Device and method for applying a marking to a surface and use of the device

Abstract

The invention relates to a device (24) for applying a marking to a surface (14), which device comprises: a frame (30); a marking means (32) mounted on the frame (30), the marking means (32) being configured to apply a marking to the surface (14); a steering train (34) mounted in particular on a first end of the frame (30), the steering train (34) being designed to control the direction of the device (24) so as to move in a desired direction; a motor-driven forward-movement means (36) mounted in particular on a second end of the frame (30), opposite to the first end, the forward-movement means (36) being configured to ensure that the device (24) moves in the desired direction. The invention also relates to a method for applying a marking to a surface (14) and to a device for applying a marking to a surface (14).

Description

Domaine technique

[0001] This disclosure falls within the domain of techniques for applying markings to a surface. Technique antérieure

[0002] Floor markings are typically used in public works to lay a white line on the road (see, for example, US document 2011 / 229265 A1). In a completely different field, floor markings can be used in warehouses to enable navigation for automated vehicles used to retrieve stored items. These automated vehicles can follow the floor markings and measure the distance traveled to determine their position within the warehouse. These vehicles are commonly known as Automated Guided Vehicles (AGVs). « Auto Guided Vehicles (according to the corresponding Anglo-Saxon acronym).

[0003] Traditionally, floor marking is done manually by an operator, for example, by applying adhesive tape or paint. Floor marking can also be applied by following a line projected by a laser, or by using a ruler placed sequentially on the floor. However, such manual application is not very precise. The operator must navigate a complex environment, with storage racks creating narrow passages and low obstacles to cross. The resulting marking is not accurate enough to be followed by an automated guided vehicle.

[0004] Therefore, there is a need for a device that allows for the application of floor markings that can be followed by an automated vehicle, particularly in warehouses. There is also a need for such a device that allows for the precise application of these markings. Résumé

[0005] According to the present invention, a device is proposed for applying a marking to a surface having the characteristics of claim 1, a method for applying a marking to a surface having the characteristics of claim 13, and a use of this device for applying a marking having the characteristics of claim 16.

[0006] Other preferred embodiments are defined by the features of dependent claims 2 to 12 and 14 to 15.

[0007] Such a device allows for floor marking along a surface, particularly the floor of a storage warehouse, without operator intervention. This device also offers the significant advantage of enabling marking along a desired path over several tens of meters, regardless of the surface's flatness.

[0008] Thus, the marking applied by the device to the surface can take the form of an adhesive strip unwound from the tape roll mounted on the dispensing reel. The adhesive strip ensures precise marking, without the risk of smudging, and is therefore particularly well-suited for guiding an autonomous vehicle.

[0009] The applicator roller allows both the device to advance in the desired direction and the adhesive strip to be applied, by applying pressure to the adhesive strip against the surface during the device's movement. The applied adhesive strip cannot deviate from the desired direction, ensuring precise marking.

[0010] Optionally, the marking method may also include: a guide piece forming an insertion guide for the unwound adhesive strip between the applicator roller and the surface when the unwound adhesive strip extends between the feeder reel and the applicator roller; and a tension drum mounted for rotation on the frame, in particular above the applicator roller, the tension drum defining an inflection point of the unwound adhesive strip when the unwound adhesive strip extends between the feeder reel and the guide piece, ensuring tension of the adhesive strip on the guide piece.

[0011] This ensures that the edges of the adhesive tape are applied precisely, with a tolerance on the order of a millimeter, preferably a tenth of a millimeter, over a distance of several tens of meters. Furthermore, the tension applied by the tensioning drum prevents the formation of any creases or bubbles in the adhesive tape as it is unwound from the spool. This ensures that the adhesive tape remains continuously pressed against the ground during the marking process.

[0012] Optionally, the marking method may also include: a rewind reel rotatably mounted on the frame for winding a coating from the unwound adhesive tape; and a return drum rotatably mounted on the frame between the guide piece and the rewind reel, the return drum forming an inflection point of the coating as the coating extends between the guide piece and the rewind reel.

[0013] Therefore, when the adhesive tape has a coating on one adhesive side, this coating can be removed and wound around the retrieval reel. The coating's position around the bend point ensures that the retrieval reel does not pull on the adhesive tape.

