A surface treating robot

Abstract

A robot (1) configured to treat surfaces comprising a holonomic platform (2), a distance sensor (3), a pillar (4) with a height direction (13), a surface treating tool mount (5) movable along the height direction. The pillar being able to be pivoted in relation to the holonomic platform for eased transportation of the robot.

Description

[0001] A SURFACE TREATING ROBOT

[0002] Field of the invention

[0003] The invention relates generally to the field of surface treating robots.

[0004] Background

[0005] The conventional approach to applying paint and surface treatments to walls has long relied on manual labor, with human painters using brushes and rollers. However, this traditional method is not without significant drawbacks. Manual painting is a labor-intensive process, requiring skilled human workers to consistently and evenly apply coatings. This task often involves prolonged periods of repetitive motion, leading to physical fatigue and potential health issues for the workers. Moreover, the quality of the application may suffer as the worker becomes fatigued, resulting in uneven paint distribution or compromised surface treatment. This problem is well known, and has been adressed by US2018369846A1 disclosing a semi-automatic painting robot and a user device.

[0006] However, problems remain, the robot has to be of a certain size in order to reach a surface close to a ceiling, which in turn makes the robot bulky and consequently the transportation of such a robot difficult.

[0007] Summary of the invention

[0008] The drawbacks and disadvantages of the prior art are alleviated by the general aspects disclosed in the following.

[0009] Generally, the invention relates to a robot, configured to treat surfaces comprising a holonomic platform, a distance sensor, a pillar with a height direction, a surface treating tool mount movable along the height direction. The pillar being able to be pivoted in relation to the holonomic platform for eased transportation of the robot.

[0010] A robot comprising a holonomic platform comprising at least two drive wheels and at least two drive motors, each drive motor driving one of the at least two drive wheels, the robot further comprising a distance sensor unit communicatively connected to the control unit, a pillar having a height direction and the pillar comprising a first section, the robot further comprising a surface treating tool mount movably connected to the first section, a first displacement unit mechanically connected to the surface treating tool mount and the first section allowing controlled movement of the surface treating tool mount along the height direction of the pillar, a hinge mechanically connecting the pillar to the holonomic platform, the hinge configured to pivot the pillar in relation to the holonomic platform from a use state, in which the pillar extends away from the holonomic platform to a transport state, in which the pillar is inclined at an angle within 20 degrees of parallel to the holonomic platform, a control unit configured to control the motors and the first displacement unit. Thus, the robot provides a surface treating robot which dimensions can be reduced by folding the pillar in relation to the holonomic platform.

[0011] An embodiment relates to a robot wherein the robot comprises a linear bearing mechanically connecting the pillar to the holonomic platform, e.g. via the hinge. This advantageously allows the robot to have a smaller overall size in the transport state. When the robot is transformed from the use state to the transport state the pillar is pivoted in relation to the holonomic platform. After the pillar is rotated it can be moved parallel to the holonomic platform thereby reducing the overall size of the robot in the transport state.

[0012] An embodiment relates to a robot wherein the pillar comprises a second section, wherein the first section and the second section are movably connected. Thus, the embodiment provides a surface treating robot which can be reduced even further in size while maintaining the ability to treat tall surfaces. The pillar with its large size is collapsed and folded onto the holonomic platform and thereby reduces the overall dimension of the robot. In a further embodiment the pillar further comprises a second displacement unit configured to move the first section in relation to the second section along the height direction of the pillar. The embodiment therefore allows to control the movement of the first section in relation to the second section independently of the movement of the tool in relation to the first section. This permits to precisely control the speed of the surface treating tool mount along the height direction.

[0013] An embodiment relates to a robot wherein the surface treating tool mount holds a rotating tool configured to manipulate a surface. The rotating tool allows fast treatment of a surface.

