| CPC B05B 12/124 (2013.01) [B05B 12/122 (2013.01); B05B 13/005 (2013.01); B05B 13/0421 (2013.01); B25J 11/0075 (2013.01); G05D 1/0094 (2013.01); G05D 1/024 (2013.01); G05D 1/0255 (2013.01)] | 22 Claims |
|
1. A semi-autonomous mobile robot apparatus (100), the apparatus comprising:
a plurality of type-1 (403) ultrasonic sensors and type-2 (405) ultrasonic sensors coupled to the apparatus (100), wherein the number of the type-1 (403) ultrasonic sensors is at least 13 and the number of the type-2 (405) ultrasonic sensors is at least 2;
at least two light detection and ranging (LiDAR) sensors (401 and 402) coupled to the apparatus (100);
a human machine interface module (102) adapted to receive one or more inputs from a user (101);
a microprocessor (103), wherein the human machine interface module (102) provides data to the microprocessor (103) for processing the data within the apparatus (100), and wherein the microprocessor (103) is adapted to process the inputs and to provide the processed data as an output to any modules connected to the microprocessor (103) in the apparatus (100);
at least one vertical telescopic arm in combination with linear actuators coupled to the apparatus (100);
at least one vertical spray actuation unit (104) coupled to the at least one vertical telescopic arm on the apparatus (100);
at least one modular end effector coupled to the at least one vertical telescopic arm on the apparatus (100);
at least two stepper motors (203a and 203b) fastened to the apparatus (100) in a differential mobile base to align the apparatus (100) with a wall by performing operations, including left movement, right movement, clockwise movement, anticlockwise movement, or combinations thereof;
at least one spray gun (307) coupled to the at least one vertical telescopic arm on the apparatus (100);
at least one wall sanding unit coupled to the at least one vertical telescopic arm on the apparatus (100);
a mobile navigation module (105) adapted to receive the inputs from the microprocessor (103) regarding navigation of the apparatus (100);
an error diagnosis module (106) adapted to receive inputs regarding an error encountered by the apparatus (100) and to display the error to the user (101);
a safety module (107) adapted to transmit inputs to the microprocessor (103) regarding any obstacles encountered during a course of the navigation of the apparatus (100);
wherein the microprocessor (103) receives one or more inputs relating to: a wall area where paint is to be applied, color and texture of the paint to be applied, instructions relating to sanding operation of the wall, instructions relating to a non-paintable area in the wall,
wherein the microprocessor (103) processes the one or more inputs relating with data including a position of the apparatus (100) with respect to the wall, a distance between the at least one modular end effector of the apparatus (100) to the wall,
wherein the microprocessor (103) provides instructions to the mobile navigation module (105), and the mobile navigation module (105) comprises the stepper motors (203a, 203b) to automatically adjust a distance between the apparatus (100) and the wall by actuating the stepper motors (203a, 203b),
wherein the microprocessor (103) is adapted to align the apparatus (100) vertically with the wall, and
wherein actuation movement of the at least one vertical telescopic arm on the apparatus (100) is achieved by actuating first and second servo motors (302a, 302b) which make the at least one vertical telescopic arm move vertically to a desired position, thereby performing programmed operations, including painting, wall sanding, primer application, putty application, pressured water spray, or combinations thereof.
|