[0014] Optionally, the device may also include: an electric motor mounted on the chassis; a drive belt configured to transmit the rotation of the electric motor to the applicator roller and the recovery coil, a clutch with a torque limiter function, provided between the drive belt and the recovery coil.

[0015] This ensures synchronized movement between the applicator roller and the recovery drum. The clutch also maintains constant tension on the coating despite the continuous increase in the coating diameter around the recovery drum.

[0016] A skilled professional will know how to select the material for the applicator roller, paying particular attention to its hardness, to ensure optimal pressure is applied to the adhesive strip. Ideally, the applicator roller will be made of polyurethane, preferably semi-rigid polyurethane.

[0017] Thus, the applicator roller can apply sufficient force to the adhesive strip against the surface. This also helps prevent the formation of air bubbles between the applied strip and the surface.

[0018] Optionally, the steering train may include two wheels steerable by a motor, the two wheels and the means of advancement forming a tripod, preferably the two steerable wheels form the front of the device and the means of advancement form the rear of the device when the device moves.

[0019] The tripod-shaped device has three points of contact with the ground, thus maintaining isostatic equilibrium. Furthermore, the steering mechanism can be positioned at the front of the device to control its direction by pivoting around the drive mechanism. A positional error relative to the desired direction can be converted into a rotational error around the pivot point, ensuring that the device is continuously oriented in the desired direction.

[0020] Optionally, the device may also include: a linear optical sensor mounted on the first end of the chassis, the linear optical sensor being configured to detect a vertical plane relative to the surface, the vertical plane being defined by a plane laser, and the desired direction corresponds to the direction of the vertical plane.

[0021] Thus, the system can apply perfectly straight markings to the ground, following the vertical plane. Indeed, Automated Guided Vehicles (AGVs) may need to move in straight lines to optimize their route, but also to avoid the numerous obstacles (such as storage rack supports) found in the warehouses they operate in. Furthermore, the linear optical sensor allows the system to detect the vertical plane of the laser regardless of the terrain's flatness. The system is not sensitive to changes in position relative to the surface.

[0022] Optionally, the device may also include: a linear optical sensor mounted on the chassis to be oriented in the opposite direction to the surface, the linear optical sensor being configured to detect a line or pattern projected towards the surface, the projected line or pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern.

[0023] Depending on the option chosen, the device can apply markings to the ground using straight lines, curved lines, or any other pattern. Curved lines or patterns can, for example, be used to navigate around storage racks or to mark sports fields. Furthermore, the linear sensor allows the device to detect the projected line or pattern regardless of the ground's flatness, especially since the optical sensor can detect the line or pattern projected from a ceiling.

[0024] Optionally, the device may have a height between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length between 100 mm and 650 mm, preferably between 100 mm and 400 mm.

[0025] Thus, the device is particularly well-suited for navigating complex environments with narrow passages and obstacles to overcome. The device can pass between and under obstacles, depending on their nature and shape.

[0026] According to another aspect, a set is proposed comprising the device, and a roll of adhesive tape mounted on the dispensing reel, an adhesive strip unwound from the roll of adhesive tape being adapted to be applied to the surface by passing between the applicator roller and the surface.

[0027] Optionally, the adhesive tape roll can be cantilevered onto the feed reel. When a roll is empty, it can be easily removed from the application drum and a new roll can be loaded onto the application drum.

[0028] According to another aspect, a system is proposed comprising the device and a plane laser or projector configured to define the desired direction, the linear optical sensor being configured to detect the desired direction.

[0029] Thus, the device can be guided in the desired direction defined by the plane laser or the projector. The plane laser can define a vertical plane, so the desired direction is a straight line and the applied marking is perfectly rectilinear. Alternatively, a ceiling-mounted projector can define a straight line, a curved line, or any pattern, and the applied marking can be straight, curved, or patterned. In both cases, the device is not sensitive to changes in position along the vertical axis relative to the surface.

[0030] According to another aspect, a method is proposed for applying a marking to a surface comprising: place the device on the floor of a warehouse comprising one or more storage racks; define a desired direction; operate the advance means to advance the device in the desired direction, passing in particular under the storage rack(s), and / or between the storage racks; apply the marking to the surface using the marking means during the advancement of the device; operate the steering train to align the device with the desired direction during the advancement of the device.

[0031] Thus, the device applies linear marking as it progresses through a complex environment, passing between and under obstacles formed by storage racks.

