DEVICE AND METHOD FOR APPLYING A MARKING TO A SURFACE AND USE OF THE DEVICE

Abstract

A device is provided for applying a marking to a surface, including: a frame; a marker mounted on the frame, the marker being configured to apply a marking to the surface; a steering assembly mounted in particular on a first end of the frame, the steering assembly being adapted to control the direction of the device so as to follow a desired direction; a motorized advancement, mounted in particular on a second end of the frame, opposite the first end, the motorized advancement being configured to ensure movement of the device in the desired direction.

Claims

1-16. (canceled)

17. A device for applying a marking to a surface, comprising: a frame; a marking means mounted on the frame, the marking means being configured to apply a marking to the surface, the marking means comprising a supply reel configured to receive a roll of adhesive tape; a steering assembly mounted in particular on a first end of the frame, the steering assembly being adapted to control the direction of the device in order to follow a desired direction; a motorized means of advancement, mounted in particular on a second end of the frame, opposite the first end, the means of advancement being configured to ensure movement of the device in the desired direction, the means of advancement being an applicator roller configured to ensure application of the adhesive tape unrolled from the supply reel, onto the surface, while being applied under pressure between the surface and the applicator roller.

18. The device according to claim 17, wherein the marking means further comprises: a guide piece forming a guide for inserting the unrolled adhesive tape between the applicator roller and the surface when the unrolled adhesive tape extends between the supply reel and the applicator roller; and a tensioning drum rotatably mounted on the frame, in particular above the applicator roller, the tensioning drum defining an inflection point for the unrolled adhesive tape when the unrolled adhesive tape extends between the supply reel and the guide piece, ensuring the tensioning of the unrolled adhesive tape on the guide piece.

19. The device according to claim 18, wherein the marking means further comprises: a recovery reel rotatably mounted on the frame, for winding a surface covering of the unrolled adhesive tape; and a return drum rotatably mounted on the frame, between the guide piece and the recovery reel, the return drum forming an inflection point for the surface covering when the surface covering extends between the guide piece and the recovery reel.

20. The device according to claim 17, wherein the recovery reel is separated from the motor driving the applicator roller by a clutch with a torque limiting function.

21. The device according to claim 17, wherein the steering assembly comprises two wheels that are steerable by a motor, the two steerable wheels and the means of advancement forming a tripod, preferably the two steerable wheels forming the front of the device and the means of advancement forming the rear of the device when the device moves.

22. The device according to claim 17, wherein the device further comprises: a linear optical sensor mounted on the first end of the frame, the linear optical sensor being configured to detect a vertical plane relative to the surface, the vertical plane being defined by a planar laser, and the desired direction corresponds to the direction of the vertical plane.

23. The device according to claim 17, wherein the device further comprises: a linear optical sensor mounted on the frame so as to be oriented in the direction opposite to the surface, the linear optical sensor being configured to detect a line or pattern projected towards the surface, the projected line or pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern.

24. The device according to claim 17, wherein the device has a height of between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width of between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length of between 100 mm and 650 mm, preferably between 100 mm and 400 mm.

25. The device according to claim 17, wherein the applicator roller is made of a material having a hardness of between 60 and 100 shore.

26. The device according to claim 17, wherein the frame is a substantially flat plate which is perpendicular to the axis of rotation of the applicator roller.

27. The device according to claim 25, further comprising a control unit mounted on the side of the frame that is opposite to the applicator roller.

28. A system comprising the device according to claim 22, and a planar laser or a projector configured to define the desired direction, the linear optical sensor being configured to detect the desired direction.

29. A method for applying a marking to a surface, comprising: placing a device according to claim 17 on the floor of a warehouse comprising one or more storage racks; defining a desired direction; rotating the applicator roller, to advance the device in the desired direction, in particular by passing under the storage rack(s) and/or between the storage racks, and, at the same time, to exert an application force on the unrolled adhesive tape against the surface; applying the marking to the surface by using the marking means, during the advancement of the device; actuating the steering assembly to align the device with the desired direction during the advancement of the device.

