An automatic and modular spraying system

Abstract

It is disclosed an automatic and modular spraying system. The system comprises a spraying module comprising a housing (1) in which fluid outlet connectors (2, 3) are installed which are coupled to fluid transport pipes (4, 5) used to transport the liquid to be sprayed to a Venturi valve, that is responsible for generating a jet of spraying liquid. The system can also include a contention module (8, 9, 10, 11, 12, 13, 14) and a stabilisation module (15, 16, 17, 18), which are operatively connected to the spraying module in order to optimise the spraying process by favouring more precise control of the area to be sprayed and keeping the system in a predefined orientation and perfectly stable and levelled.

Description

[0001] DESCRIPTION

[0002] AN AUTOMATIC AND MODULAR SPRAYING SYSTEM

[0003] TECHINCAL FIELD

[0004] The present disclosure is enclosed within the technical filed of surface spraying systems, more particularly in the area of automatic spraying systems.

[0005] PRIOR ART

[0006] Automatic spraying systems have evolved in recent times, particularly in industrial and agricultural applications.

[0007] Typically, these spraying systems are coupled to drones, and are used to apply liquids to a surface, such as paints, or pesticides, herbicides and other chemicals to crops.

[0008] For these purposes, existing spraying systems already include a wide range of sensors and integration with artificial intelligence systems, in order to optimise the mapping and management of the area to be sprayed.

[0009] However, in the particular context of surface spraying systems, it can be seen that these systems are still insufficient to respond effectively to the complex working scenario in which spraying is to be applied to a surface which requires not only precise control of the area to be sprayed, but also, and simultaneously, adapting the operation of the system according to the aerodynamic behaviour of the robotic platform to which it is coupled.

[0010] The present solution intended to innovatively overcome such issues. SUMMARY OF THE DISCLOSURE

[0011] It is an object of the present disclosure, an automatic and modular spraying system. This system allows the spraying operation over a surface to be carried out in a controlled and precise manner.

[0012] To this end, the system disclosed herein is design in a modular fashion and comprises at least one spraying module, whose function is to create a jet of liquid to be sprayed that will be applied to a surface in a controlled and precise manner. This is especially advantageous when the system is attached to an aerial drone and its operation needs to be adapted to the aerodynamic characteristics such a vehicle.

[0013] In an advantageous configuration of the system, the defining features of the spraying module allow the system to spray liquids using the Venturi effect, without the need to use pumps or other mechanisms for this purpose. In addition, the system can be used in co-operation with any type of robotic platform or used independently and manually, ensuring that it operates according to a predefined and stable orientation.

[0014] More specifically, the spraying module comprises a processing device responsible for processing sensory information and providing control commands to all the modules that may make up the system. In addition, the spraying module comprises a housing in which fluid inlet and outlet connectors are installed - compressed air and liquid to be sprayed. The flow of these fluids is controlled by the processing module through the actuation of solenoid valves. The outlet connectors are connected to respective pipes in order to transport the fluids to a Venturi valve, which is responsible for generating the jet of liquid to be sprayed. The spraying module may also include a counterweight to balance possible deviations in the centre of mass, as well as propulsion means to counteract the impulse generated by the spray jet.

[0015] In another advantageous configuration of the system, it further includes a contention module, adapted to control the spraying of the liquid along the surface in a more confined and precise way. In fact, the contention module and the spraying module are operatively connected to each other in such a way that the jet of spraying liquid generated by the spraying module is to be applied to the surface via a contention cage, making it possible to confine the application of the liquid to the surface according to the shape and dimensions of the contention cage. In addition, the connection between these modules also makes it possible to effectively control the spraying of liquid, triggering or preventing the spraying operation as a function of a physical contact between the contention cage and the surface to be sprayed or any obstacles that may appear along that surface. In particular, the contention cage may be provided with displacement means embedding contact sensors to ensure not only smooth movement of the cage across a surface, but also to control the flow of the spray.

[0016] In another advantageous mode of the system, it further includes a stabilisation module, comprising control means and an inertial measurement unit that are operatively connected to ensure that the system maintains a predefined orientation and is perfectly stable and levelled.

[0017] As a possible practical application of the system is for washing or painting surfaces.

