Machine for the automated installation of floor covering elements

Abstract

Machine for the automated installation of floor covering elements Machine (1) for the automated installation of floor covering elements (C), in particular tiles, comprising - a self-propelled chassis (10), - a robotic arm (20) carried by the chassis, provided with a system (30) for gripping the covering elements, for taking the elements from a reserve of elements carried by the chassis, - a reservoir (41) of glue carried by the chassis, - a system (40) for distributing the glue supplied by the glue reservoir, for applying the glue to the floor before the installation of the covering elements Figure for the abstract: Fig. 1

Description

Title of the invention: Machine for the automated installation of floor covering elements Technical field

[0001] The present invention relates to a machine for laying floor covering elements, in particular tiles. Prior art

[0002] Application EP2157259A1 discloses a tiling machine comprising a chassis mounted on tracks with a suction cup gripper capable of picking up tiles from a storage area of ​​the machine and positioning them on the floor to be covered. An adhesive can be spread on the tiles automatically before they are laid. A recognition system comprising a camera assists in positioning the picked tile.

[0003] Application US20200024853A1 describes a wheel-mounted tile laying machine, comprising a chassis carrying a 6-axis robotic arm and a supply of tiles. The machine comprises an adhesive dispenser having a grid through which the adhesive flows, each tile being coated with adhesive on its underside by being positioned in contact with or facing the adhesive outlet grid. Relative movement between the grid and the tile or the tile and the floor during installation can be achieved to spread the adhesive over the surface of the tile. Such an adhesive application process complicates the machine.

[0004] Application FR2943371 describes a static installation for laying tiles on a partition panel in a factory, comprising a gluing head with distribution nozzles, movable opposite the panel to glue it before laying the tiles, and a robotic arm for gripping the tiles and laying them. Such a machine is not intended for laying tiles on the floor.

[0005] Application EP 2907938 A1 discloses a laying machine comprising a mobile chassis carrying a stack of tiles, a drawer for extracting the tiles and a device, not detailed, for gluing the floor in the tile laying area.

[0006] Application WO 2015164449 A1 describes a tile laying machine comprising a movable frame and a robotic arm for gripping and laying tiles on a floor already coated with adhesive.

[0007] Application FR 2867210 discloses a tile-laying machine, comprising an adhesive reservoir and an adhesive distribution ramp connected to a pump which takes the adhesive from the reservoir and injects it into the ramp. The tiles are taken by a distribution system arranged under a tile magazine. Such a machine suitable for a given type of tile, and requires modifications to the distribution system if you want to lay another type of tile.

[0008] There is a need to further improve automated floor covering installation machines. Statement of the invention

[0009] The invention aims to meet this need, and in particular to propose a machine which is reliable in operation, has a size compatible with its use on various types of construction sites, and which ensures not only the installation of the covering elements but also that of the glue. Summary of the invention

[0010] The invention thus relates to a machine for the automated installation of floor covering elements, comprising: - a self-propelled chassis, - a robotic arm carried by the chassis equipped with a system for gripping the covering elements, for removing the elements from a reserve of elements carried by the chassis, - a glue tank carried by the chassis, - a glue distribution system fed by the glue tank, to apply the glue to the floor before laying the tiles.

[0011] Thanks to the invention, the laying of tiles can be carried out quickly, without any difficulty for the operator controlling the operations. The adhesive can be applied directly to the floor, to avoid making the machine unduly complex.

[0012] Preferably, the distribution system comprises a comb for spreading the glue on the floor. Thus, the application of the glue on the floor can be carried out with a distribution close to that resulting from conventional manual application with a glue spatula.

[0013] Preferably, the distribution system is placed at the front of the chassis, which allows good accessibility to the deposited glue.

[0014] Advantageously, the glue dispensing system is arranged under the tank. This can simplify the flow of glue to the dispensing system. This can also facilitate filling the tank, and in particular reduce the risk of glue being sprayed onto other parts of the machine during the tank filling operation.

[0015] The tiles can be laid row by row, the tiles in the same row being laid one after the other, while the chassis moves along this row. The machine can include at least one odometer which provides information on its movement on the ground, and thus makes it possible to know precisely the position along the row. The self-propelled chassis may have two drive wheels at the front, on the arm and tank side, and freewheels with rollers at the rear; in this case, the chassis can be oriented by rotating the front wheels differentially.

[0016] Preferably, the gripping system is a suction cup system, but any suitable gripping member can be used.