[0014] An embodiment relates to a robot wherein the robot comprises at least one of a first fastener, configured to prevent movement between the pillar and the holonomic platform in the use state and a second fastener, configured to prevent movement between the pillar and the holonomic platform in the transport state. This embodiment advantageously allows to affix the pillar in relation to the holonomic platform. This allows to safely transport the robot without risking the robot to unfold and be damaged or use the robot with a great certainty over the location of the pillar in relation to the holonomic platform, thus achieving a high precision of the position of the surface treating tool mount.

[0015] An embodiment relates to a robot wherein the robot comprises at least one transport wheel configured to make contact with a ground in the transport state. This advantageously facilitates the transportation of the robot in the transport state.

[0016] An embodiment relates to a robot wherein the distance sensor unit comprises at least one lidar unit. Advantageously, the orientation and navigation of the robot in the use state is improved. An embodiment relates to a robot wherein an axis of rotation of the hinge is perpendicular to the height direction. Advantageously, the pillar transits from the use state to the transport state with a minimal necessary rotation.

[0017] An embodiment relates to a robot wherein the axis of rotation of the hinge lays in a front portion of the holonomic platform. Thereby allowing the surface treating tool mount to be close to a surface as the pillar may be mounted close to a side of the holonomic platform facing the surface.

[0018] In an embodiment the robot comprises a surface treating tool comprising a nozzle configured to apply a liquid to a surface. This advantageously allows to distribute a liquid on a surface.

[0019] In a further embodiment the robot comprises a pump configured to move the liquid to the nozzle. Advantageously, this allows to controllably apply the liquid to a surface.

[0020] Furthermore, the robot may comprise a container configured to hold the liquid. Preferably this allows the robot to operate in the use state without the need to be connected to an external source of the liquid.

[0021] In an embodiment the pillar comprises a handle configured for manual guidance of the robot in the transport state. This advantageously facilitates safe or ergonomic guidance of the robot in the transport state.

[0022] A preferred embodiment combines the above features of a robot comprising at least one transport wheel and at least one second fastener. The combination of those features in a robot is particularly advantageous as the robot can be guided in a transport state similar to a hand truck without the risk of the pillar rotating away from the holonomic platform when moved over rough terrain, such as steps or holes, which is feasible due to the dedicated at least one transport wheel. Another embodiment of the robot combines the features of a second section of the pillar and a linear bearing. Thus, the robot may be significantly reduced in size as the pillar's first section is received in the second section and the linear bearing allows a bottom of the pillar to be aligned with a front facing edge of the holonomic platform in the transport state. The overall size therefore may be reduced.

[0023] Another embodiment of the robot combines the features of pillar with a first and a second section and a second displacement unit comprising a lead screw arrangement. The lead screw arrangement advantageously resists movement when while not operated, as for example in the transport state. Thereby the first section does not move in relation to the second section when the robot is turned off and in a transport state. Consequently, switching from a use state to a transport state is faster, as no additional fastener is needed to limit the movement of the first section in relation to the second section.

[0024] While specific embodiments are described in detail, it's important to recognize that other combinations of these embodiments are also feasible within the inventive concept.

[0025] Brief description of drawings

[0026] FIG. 1 shows a perspecitve view of a robot in a use state.

[0027] FIG. 2 shows a perspective view of a holonomic platform.

[0028] FIG. 3 shows a perspective view of a pillar.

[0029] FIG. 4 shows a perspective view of a robot in a transport state.

[0030] FIG. 5 shows a projected side view of a robot in a transport state.

[0031] FIG. 6 shows a surface treating tool of a robot of the disclosure.

