DEVICE AND METHOD FOR MAINTAINING GROUND GUIDANCE STRIPS FOR AUTOMATICALLY GUIDED VEHICLES

Abstract

DEVICE AND METHOD FOR MAINTAINING A GUIDE STRIP ON THE GROUND FOR AN AUTOMATICALLY GUIDED VEHICLE The invention relates to a device for maintaining (2) a guide strip (10) on the ground for an automatically guided vehicle, comprising a rolling chassis (4); means for detecting (12) the guide strip (10) on the ground; means for controlling the movement of the rolling chassis (4) along the guide strip (10); means for removing (16) the guide strip (10) from the ground; and means for applying (20) a new guide strip (10') to the ground; the means for controlling the movement of the rolling chassis (4) being configured to control said removal (14, 16) and application (20) means, so as to remove and replace one or more damaged sections of the guide strip during the movement of the rolling chassis (4). (Figure to be published with the abbreviation: Figure 2)

Description

Title of the invention: DEVICE AND METHOD GROUND GUIDELINE MAINTENANCE FOR AUTOMATICALLY GUIDED VEHICLES technical field

[0001] The invention relates to the technical field of automated guided vehicles (AGVs), or vehicles guided by means of a guide strip laid on the ground, particularly a magnetic one, commonly used for handling tasks in the industrial and logistics sectors. More specifically, the invention relates to the field of maintenance of the guide strips of such automated guided vehicles. Prior art

[0002] The published patent document CN 117032233 A discloses an automatically guided handling vehicle equipped with a magnetic guide strip cleaning brush system.

[0003] The published patent document CN 216571364 U discloses an automatically guided inspection vehicle equipped with a magnetic guide strip cleaning brush system.

[0004] The guidance strip of automated guided vehicles is however subject to deterioration and requires maintenance beyond the cleaning provided by the automated guided vehicles of the aforementioned prior art. Description of the invention

[0005] The invention aims to overcome at least one of the drawbacks of the aforementioned prior art. More particularly, the invention aims to facilitate the maintenance and, more specifically, the repair of ground guidance strips for automatically guided vehicles.

[0006] The invention relates to a ground-level guidance strip maintenance device for an automated guided vehicle (AGV), comprising a rolling chassis; detection means configured to detect the ground-level guidance strip and disposed on the rolling chassis; means for controlling the movement of the rolling chassis along the guidance strip, disposed on said rolling chassis and connected to the detection means; notable in that the device further comprises removal means configured to remove the guidance strip from the ground; and application means configured to apply new guidance strip to the ground; and the means for controlling the movement of the rolling chassis are connected to the removal means and the application means, and configured to control said means. removal and application so as to remove and replace one or more damaged sections of guide strip during the movement of the rolling chassis.

[0007] According to an advantageous embodiment of the invention, the removal means comprise cutting means configured to cut the ground guide strip; and peeling means configured to peel the cut guide strip from the ground.

[0008] According to an advantageous embodiment of the invention, the cutting means comprise a movable blade and the lifting means comprise a ramp that moves between a retracted position and a deployed position in contact with the ground and is oriented so as to lift the guide strip from the ground by the movement of the rolling chassis. The movement of the rolling chassis is in the normal direction of movement of the maintenance device, in this case forward.

[0009] According to an advantageous embodiment of the invention, the application means comprise a support for a reel of new guide strip; guide and application rollers for the new guide strip, comprising an application roller, movable between a retracted position and a position in contact with the ground via the new guide strip.

[0010] According to an advantageous embodiment of the invention, the application means further comprise means for cutting the new guide strip, configured to cut the new guide strip directly downstream of the application roller.

[0011] According to an advantageous embodiment of the invention, the application means further include means for driving a collection reel of adhesive protective film from the new guide strip; and at least one guide roller for the adhesive protective film of the new guide strip, towards the collection reel.

[0012] According to an advantageous embodiment of the invention, the maintenance device further comprises means for cleaning the floor upstream of the guide rollers and for applying the new guide strip, preferably comprising a cleaning fluid applicator on the floor and a cleaning brush downstream of the cleaning fluid applicator. The cleaning fluid may be a solvent, in particular a solvent for the adhesive of the guide strip.

[0013] The floor cleaning means may also include an air blowing nozzle, preferably hot, located downstream of the cleaning brush.

[0014] According to an advantageous embodiment of the invention, the detection means comprise optical means suitable in particular for detecting the state of the ground guidance strip; and magnetic means suitable for detecting the presence of the ground guidance strip when said guidance strip is magnetic.

[0015] The invention also relates to a method for maintaining a ground guidance strip, characterized in that the method comprises the use of a maintenance device of ground guidance strip, according to the invention, one or more damaged sections of guide strip being replaced by said maintenance device.