[0032] Optionally, activating the forward movement, applying the markings, and operating the steering train can be done autonomously. Applying the markings does not require operator intervention.

[0033] Optionally, the applicator roller can exert an application force of 40 N or more, or even more than 50 N, on the unrolled adhesive strip.

[0034] Optionally, the device may include a linear optical sensor; defining the direction to follow may include orienting a plane laser to define a vertical plane relative to the surface; and the method may further include, orient the directional train to align the linear optical sensor with the vertical plane during the advancement of the device.

[0035] Optionally, the device may include a linear optical sensor; defining the direction to follow may include directing a projector to project a line or pattern onto the surface; and the method may further include, orient the directional train to align the linear optical sensor with the line or pattern projected during the advance of the device.

[0036] According to yet another aspect, it is proposed to use the device for the application of a marking, of the whole, of the system, or even of the method for tracing linear marks, in particular of adhesive strip, used for the guidance of automated guided vehicles in storage warehouses. Brève description des dessins

[0037] Other features, details, and advantages will become apparent upon reading the detailed description below and analyzing the attached drawings, on which: Fig. 1A, Fig. 1B [Fig. 1A] et [Fig. 1B ] schematically illustrate a top view of a warehouse in which a system for drawing markings on the floor is placed. Fig. 2 [Fig. 2 ] schematically illustrates a perspective view of a set that can be implemented in the system of figures 1A et 1B . Fig. 3 [Fig. 3 ] schematically illustrates a longitudinal cross-sectional view of a detail of the entire figure 2 . Fig. 4 [Fig. 4 ] schematically illustrates a perspective view of the detail of the figure 3 . Fig. 5 [Fig. 5 ] schematically illustrates, in perspective, a directional train that can be implemented throughout the figure 2 . Fig. 6 [Fig. 6 ] illustrates the directional train of the figure 5 from a different perspective. Fig. 7 [Fig. 7 [Schematically, in perspective, a second detail of the whole of the] figure 2 and a planar laser. Fig. 8 [Fig. 8 ] schematically illustrates a side view of a third detail of the whole of the figure 2 . Fig. 9 [Fig. 9 ] schematically illustrates the whole of the figure 2 from a different perspective. Fig. 10 [Fig. 10 ] illustrates a flowchart of a method for applying linear marking to a surface. Description des modes de réalisation

[0038] THE figures 1A et 1B The diagrams schematically illustrate a top view of a warehouse 10 in which a system 12 is placed for creating floor markings. A warehouse is defined as a logistics building intended for the storage and distribution of goods.

[0039] Warehouse 10 has a surface 14 (or floor) on which a plurality of storage racks 16 are arranged to hold the items. The storage racks 16 can extend throughout the entire volume of warehouse 10, that is, along the longitudinal x and lateral y directions defined in the plane of surface 14, and the vertical z direction, normal to surface 14. The storage racks 16 can be spaced 800 mm, 600 mm, or even 400 mm apart along the longitudinal and lateral x and y directions, and can form a gap between the surface and the storage rack 16 along the vertical z direction of less than 800 mm, or even less than 600 mm. The system 12 described below is adapted to navigate this complex environment.

[0040] The floor markings include one or more straight lines extending across surface 14. In warehouse 10, a "straight line" is defined as a line that deviates only a few millimeters from a perfect straight line over a distance of approximately 100 meters. The straight lines of the markings may extend over distances exceeding 40 m, 60 m, or even 80 m. The straight lines may pass between or even under the storage racks 16. These straight lines guide automated guided vehicles (AGVs). The AGVs are configured to navigate warehouse 10 using the straight lines to retrieve and / or place items on the storage racks 16.

[0041] The straight lines here form a grid composed of 18 horizontal lines and 20 vertical lines. The horizontal and vertical lines 18 and 20 extend across the surface 14 along the longitudinal x and lateral y directions. Such a grid allows for precise navigation of the automated vehicle throughout the warehouse, and the automated vehicles can optimize their routes.

[0042] The system 12 here includes a plane laser 22 and a device 24 for applying the marking to the surface 14.

[0043] The planar laser 22 is configured to define a desired direction for the device 24. By desired direction, we mean the direction to be followed by the device 24 to apply the vertical and horizontal lines 18, 20 of the marking on the surface 14. The marking is applied along the desired direction.