[0032] Detailed description

[0033] A robot 1 comprising a control unit 8 configured to control the robot 1 is shown in

[0034] Fig 1. The control unit 8 may comprise a memory unit and a processing unit. On the memory unit there may be stored instructions for the operation of the robot 1. The processing unit may be configured to execute the instructions stored on the memory unit. The control unit 8 may further comprise a communication unit for receiving signals, for example, from sensors, and to send signals to the actuators of the robot

[0035] 1 which may include electric motors, for example, stepper motors, servo motors, or brushless DC motors. The robot 1 further comprises a holonomic platform 2. Holonomic means that the platform can move in any direction instantaneously without having to change its orientation. In other words, holonomic platforms can achieve both translation and rotation simultaneously, allowing for more agile and versatile movement compared to non-holonomic systems. The holonomic platform

[0036] 2 may be implemented comprising at least two electric motors, for example, stepper motors, and each electric motor powering a drive wheel 14 for example an omniwheel or a mecanum wheel. Preferably, the holonomic platform 2 comprises four mecanum wheels, the four mecanum wheels facing the same direction and each mecanum wheel arranged in a corner of a rectangle and each mecanum wheel powered individually by an electric motor. Alternatively, the holonomic platform 2 may be what is known in the art as a "kiwi drive." Another alternative is the holonomic platform comprises two drive wheels formed as swerve wheels and two passive wheels, for example coaster wheels. The two swerve wheels may be placed on a diagonal line, for example front-right, back-left corners of a rectangle. Furthermore, the robot 1 comprises a distance sensor unit 3. Such a distance sensor unit 3 may be of any kind suitable for the task, for example, radar, ultrasound, or light based kind. The distance sensor unit 3 continuesly, in intervals or on request, provides a signal to the control unit 8 via a communication protocol known in the field such as for example, I2C, Bluetooth, USB, Wi-Fi, Ethernet, SPI or CAN indicative of a distance of the sensor unit to a surface, such as for example the surface that is to be treated or obstacles as for example, persons or objects. Allowing the control unit 8 to steer the robot 1 parallel to the surface in a treating process. Preferably, the distance sensor unit 3 is a LIDAR unit allowing to gather a point cloud and utilizing the point cloud for improved navigation around the surface. The control unit 8 may further utilize the data aquiered by the sensor unit to avoid collision during operation.

[0037] The robot 1 further comprises a pillar 4. The pillar 4 has a height direction 13 extending vertically while the robot 1 is in a use state. The height direction 13 extends along the longest side of the pillar 4.

[0038] The pillar 4 comprises a first section 4a, to which a surface treating tool mount 5 is movably connected. The surface treating tool mount may hold a surface treating tool. The surface treating tool may be any one of the list of: spray tool, sanding tool, wiping tool, and brushing tool. The spray tool may comprise a tilting mechanism allowing to tilt a nozzle of the spray tool up and down to extend the treatable area of the robot. The robot may comprise a pump or a mount for a pump which is configured to move liquid towards a nozzle. Furthermore, the sanding tool or wiping tool may be a rotating tool. The rotating tool may have a rotating cylinder configured to make contact with the surface that is to be treated. The surface treating tool mount 5 is movably connected to the first section 4a of the pillar 4. The surface treating tool mount 5 is movably connected such that it can move along the height direction 13 of the pillar 4. For example, the surface treating tool mount 5 comprises rolls making contact with the first section 4a of the pillar 4 to allow movement along the height direction 13 of the pillar 4 while limiting movement in other directions. Alternatively or additionally, guide rails may be used. The surface treating tool is connected to the first section 4a via the surface treating tool mount 5, allowing switching the surface treating tool, from one kind to another, for example, manually removing a wiper tool and instead attaching a spray tool.

[0039] The surface treating tool mount 5 is connected to a first displacement unit 6a. The first displacement unit 6a is mechanically connected to the first section 4a of the pillar 4 and allows to controllably move the surface treating tool mount 5 along the height direction 13 of the pillar 4. The displacement unit may comprise a lead screw arrangement that comprises a lead screw that connects to a motor of the lead screw arrangement via a shaft coupling and connects to the surface treating tool mount 5 via a nut. Alternatively, the displacement unit may comprise a belt arrangement with a belt being connected to a motor via a pulley. The belt further is attached, on a side of the first section 4a opposite of a side where the motor is attached, to another pulley, for example the motor may be close to a bottom portion of the first section 4a and the second pulley may be close to top portion of the first section 4a. The surface treating tool mount 5 is mechanically fastened to the belt, for example by a bolt. The motor in either one of the two alternatives of the first displacement unit 6a may be a stepper motor. The first displacement unit 6a is controlled by the control unit 8, allowing for controlled movement of the surface treating tool mount 5 in relation to the first section 4a.