30. The method according to claim 29, wherein the device comprises a linear optical sensor mounted on the first end of the frame, the linear optical sensor being configured to detect a vertical plane relative to the surface, the vertical plane being defined by a planar laser, and the desired direction corresponds to the direction of the vertical plane, wherein defining the direction to be followed comprises orienting a planar laser so as to define a vertical plane relative to the surface, and the method further comprises: orienting the steering assembly to align the linear optical sensor with the vertical plane during the advancement of the device.

31. The method according to claim 29, wherein the device comprises a linear optical sensor mounted on the frame so as to be oriented in the direction opposite to the surface, the linear optical sensor being configured to detect a line or pattern projected towards the surface, the projected line or pattern being defined by a projector, and the desired direction corresponds to the projected line or pattern, wherein defining the direction to be followed comprises orienting a projector so as to project a line or pattern towards the surface, and the method further comprises: orienting the steering assembly to align the linear optical sensor with the projected line or pattern during the advancement of the device.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0060] Other features, details and advantages will become apparent upon reading the description detailed below, and upon analysis of the attached drawings, in which:

[0061] FIG. 1A and FIG. 1B schematically illustrate a top view of a warehouse in which a system for drawing floor markings is placed.

[0062] FIG. 2 schematically illustrates a perspective view of an assembly that can be implemented in the system of FIGS. 1A and 1B.

[0063] FIG. 3 schematically illustrates a longitudinal section view of details of the assembly of FIG. 2.

[0064] FIG. 4 schematically illustrates a perspective view of some details of FIG. 3.

[0065] FIG. 5 schematically illustrates, in perspective, a steering assembly which may be implemented in the assembly of FIG. 2.

[0066] FIG. 6 illustrates the steering assembly of FIG. 5 from a different perspective.

[0067] FIG. 7 schematically illustrates, in perspective, second details of the assembly of FIG. 2 and a planar laser.

[0068] FIG. 8 schematically illustrates a side view of third details of the assembly of FIG. 2.

[0069] FIG. 9 schematically illustrates all of FIG. 2 from a different perspective.

[0070] FIG. 10 illustrates a flowchart of a method for applying linear markings to a surface.

DESCRIPTION OF EMBODIMENTS

[0071] FIGS. 1A and 1B schematically illustrate a top view of a warehouse 10 in which a system 12 for creating floor markings is placed. Warehouse is understood to mean a logistics building intended for the storage and distribution of items.

[0072] The warehouse 10 comprises a surface 14 (or floor) on which a plurality of storage racks 16 intended to receive items are arranged. The storage racks 16 may extend throughout the volume of the warehouse 10, i.e. in the longitudinal x and lateral y directions defined in the plane of the surface 14, and in the vertical direction z, which is normal to the surface 14. The storage racks 16 may be spaced apart by 800 mm, 600 mm, or even 400 mm in the longitudinal and lateral directions x,y and may form a space in the vertical direction z between the surface and the storage rack 16 that is less than 800 mm, or even less than 600 mm. The system 12 described below is adapted to navigate this complex environment.

[0073] The floor marking comprises one or more straight lines extending over surface 14. Straight line is understood to mean, in the warehouse 10, a line that would deviate by only a few millimeters from a perfect straight line over a distance of about a hundred meters. The straight lines of the marking may extend over a distance that is greater than 40 m, greater than 60 m, or even greater than 80 m. The straight lines may pass between the storage racks 16, or even underneath the storage racks 16. The straight lines make it possible to guide automatic vehicles. The automatic vehicles are configured to navigate in the warehouse 10 by using the straight lines, in order to remove and/or place items on the storage racks 16.

[0074] The straight lines here form a grid composed of horizontal lines 18 and vertical lines 20. Horizontal and vertical lines 18, 20 extend over surface 14 in the longitudinal x and lateral y directions. Such a grid allows precise navigation of an automatic vehicle throughout the warehouse, and automatic vehicles can optimize their route.

[0075] The system 12 here comprises a planar laser 22 and a device 24 for applying the marking to surface 14.

[0076] The planar laser 22 is configured to define a desired direction for device 24. Desired direction is understood here to mean the direction to be followed by the device 24 in order to apply the vertical and horizontal lines 18, 20 of the marking to surface 14. The marking is applied all along the desired direction.

