Remote-controlled robot for spray painting

• US 10,618,179 B1
• Filed: 01/17/2019
• Issued: 04/14/2020
• Est. Priority Date: 02/28/2018
• Status: Active Grant

• Current Assignee: Philip See
• Original Assignee: Philip See
• Inventors: See, Philip
• Primary Examiner(s): Edwards, Laura
• Application Number:
  US16/251,022
• Time in Patent Office: 453 Days
• Field of Search: 118323
• 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: B05B 9/0403 with pumps for liquids or other fluent material B05B9/043 takes precedence
• CPC Class Codes: B05B 9/0423 for supplying liquid or other fluent material to several spraying apparatus
• CPC Class Codes: B25J 11/0075 Manipulators for painting or coating
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 19/04 Viewing devices
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 5/007 mounted on wheels

Abstract

A remote-controlled robotic spray painter is used to evenly coat the surface of a corrugated metal roof with paint by having frame with four wheels having 4-wheel drive. Mounted on the front of the frame is a camera with a transmitter and a servo motor to move the camera and at least one spray nozzle with an on/off spray servo. On the rear of the frame is a speed sensor, a drive motor to drive the 4 wheels and control the speed and direction of the drive motors, and a microprocessor. A remote control transmitter/receiver receives the image from the camera and through operator controls moves the camera to the desired position, controls the speed and direction of the drive motor, and starts and stops spraying using a nozzle servo. The robot has no steering mechanism, as it is simply driven in a straight line, forward and reverse.

Claims

1. A remote-controlled robotic sprayer used to evenly coat the surface of a roof with a coating comprising:

a frame;

wherein mounted on the frame are at least two wheels; and

wherein the frame has a front, a rear, a left side and a right side;

a microprocessor;

wherein the processor is in communication with a controller;

wherein the controller is a remote control transmitter and receiver having operator controls;

at least one camera mounted proximate the front of the frame;

wherein the at least one camera transmits photographic data to the controller; and

wherein attached to the at least one camera is a camera servo motor which receives transmissions from the controller and positions the at least one camera;

at least one adjustable spray nozzle;

wherein the at least one adjustable spray nozzle is mounted on the front of the frame and forward from the frame; and

wherein the least one adjustable spray nozzle is connected to an at least one nozzle servo motor;

wherein the controller transmits to the at least one nozzle servo motor to open and close the at least one adjustable spray nozzle;

at least one spray hose;

wherein the at least one spray hose is fluidly connected to the at least one spray nozzle;

a drive motor attached to the at least two wheels;

wherein the drive motor drives the at least two wheels;

wherein the drive motor has a lower speed and a higher speed and a forward and a reverse;

wherein the drive motor receives transmissions from the controller;

wherein at least one guide is mounted on the front of the frame proximate the wheels to position the at least one spray nozzle relative to roof surface to coat the roof;

a speed sensor proximate the at least two wheels which transmits speed to the controller;

wherein the controller has a screen which displays an image from the at least one camera;

wherein the controller transmits to activate the at least one nozzle servo to open and close the nozzle;

wherein the controller activates the camera servo motor to adjust a position of the camera to the desired position; and

wherein the controller transmits to the drive motor to adjust the speed and direction of the drive motor.

2. The remote-controlled robotic sprayer of claim 1, wherein the sprayer has four wheels.

3. The remote-controlled robotic sprayer of claim 2, wherein the drive motor is a 4-wheel drive motor.

4. The remote-controlled sprayer of claim 1, wherein the the at least one camera is configured to an up position for higher speed and to a down position for lower speed.

5. The remote-controlled sprayer of claim 4, wherein the nozzle servo is configured to initiate the nozzle and start the drive motor in lower speed in reverse simultaneously.

6. The remote-controlled sprayer of claim 5, wherein the drive motor is configured to drive forward and reverse and is guided by the at least one guide to assist positioning the spray nozzle relative to roof surface to coat the roof.

7. The remote-controlled sprayer of claim 6, wherein the at least one guide comprises two guides that are proximate the two front wheels and are positioned to provide alignment of the motion of the sprayer along the roof'"'"'s adjacent seams;

and

wherein the sprayer does not have an additional steering mechanism.

8. A method of coating a roof comprising the steps of providing the remote-controlled robotic sprayer of claim 4 on a metal standing seam roof having an edge:

positioning the robotic sprayer on roof, where the four wheels rest on adjacent standing seams of the roof proximate the edge of the roof;

positioning the at least one guide to align with the seams;

attaching to the at least one hose a source of coating material;

pressuring the coating material to the at least one spray nozzle;

wherein the at least one spray nozzle is in a closed position;

positioning the at least one spray nozzle to direct the coating to the part of the roof surface to be coated;

activating the at least one nozzle servo using the controller to open the at least one nozzle and start spraying;

simultaneously initiating the movement of the wheels at lower speed in reverse by the drive motor using the remote control; and

simultaneously adjusting the position of the at least one camera to a down position using the camera servo motor.

9. The method of claim 8, wherein the position of the at least one camera is automatically directed to an up position for higher speed and to the down position for lower speed.

10. The method of claim 9, wherein when the at least one nozzle servo is initiated to open the at least one nozzle and start spraying, the drive motor is started in lower speed in reverse simultaneously.