[0018] DESCRIPTION OF FIGURES

[0019] Figure 1 is a representation of an embodiment of the automatic and modular spraying system, object of the present disclosure, where the numerical reference represent:

[0020] 1 - housing of the spraying module;

[0021] 2 - compressed air outlet connector;

[0022] 3 - liquid to be sprayed outlet connector;

[0023] 4 - pipe of compressed air;

[0024] 5 - pipe of liquid to be sprayed;

[0025] 6 - counterweight;

[0026] 7 - propeller;

[0027] 8 - contention cage;

[0028] 9 - side contact sensors; 10 - optical flow motion sensors;

[0029] 11 - surface contact sensors;

[0030] 12 - support of the contention module;

[0031] 13 - suspension springs;

[0032] 14 - shock absorbers;

[0033] 15 - electric motor to control rotational movement along the x-axis;

[0034] 16 - electric motor to control rotational movement along the y-axis;

[0035] 17 - electric motor to control rotational movement along the z-axis.

[0036] 18 - support frame of the stabilisation module.

[0037] DETAILED DESCRIPTION

[0038] The more general configurations of the present disclosure are described in the Summary of the disclosure. Such configurations are detailed below in accordance with other advantageous and / or preferred embodiments of implementation of the present disclosure.

[0039] The automatic and modular spraying system of the present disclosure is adapted to be mounted on any type of robotic platform or, alternatively, it may be also used independently of such a platform and be manually operated by an operator in order to spray any type of surface with different types of liquids. A possible practical application for this system is to wash or paint surfaces.

[0040] As the system is modular, it can be used in different configurations, depending on the modules and components assembled. Thus, the system can be formed by a pulverization module alone, or in conjunction with a contention module and / or a stabilisation module.

[0041] The spraying module has an associated processing device, which is configured to control the entire spraying process. The spraying module comprises a housing (1) to which the various devices, sensors, utensils and tools of the different modules that may make up the system may be connected. For example, the housing (1) can include USB ports for connecting to the processing device and other connectors such as connectors for the inlet and outlet of compressed air (2) and for the liquid to be sprayed (3) or connectors for the inlet and outlet of electric current.

[0042] Inside the housing (1) there are also two solenoid valves configured to control the flow of fluids. A first solenoid valve is mounted on the connection between the inlet and outlet connector (2) of the compressed air and a second solenoid valve is mounted on the connection between the inlet and outlet connector (3) of the liquid to be sprayed. The states of these valves are controlled by the processing device.

[0043] The pipes (4, 5) of compressed air and liquid to be sprayed are fitted to the outlet connectors (2) of the compressed air and liquid to be sprayed (3) respectively. Since the pipe (4) of compressed air is more rigid than the pipe (5) of liquid to be sprayed, they can be fitted together.

[0044] The pipes (4, 5), which may have different geometric shapes and dimensions, may comprise a female connector at one end and a male connector at the opposite end, which makes it possible to obtain a wide range of configurations. For example, it is possible to connect several pipes (4, 5) concurrently in order to increase the actuation range of the system as desired, or to connect pipes (4, 5) in an 'L' shape with 90^ elbow connections, which allows the system to spray in a direction perpendicular to its orientation.

[0045] Finally, a Venturi valve is to be installed at the end of the pipes configuration (4, 5), which allows compressed air to circulate to create a low-pressure zone and thus spray the liquid outwards in a controlled and precise manner.

[0046] To counteract possible imbalances and deviations in the centre of mass of the system and, where appropriate, the robotic platform to which the system is coupled, a counterweight (6) can be mounted on the housing (1).

[0047] Furthermore, if high-pressure spraying jets are required, the system may comprise propulsion means, such as a set of electric motors with propellers (7), that can be driven by the processing device. In order to provide a precise value of the impulse generated by the spray jet to the processing device, sensor means such as a force sensor may be mounted in the housing (1).

[0048] In turn, the contention module aims to restrict and contain the area affected by the spraying to a confined area defined according to the needs of each operation. The module consists of a contention cage (8), which may vary in size and shape depending on the detailed requirements of the project.