[0016] According to an advantageous embodiment of the invention, the process comprises the following successive steps:

[0017] - inspection of the ground guidance strip by a first pass of said strip ground guidance by the maintenance device;

[0018] - repair of the ground guidance strip by a second pass of said strip ground guidance by the maintenance device; and

[0019] - optionally, validation of the repaired ground guidance strip by a third path of said ground guidance strip by the maintenance device.

[0020] The measures of the invention are advantageous in that they allow for the autonomous or quasi-autonomous repair of a guide strip. The repair of the guide strip is thus automated by using the guide strip itself as a means of automation. Brief description of the drawings

[0021] [Fig-1] is a perspective view of a ground guidance strip maintenance device for an automatically guided vehicle, according to the invention;

[0022] [Fig.2] is a side perspective view of the inside of the maintenance device of the [Fig.1];

[0023] [Fig.3] is a perspective view, from the opposite side to that of [Fig.2], of the inside of the maintenance device of [Fig.1];

[0024] [Fig.4] is a side view of the inside of the maintenance device of figures 1 to 3, in a guide strip cutting configuration;

[0025] [Fig.5] is a side view of the inside of the maintenance device of Figures 1 to 3, in a guide strip detachment configuration;

[0026] [Fig.6] is a side view of the inside of the maintenance device of Figures 1 to 3, in a floor cleaning configuration after the guide strip has been detached;

[0027] [Fig.7] is a side view of the inside of the maintenance device of figures 1 to 3, in a ground application configuration of new guide strip;

[0028] [Fig. 8] is a side view of the inside of the maintenance device of Figures 1 to 3, in a configuration with the new guide strip cut and applied to the ground. Detailed description

[0029] Fig. 1 is a perspective view of a ground guidance strip maintenance device for an automated guided vehicle, according to the invention.

[0030] The maintenance device 2 comprises a rolling chassis 4 equipped with wheels 6 and covered by a hood 8. It is configured to move autonomously, in particular by means of electrical energy accumulators on board the The device is equipped with at least one electric motor, also not shown, configured to drive at least one of the wheels 6, and directional control means for at least two of said wheels 6 so as to control the direction of movement of the device. It is understood that means other than electric means may be considered to ensure the autonomous movement of the device, such as, in particular, a combustion engine, a compressed air engine, or others, although electric traction means are preferred.

[0031] The maintenance device 2 also includes means for controlling the movement of the rolling chassis 4, these means not being visible in [Fig.1] but present under the hood 8. It may be an electrical control unit located on the rolling chassis 4, supplied with electrical energy in particular by an on-board electrical energy accumulator, and electrically connected to the drive and directional control means for the wheels 6.

[0032] It should be noted that the wheels 6 can be replaced by other means of movement on the ground such as, in particular, tracks.

[0033] The maintenance device 2 is configured to move along the guide strip 10 laid on the ground. This guide strip 10 can be a simple strip with a color contrast with the ground, allowing detection means integrated into the maintenance device 2 to be detected optically. It can also be magnetic, in which case the detection means integrated into the maintenance device 2 are magnetic detection means capable of magnetically detecting the guide strip 10. It should be noted that the detection of the guide strip 10 can be performed both optically and magnetically. The means for controlling the movement of the rolling chassis 4 are electrically connected to these detection means in order to control the movement along the guide strip 10.

[0034] Fig. 2 is a side perspective view of the inside of the maintenance device 2 of Fig. 1.

[0035] The rolling chassis 4 can be seen there, although the wheels and their drive means are not shown. The rolling chassis 4 comprises a longitudinal beam with a generally elongated and vertical cross-section, it being understood, however, that other configurations are possible.

[0036] The normal direction of movement of the ground guidance strip maintenance device 2, i.e., forward, is represented by the arrow. However, it is understood that the device can also move backward, i.e., in the opposite direction to the arrow. The terms "downstream" and "upstream" in the following description refer to the normal direction of movement of the device.

[0037] The maintenance device 2 may include, at the front and at the rear, an optical and / or magnetic sensor 12 directed towards the ground. These two sensors 12 are part of the means for detecting the ground guide strip of the maintenance device 2 and are configured to ensure inspection and detection of the condition of the guide strip 10. In this case, they are arranged on the rolling chassis 4.

[0038] The maintenance device 2 may further include a movable blade 14 forming a means for cutting a section of guide strip 10 which is damaged.

[0039] The maintenance device 2 may further include means 16 for detaching the damaged section of guide strip 10. These detachment means 16 include, in this case, a ramp 16.1 movable between a retracted position and a deployed position in contact with the ground and oriented so as to detach the damaged section of guide strip from the ground, this detachment occurring during the movement of the rolling chassis in the normal direction of travel. The detachment means 16 may also include a container 16.2 for receiving the damaged section of guide strip after it has been detached by the ramp 16.1.