[0040] The robot 1 further comprises a hinge 7. The hinge 7 is attached to the holonomic platform 2 and the pillar 4. The hinge 7 allows the pillar 4 to rotate in relation to the holonomic platform 2. Preferably, an axis of rotation of the hinge 7 deviates less than 10 degrees from parallel to the ground in the use state. The hinge 7 allows the robot 1 to switch from a use state to a transport state. The use state is the state in which the pillar 4 extends away from the holonomic platform 2, for example, the height direction 13 is perpendicular to the holonomic platform 2, alternative the height direction 13 deviates from the holonomic platform 2 from 70 degrees to 90 degrees. In the transport state the pillar 4 extends along the holonomic platform 2, for example the height direction 13 is parallel to the holonomic platform 2 or alternatively the height direction 13 is within plus / minus 20 degrees from parallel to the holonomic platform 2.

[0041] The robot 1 may comprise a linear bearing 9. The linear bearing 9 is mechanically connected to the pillar 4 and the hinge 7. The linear bearing 9 may be a profile corresponding to a profile of the pillar 4 and therefore allow linear movement of the pillar 4 in relation to the holonomic platform 2. Preferably the linear bearing 9 comprises a material with low surface friction such as Polytetrafluoroethylene. Alternatively, the linear bearing 9 may be a linear ball bearing, roller bearing or telescopic mechanism. Alternatively, the linear bearing 9 may be comprised by the holonomic platform 2 and connnect the holonomic platform 2 to the hinge 7.

[0042] The pillar 4 may comprise a second section 4b movably connected to the first section 4a. The first section 4a is movably connected to the second section 4b of the pillar 4. The first section 4a is movably connected such that it can move along the height direction 13 of the pillar 4. For example, the first section 4a comprises rolls making contact with the second section 4b of the pillar 4 to allow movement along the height direction 13 of the pillar 4 while limiting movement in other directions. Alternatively or additionally, guide rails may be used.

[0043] The first section 4a is also mechanically connected to a second displacement unit 6b. The second displacement unit 6b is mechanically connected to the second section 4b of the pillar 4 and allows to controllably move the first section 4a along the height direction 13 of the pillar 4 in relation to the second section 4b. The second displacement unit 6b may comprise a lead screw arrangement that comprises a lead screw that connects to a motor of the lead screw arrangement via a shaft coupling and connects to the first section 4a via a nut. A desired advantage of the lead screw arrangement is the self-locking property preventing unwanted movement of the first section 4a in relation to the second section 4b while transporting the robot 1 in the transport state. Alternatively, the displacement unit may comprise a belt arrangement with a belt being connected to a motor via a pulley. The belt further is attached, on a side of the second section 4b opposite of a side where the motor is attached, to another pulley, for example the motor may be close to a bottom portion of the second section 4b and the second pulley may be close to a top portion of the second section 4b. The first section 4a is mechanically fastened to the belt, for example by a bolt. The motor in either one of the two alternatives of the second displacement unit 6b may be a stepper motor. The second displacement unit 6b is controlled by the control unit 8, allowing for controlled movement of the first section 4a in relation to the second section 4b. Preferably, the first and the second section 4a, 4b comprise each three aluminum profiles which are connected by brackets at the top and bottom portion of the sections. However, other alternatives known in the art are conceivable as well.