[0049] The contention cage (8) may comprise several sensors: side contact sensors (9) arranged on the sides of the cage (8), motion sensors (10) such as optical flow sensors, to accurately measure the motion of the cage / system in relation to the surface to be sprayed, and surface contact sensors (11), which are applied to displacement means on the underside of the cage (8) that allow smooth and consistent movement on a surface. The displacement means may be wheels, ball casters or rollers.

[0050] The contention cage (8) is mounted on a support (12) containing suspension springs (13) and shock absorbers (14) to absorb the energy of possible unplanned movements and disturbances.

[0051] All of the contention module's sensors (9, 10, 11) are connected to the spraying module's processing device, which is programmed to execute a control algorithm that, depending on the status of the sensors (9, 10, 11), issues command signals to the solenoid valves. Thus, when the contention module comes into contact with a surface via the displacement means, such as wheels, the contact sensors (11) installed on them are activated; in this condition, if all the wheels are in contact with the surface to be sprayed, the processing device enables the fluids to pass through by actuating the solenoid valves. It is also possible to adapt the control algorithm to be executed by the processing device with different configurations, for example to close the solenoid valves and thus stop the flow of fluids if any of the side contact sensors (9) are activated, even if none of the wheels of the contention cage (8) have lost contact with the surface being sprayed. Thus, the system, and in particular the contention cage (8), can be moved across a surface and spraying it with a liquid until an obstacle is detected that activates the side contact sensors (9), or until one of the wheels loses contact with the surface.

[0052] In addition, so that the contention cage (8) can be moved along the surface to be sprayed at a speed that creates better adhesion and / or thickness of the fluid to be applied to the surface, the processing device may use the measurements from the optical flow motion sensor (10) to accurately calculate the speed of the system relative to the surface.

[0053] Finally, the stabilisation module consists of a support frame (18) and control means, including for example, 3 electric motors, configured to control the rotational movement of the spraying system: a motor that controls movement around the x-axis (15), a motor that controls rotational movement of the y-axis (16) and a motor that controls rotational movement of the z-axis (17).

[0054] The stabilisation module may contain various sensors (accelerometer, gyroscope, compass) forming an inertial measurement unit that can be connected to the processing device of the spraying module. After an initial calibration, the stabilisation module allows the spraying system to maintain a predefined orientation in a stable and constant manner, so that even in the presence of disturbances or unplanned movements, the spraying system will remain in the same pre-defined orientation. A practical example of the stabilisation module's usefulness can be seen in the case of the system being coupled to an aerial drone in order to keep the spraying system stable even in the presence of wind gusts.

[0055] EMBODIMENTS

[0056] In a preferred embodiment of the automatic and modular spraying system of the present disclosure, it is comprised by a spraying module that includes:

[0057] - a housing (1) comprising: an inlet connector and an outlet connector (2) for compressed air, connected to each other via a compressed air circuit; - an inlet connector and an outlet connector (3) for a liquid to be sprayed, connected to each other via a liquid circuit;

[0058] - two solenoid valves: a first valve, installed in the compressed air circuit, and configured to control the flow of compressed air between the compressed air inlet and outlet connectors (2); and a second valve, installed in the liquid circuit, and configured to control the flow of liquid to be sprayed between the liquid to be sprayed inlet and outlet connectors (3);

[0059] - a processing device, configured to control at least the operation of the two solenoid valves;

[0060] - a pipe (4) of compressed air, connected at a first end to the compressed air outlet connector (2), and arranged to transport compressed air to a second end;

[0061] - a pipe (5) of liquid to be sprayed, connected at a first end to the liquid to be sprayed outlet connector (3), and arranged to transport liquid to be sprayed to a second end;

[0062] - a Venturi-type valve to which the second ends of pipes (4, 5) are coupled, configured to produce a jet of spraying liquid.

[0063] In one embodiment of the system, the pipe (4) of compressed air is made of a material that has a higher rigidity than the material constituting the pipe (5) of liquid to be sprayed.