[0044] Here, the desired direction is defined by a vertical plane 26, namely a plane perpendicular to the surface 14 (parallel to the z-axis). The plane laser 22 emits the vertical plane 26 to be detected by the device 24. The vertical plane 26 allows the device 24 to perceive the desired direction regardless of its position along the vertical z-direction. The vertical plane 26 allows the device 24 to be insensitive to changes in height (variations along the vertical z-direction) along the surface 14.

[0045] As illustrated on the figures 1A et 1B The desired direction can be adjusted by rotating the plane laser 22 on its own axis. The plane laser 22 can be rotated until it extends parallel to a horizontal or vertical line 28, 20 to be marked on the surface 14.

[0046] As more visible on the figure 2 The device 24 essentially comprises a chassis 30 on which is mounted a marking means 32, a steering train 34 and a means of advancement 36. The device 24 is adapted to move in the desired direction and simultaneously apply the marking to the surface 14.

[0047] The chassis 30 here takes the form of a substantially flat plate. The chassis 30 can, for example, be a metal or plastic plate, laser-cut. The chassis 30 allows the assembly of the device 24, forming a mounting surface, in particular for the marking means 32, the steering train 34, and the advancement means 36.

[0048] As illustrated, the marking device 32 comprises a dispensing reel 38 mounted on the frame 30. The dispensing reel 38 is cylindrical with a flange. A roll of adhesive tape 40 can be mounted on the dispensing reel 38 to form an assembly with the device 24. The applied floor marking then takes the form of adhesive tape 42 unwound from the dispensing reel 38. Such marking is not prone to smearing and is therefore particularly suitable for guiding automated vehicles within the warehouse 10.

[0049] The adhesive tape roll 40 is mounted in particular in cantilever on the supply reel 38. The roll 40 is then accessible (there is no housing provided around the roll), so that it is easy to replace the roll 40 when the adhesive tape on the roll 40 is exhausted.

[0050] The marking means 32 further includes a guide piece 44 and a tensioning drum 46 adapted to unwind the adhesive strip from the roller 40 and guide it towards an applicator roller 48.

[0051] The applicator roller 48 corresponds here to the advancement means 36 of the device 24. The applicator roller 48 is mounted on one end of the frame 30, which forms the rear of the device 24 when the device 24 moves. The applicator roller 48 is, in particular, a cylindrical part driven in rotation by a motor 50. The applicator roller 48 ensures the movement of the device 24 and, simultaneously, applies pressure to the adhesive strip fed between the surface 14 and the applicator roller 48. The rotationally driven applicator roller 48 advances the device 24 and unwinds the adhesive strip from the supply roll 38 and applies it against the surface 14.

[0052] The applicator roller 48 is made of a material with a hardness between 60 and 100 Shore A. The hardness of the material forming the applicator roller 48 is chosen to prevent the formation of bubbles when applying the unrolled adhesive strip 42 to gravel present on the surface 14. In particular, the hardness of the material allows a force greater than 40 N, or even greater than 50 N, to be applied to the unrolled adhesive strip 42 against the surface. Preferably, the material is semi-rigid polyurethane.

[0053] The guide piece 44 takes the form of a claw surrounding a portion of the applicator roller 48 (see figure 3 The guide piece 44 forms an insertion guide for the unrolled adhesive strip 42 between the applicator roller 48 and the surface 14. The guide piece 44 ensures proper positioning of the unrolled adhesive strip 42 between the applicator roller 48 and the surface 14, to ensure precise positioning of the unrolled adhesive strip 42 on the surface 14.

[0054] The tensioning drum 46 is rotatably mounted on the frame 30. The tensioning drum 46 is mounted substantially above the applicator roller 48, to form a bending point in the adhesive strip 42 when the adhesive strip is unwound from the supply reel 38. Thus, the unwound adhesive strip 42, extending between the supply reel 38 and the applicator roller 48, is tensioned by the tensioning drum 46 and can be pressed against the guide piece 44. The adhesive strip can be unwound from the supply reel 38, tensioned by the tensioning drum 46, pressed against the guide piece 44 before being applied under pressure against the surface 14 by the applicator roller 48.

[0055] Furthermore, in some cases, the adhesive surface of the adhesive strip 42 is covered with a coating 52, that is to say, a plastic film protecting the adhesive surface. Therefore, the marking means 32 may also include a return drum 54 adapted to wind the coating 52 around a retrieval reel 56.