[0044] The robot 1 further may comprise a first fastener 11 that releasably attaches the pillar 4 to the holonomic platform 2 in the use state. Preferably, the first fastener 11 may be a draw-latch type of fastener.

[0045] The robot 1 further may comprise a second fastener 12 that releasably attaches the pillar 4 to the holonomic platform 2 in the transport state. Preferably, the second fastener 12 may be a barrel bolt type of fastener.

[0046] Furthermore, the robot 1 may comprise at least one transport wheel 10, which is better suited for transportation of the robot 1 over steps or uneven surfaces than the drive wheels 14 of the holonomic platform 2 and allows personnel to easily move the robot 1 to or from the place of an intended use. Preferably, the robot 1 comprises two transport wheels 10 facing in the same direction, similar to a hand truck with two wheels. The robot 1 therefore comprises at least one axle mount for attaching the transport wheels to the robot 1.

[0047] Fig. 1 shows a robot 1 in a use state with the pillar 4 extending away from the holonomic platform 2. The robot is standing on it's drive wheels 14. The first section 4a of the pillar, as shown in the figure, is almost entirely received by the second section 4b of the pillar. On the left side of the pillar 4, the height direction 13 of the pillar is shown. The surface treating tool mount 5 is connected to the first section 4a via a first displacement unit. The first section 4a is connected to the second section 4b, via a second displacement unit. The robot comprises two distance sensor units 3 located at opposing corners of the essentially rectangularly shaped holonomic platform. The robot further comprises support legs 16 configured to provide support in connection with the transport wheels 10 (not shown), but shown in Fig. 5. The pillar 4 is fastened to the holonomic platform via a first fastener 11. In the use state the robot is configured to treat a surface. For example, the robot may be used to paint a wall with a surface treating tool mounted on the surface treating tool mount suitable for painting a wall, for example a spray tool. Another exemplary use may be the cleaning or sanding of a surface. The robot may be configured orient itself along a wall using the distance sensors 3 and move the surface treating tool along the height direction while treating the surface. After a first treatment the robot may reposition and repeat the treatment of the same surface or another surface. The treatment of the surface may be executed during the up or down movement of the surface treating tool mount, preferably during the movement the speed of the surface treating tool is kept at a constant. The up or down movement may be achieved by simultaneously activating the first and the second displacement units. Alternatively, the first and second displacement units may be activated after each other.

[0048] In Fig. 2 a holonomic platform 2 as it can be seen in Fig. 1 is shown. The holonomic platform 2 comprises four drive wheels 14 which are mecanum wheels. The drive wheels are arranged in the corners of a rectangle. Each drive wheel 14 is powered by a drive motor 15. The holonomic platform provides an elevated support for the first fastener 11. The holonomic platform furthermore provides two second fasteners 12 arranged on a line parallel to the height direction of the pillar when in the transport state as shown in Fig. 4.

[0049] Fig. 3 shows a pillar of the robot. On the first section 4a and the second section 4b profiles have been removed to allow for a better view onto the parts behind them. The pillar comprises a first displacement unit 6a connected to a bottom and top bracket of the first section 4a, the first displacement unit is also connected to the surface treating tool mount. The first displacement unit shown in Fig. 3 comprises a lead screw arrangement. The threads of the lead screw are not shown. The surface treating tool mount is connected to the lead screw via a nut. The first section 4a is connected to the second displacement unit 6b also via a nut, as the second displacement unit 6b also comprises a lead screw arrangement. The first section 4a is connected to the nut of the second displacement unit 6b at the bottom bracket to not unnecessarily limit the extension of the first section out of the first section. The thread of the lead screw is not shown in the drawing.

[0050] Fig. 4 shows a robot in a transport state with attached transports wheels 10 and collapsed pillar 4. The second fastener 12 is attaching the pillar to the holonomic platform. The transport wheels 10 are attached to the pillar via a support structure. In this transport state the robot can be manually moved and guided by personnel holding the pillar. As shown in Fig. 5 the support legs 16 allow the robot to stand upright in the transport state.