[0064] In another embodiment of the system, the pipes (4, 5) of compressed air and liquid to be sprayed are of a predefined length; and wherein, the spraying module additionally comprises a connection mechanism between pipes (4, 5), comprising male and female type connectors such that one end of a pipe (4, 5) comprises a female connector, and the opposite end comprises a male connector; the spraying module comprising multiple pipes (4, 5) connected to each other through the connection mechanism thereby forming a channel of compressed air and a channel of liquid to be sprayed. More particularly, in another embodiment, the connection mechanism is configured to connect the pipes (4, 5) in such a way that the spraying module is adapted to spray liquid along a direction parallel to its orientation plane. Alternatively, the connection mechanism is configured to connect the pipes (4, 5) in such a way that the spray module is adapted to spray liquid along a direction perpendicular to its orientation plane.

[0065] In another embodiment of the system, the spraying module additionally comprises a counterweight (6); the counterweight (6) being installed at an end of the housing (1) opposite an end from which the outlet connectors (2, 3) for compressed air and liquid to be sprayed are installed.

[0066] In another embodiment of the system, the spraying module additionally comprises:

[0067] - sensor means configured to measure the impulse generated by the jet of spraying liquid produced by the spraying module;

[0068] - propulsion means, configured to generate an aerodynamic impulse adapted to compensate the impulse generated by the jet of spraying liquid produced by the spraying module; and wherein the processing device is configured to actuate the propulsion means as a function of data collected by the sensor means.

[0069] More specifically, the propulsion means may be propellers (7), each propeller (7) being provided with a respective electrical motor, and the sensor means may be force sensors.

[0070] In another embodiment of the system, the spraying module comprises an electric current input connector and an electric current output connector. In another embodiment of the system, it further comprises a contention module connected to the spraying module; the contention module comprising:

[0071] - a contention cage (8) configured to confine an area affected by the spraying to a predefined area; the contention cage (8) comprising:

[0072] - displacement means, configured to establish contact of the contention cage (8) with a surface to be sprayed, and to provide its displacement along that surface;

[0073] - contact sensors (11) installed on the displacement means and contact sensors (9) arranged on the sides of the contention cage (8);

[0074] - motion sensors (10) configured to measure the movement of the contention cage (8) in relation to the surface to be sprayed;

[0075] - a support (12) configured to connect the contention cage (8) to the spraying module; the support (12) comprising suspension springs (13) and shock absorbers (14); and wherein, the processing device of the spraying module is configured to:

[0076] - control the operation of the solenoid valves as a function of the data generated by the contact sensors (9, 11) of the contention cage (8);

[0077] - control the speed at which the system moves relative to the surface to be sprayed, depending on the data generated by the motion sensors (10).

[0078] More specifically, the displacement means may include wheels, ball casters or rollers, and wherein the motion sensors (10) are optical flow sensors.

[0079] In another embodiment of the system, the contention cage (8) is of variable size and shape.

[0080] In another embodiment of the system, it is further comprised by a stabilisation module; said module comprising: control means configured to control the rotational movement of the system about the x, y, z axes; - an inertial measurement unit configured to collect sensory data; and wherein, the processing device of the spraying module is further configured to process sensory data in order to actuate the control means so as to maintain a predefined orientation for the system in relation to the surface to be sprayed.

[0081] More specifically, the control means may be comprised of 3 electric motors (15, 16, 17) each configured to control the rotational movement of the system about the x, y, z axes, and the inertial measurement unit may be comprised of accelerometer, gyroscope and compass sensors.

[0082] Finally, in another embodiment of the system it further comprises a coupling unit, configured to couple the system to an aerial drone.

[0083] Of course, the preferred embodiments shown above are combinable, in the different possible forms, being herein avoided the repetition all such combinations.

Claims

CLAIMS1. An automatic and modular spraying system comprising a spraying module; said spraying module including:- a housing (1) comprising:- an inlet connector and an outlet connector (2) for compressed air, connected to each other via a compressed air circuit;- an inlet connector and an outlet connector (3) for a liquid to be sprayed, connected to each other via a liquid circuit;- two solenoid valves: a first valve, installed in the compressed air circuit, and configured to control the flow of compressed air between the compressed air inlet and outlet connectors (2); and a second valve, installed in the liquid circuit, and configured to control the flow of liquid to be sprayed between the liquid to be sprayed inlet and outlet connectors (3);- a processing device, configured to control at least the operation of the two solenoid valves;- a pipe (4) of compressed air, connected at a first end to the compressed air outlet connector (2), and arranged to transport compressed air to a second end;- a pipe (5) of liquid to be sprayed, connected at a first end to the liquid to be sprayed outlet connector (3), and arranged to transport liquid to be sprayed to a second end;- a Venturi-type valve to which the second ends of pipes (4, 5) are coupled, configured to produce a jet of spraying liquid.