[0056] The recovery coil 56 is rotatably mounted on the frame 30. The recovery coil 56 is a hollow cylindrical part driven in rotation by the motor 50, which also drives the applicator roller 48. The coating 52 can be wound around the recovery coil 56 by rotating the recovery coil 56, in conjunction with the advancement of the device 24.

[0057] The recovery coil 56 is separated from the motor 50 by a torque-limiting clutch 58. The clutch 58 ensures that the tension applied to the coating 52 is constant even if the diameter of the coating 52 wound around the recovery coil 56 increases.

[0058] The return drum 54 can be rotationally mounted on the frame 30, between the recovery reel 56 and the applicator roller 48. The return drum 54 forms an inflection point of the coating 52, to prevent the recovery reel 56 from applying tension on the unwound adhesive strip 42.

[0059] As can be seen in particular at the figure 4 The applicator roller 48, the tension drum 46, and the return drum 54 can be assembled in a bracket 60 to form a subassembly. This subassembly facilitates the assembly of the device 24. It appears possible to form the subassembly before mounting the bracket 60 onto the frame 30, for example, by screwing it in place. Furthermore, the guide piece 44 can be an integral part of the bracket 60.

[0060] In this case, the support 60 comprises two parallel portions 62 and 64. A first portion 62 can be fixed to the frame 30, and a second portion 64 can be spaced away from the frame 30 and connected to the first portion 62, for example, by screwing. The tensioning drum 46 and the applicator roller 48 extend transversely between the two portions 62 and 64 to be supported at their two ends. The guide piece 44 is formed by a projection extending from each of the portions 62 and 64.

[0061] The directional train 34 is mounted on one end of the chassis 30 opposite the end on which the advancement means 36 is mounted. The directional train 34 is designed to form the front of the device 24 when the device 24 moves. The directional train 34 is configured to control the direction of the device 24 from the front of the device 24. Therefore, a position error of the device 24 can be converted into a rotation to be performed around the pivot point, here defined by the applicator roller 48. Since the applicator roller 48 is behind the directional train 34 when the device 24 moves, the position correction can be smoothed out during the movement of the device 24. This prevents an abrupt change in the direction of the marking applied to the surface 14.

[0062] As more visible on the figure 5 The directional train 34 here comprises two steerable wheels 66 arranged on either side of the chassis 30. The device 24 is then a tripod, with three points of contact on the surface (the applicator roller 48 and each of the steerable wheels 66). The tripod configuration gives the device 24 isostatic equilibrium.

[0063] Here, each steerable wheel 66 is arranged on a wheel support 67. Each wheel support 67 is mounted for rotation relative to the chassis 30 along a vertical axis normal to the axis of rotation of the steerable wheels 66. Each wheel support 67 is connected by a ball joint 69 to a steering bar 68 extending transversely to the chassis 30. The two steerable wheels 66 are thus kept parallel by the steering bar 68.

[0064] The orientation of the steerable wheels 66 is controlled by means of a motor 70, preferably a servo motor, which acts on the steering bar 68. As more visible on the figure 6 The motor 70 is connected to one of the steerable wheels 66 by an output arm 71 and a control rod 73. The output arm 71 extends from the motor 70 in the direction perpendicular to the axis of rotation of the motor 70. The control rod 73 extends from one end of the output arm opposite the motor 70 to the wheel support 67, substantially parallel to the steering rod 68. The control rod 73 has a ball joint 75 at both ends for connecting, on the one hand, to the output arm 71 and, on the other hand, to the wheel support 67. The control rod 73 is driven transversely relative to the chassis 30, to the right or to the left, as required, by the motor 70. When the device 24 deviates from the desired direction, the motor 70 can be activated to correct the orientation of the device 24 and return it to the correct direction. desired.

[0065] In the illustrated example, the steering gear 34 is mounted on a bracket 72 attached to the chassis 30, for example, by screwing. The bracket 72 facilitates the assembly of the device 24. The steering gear 34 can be assembled before being attached to the chassis 30.

[0066] The device 24 further includes a linear optical sensor 74 mounted on the chassis 30, for example a CCD sensor. As can be seen at the figure 7 The linear optical sensor 74 can detect the vertical plane 26 defined by the plane laser 22. The linear optical sensor 74 gives the device 24 the ability to follow the desired direction when it is defined by a laser.