[0051] FIG. 6 shows a surface treating tool, here a spray tool 17 mounted on the surface treating tool mount 5. The spray tool 17 is supported by a bracket allowing rotation of the nozzle around a spraying axis of rotation having a direction being perpendicular to the height direction of the pillar. In the use state the nozzle may rotate 90 upwards from the shown position in FIG. 6 such that it sprays a surface above the robot, such as a ceiling. At the same time the nozzle may rotate downward by 45 degrees from the position shown in FIG. 6 and therefore the robot may be able to spray onto surfaces close to the ground on which the robot is standing in the use state. The spray tool 17 may be connected to a tubing and a pump for receiving a liquid, such as for example paint, water, or a cleaning product.

[0052] List of reference numerals

[0053] 1 robot

[0054] 2 holonomic platform

[0055] 3 distance sensor unit

[0056] 4 pillar

[0057] 4a first section

[0058] 4b second section

[0059] 5 surface treating tool mount

[0060] 6a first displacement unit 6b second displacement unit

[0061] 7 hinge

[0062] 8 control unit

[0063] 9 linear bearing 10 transport wheel

[0064] 11 first fastener

[0065] 12 second fastener

[0066] 13 height direction

[0067] 14 drive wheel 15 drive motor

[0068] 16 support legs

[0069] 17 spray tool

Claims

PATENT CLAIMS1. A surface treating robot (1) comprising a holonomic platform (2) comprising at least two drive wheels (14) and at least two drive motors (15), each drive motor (15) driving one of the at least two drive wheels, a distance sensor unit (3) communicatively connected to a control unit (8), a pillar (4) having a height direction (13) and the pillar (4) comprising a first section (4a), a surface treating tool mount (5) movably connected to the first section (4a), a first displacement unit (6a) mechanically connected to the surface treating tool mount (5) and the first section (4a) allowing controlled movement of the surface treating tool mount (5) along the height direction (13) of the pillar (4), a hinge (7) mechanically connecting the pillar (4) to the holonomic platform (2), the hinge (7) configured to pivot the pillar (4) in relation to the holonomic platform (2) from a use state, in which the pillar (4) extends away from the holonomic platform (2) to a transport state, in which the pillar (4) is inclined at an angle within 20 degrees of parallel to the holonomic platform (2), the control unit (8) configured to control the motors and the first displacement unit (6a).

2. A robot (1) according to claim 1, wherein the robot (1) comprises at least one linear bearing (9) mechanically connecting the pillar (4) to the holonomic platform (2).

3. A robot (1) according to any one of the previous claims, wherein the pillar (4) comprises a second section (4b), wherein the first section (4a) and the second section (4b) are movably connected.

4. A robot (1) according to claim 3, wherein the pillar (4) further comprises a second displacement unit (6b) configured to move the first section (4a) in relation to the second section (4b) along the height direction (13) of the pillar (4).

5. A robot (1) according to any one of the previous claims, wherein the surface treating tool mount (5) holds a rotating tool configured to manipulate a surface.

6. A robot (1) according to any one of the previous claims, wherein the robot (1) comprises at least one of a first fastener (11), configured to prevent movement between the pillar (4) and the holonomic platform (2) in the use state and a second fastener (12), configured to prevent movement between the pillar (4) and the holonomic platform (2) in the transport state.

7. A robot (1) according to any one of the previous claims, wherein the robot (1) comprises at least one transport wheel (10) configured to make contact with a ground in the transport state.

8. A robot (1) according to any one of the previous claims, wherein the distance sensor unit (3) comprises at least one lidar unit.

9. A robot (1) according to any one of the previous claims, wherein an axis of rotation of the hinge (7) is perpendicular to the height direction (13).

10. A robot (1) according to any one of the previous claims, wherein the axis of rotation lays in a front portion of the holonomic platform (2).

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