[0040] The maintenance device 2 may further include means 18 for cleaning the floor after removal of the damaged section of guide strip. These cleaning means 18 may include a cleaning fluid applicator 18.1, such as a solvent, particularly in the form of a spray nozzle fluidically connected to a reservoir 18.2 containing the cleaning fluid. The cleaning means 18 may also include a cleaning brush 18.3. This brush is advantageously rotatable and may have the ability, when rotated, to descend towards the floor and, when its rotation stops, to rise to a distance from the floor. The cleaning means 18 may also include an air blower 18.4, in particular a hot air blower, to ensure drying of the cleaning fluid.

[0041] The maintenance device 2 further includes application means 20 configured for applying new 10' guide strip to the ground. These application means 20 may include a reel 20.1 of new 10' guide strip and a reel support. They may also include a guide roller 20.2 for the new 10' guide strip and an application roller 20.3 for the new 10' guide strip, movable between a retracted position and a position in contact with the ground via the new guide strip. The application means 20 may also include a guide roller 20.4 for a protective film 10.1' from the new 10' guide strip to a collection reel 20.5, the latter being driven. The application means 20 may also include a cutting blade 20.6 for the new guide strip 10', configured to cut the new guide strip directly downstream of the application roller 20.3.

[0042] Fig. 3 is a perspective view of the inside of the maintenance device 2 of Fig. 1, on the opposite side to that of Fig. 2.

[0043] Figure 3 shows a servomotor 16.3 actuating the ramp 16.1 visible in Figure 2 and described above. Figure 2 also shows a servomotor 20.7 actuating the application roller 20.3 described above in relation to Figure 2. Furthermore, there is a motor 20.8 driving the collection reel 20.5 of the protective film 10.1' of the new guide strip 10'. The motor 20.8 may be a servomotor.

[0044] Fig. 4 is a side view of the inside of the ground guide strip maintenance device of Figures 1 to 3, in a guide strip cutting configuration.

[0045] It can be observed that the cutting blade 14 is in the lowered position to cut the guide strip 10 in order to replace a section of it. This may be a simple downward movement of the cutting blade 14 or a more complex movement such as a downward movement of the blade followed by a transverse movement of the blade across the guide strip 10.

[0046] Fig. 5 is a side view of the inside of the ground guide strip maintenance device of Figures 1 to 3, in a guide strip detachment configuration, following the cutting as in Fig. 4.

[0047] It can be observed that the detaching blade 16.1 is in the lowered position, against the guide strip 10. During the normal movement of the maintenance device 2 (i.e., from left to right in [Fig. 5]), the leading edge of the detaching blade 16.1, in contact with the guide strip 10, will slide along the guide strip 10 until it reaches the previously made cut, illustrated by a vertical dashed line. This leading edge will then engage under the guide strip and detach a section of the guide strip. This section can then accumulate in the container 16.2.

[0048] Fig. 6 is a side view of the inside of the maintenance device 2 of Figures 1 to 3, in a floor cleaning configuration after detachment of the damaged guide strip section.

[0049] It can be observed that the cleaning brush 18.3 is in the lowered position and moving, in this case rotating, against the floor. A cleaning fluid may have been previously deposited on the floor by the projection nozzle 18.1. The drying nozzle 18.4 can also be activated to blow a stream of air, advantageously warm, in order to dry the area of ​​the floor that received the cleaning fluid.

[0050] In [Fig. 6], it can be observed that the takeoff ramp 16.1 is in the retracted position, i.e., raised and away from the ground. It is understood, however, that it can still be in deployed position, that is to say in contact with the ground and operating a separation of the damaged section of guide strip.

[0051] Fig. 7 is a side view of the inside of the maintenance device 2 of Figures 1 to 3, in a new guide strip ground application configuration.

[0052] It can be observed that the application roller 20.3 is in a low position against the ground, so as to apply new guide strip 10' from the new guide strip reel 20.1. In this case, the new guide strip 10' includes a protective film 10.1' on the adhesive side of said strip, which is driven by the collection reel 20.5 along an application guide 20.9 at the end of which the protective film 10.1' separates from the new guide strip 10'. The latter, free of the protective film 10.1', is then applied to the ground by the applicator roller 20.3. The latter is movable and in the deployed and lowered position by means of an arm 20.10 controlled by the servomotor 20.7 visible in [Fig. 3]. In other words, the drive of the protective film 10.1' by the collection reel 20.5, via the motor 20.8 visible in [Fig.3], causes the drive of the new guide strip 10' from the new guide strip reel 20.1.

[0053] Fig. 8 is a side view of the inside of the maintenance device 2 of Figures 1 to 3, in a cutting configuration of the new guide strip applied to the ground.