[0067] The linear optical sensor 74 is mounted substantially in the vicinity of the directional train 34, above the directional train 34. Thus, the linear optical sensor 74 is intended to be close to the surface 14 when the marking is applied to the surface by the device 24. The linear optical sensor 74 is therefore insensitive to defects in the surface 14 that could destabilize the device 24 and thus misalign the linear optical sensor 74 with respect to the vertical plane 26.

[0068] The linear optical sensor 74 is mounted on the chassis 30 to extend transversely to the vertical plane 26. The linear optical sensor 74 can detect the vertical plane 26 regardless of its height relative to the plane laser 22. The device 24 is insensitive to variations in height (variations along the z-direction) when moving along the surface 14.

[0069] The linear optical sensor 74 can be inserted into a housing 76. The housing 76 can protect the linear optical sensor 74 from potential shocks or dirt. The housing 76 may include an aperture 78 surmounted by a filter 80, allowing the linear optical sensor 74 to perceive the vertical plane 26.

[0070] In addition, a light strip 82, for example made of LEDs, can be provided. The light strip 82 can be positioned substantially above the linear optical sensor 74. The light strip 82 allows the position of the vertical plane 26 to be displayed relative to the center of the optical sensor 74. In this case, the linear sensor 74 has a width of approximately 10 mm and the light strip 82 has a width of approximately 100 mm. A factor of 10 between the two widths allows for precise visual feedback on the difference between the orientation of the device 24 and the desired direction.

[0071] There figure 8 illustrates in more detail a system for transmitting the rotation from the motor 50 to the applicator roller 48 and the retrieval reel 56. The transmission system can be provided on one side of the frame 30 opposite the advancement means 36, the supply reel 38 and / or the retrieval reel 56. The transmission of movement is thus separated from the adhesive strip 42 by the frame 30.

[0072] The transmission system comprises a first pulley 84 connected to the output shaft of the motor 50, a second pulley 86 connected to the applicator roller 48, and a third pulley 88 connected to the recovery spool 56. A belt 90 connects the three pulleys, ensuring synchronous rotation of the applicator roller 48 and the recovery spool 56. The torque-limiting clutch 58 can be mounted between the third pulley 88 and the recovery spool 56.

[0073] As more visible on the figure 9 The transmission system can be protected by a housing 92 mounted on the chassis 30, specifically by screwing it in place. The housing 92 can protect the transmission system from potential impacts or dirt.

[0074] The device 24 may also include a control unit 94. The control unit 94 may be mounted on the side of the chassis 30 opposite the advancement means 36 and the marking means 32. The control unit 94 may be provided in a second housing 96, allowing the components of the control unit 94 to be protected from shocks and / or possible dirt.

[0075] The control unit 94 may include a microcontroller 98 adapted to receive data from the linear optical sensor 74 and to control the motors 70, 50 of the steering train 34 and the advancement means 36.

[0076] The control unit 94 may also include a switch 100 and an emergency stop button 102, enabling an operator to control the device 24. The switch 100 and the emergency stop button 102 may in particular extend through the housing 96, to be connected to the microcontroller 98 while remaining accessible to the operator.

[0077] Device 24 also includes a battery 104 mounted on the chassis 30 to power device 24. Device 24 is autonomous and can navigate warehouse 10 applying markings without operator intervention.

[0078] Finally, in the illustrated example, a handle 106 can be mounted on the chassis 30, in particular on an upper part of the chassis 30, away from the advancement means 36 and the steering train 34. The handle 106 allows the device 24 to be gripped. The device 24 is easily transportable.

[0079] The device 24 described above has a height between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length between 100 mm and 650 mm, preferably between 100 mm and 400 mm. The device 24 is compact. It is therefore suitable for applying markings in complex environments with narrow passages and low obstacles. In particular, the device 24 can apply markings by passing between and under the storage racks 16 of the warehouse 10.

[0080] A method for applying the marking to surface 14 is then described, with reference to the figure 10 .

[0081] According to a first step 110, the device 24 is placed on the surface (the floor) of the warehouse 10. The device 24 is positioned to face a horizontal line 18 or a vertical line 20 of the marking to be made by the device 24. The device 24 is positioned so that the directional train 34 forms the front of the device 24, and the advancement means 36 is located at the rear of the device 24. As described above, the position correction can be smoothed during the movement of the device 24. A sudden change in the direction of the marking applied to the surface 14 is avoided.

