Controller for a robotic device for applying an insulating layer

• US 10,875,044 B2
• Filed: 06/22/2016
• Issued: 12/29/2020
• Est. Priority Date: 06/22/2015
• Status: Active Grant

• Current Assignee: Q-Bot Limited
• Original Assignee: Q-Bot Limited
• Inventors: Taylor, Daniel, Holloway, Matthew, Cristobal, Miguel Julia, Lipinski, Thomas
• Primary Examiner(s): Masinick, Michael D
• Application Number:
  US15/738,317
• Publication Number:
  US 20180169685A1
• Time in Patent Office: 1,651 Days
• CPC Class Codes: B05B 12/00 Arrangements for controlling delivery; Arrangements for controlling the spray area
• CPC Class Codes: B05B 12/084 responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
• 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: B25J 11/0075 Manipulators for painting or coating
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 19/022 using lasers
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B62D 7/02 for pivoted bogies
• CPC Class Codes: E04B 1/76 specifically with respect to heat only heat insulation in general F16L59/00
• CPC Class Codes: E04F 21/085 for filling building cavity walls with insulating materials
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/43 Spray painting or coating
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robotic vehicle, in particular for spraying insulation material, comprises a chassis (110), at least two driven wheels (122) having a common axis of rotation, and a wheel connecting member (151) which connects the two wheels (122). The wheel connecting member (151) is connected to the chassis by a pivotal connection which allows the wheel connecting member to pivot with respect to the chassis about a pivoting axis transverse to the common axis of rotation of the wheels. The wheel connecting member (151) may be removably mounted to the chassis (110).

Claims

1. A control system for a robotic device for applying an insulating layer to an underside of a surface of an underfloor cavity, the robotic device including a chassis, a spray gun for spraying an insulating material onto the surface, a camera, a rangefinder, and a data communication module in data communication with the spray gun, the camera and the rangefinder, wherein the control system comprises:

a processor including a transceiver adapted for data communication with the data communication module, whereby to receive data from one or more of the spray gun, the camera, and the rangefinder,

wherein the processor is further adapted to;

display, on an operator display, a video feed from the camera,

receive an input from an operator selecting an area of the surface shown in the video feed to be sprayed,

generate control data for movement of the spray gun based on the operator input and the received data, and

generate a representation of the control data on the video feed of the operator display; and

a networked microcontroller adapted to provide control signals for movement of the spray gun according to the control data.

2. A control system as claimed in claim 1, wherein the processor is adapted to automatically generate the control data for the spray gun in response to input received from the operator in combination with the received data from one or more of the spray gun, the rangefinder and a tilt sensor coupled to the robotic device, in order to generate a spray pattern requested by the operator.

3. A general purpose computer programmed to operate as the processor of claim 1.

4. Computer software which programs a general purpose computer to operate as the processor of claim 1.

5. A control system as claimed in claim 1, wherein the spray gun is rotatably coupled to the chassis, wherein the robotic device further includes a motor for controlling a rotational position of the spray gun, and wherein the networked microcontroller is adapted to provide control signals to control the motor to move the spray gun according to the control data.

6. A control system as claimed in claim 5, wherein the spray gun is rotatably coupled to rotate about two axes relative to the chassis, and wherein the robotic device includes a motor for each axis of rotation of the spray gun, and wherein the networked microcontroller is adapted to provide control signals to control the motors to move the spray gun according to a spray pattern requested by the operator.

7. A control system as claimed in claim 1, wherein the representation on the operator display includes information on a position of the spray gun overlaid on the video feed from the camera.

8. A control system as claimed in claim 1, wherein the representation on the operator display includes range information from the rangefinder overlaid on the video feed from the camera.

9. A control system as claimed in claim 8, wherein the robotic device includes four driven wheels, each driven wheel having a wheel motor arranged to drive the driven wheel, and wherein the networked microcontroller is adapted to provide control signals to control each of the wheel motors individually.

10. A control system as claimed in claim 8, wherein the processor is further adapted to automatically generate control data for one or more of the wheel motors in response to input from the operator in combination with received data from the rangefinder, in order to move the robotic device as requested by the operator.

11. A control system as claimed in claim 1, wherein the operator display is provided on a device located remotely from the robotic device and in communication with the robotic device.