[0054] Fig. 8 corresponds to the end of the application of the new guide strip 10', as illustrated in Fig. 7 and described above, where the cutting blade of the new guide strip 20.6 is activated to cut the section of new guide strip 10' which has just been applied to the ground, from the rest of the new guide strip 10' on the maintenance device 2. This can be a simple downward movement of the cutting blade 20.6 or a more complex movement such as a downward movement of the blade followed by a movement of the blade transversely to the new guide strip 10'.

[0055] The ground guidance strip maintenance device, which has just been described, can be used in several ways.

[0056] It can be used so as to inspect the guide strip by traveling along said guide strip and during this same travel replace the section or sections identified by the inspection as being damaged.

[0057] It can be used to inspect the guide strip by traversing said guide strip, without replacing the guide strip. Once the inspection is complete, any section(s) identified as damaged by the inspection can be reviewed manually, in particular using a graphical interface, and validated or invalidated. After this inspection, the guide strip can be traversed again by the maintenance device 2 for repair, by replacing any section(s) identified as damaged by the inspection and possibly validated. Optionally, the guide strip can be traversed again by the ground guide strip maintenance device 2 in order to carry out an inspection to validate the repair operation.

Claims

Demands

1. A maintenance device (2) for a ground-level guide strip (10) for an automated guided vehicle (AGV), comprising: - a rolling chassis (4); - detection means (12) configured to detect the ground-level guide strip (10) and arranged on the rolling chassis (4); - means for controlling the movement of the rolling chassis (4) along the guide strip (10), arranged on said rolling chassis (4) and connected to the detection means (12); characterized in that the maintenance device (2) further comprises: - removal means (14, 16) configured to remove the guide strip (10) from the ground; and - application means (20) configured to apply new guide strip (10') to the ground;and the means for controlling the movement of the rolling chassis (4) are connected to the removal means (14, 16) and the application means (20), and configured to control said removal means (14, 16) and application means (20), so as to, during the movement of the rolling chassis (4), remove and replace one or more damaged sections of guide strip.

2. Maintenance device (2) according to claim 1, wherein the removal means (14, 16) comprise: - cutting means (14) configured to cut the guide strip (10) on the ground; and - peeling means (16) configured to peel the cut guide strip (10) off the ground.

3. Maintenance device (2) according to claim 2, wherein the cutting means (14) comprise a movable blade and the peeling means (16) comprise a ramp (16.1) movable between a retracted position and a deployed position in contact with the ground and oriented so as to peel the guide strip (10) from the ground by the movement of the rolling chassis (4).

4. Maintenance device (2) according to any one of claims 1 to 3, wherein the application means (20) comprise: - a support for a new guide strip reel (20.1); - guide and application rollers (20.2, 20.3) of the new guide strip (10'), including an application roller (20.3), movable between a retracted position and a position in contact with the ground via the new guide strip (10').

5. Maintenance device (2) according to claim 4, wherein the application means (20) further comprise: - means for cutting the new guide strip (20.6), configured to cut the new guide strip (10') directly downstream of the application roller (20.3).

6. Maintenance device (2) according to any one of claims 4 and 5, wherein the application means (20) further comprise: - drive means (20.8) of a collection reel (20.5) of protective film (10.1') of adhesive of the new guide strip (10'); and - at least one guide roller (20.4) of the protective film (10.1') towards the collection reel (20.5).

7. Maintenance device (2) according to any one of claims 4 to 6, further comprising: - means for cleaning the floor (18), upstream of the guide rollers (20.2) and application rollers (20.3) of the new guide strip (10'), preferably comprising a cleaning fluid applicator (18.1) on the floor and a cleaning brush (18.3) downstream of the cleaning fluid applicator (18.1).

8. Maintenance device (2) according to any one of claims 1 to 7, wherein the detection means (12) comprise: - optical means (12) suitable in particular for detecting the condition of the guide strip (10) on the ground; and - magnetic means suitable for detecting the presence of the guide strip on the ground when said guide strip is magnetic.

9. A method for maintaining a ground guidance strip (10) for an automated guided vehicle, VGA, characterized in that the method comprises the use of a ground guidance strip maintenance device (2), according to any one of claims 1 to 8, one or more damaged sections of the guidance strip (10) being replaced by said maintenance device (2).

10. A method for maintaining a ground-level guide strip (10), according to claim 9, comprising the following successive steps: - inspection of the ground guidance strip (10) by a first pass of said ground guidance strip by the maintenance device (2); - repair of the ground guide strip (10) by a second pass of said ground guide strip (10) by the maintenance device (2); and - optionally, validation of the repaired ground guidance strip (10) by a third pass of said ground guidance strip (10) by the maintenance device (2).

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