[0017] Preferably, the tile reserve is arranged at the rear. This can facilitate loading the machine with the tiles to be applied, and contribute to the good distribution of weight on the machine.

[0018] Preferably, the machine comprises an acquisition system enabling it to position the tiles in the desired locations, in particular with a predefined clearance between them for subsequent application of a joint. The clearance may be fixed or variable.

[0019] Preferably, the acquisition system is carried by the robotic arm, in particular by the end of the robotic arm carrying the gripping system.

[0020] The acquisition system can generate data representative of a scene comprising a portion of the floor surface intended to receive the tiles, called the “laying surface”.

[0021] For this purpose, the acquisition system may comprise one or more cameras and / or environmental recognition devices such as LIDAR or similar sensors.

[0022] Preferably, the camera(s) are depth-sensing cameras. The data representative of the scene may thus comprise a depth map.

[0023] By “depth map” is meant a map where a pixel value, for example expressed in gray levels, gives information on the distance between the camera and an object in the scene. In an exemplary embodiment, the darker a pixel, the more it is associated with an object close to the camera.

[0024] An example of a depth detection camera for generating said depth map is that marketed by the company INTEL® under the name REALSENSE™ DEPTH CAMERA D435 and described in the document “Product brief INTEL® REALSENSE™ DEPTH CAMERA D435”.

[0025] The object(s) in the scene may include a portion of a previously laid tile, a wall, a fireplace, a door, or other elements present in the scene.

[0026] In one embodiment, the scene data further comprises information indicating the color of the objects constituting the scene. This color information can be advantageously combined with the depth map to better distinguish the objects in the scene, in particular when the depth map does not allow them to be distinguished satisfactorily.

[0027] Preferably, the machine comprises a computing unit which receives the data generated by the detection system, in particular the depth map, and controls the robotic arm and / or the chassis accordingly.

[0028] The calculation unit may comprise one or more processors and storage means in which a computer program is stored, in the form of a set of code instructions to be executed by the processor(s).

[0029] The determination of the location of the tiles can be carried out by an image processing method known per se, in particular by locating on the depth map one or more contours of one or more objects in the scene.

[0030] Preferably, the calculation unit determines the location of the tile to be laid from the position of the previously laid tiles, in particular by identifying on the depth map the edges of the latter which are adjacent to the laying surface of this new tile. Also, the position of the tile can be calculated so as to provide a predetermined distance between the adjacent edges of the previously laid tiles and those of the tile currently being laid.

[0031] Preferably, determining the location of each tile includes determining the position of one of its corners, in particular one of its front corners, as well as determining the orientation of one of its sides.

[0032] The robotic arm may be a six-degree-of-freedom arm.

[0033] The invention also relates, according to another of its aspects, to a method for the automated laying of tiles, using a machine according to the invention as defined above, in which the adhesive is applied to the floor by the distribution system by being spread thereon by a backward movement of the frame, then a tile is laid on the adhesive by the robotic arm.

[0034] The invention also relates, independently or in combination with the above, to a method for automated tiling, in which, prior to laying a tile on the floor, a depth map of a scene is generated comprising a portion of the floor surface intended to receive said tile, called the "laying surface", the location of the tile being determined from the depth map.

[0035] The location of the tile can be determined from the position of the previously laid tiles visible on the depth map, in particular by identifying the edges of these tiles that are adjacent to the laying surface.

[0036] By way of example, the location is determined by identifying on the depth map, lines formed by the extension of the rear edge of a tile of the same row as the tile to be laid and adjacent to the laying surface and by the extension of the side edge of a tile of the previous row and adjacent to the laying surface.

[0037] In such a method, odometry information of the chassis at the motor can be used to know the longitudinal positioning of the machine along the row. Brief description of the drawings

[0038] The invention may be better understood by reading the detailed description which follows, a non-limiting example of its implementation, and by examining the attached drawing, in which:

[0039] [Fig-1] [Fig.l] is a schematic perspective view of an example of a machine of laying tiles according to the invention,

[0040] [Fig.2] [Fig.2] is a view similar to [Fig.l], illustrating the laying of the tile,

[0041] [Fig.3], [Fig.4] Figures 3 and 4 are schematic views of another example of tiling machine according to the invention,

[0042] [Fig.5] [Fig.5] is an example of a depth map obtained by an acquisition system,

[0043] [Fig.6] [Fig.6] illustrates in isolation an example of a wheel of the machine according to the invention, and

[0044] [Fig.7] [Fig.7] illustrates in isolation an example of a receiving area of ​​the machine according to the invention, Description of the embodiments

[0045] [Fig.l] shows a machine 1 according to the invention, comprising a self-propelled chassis 10 carrying a robotic arm 20.