11. The method of claim 10, wherein the controller displays voltage and speed on a screen.

12. The remote-controlled sprayer of claim 6, wherein the at least one guide comprises two guides on two front wheels and positioned to provide alignment of the motion of the sprayer along the roof'"'"'s adjacent seams.

13. A method of coating a roof comprising the steps of providing a remote-controlled robotic sprayer, wherein the sprayer comprises:

a frame;

wherein mounted on the frame are four wheels; and

wherein the frame has a front, a rear, a left side and a right side;

a microprocessor;

wherein in communication with the microprocessor is a controller;

wherein the controller is a remote control transmitter and receiver having operator controls;

at least one camera mounted on the front of the frame;

wherein the at least one camera transmits photographic data to the controller; and

wherein attached to the at least one camera is a camera servo motor which receives transmissions from the controller;

at least one adjustable spray nozzle;

wherein the at least one adjustable spray nozzle is mounted on the front of the frame and forward from the frame;

wherein the least one adjustable spray nozzle is connected to an at least one nozzle servo motor;

wherein the controller transmits to the at least one nozzle servo motor to open and close the at least one adjustable spray nozzle;

at least one spray hose;

wherein the at least one spray hose is fluidly connected to the at least one spray nozzle;

a drive motor attached to the four wheels;

wherein the drive motor drives the four wheels;

wherein the drive motor has a lower speed and a higher speed and a forward and a reverse;

wherein the drive motor receives transmissions from the controller;

a speed sensor proximate the four wheels which transmits speed to the controller;

wherein the controller has a screen which displays an image from the camera;

wherein the controller transmits to activate the at least one nozzle servo to open and close the at least one nozzle;

wherein the controller activates the camera servo motor to adjust the position of the at least one camera to the desired position;

wherein the controller transmits to the drive motor to adjust the speed and direction of the drive motor;

wherein the drive motor is a 4-wheel drive motor;

wherein at least one guide is mounted on the frame proximate the wheels;

positioning the robotic sprayer on roof, where the four wheels rest on adjacent standing seams of the roof proximate an edge of the roof;

positioning the at least one guide to align with the seams;

attaching to the at least one spray hose a source of coating material;

pressuring the coating material to the at least one spray nozzle;

wherein the at least one spray nozzle is in a closed position;

positioning the at least one spray nozzle to direct the coating to coat a metal standing seam roof edge;

activating the at least one nozzle servo using the controller to open the at least one nozzle and start spraying;

simultaneously initiating the movement of the wheels at lower speed in reverse by the drive motor using the remote control; and

simultaneously adjusting the position of the at least one camera to a down position using the camera servo motor.

14. The method of claim 13, wherein the position of the at least one camera is automatically directed to an up position for higher speed and to the down position for lower speed.

15. The method of claim 14, wherein when the at least one nozzle servo is initiated to open the at least one nozzle and start spraying, the drive motor is started in lower speed in reverse simultaneously.

16. The method of claim 15, wherein the motion of the robotic sprayer forward and reverse by the four wheels is guided by the at least one guide.

17. A remote-controlled sprayer used to evenly coat the surface of a roof with a coating comprising:

a frame;

wherein mounted on the frame are four wheels; and

wherein the frame has a front, a rear, a left side and a right side;

a microprocessor;

wherein in communication with the microprocessor is a controller;

wherein the controller is a remote control transmitter and receiver having operator controls;

at least one camera mounted on the front of the frame;

wherein the controller has a screen that displays voltage and speed;

wherein the at least one camera transmits photographic data to the controller; and

wherein attached to the at least one camera is a camera servo motor which receives transmissions from the controller;

at least one adjustable spray nozzle;

wherein the at least one adjustable spray nozzle is mounted on the front of the frame and forward from the frame;

wherein the least one adjustable spray nozzle is connected to an at least one nozzle servo motor;

wherein the controller transmits to the at least one nozzle servo motor to open and close the at least one adjustable spray nozzle;

at least one spray hose;

wherein the at least one spray hose is fluidly connected to the at least one spray nozzle;

a drive motor attached to the four wheels;

wherein the drive motor drives the four wheels;

wherein the drive motor has a lower speed and a higher speed and a forward and a reverse;

wherein the drive motor receives transmissions from the controller;

a speed sensor proximate the four wheels which transmits speed to the controller;

wherein the controller has a screen which displays an image from the camera;

wherein the controller transmits to activate the at least one nozzle servo to open and close the at least one nozzle;

wherein the controller activates the camera servo motor to adjust the position of the at least one camera to the desired position;

wherein the controller transmits to the drive motor to adjust the speed and direction of the drive motor;

wherein the drive motor is a 4-wheel drive motor; and

wherein at least one guide is mounted on the frame proximate the wheels to position the at least one spray nozzle relative to roof surface to coat the roof.

18. The remote-controlled sprayer of claim 17, wherein the position of the at least one camera is automatically directed to an up position for higher speed and to a down position for lower speed.

19. The remote-controlled sprayer of claim 18, wherein the at least one nozzle servo is configured to initiate the nozzle and start the drive motor in lower speed in reverse simultaneously.