2. System according to claim 1, wherein the pipe of compressed air is made of a material that has a higher rigidity than the material constituting the pipe (5) of liquid to be sprayed.

3. System according to claim 1 or 2, wherein the pipes (4, 5) of compressed air and liquid to be sprayed are of a predefined length; and wherein, the spraying module additionally comprises a connection mechanism between pipes (4, 5), comprising male and female type connectors such that one end of a pipes (4, 5) comprise a female connector, and the opposite end comprises a male connector; the spraying module comprising multiple pipes (4, 5) connected to each other through the connection mechanism thereby forming a channel of compressed air and a channel of liquid to be sprayed.

4. System according to claim 3, wherein the connection mechanism is configured to connect the pipes (4, 5) in such a way that the spraying module is adapted to spray liquid along a direction parallel to its orientation plane.

5. System according to claim 3, wherein the connection mechanism is configured to connect the pipes (4, 5) in such a way that the spray module is adapted to spray liquid along a direction perpendicular to its orientation plane.

6. System according to any of the preceding claims, wherein the spraying module additionally comprises a counterweight (6); the counterweight (6) being installed at an end of the housing (1) opposite an end from which the outlet connectors (2, 3) for compressed air and liquid to be sprayed are installed.

7. System according to any of the preceding claims, wherein the spraying module additionally comprises:- sensor means configured to measure the impulse generated by the jet of spraying liquid produced by the spraying module;- propulsion means, configured to generate an aerodynamic impulse adapted to compensate the impulse generated by the jet of spraying liquid produced by the spraying module; and whereinthe processing device is configured to actuate the propulsion means as a function of data collected by the sensor means.

8. System according to claim 7, wherein the propulsion means are propellers (7), each propeller (7) being provided with a respective electrical motor; and wherein, the sensor means are force sensors.

9. System according to any of the preceding claims, wherein the spraying module comprises an electric current input connector and an electric current output connector.

10. System according to any one of the preceding claims further comprising a contention module connected to the spraying module; the contention module comprising:- a contention cage (8) configured to confine an area affected by the spraying to a predefined area; the contention cage (8) comprising:- displacement means, configured to establish contact of the contention cage (8) with a surface to be sprayed, and to provide its displacement along that surface;- contact sensors (11) installed on the displacement means and contact sensors (9) arranged on the sides of the contention cage (8);- motion sensors (10) configured to measure the movement of the contention cage (8) in relation to the surface to be sprayed;- a support (12) configured to connect the contention cage (8) to the spraying module; the support (12) comprising suspension springs (13) and shock absorbers (14); and wherein, the processing device of the spraying module is configured to: control the operation of the solenoid valves as a function of the data generated by the contact sensors (9, 11) of the contention cage (8);control the speed at which the system moves relative to the surface to be sprayed, depending on the data generated by the motion sensors (10).

11. System according to claim 10, wherein, the displacement means includes: wheels and / or ball casters and / or rollers; and wherein, the motion sensors (10) are optical flow sensors.

12. System according to claim 10 or 11 wherein the contention cage (8) is of variable size and shape.

13. System according to any of the preceding claims, further comprising a stabilisation module; said module comprising:- control means configured to control the rotational movement of the system about the x, y, z axes;- an inertial measurement unit configured to collect sensory data; and wherein, the processing device of the spraying module is further configured to process sensory data in order to actuate the control means so as to maintain a predefined orientation for the system in relation to the surface to be sprayed.

14. System according to claim 13, wherein the control means comprises 3 electric motors (15, 16, 17) each configured to control the rotational movement of the system about the x, y, z axes; and wherein the inertial measurement unit comprises accelerometer, gyroscope and compass sensors.

15. System according to any of the preceding claims, wherein it further comprises a coupling unit, configured to couple the system to an aerial drone.

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