[0046] The chassis 10 is mounted on wheels 11 in the illustrated example, but could alternatively be mounted on tracks. The machine preferably includes an odometer helping it to determine the position and / or orientation of the engine chassis over time, when the latter is moving.

[0047] Preferably, at least two wheels are driven, in particular those of the front axle.

[0048] Preferably, at least two wheels 11 are omnidirectional, in particular those of the rear axle, making it easier to move the machine 1 in different horizontal directions.

[0049] [Fig.6] illustrates an example of an omnidirectional wheel 11. As illustrated, the omnidirectional wheel 11 comprises a hub 13 and several rollers 15 arranged on the periphery of the hub 13.

[0050] The chassis 10 houses a power source, for example an electric battery, as well as a control unit, not visible, comprising for example a microcomputer and various sensors and interfaces, in order for example to allow remote control of the machine, its location on the site, the control of the arm 20 and its programming.

[0051] The frame 10 defines a zone 12 for receiving one or more stacks of tiles C to be laid. These tiles C can be of any size and shape, the invention not being limited to the laying of tiles and being able to be applied to the laying of other floor coverings, for example cement, wood or any other material tiles, in particular synthetic.

[0052] In the example illustrated in [Fig.2], the tiles C form a single stack which is simply placed on the receiving area.

[0053] Alternatively, the tiles C form two stacks arranged in the receiving area, as illustrated in [Fig.7].

[0054] In the example illustrated in [Fig.7], one or more guides are present on the frame to hold the stack of tiles vertically, and keep the tiles well stacked. These guides are for example uprights applied in the corners of the tiles.

[0055] Holding elements 50 are provided in order to hold the tiles at a predetermined depth with respect to the bottom of the receiving zone as well as at a predetermined distance with respect to the lateral edges of the receiving zone, as can be seen in [Fig.7]. This makes it possible to know precisely the position of the tiles in the receiving zone in the frame of reference of the arm 20.

[0056] Furthermore, a lifting system may be provided to allow the stack of tiles to be raised as the tiles are removed, if the arm 20 cannot remove them without this raising.

[0057] The robotic arm 20 is mounted on a raised part 13 of the chassis, at the front, and has in the example considered six degrees of freedom. It is provided at the end with a gripper 30 which comprises, for example, in a manner known per se, several suction cups 31 which may or may not be connected to a vacuum source. Preferably, the suction cups 31 are mounted on a support 33.

[0058] The machine 1 comprises, in front of the arm 20, a piece of equipment 40 for dispensing tile adhesive, which comprises a reservoir 41 open upwards, into which the adhesive can be poured. The system 40 comprises a dispensing system having one or more adhesive outlets in the lower part, with a mechanism for automatically supplying or not supplying the outlet(s) depending on whether the adhesive needs to be dispensed or not. The flow of adhesive towards the outlet(s) can be carried out by gravity or alternatively using a pump. The reservoir 41 can be equipped with a mixer for homogenizing the adhesive present in the reservoir.

[0059] Advantageously, as illustrated, the distribution system carries at the front a comb 43 which makes it possible to distribute the glue on the ground by forming lines, in a manner similar to conventional glue application.

[0060] The comb 43 may be provided to be removably fixed to the reservoir 41, so as to allow a choice of a comb from among several having sizes and different number of teeth, depending for example on the size of the tiles and the nature of the floor or adhesive.

[0061] An acquisition system 60 is mounted at the end of the arm 20. This acquisition system 60 comprises a depth detection camera making it possible to generate data from a scene comprising a portion of the floor surface intended to receive the tile C, called the “laying surface”.

[0062] The operation of machine 1 can be as follows.

[0063] The machine 1 is positioned automatically or remotely by an operator at the end of an area to be tiled, then it is slowly moved in reverse while distributing the glue on the floor, the glue being spread by the comb 43 as the machine moves back. The movement of the machine can be carried out in increments, or continuously.

[0064] When the surface corresponding to a tile has been coated with glue and is located in front of the machine, the arm 20 can place on this surface a tile C previously taken from the pile, as illustrated in figures 2 and 4.

[0065] The laying surface advantageously leaves a predefined gap between the tile C and the tiles C1 and C2 previously laid, for the subsequent laying of a joint. The gap can be fixed or variable.