[0077] Here, the desired direction is defined by a vertical plane 26, namely a plane perpendicular to surface 14 (parallel to the z axis). The planar laser 22 emits the vertical plane 26 for detection by the device 24. The vertical plane 26 allows the device 24 to perceive the desired direction regardless of its position in the vertical direction z. The vertical plane 26 allows the device 24 to be insensitive to changes in height (variations in the vertical direction z) all along surface 14.

[0078] As illustrated in FIGS. 1A and 1B, the desired direction may be adjusted by pivoting the planar laser 22. The planar laser 22 may be pivoted until it extends parallel to a horizontal or vertical line 28, 20 to be marked on surface 14.

[0079] As is more visible in FIG. 2, the device 24 essentially comprises a frame 30 on which is mounted a marking means 32, a steering assembly 34, and a means of advancement 36. The device 24 is adapted to move in the desired direction and, at the same time, to apply the marking on the surface 14.

[0080] The frame 30 here takes the form of a substantially flat plate. The frame 30 may for example be a metal or plastic plate which is laser-cut. The frame 30 allows assembling the device 24 by forming a mounting surface, in particular for mounting the marking means 32, the steering assembly 34, and the means of advancement 36.

[0081] As illustrated, the marking means 32 here comprises a supply reel 38 mounted on the frame 30. The supply reel 38 takes the form of a cylinder with a rim. A roll of adhesive tape 40 may be mounted on the supply reel 38 to form an assembly with the device 24. The applied floor marking then takes the form of the adhesive tape 42 unrolled from the supply reel 38. Such a marking is not likely to smudge, and is thus particularly suitable for guiding automatic vehicles within the warehouse 10.

[0082] The roll of adhesive tape 40 is in particular mounted so as to overhang the supply reel 38. The roll 40 is then accessible (no housing is provided around the roll), so that it is easy to replace the roll 40 when the adhesive tape of the roll 40 is used up.

[0083] The marking means 32 further comprises a guide piece 44 and a tensioning drum 46 adapted to unwind the adhesive tape from the roll 40 and guide it towards an applicator roller 48.

[0084] The applicator roller 48 here corresponds to the means of advancement 36 of the device 24. The applicator roller 48 is mounted on one end of the frame 30, intended to form the rear of the device 24 when the device 24 moves. The applicator roller 48 is in particular a cylindrical part rotationally controlled by a motor 50. The applicator roller 48 ensures the movement of the device 24, and, at the same time, the application of pressure to the adhesive tape fed between the surface 14 and the applicator roller 48. The applicator roller 48, rotationally controlled, advances the device 24 and unwinds the adhesive tape from the supply reel 38 and applies it against the surface 14.

[0085] The applicator roller 48 is made of a material having a hardness of between 60 and 100 shore. The hardness of the material forming the applicator roller 48 is chosen to avoid the formation of bubbles when applying the unrolled adhesive tape 42 onto gravel present on the surface 14. In particular, the hardness of the material makes it possible to apply a force on the unrolled adhesive tape 42 against the surface which is greater than 40 N, or even greater than 50 N. Preferably, the material is semi-rigid polyurethane.

[0086] The guide piece 44 takes the form of a claw surrounding a portion of the applicator roller 48 (see FIG. 3). The guide piece 44 forms a guide for the insertion of the unrolled adhesive tape 42 between the applicator roller 48 and the surface 14. The guide piece 44 ensures good positioning of the unrolled adhesive tape 42 between the applicator roller 48 and the surface 14, to ensure precise positioning of the unrolled adhesive tape 42 on the surface 14.

[0087] The tensioning drum 46 is rotatably mounted on the frame 30. The tensioning drum 46 is mounted substantially above the applicator roller 48, to form an inflection point for the adhesive tape 42 when the adhesive tape is unrolled from the supply reel 38. Thus, the unrolled adhesive tape 42 extending between the supply reel 38 and the applicator roller 48 is tensioned by the tensioning drum 46 and can be pressed against the guide piece 44. The adhesive tape may be unwound from the supply reel 38, tensioned by the tensioning drum 46, and pressed against the guide piece 44, before being applied under pressure against the surface 14 by the applicator roller 48.

[0088] Furthermore, in certain cases, the adhesive surface of the adhesive tape 42 is covered with a surface covering 52, i.e. a plastic film protecting the adhesive surface. Therefore, the marking means 32 may further comprise a return drum 54 adapted for winding surface covering 52 around a recovery reel 56.

