transmitters and receivers, including analog and digital components, and a suitable number of ports for wired or wireless communication.

[0150] The processing circuit 1510 controls the general operation of the control unit 1500, for example, by sending data and control signals to the interface 1520 and the storage medium 1530, by receiving data and reports from the interface 1520, and by retrieving data and instructions from the storage medium 1530.

[0151] Control units 101 and 1500 can be configured to perform all the functions discussed above, such as controlling the tilt angle to move the machine relative to the concrete surface.

[0152] Figure 16 A computer-readable medium 1610 is shown carrying a computer program, which includes functions for execution when the program product is run on a computer. Figure 14 The method shown includes a program code device 1620. The computer-readable medium and the code device can together form a computer program product 1600.

Claims

1. A concrete surface processing machine for processing concrete surfaces (210), the machine comprising: A control unit (101); and at least three tool holders (110) arranged to rotate about a respective tool holder axis (A), wherein at least one of the tool holders (110) is arranged to generate a variable force (F) acting on the machine relative to the concrete surface (210) in response to a control signal generated by the control unit (101). i The control signal is configured to provide movement of the machine relative to the concrete surface (210). The tool rack (110) is arranged to be driven by a corresponding electric motor (510); Its features are, Each tool rack axis (A) can be independently tilted in one or two dimensions (x, y) relative to the base plane (120) of the machine to produce movement of the machine relative to the concrete surface (210), wherein the control unit (101) is arranged to control the tilting of the tool rack axis by the control signal; In this configuration, at least one of the tool holder axes is arranged to be tiltable (T) via a servo mechanism (520) connected to an eccentric actuator (610).

2. The machine according to claim 1, wherein, The corresponding kinetic forces (F1, F2) generated by the tool holder (110) are configured to produce a desired torque (M) around the center of mass (410) of the machine. z ).

3. The machine according to claim 1 or 2, wherein, At least one of the tool holders, which has an tiltable axis, is supported by a disc spring.

4. The machine according to claim 1 or 2, wherein, The motor and / or transmission of the tiltable tool holder are arranged to tilt relative to the base plane.

5. The machine according to claim 1 or 2, wherein, At least one of the plurality of tool holders (110) is configured to be movable along the respective tool holder axis by the control unit (101) to adjust the normal load (w) associated with the tool holder. i The control unit (101) is arranged to control the displacement of the tool holder via the control signal to provide movement of the machine relative to the concrete surface (210).

6. The machine according to claim 1 or 2, wherein, At least one of the plurality of tool holders (110) is arranged to rotate at a variable speed (ω), wherein the control unit (101) is arranged to control the variable speed (ω) of the tool holder by means of the control signal to provide movement of the machine relative to the concrete surface (210).

7. The machine according to claim 6, wherein, The variable speed (ω) is configured as a variable motor shaft speed and / or a variable transmission ratio.

8. The machine according to claim 1 or 2, comprising four tool racks (110) arranged in a square configuration around the centroid of the machine.

9. The machine according to claim 1 or 2, wherein, The first tool holder (110a) is arranged to rotate at a rotational speed (ω1) in a different direction of rotation than the second tool holder (110b).

10. The machine according to claim 1 or 2, wherein, The total weight of the machine is less than 30 kg.

11. The machine according to claim 10, wherein, The total weight of the machine shall not exceed 25 kg.

12. The machine according to claim 1 or 2, wherein, The machine's coverage area is defined as a square measuring 100 cm × 100 cm.

13. The machine according to claim 1 or 2, wherein, The tool rack (110) is arranged to be driven by a central motor (840) via a belt, chain, or gear drive (830).

14. The machine of claim 1 or 2, comprising one or more rechargeable batteries configured to power one or more electric motors on the machine.

15. The machine of claim 14, comprising an inductive charging circuit arranged to be connected to an external power source and to recharge one or more of the rechargeable batteries.

16. The machine according to claim 1 or 2, wherein, The tool rack (110) is arranged to be driven by a central internal combustion engine via a belt, chain, or gear drive (830).