[0066] The data generated by the acquisition system 60 includes a depth map of the scene. An example of a depth map obtained is illustrated in [Fig.5].

[0067] The map includes a plurality of pixels representing different objects in the scene. The pixels provide information on the distance between the camera and the objects in the scene, which can be visualized, for example, in the form of a gray level.

[0068] The depth map thus makes it possible to highlight the objects that make up the scene, namely portions of the Z placement surface and the three tiles C1, C2, C3 placed previously, in the example illustrated.

[0069] The data relating to the scene is preferably acquired when the optical axis of the camera 60 is directed towards the ground and forms an angle with the vertical to the ground of less than 45°, better still less than 30°, even better still less than 15°, preferably equal to 0, as illustrated in [Fig.3].

[0070] The depth map is then processed by the computing unit 80 which, from the position of the previously placed adjacent tiles visible on this map, determines the location of the tile to be placed C.

[0071] In the illustrated example, this location is determined by identifying, on the depth map, reference lines L1 and L2. These reference lines correspond to lines formed by the extension of the rear edge of the tile Cl of the same row and adjacent to the placement surface and by the extension of the side edge of the tile C2 of the previous row and adjacent to the placement surface.

[0072] The invention is not exceeded if the reference lines are chosen otherwise. For example, these can in particular correspond to the extension of walls, doors, chimneys, pipes, etc.

[0073] In the example illustrated in [Fig.3], the location of the tile to be laid is identified by the 90 position of one of the corners of the tile as well as by the orientation of one of its sides.

[0074] After determining the position of the tile, the computing unit controls the robotic arm to position the tile at the desired location.

[0075] Once correctly positioned, the tile C can be released by the arm 20, by breaking the vacuum at the suction cups 31, then the arm 20 will look for a new tile C on the stack.

[0076] The machine 1 continues its backward movement to apply the glue, and each time a surface corresponding to a tile has been coated with glue, a tile is laid.

[0077] The machine 1 can thus proceed by rows of tiles; each time a row is completed, the machine can shift laterally and move forward without applying glue to return to the start of the next row to be laid, and resume operations for laying a new row of tiles. Alternatively, the machine is moved manually by an operator to lay a new row of tiles.

[0078] The arm is preferably controlled so as to control the pressure exerted by the tile on the glue during its installation, as well as its horizontality.

[0079] Of course, the invention is not limited to the example which has just been described.

[0080] For example, the laying of rows of tiles is carried out by first moving the machine to apply the glue along a future row of tiles, then the machine shifts laterally and returns to the start of the row, and lays the tiles on this area thus coated with glue, while applying the glue if necessary to the next tile laying area.

[0081] The arm 20 can be equipped with a joint applicator, to automatically apply the joint between the tiles.

Claims

Claims

1. Machine (1) for the automated installation of floor covering elements (C), in particular tiles, comprising - a self-propelled chassis (10), - a robotic arm (20) carried by the chassis, provided with a system (30) for gripping the covering elements, for taking the elements from a reserve of elements carried by the chassis, - a reservoir (41) of glue carried by the chassis, - a system (40) for distributing the glue supplied by the glue reservoir, for applying the glue to the floor before the installation of the covering elements, - an acquisition system (60) carried by the robotic arm, this acquisition system comprising one or more cameras.

2. Machine according to claim 1, the distribution system comprising a comb (43) for spreading the glue on the floor.

3. Machine according to one of claims 1 and 2, the distribution system being placed at the front of the chassis.

4. Machine according to any one of the preceding claims, the glue dispensing system being arranged under the reservoir (41).

5. Machine according to any one of the preceding claims, the reserve of coating elements (12) being arranged at the rear.

6. Machine according to any one of the preceding claims, the camera(s) being depth-sensing cameras.

7. Method for the automated installation of floor covering elements (C), in particular tiles, using a machine (1) according to any one of the preceding claims, in which the glue is applied to the floor by the distribution system by being spread thereon by a backward movement of the chassis, then a covering element (C) is placed on the glue by the robotic arm.

8. Method according to claim 7, in which prior to laying the covering element (C) on the ground, a depth map of a scene is generated comprising a portion of the ground surface intended to receive said tile, called the “laying surface”, the location of the tile being determined from the depth map.

9. A method according to claim 7 or 8, the location of the tile being determined from the position of the previously laid tiles visible on the depth map, in particular by identifying the edges of the latter which are adjacent to the laying surface.

Images