[0089] The recovery reel 56 is rotatably mounted on the frame 30. The recovery reel 56 here is a hollow cylindrical part rotationally controlled by the motor 50 which also controls the applicator roller 48. The surface covering 52 may be wound around the recovery reel 56 by rotation of the recovery reel 56, jointly with the advancement of the device 24.

[0090] The recovery reel 56 is separated from the motor 50 by a clutch 58 with a torque limiter function. The clutch 58 ensures that the tension applied to the surface covering 52 is constant even if the diameter of the surface covering 52 wound around the recovery reel 56 increases.

[0091] The return drum 54 may be rotatably mounted on the frame 30, between the recovery reel 56 and the applicator roller 48. The return drum 54 forms an inflection point for the surface covering 52, to prevent the recovery reel 56 from applying tension to the unrolled adhesive tape 42.

[0092] As can be seen in particular in FIG. 4, the applicator roller 48, the tensioning drum 46, and the return drum 54 may be assembled in a holder 60 to form a subassembly. The subassembly facilitates the assembling of the device 24. It appears possible to form the subassembly before mounting the holder 60 on the frame 30, for example by screwing. Furthermore, the guide piece 44 may be an integral part of the holder 60.

[0093] Here, the holder 60 here comprises two portions 62, 64 which are parallel to each other. A first portion 62 may be fixed to the frame 30, and a second portion 64 may be distanced from the frame 30 and connected to the first portion 62, for example by screwing. The tensioning drum 46 and the applicator roller 48 extend transversely between the two portions 62, 64 so as to be supported at their two ends. The guide piece 44 here is formed by a projection which projects from each of the portions 62, 64.

[0094] The steering assembly 34 is mounted on an end of the frame 30, opposite the end on which the means of advancement 36 is mounted. The steering assembly 34 is intended to form the front of the device 24 when the device 24 moves. The steering assembly 34 is configured to control the direction of the device 24 from the front of the device 24. Therefore, a position error of the device 24 may be converted into a rotation to be performed around the pivot point, here defined by the applicator roller 48. As the applicator roller 48 is behind the steering assembly 34 when the device 24 moves, this allows smoothing the position corrections during movement of the device 24. A sudden change in direction of the marking applied to the surface 14 is avoided.

[0095] As is more visible in FIG. 5, the steering assembly 34 here comprises two steerable wheels 66 arranged one on either side of the frame 30. The device 24 is then a tripod, with three points of contact on the surface (the applicator roller 48 and each of the steerable wheels 66). The tripod configuration gives the device 24 an isostatic equilibrium.

[0096] Here, each of the steerable wheels 66 is arranged on a wheel support 67. Each wheel support 67 is rotatably mounted relative to the frame 30 on a vertical axis that is normal to the axis of rotation of the steerable wheels 66. Each of the wheel support s67 is connected by a ball joint 69 to a steering rod 68 extending transversely to the frame 30. The two steerable wheels 66 are thus kept parallel by the steering rod 68.

[0097] The orientation of the steerable wheels 66 is controlled by means of a motor 70, preferably a servomotor, which acts on the steering rod 68. As is more visible in FIG. 6, the motor 70 is connected to one of the steerable wheels 66 by an output arm 71 and a control rod 73. The output arm 71 extends from the motor 70 along the direction normal to the axis of rotation of the motor 70. The control rod 73 extends between one end of the output arm, the end facing motor 70, to the wheel support 67, substantially in parallel to the steering rod 68. The control rod 73 has a ball joint 75 at its two ends, for connection to the output arm 71 on the one hand and to the wheel support 67 on the other hand. The control rod 73 is driven in the transverse direction relative to the frame 30, to the right or to the left as needed, by the motor 70. When the device 24 deviates from the desired direction, the motor 70 can be activated to correct the orientation of the device 24 and return to the desired direction.

[0098] In the example illustrated, the steering assembly 34 is mounted on a support 72 fixed to the frame 30, for example by screwing. The support 72 facilitates the assembly of the device 24. The steering assembly 34 may be assembled before being fixed to the frame 30.