17. The machine according to claim 1 or 2, wherein, The control unit (101) is arranged to receive the control signals at least partially from an external remote control device.

18. The machine according to claim 1 or 2, wherein the machine is arranged to receive the control signal at least in part from an external system for autonomous driving.

19. The machine according to claim 1 or 2, wherein, The control unit is arranged to generate control signals, at least in part, as autonomous drive control signals.

20. The machine according to claim 1 or 2, comprising a control unit having a radio transceiver arranged to establish a communication link to at least one other machine.

21. The machine according to claim 1 or 2, comprising a cover (130) having one or more proximity sensors and / or impact sensors configured to detect when the cover approaches and / or contacts an obstacle, the machine further comprising a control unit arranged to perform a situation avoidance action in response to detecting the proximity and / or contact with the one or more of the sensors with respect to the obstacle.

22. The machine according to claim 1 or 2, comprising an emergency stop control input device (140) arranged to be accessible on the outer surface of the machine when the machine is in use.

23. The machine according to claim 1 or 2, wherein, One or more of the tool racks (110) are arranged to hold tools configured for: smoothing concrete surfaces, troweling concrete surfaces, grinding concrete surfaces, polishing concrete surfaces, grinding wood surfaces, polishing floors, or for transporting the machine on the surface with minimal damage.

24. The machine according to claim 1 or 2, wherein, One or more of the tool holders (110) are held in a position to hold the corresponding polishing tools for the polishing operation.

25. The machine according to claim 1 or 2, wherein, One or more of the tool holders (110) hold corresponding polishing tools (1200), wherein each polishing tool includes a support structure (1220) arranged to carry a polishing blade (1210).

26. The machine according to claim 25, wherein, The support structure and the polishing blade are symmetrical, allowing the support structure (1220) to rotate in both clockwise and counterclockwise directions.

27. The machine according to claim 1 or 2, comprising a positioning system arranged to position the machine in a coordinate system relative to the concrete surface (210).

28. The machine of claim 1 or 2, comprising one or more sensors configured to measure one or more properties of the concrete surface.

29. The machine according to claim 28, wherein, One or more of the sensors include any of the following: radar sensors, vision-based sensors, and / or lidar sensors, which are configured to detect any of the following: scratches, uneven surface sections, discoloration, or damage in the concrete surface.

30. The machine according to claim 28, wherein, One or more of the sensors include a surface temperature sensor and / or a humidity sensor, wherein the control unit (101) is arranged to determine the concrete maturity associated with a segment of the concrete surface.

31. A concrete surface processing system (1000) comprising a plurality of concrete surface processing machines according to any one of claims 1 to 30.

32. The concrete surface finishing system (1000) of claim 31 includes a central control unit communicatively coupled to a plurality of said machines and arranged to control floor polishing operations on a concrete surface (210).

33. A method for processing a concrete surface (210), the method comprising: Configure one or more concrete surface processing machines (step S1), wherein each machine includes: a control unit (101); and at least three tool holders (110) arranged to rotate about a respective tool holder axis (A), wherein at least one of the tool holders (110) is arranged to generate a variable force (F) acting on the machine relative to the concrete surface (210) in response to a control signal generated by the control unit (101). i The control signal is configured to provide movement of the machine relative to the concrete surface (210), wherein each tool holder axis (A) is independently tiltable in one or two dimensions (x, y) relative to the base plane (120) of the machine to produce movement of the machine relative to the concrete surface (210), wherein the control unit (101) is arranged to control the tilting of the tool holder axis via the control signal. Deploying multiple of the machines on the concrete surface (210) (step S2), and The concrete surface is processed by multiple machines (210) (step S3); In this configuration, at least one of the tool holder axes is arranged to be tiltable (T) via a servo mechanism (520) connected to an eccentric actuator (610).

34. The method according to claim 33, wherein, The processing steps include controlling one or more of the machines via an external remote control device (step S31).

