Autonomous painting robot

• US 10,357,793 B2
• Filed: 05/07/2018
• Issued: 07/23/2019
• Est. Priority Date: 05/05/2017
• Status: Active Grant

• Current Assignee: John M. Harvison, Teresa Harvison
• Original Assignee: John M. Harvison, Teresa Harvison
• Inventors: Harvison, John M., Harvison, Teresa
• Primary Examiner(s): Leong, Nathan T
• Application Number:
  US15/973,480
• Publication Number:
  US 20180318865A1
• Time in Patent Office: 442 Days
• Field of Search: None
• CPC Class Codes: B05B 12/122 responsive to presence or shape of target B05B12/124 takes precedence
• CPC Class Codes: B05B 13/005 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
• CPC Class Codes: B05B 13/0431 with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces B05B13/0436, B05B13/0442, B05B13/0447, B05B13/0463 take precedence
• CPC Class Codes: B05C 1/027 only at particular parts of the articles at particular parts of work of indefinite length B05C1/16
• CPC Class Codes: B05C 1/08 using a roller or other rotating member which contacts the work along a generating line
• CPC Class Codes: B05C 1/0886 responsive to the condition of the work
• CPC Class Codes: B05C 1/16 only at particular parts of the work at particular parts of separate articles B05C1/027
• CPC Class Codes: B05C 11/00 Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00 means for manipulating or holding work B05C13/00; enclosures for apparatus, booths B05C15/00; spray booths B05B16/00

Abstract

An autonomous machine for the application of paint to a targeted application area. The autonomous machine operates with complete autonomy to paint a room without guidance or intervention. The autonomous machine includes a propulsion system to generate movement along a surface, a sensor system that generate signals representative of conditions during the painting to a targeted application area, and a control system that is in communication with the propulsion system and applicator system. In operation the autonomous machine automatically moves to and along walls that need to be painted. The autonomous machine detects the boundaries of the walls. A sensor head on the autonomous machine scans the walls, detecting and accommodating for any obstacles such as windows and windows trim present on the walls. Pressurized paint is then moved from a reservoir in the autonomous machine to the applicator and the applicator begins applying paint to the targeted application area.

Claims

1. A method for an autonomous painting robot painting a targeted application area, the method comprising the steps of:

positioning an autonomous painting robot on a surface, the autonomous painting robot having a propulsion system generating movement and an applicator system applying paint to a targeted application area;

generating input data representative of conditions during operation, the input data generated by one or more sensors;

providing the input data to the controllers;

comparing the input data with expected reference values, the reference values stored on the controllers;

outputting an output signal, the output signal derived from the comparison of the input data with the expected reference values;

performing one or more actions in response to the output signals in at least one of the propulsion system and the applicator system to satisfy a condition of the input data returning to the expected reference values;

generating input data, wherein the input data is a calculated distance of the autonomous painting robot from the targeted application area and is generated by the sensors;

sending the input data to the one or more controllers; and

the one or more controllers comparing the input data with an expected reference value stored on the controllers, wherein the expected reference value is an expected set distance of the autonomous painting robot from the targeted application area, the one or more controllers outputting an output signal to the propulsion system, the output signal derived from the comparison of the input data with the expected reference values, the propulsion system in response to output signal, increasing and decreasing speed as the autonomous painting robot moves closer or farther to the expected set distance of the autonomous painting robot from the targeted application area;

outputting an output signal to the propulsion system when the calculated distance of the autonomous painting robot from the targeted application is equal to the expected set distance of the autonomous painting robot from the targeted application, the propulsion system in response to output signal moving autonomous painting robot along the targeted application area while maintaining a parallel position to the targeted application area and moving a mast carrying a sensor head in a linear direction allowing the sensor head to scan the wall;

wherein the mast is a linear motion actuator comprising a travel plate with a threaded region fitted to a power-screw, the power-screw turnable by a motor to move the travel plate in a vertical motion, the torsional force of the power-screw configured to be resisted by a sliding stabilizing bar connection, the sliding stabilizing bar connection acting as a conduit to allow liquids, wiring, powders, or other materials to pass through inside the sliding stabilizing bar connection.

2. The method of claim 1,

wherein the sliding stabilizing bar connection is a conduit configured to allow liquids, wiring, powders, or other materials to pass through inside the sliding stabilizing bar connection.

3. An automated painting robot for painting a targeted application area, comprising:

an applicator system, the applicator system having an applicator configured to apply paint to a targeted application area;

a linear motion actuator comprising a travel plate with a threaded region fitted to a power-screw, wherein the power-screw is configured to be turned by a motor to move the travel plate in a vertical motion, the torsional force of the power-screw configured to be resisted by a sliding stabilizing bar connection;

a propulsion system configured to generate omnidirectional movement; and

one or more sensors connected to one or more controllers, the sensors configured to generate input data representative of conditions during operation and to provide input data to the controllers, the controllers configured to store one or more expected reference values, to compare the input data with the expected reference values, and to output an output signal, the output signal derived from the comparison of the input data with the expected reference values, the output signal configured to perform one or more actions in at least one of the propulsion system and the applicator system to satisfy a condition of the input data returning to expected reference values.

4. The autonomous painting robot of claim 3 further comprising, a sensor head connected to the linear motion actuator, the linear motion actuator configured to enable the sensor head to move in a vertical linear direction.

5. The autonomous painting robot of claim 3, wherein the sliding stabilizing bar connection is a conduit configured to allow liquids, wiring, powders, or other materials to pass through inside the sliding stabilizing bar connection.

6. The autonomous painting robot of claim 3, wherein the applicator is paint roller, spray nozzle, brusher, or printer.

7. The autonomous painting robot of claim 3, further comprising a removable and refillable reservoir for containing paint to be applied to the targeted application area.

8. The autonomous painting robot of claim 7, further comprising a pump configured to apply pressurized paint from the reservoir to the applicator.

9. The autonomous painting robot of claim 3, the propulsion system comprised of a left wheel assembly and a right wheel assembly, the left wheel assembly and right wheel assembly each having a front and rear wheel, the left wheel assembly and right wheel assembly each having their own independently operated motors.

10. The autonomous painting robot of claim 9, wherein the distance between the front and rear wheels of left wheel assembly and right wheel assembly is smaller than the distance between the left and right wheels as to provide omnidirectional turning capabilities.