[0099] The device 24 further comprises a linear optical sensor 74 mounted on the frame 30, for example a CCD sensor. As is visible in FIG. 7, the linear optical sensor 74 can detect vertical plane 26 defined by planar laser 22. The linear optical sensor 74 gives the device 24 the ability to follow the desired direction when this direction is defined by a laser.

[0100] The linear optical sensor 74 is mounted substantially in the vicinity of the steering assembly 34, above the steering assembly 34. The linear optical sensor 74 is thus intended to be close to the surface 14 during application of the marking to the surface by the device 24. The linear optical sensor 74 is then insensitive to defects in the surface 14 that could destabilize the device 24 and therefore misalign the linear optical sensor 74 relative to the vertical plane 26.

[0101] The linear optical sensor 74 is mounted on the frame 30 so that it extends transversely to the vertical plane 26. The linear optical sensor 74 can detect the vertical plane 26 regardless of its height relative to the planar laser 22. The device 24 is insensitive to height variations (variations in the z direction) when it moves along the surface 14.

[0102] The linear optical sensor 74 may be inserted in a housing 76. The housing 76 can protect the linear optical sensor 74 from possible impacts or dirt. The housing 76 may comprise an opening 78 topped by a filter 80, enabling the linear optical sensor 74 to perceive the vertical plane 26.

[0103] In addition, a light strip 82 may be provided, for example formed by LEDs. The light strip 82 may be provided substantially above the linear optical sensor 74. The light strip 82 makes it possible to display the position of the vertical plane 26 relative to the center of the optical sensor 74. In this case, the linear sensor 74 has a width of approximately 10 mm and the light strip 82 has a width of approximately 100 m. A factor of 10 between the two widths allows precise visual feedback on the difference between the orientation of the device 24 and the desired direction.

[0104] FIG. 8 illustrates, in more detail, a transmission system for transmitting the rotation of the motor 50 to the applicator roller 48 and to the recovery reel 56. The transmission system may be provided on a side of the frame 30 that is opposite to the means of advancement 36, the supply reel 38, and/or the recovery reel 56. Transmission of movement is thus separated from the adhesive tape 42 by the frame 30.

[0105] The transmission system here comprises a first pulley 84 connected to the output shaft of motor 50, a second pulley 86 connected to the applicator roller 48, and a third pulley 88 connected to the recovery reel 56. A belt 90 allows connecting the three pulleys together. This ensures synchronous rotation of the applicator roller 48 and the recovery reel 56. The clutch 58 with torque limiter function may be mounted between the third pulley 88 and the recovery reel 56.

[0106] As is more visible in FIG. 9, the transmission system may be protected by a housing 92 mounted on the frame 30, in particular by screwing. The housing 92 can protect the transmission system from possible impacts or dirt.

[0107] The device 24 may also comprise a control unit 94. The control unit 94 may be mounted on the side of frame 30 that is opposite to the means of advancement 36 and to the marking means 32. The control unit 94 may be provided in a second housing 96, which allows protecting the components of the control unit 94 from possible impacts and/or dirt.

[0108] The control unit 94 may comprise a microcontroller 98 adapted to receive data from the linear optical sensor 74 and to control the motors 70, 50 of the steering assembly 34 and of the means of advancement 36.

[0109] The control unit 94 may also comprise a switch 100 and an emergency stop button 102, enabling an operator to control the device 24. The switch 100 and the emergency stop button 102 may in particular extend through the housing 96, to be connected to the microcontroller 98 while being accessible to the operator.

[0110] The device 24 further comprises a battery 104 mounted on the frame 30, to supply power to the device 24. The device 24 is autonomous, and can navigate the warehouse 10 while applying markings, without operator intervention.

[0111] Finally, in the illustrated example, a handle 106 may be mounted on the frame 30, in particular on an upper part of the frame 30, at a distance from the means of advancement 36 and the steering assembly 34. The handle 106 makes it possible to grip the device 24. The device 24 is easily transportable.

[0112] The device 24 described above has a height of between 100 mm and 800 mm, preferably between 100 mm and 400 mm, a width of between 100 mm and 450 mm, preferably between 100 mm and 250 mm, and a length of between 100 mm and 650 mm, preferably between 100 mm and 400 mm. The device 24 is compact. It is thus suitable for applying a marking in a complex environment, with narrow passages and low obstacles. The device 24 may in particular apply a marking by passing between and underneath the storage racks 16 of the warehouse 10.