[0082] According to a second step 200, the desired direction is defined. The desired direction corresponds to the vertical line 18 or horizontal line 20 of the marking to be made by the device 24. Here, the desired direction is defined by the vertical plane 26 emitted by the plane laser 22. The plane laser 22 can be oriented by being rotated on its axis until the direction of the vertical plane 26 extends along the horizontal line 18 or vertical line 20 to be made, and the vertical plane 26 is detected by the linear optical sensor 74 of the device 24 (see figures 1A et 1B )

[0083] According to a third step 300, the advancement means 36 is actuated to move the device 24 in the desired direction. The advancement means 36 progresses within the warehouse 10, passing between and under the storage racks 16. The marking can thus be applied after the storage racks 16 have been installed, preventing any potential damage to the marking during the installation of the storage racks 16.

[0084] According to a fourth step 400, carried out in parallel with the third step 300, the marking is applied to the surface 14 by the marking means 32. The marking is applied to the surface simultaneously with the advancement of the device 24 in the desired direction. Here, the marking is an adhesive strip 42 unwound from the slitter reel 38 and applied under pressure against the surface 14 by the applicator roller 48. The marking on the ground and the advancement of the device 24 are achieved by the applicator roller 48, ensuring precise marking. It should be noted that the applicator roller 48 applies an application force on the unwound adhesive strip 42 greater than 40 N, or even greater than 50 N, preventing the formation of bubbles between the surface 14 and the unwound adhesive strip 42.

[0085] According to a fifth step 500, carried out in parallel with the third and fourth steps 300 and 400, the directional train 34 is actuated to align the device 24 with the desired direction during the device's advance. The directional train 34 can continuously detect the desired direction and correct the trajectory of the device 24. Here, the vertical plane 26 emitted by the plane laser 22 can be detected by the linear optical sensor 74. A deviation of the device 24 from the vertical plane 26 can be corrected by changing the orientation of the steerable wheels 66 so as to rotate the device 24 around the pivot point formed by the applicator roller 48. The correction can be controlled by the motor 70, inducing a pivoting of the wheel supports 67 to reduce the positional deviation detected by the optical sensor 74 with respect to the vertical plane 26.

[0086] The invention is not limited to the examples described above but is, on the contrary, susceptible to numerous variants accessible to those skilled in the art.

[0087] For example, the desired direction can be defined by any other means. The desired direction can be defined by a line laser, or by a physical guide such as a ruler or a rope.

[0088] In one particular example, the desired direction can be defined by a projector configured to project a straight line, a curved line, or any pattern onto the surface. The pattern can include a series of straight lines and / or curved lines in different directions. It can also form a geometric shape, such as a polygon or an oval. The projector can, for example, be mounted on a ceiling. The optical sensor can then be mounted on the chassis 30, oriented upwards relative to the surface, to detect the projected line or pattern. The device can follow the desired direction by applying the markings to the ground in straight lines, curved lines, or by forming a pattern. Such markings are particularly useful for navigating around storage racks or for marking lines on sports fields.

[0089] The marking can be any other type of marking on a surface, including paint. The marking method 32 may then include a holder for a spray paint can, or a brush for applying the marking.

[0090] The steerable train 34 can take a different form than the one illustrated. The steerable train 34 can comprise one or more wheels, and each wheel can be steered individually or as a group.

[0091] Similarly, the means of advancement 36 can be one or more wheels, or a roller skid or a track.

Claims

1. Device (24) for applying a marking to a surface (14), comprising: - a frame (30); - a marking means (32) mounted on the frame (30), the marking means (32) being configured to apply a marking on the surface (14), the marking means (32) comprising a dispenser reel (38) configured to receive a roll of adhesive tape (40); - a directional train (34) mounted in particular on a first end of the frame (30), the directional train (34) being adapted to control the direction of the device (24) to follow a desired direction; - a motorised advancement means (36), mounted in particular on a second end of the frame (30), opposite to the first end, the advancement means (36) being configured to ensure a movement of the device (24) in the desired direction, the advancement means (36) being an applicator roller (48) configured to ensure an application of the unwound adhesive tape (42) from the dispenser reel (38) on the surface (14), applied by pressure applied between the surface (14) and the applicator roller (48).