35. The method according to claim 33, wherein, The processing steps include autonomously controlling each of one or more of the machines (step S32).

36. A concrete surface processing machine for processing concrete surfaces (210), the machine comprising: A control unit (101); and at least three tool holders (110) arranged to rotate about a respective tool holder axis (A), wherein at least one of the tool holders (110) is also arranged to be controllably movable between multiple positions in a plane transverse to the base plane (120) in response to a control signal generated by the control unit, wherein each tool holder axis (A) is independently tiltable relative to the base plane (120) of the machine in one or two dimensions (x, y) to produce movement of the machine relative to the concrete surface (210), wherein the control unit (101) is arranged to control the tilting of the tool holder axis by the control signal; wherein at least one of the plurality of tool holders (110) is configured to be displaceable along a respective tool holder axis by the control unit (101) to adjust the normal load (wi) associated with the tool holder, wherein the control unit (101) is arranged to control the displacement of the tool holder by the control signal to provide movement of the machine relative to the concrete surface (210).

37. A concrete surface processing machine for processing concrete surfaces (210), the machine comprising: A control unit (101); and at least three tool holders (110) arranged to rotate about a respective tool holder axis (A), wherein the plurality of said tool holder axes define corners of a region between said axes and parallel to the base plane (120), wherein the machine is arranged to controllably rotate about a machine rotation axis intersecting said region by controlling the rotation and / or positioning of at least one of said tool holders in response to a control signal generated by said control unit, wherein each tool holder axis (A) is independently tiltable relative to the base plane (120) of said machine in one or two dimensions (x, y) to produce movement of said machine relative to said concrete surface (210), wherein said control unit (101) is arranged to control the tilting of said tool holder axis by said control signal.

38. A method for processing a floor surface, the method comprising: Configure one or more floor surface processing machines (step S1), wherein each machine includes: a control unit (101); and at least three tool holders (110) arranged to rotate about a respective tool holder axis (A), wherein at least one of the tool holders (110) is arranged to generate a variable force (F) acting on the machine relative to the floor surface in response to a control signal generated by the control unit (101). i The control signal is configured to provide movement of the machine relative to the floor surface, wherein each tool rack axis (A) is independently tiltable in one or two dimensions (x, y) relative to the base plane (120) of the machine to generate movement of the machine relative to the floor surface, and wherein the control unit (101) is arranged to control the tilting of the tool rack axis via the control signal. Deploy one or more of the floor surface processing machines on the floor surface (step S2), and The floor surface is processed by one or more of the floor surface processing machines (step S3); In this configuration, at least one of the tool holder axes is arranged to be tiltable (T) via a servo mechanism (520) connected to an eccentric actuator (610).

39. The method according to claim 38, wherein, The tool holder is equipped with a grinding disc for grinding floor surfaces.

40. The method of claim 38, wherein, The tool holder is equipped with a polishing disc for polishing floor surfaces.

41. A concrete surface processing machine for processing concrete surfaces (210), the machine comprising: A control unit (101); and at least two tool holders (110) arranged to rotate about a respective tool holder axis (A), wherein at least one of the plurality of tool holders (110) is arranged to generate a variable force (F) acting on the machine relative to the concrete surface (210) in response to a control signal generated by the control unit (101). i ), wherein the control signal is configured to provide movement of the machine relative to the concrete surface (210), wherein the tool holder (110) is arranged to be driven by a corresponding electric motor (510), wherein each tool holder axis (A) is independently tiltable in one or two dimensions (x, y) relative to the base plane (120) of the machine to produce movement of the machine relative to the concrete surface (210), wherein the control unit (101) is arranged to control the tilting of the tool holder axis by the control signal; wherein at least one of the tool holder axes is arranged to be tiltable (T) by a servo mechanism (520) connected to an eccentric actuator (610).

42. The concrete surface processing machine according to claim 41, wherein, The electric motors (510) are arranged to tilt together with their corresponding tool racks (110).

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