[0113] A method for applying a marking on surface 14 is described below, with reference to FIG. 10.

[0114] In a first step 110, the device 24 is placed on a surface (the floor) of the warehouse 10. The device 24 is in particular placed so that it faces a horizontal line 18 or a vertical line 20 of the marking to be made by the device 24. The device 24 is placed so that the steering assembly 34 forms the front of device 24, and the means of advancement 36 is located at the rear of the device 24. As described above, position corrections may be smoothed during the movement of the device 24. A sudden change in direction of the marking applied to surface 14 is avoided.

[0115] In a second step 200, the desired direction is defined. The desired direction corresponds to the vertical line 18 or horizontal line 20 of the marking to be made by the device 24. Here, the desired direction is defined by the vertical plane 26 emitted by the planar laser 22. The planar laser 22 may be oriented by being pivoted until the direction of vertical plane 26 extends along the horizontal line 18 or vertical line 20 to be made, and until the vertical plane 26 is perceived by the linear optical sensor 74 of the device 24 (see FIGS. 1A and 1B)

[0116] In a third step 300, the means of advancement 36 is actuated to advance the device 24 in the desired direction. The means of advancement 36 advances within the warehouse 10 by passing between and underneath the storage racks 16. The marking may thus be applied after the storage racks 16 have been installed, avoiding possible damage to the marking during the installation of the storage racks 16.

[0117] In a fourth step 400, carried out in parallel with third step 300, the marking is applied to the surface 14 by the marking means 32. The marking is applied to the surface at the same time as the device 24 advances in the desired direction. Here, the marking is an adhesive tape 42 unrolled from the supply reel 38 and applied under pressure against the surface 14 by the applicator roller 48. The marking on the ground and the advancement of the device 24 are carried out by the applicator roller 48, ensuring precise marking. It is noted that the applicator roller 48 applies an application force on the unrolled adhesive tape 42 that is greater than 40 N, or even greater than 50 N, avoiding the formation of bubbles between the surface 14 and the unrolled adhesive tape 42.

[0118] In a fifth step 500, carried out in parallel with the third and fourth steps 300, 400, the steering assembly 34 is actuated to align the device 24 with the desired direction during the advancement of the device 24. The steering assembly 34 may continuously detect the desired direction, and correct the path of the device 24. Here, the vertical plane 26 emitted by the planar laser 22 may be detected by the linear optical sensor 74. A deviation of the device 24 relative to the vertical plane 26 may be corrected by modifying the orientation of the steerable wheels 66 so as to pivot the device 24 around the pivot point formed by the roller applicator 48. The correction may be controlled by the motor 70, inducing a pivoting of the wheel supports 67 so as to reduce the position deviation observed by the optical sensor 74 relative to the vertical plane 26.

[0119] The invention is not limited to the examples described above, but on the contrary is susceptible to numerous variants accessible to those skilled in the art.

[0120] For example, the desired direction may be defined by any other means. The desired direction may be defined by a line laser, or by a physical guide such as a ruler or a rope.

[0121] In one particular example, the desired direction may be defined by a projector configured to project a straight line, a curved line, or any pattern, towards the surface. Said any pattern may comprise a succession of straight lines and/or curved lines oriented in different directions. Said any pattern may also form a geometric shape, for example a polygon or an oval. The projector may for example be mounted on a ceiling. The optical sensor may then be mounted on the frame 30 while being oriented upwards relative to the surface, in order to detect the projected line or pattern. The device can follow the desired direction while applying the marking to the ground in straight lines, curved lines, or by forming a pattern. Such markings make it possible in particular to go around storage racks, or to draw lines on sports fields.

[0122] The marking may be any other type of marking on a surface, in particular paint. The marking means 32 may then comprise a holder for a can of spray paint, or a brush for applying the marking.

[0123] The teering assembly 34 may take a form other than the one illustrated. The steering assembly 34 may comprise one or more wheels, and each wheel may be steerable individually or as a whole.

[0124] Similarly, the means of advancement 36 may be one or more wheels, or a moving skate or a caterpillar track.