2. Device (24) according to claim 1, wherein the marking means (32) further comprises: - a guide piece (44) forming a guide for inserting the unwound adhesive tape (42) between the applicator roller (48) and the surface when the unwound adhesive tape (42) extends between the dispenser reel (38) and the applicator roller (48); and - a tensioning drum (46) mounted for rotation on the frame (30), in particular above the applicator roller (48), the tensioning drum (46) defining an inflexion point of the unwound adhesive tape (42) when the unwound adhesive tape (42) extends between the dispenser reel (38) and the guide part (44), ensuring tensioning of the unwound adhesive tape (42) on the guide piece (44).

3. Device (24) according to claim 2, wherein the marking means (32) further comprises: - a recovery reel (56) mounted for rotation on the frame (30) for winding a covering (52) of the unwound adhesive tape (42); and - a return drum (54) mounted for rotation on the frame (30) between the guide piece (44) and the recovery reel (56), the return drum (54) forming an inflexion point of the covering (52) when the covering (52) extends between the guide piece (44) and the recovery reel (56).

4. Device (24) according to any one of the preceding claims, wherein the recovery reel (56) is separated from the motor (50) driving the applicator roller (48) by a clutch with torque limiter function (58).

5. Device (24) according to any one of the preceding claims, wherein the directional train (34) comprises two wheels (66) orientable by a motor (70), the two orientable wheels (66) and the advancement means (36) forming a tripod, preferably the two orientable wheels (66) form the front of the device (24) and the advancement means (36) forms the rear of the device (24) when the device (24) moves.

6. Device (24) according to any one of the preceding claims, wherein the device (24) further comprises: - a linear optical sensor (74) mounted on the first end of the frame (30), the linear optical sensor (74) being configured to detect a vertical plane (26) with respect to the surface (14), the vertical plane (26) being defined by a flat laser (22), and the desired direction corresponds to the direction of the vertical plane (26).

7. Device (24) according to any one of claims 1 to 5, wherein the device further comprises: - a linear optical sensor mounted on the frame (30) to be oriented in the direction opposite to the surface (14), the linear optical sensor being configured to detect a line or pattern projected toward the surface (14), the line or pattern projected being defined by a projector, and the desired direction corresponds to the line or pattern projected.

8. Device (24) according to any one of the preceding claims, wherein the device (24) has a height between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length between 100 mm and 650 mm, preferably between 100 mm and 400 mm.

9. Device (24) according to any one of the preceding claims, wherein the applicator roller (48) is made of a material having a hardness between 60 and 100 Shore.

10. Device (24) according to any one of the preceding claims, wherein the frame (30) is a substantially flat plate perpendicular to the axis of rotation of the applicator roller (48).

11. Device (24) according to the preceding claim, further comprising a control unit (94) mounted on the side of the frame (30) opposite the applicator roller (48).

12. System comprising the device (24) according to claim 6 or 7, and a flat laser (22) or a projector configured to define the desired direction, the linear optical sensor (74) being configured to detect the desired direction.

13. Method for applying a marking to a surface comprising: - placing a device (24) according to any one of claims 1 to 11 on the floor of a warehouse (10) comprising one or more storage racks (16); - defining a desired direction; - controlling the applicator roller (48) in rotation in order to jointly advance the device (24) in the desired direction while passing in particular under the storage rack(s) (16), and / or between the storage racks (16), and to exert an application force on the unwound adhesive tape (42) against the surface (14); - applying the marking to the surface (14) using the marking means (32) while advancing the device (24); - operating the directional train (34) to align the device (24) with the desired direction during the advancement of the device (24).

14. Method according to claim 13, wherein the device (24) comprises a linear optical sensor (74) according to claim 6, wherein defining the direction to be followed comprises orienting a flat laser (22) to define a vertical plane (26) with respect to the surface (14), and the method further comprises, - orienting the directional train (34) to align the linear optical sensor (74) with the vertical plane (26) during the advancement of the device (24).

15. Method according to claim 13, wherein the device (24) comprises a linear optical sensor according to claim 7, wherein defining the direction to be followed comprises orienting a projector to project a line or pattern toward the surface (14), and the method further comprises, - orienting the directional train (34) to align the linear optical sensor with the line or pattern projected during the advancement of the device (24).

16. Use of the device (24) for applying a marking according to one of claims 1 to 11, of the system according to claim 12, or of the method according to claims 13 to 15 for drawing linear marks, in particular adhesive tape, used to guide self-guided vehicles in storage warehouses.

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