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1. 发明申请

WO2016063074A3 ROBOTIC DEVICE 审中-公开
公开(公告)号：WO2016063074A3
公开(公告)日：2016-04-28
申请号：PCT/GB2015/053175
申请日：2015-10-22
申请人： Q-BOT LIMITED
发明人： HOLLOWAY, Mathew , LIPINSKI, Tom , HAMILTON, Kent , TAYLOR, Daniel
IPC分类号： B25J1/02 , B25J19/02 , B05B15/06
摘要： Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

2. 发明申请

WO2014188221A2 METHOD OF COVERING A SURFACE OF A BUILDING AND ROBOT THEREFOR 审中-公开
标题翻译：覆盖建筑物和机器人表面的方法
公开(公告)号：WO2014188221A2
公开(公告)日：2014-11-27
申请号：PCT/GB2014/051604
申请日：2014-05-23
申请人： Q-BOT LIMITED
发明人： LIPINSKI, Tomasz B , CHILDS, Peter RN , HOLLOWAY, Mathew
IPC分类号： E04B1/76
CPC分类号： B25J11/0075 , B05B3/00 , B05B13/005 , B05B13/0405 , B05B13/0431 , B05D1/02 , B25J5/007 , B25J11/0055 , B25J15/0019 , B25J15/04 , E04B1/76 , E04F21/12 , E04F21/16 , Y10S901/01 , Y10S901/43
摘要： A method of covering a surface of a building,the method comprising spraying an expandable foam material onto the surface and allowing the foam material to solidify whereby to form a covering of the surface and a robotic vehicle configured to carry out the method.
摘要翻译：一种覆盖建筑物的表面的方法，所述方法包括将可膨胀泡沫材料喷涂到所述表面上并允许所述泡沫材料固化从而形成所述表面的覆盖物，以及被配置为执行所述方法的机器人车辆。

3. 发明申请

WO2017220716A1 AUTONOMOUS SURVEYING OF UNDERFLOOR VOIDS 审中-公开
标题翻译：地下空洞的自动测量
公开(公告)号：WO2017220716A1
公开(公告)日：2017-12-28
申请号：PCT/EP2017/065362
申请日：2017-06-22
申请人： Q-BOT LIMITED
发明人： HOLLOWAY, Matthew , CRISTOBAL, Miguel Julia , CHILDS, Peter
IPC分类号： G06T7/579
摘要： The present disclosure provides a method of processing depth data and image data from a robotic device having a camera and a depth measurement device mounted to a chassis of the robotic device to generate a data set representative of a three-dimensional map of an environment in which the robotic device is located. The camera is arranged to generate image data relating to the environment. The depth measurement device is arranged to generate depth data relating to the environment. The method comprises generating image data and depth data at a first location of the robotic device in the environment, whereby to generate a first data set comprising a plurality of data points. The method further comprises moving the robotic device to at least a second location in the environment. The method further comprises generating image data and depth data at the second location, whereby to generate a second data set comprising a plurality of data points. The method further comprises associating each data point of the first data set with the spatially nearest point of the second data set, if any, within a predefined distance from the first data point. The method further comprises replacing data points from the first data set with the associated data points from the second data set by reference to the distance of the data point from the location of the robotic device when the data point was generated.
摘要翻译：本公开提供了一种处理来自机器人设备的深度数据和图像数据的方法，该机器人设备具有安装到机器人设备的底盘的相机和深度测量设备，以生成表示三 - 机器人设备所在的环境的三维地图。照相机被布置为生成与环境有关的图像数据。深度测量装置被布置成生成与环境有关的深度数据。该方法包括在环境中的机器人设备的第一位置处生成图像数据和深度数据，由此生成包括多个数据点的第一数据集。该方法还包括将机器人装置移动到环境中的至少第二位置。该方法还包括在第二位置处生成图像数据和深度数据，由此生成包括多个数据点的第二数据集。该方法还包括将第一数据集的每个数据点与第二数据集的空间上最近的点（如果有的话）关联在离第一数据点预定义的距离内。该方法进一步包括通过参考数据点产生时机器人设备的位置与数据点的距离来用来自第二数据集的关联数据点替换来自第一数据集的数据点。

4. 发明申请

WO2022043670A1 A ROBOTIC DEVICE AND METHOD OF OPERATING THE SAME AND AN ATTACHMENT MECHANISM FOR THE SAME 审中-公开
公开(公告)号：WO2022043670A1
公开(公告)日：2022-03-03
申请号：PCT/GB2021/052188
申请日：2021-08-23
申请人： Q-BOT LIMITED
发明人： ALTHOEFER, Kaspar Alexander , ABRAR, Taqi , PUTZU, Fabrizio , RIZQI, Ahmad Ataka Awwalur
IPC分类号： B25J9/06 , B25J9/10 , B25J9/14 , B25J18/02
摘要： A robotic device comprising an inflatable elongate body; a first inflatable pouch arranged at a first position along the length of the elongate body and configured to bend the elongate body at the first position when inflated; and a second inflatable pouch arranged at a second position along the length of the elongate body and configured to bend the elongate body at the second position when inflated, wherein the first position and the second position are spaced from each other along the length of the elongate body; and wherein the first and second inflatable pouches are independently inflatable such that the elongate body can be simultaneously bent at the first position and at the second position.

5. 发明申请

WO2021191591A1 A SPRAY UNIT FOR A REMOTELY OPERABLE SPRAY APPARATUS AND APPARATUS FOR SPRAYING THERMALLY INSULATIVE MATERIAL 审中-公开
公开(公告)号：WO2021191591A1
公开(公告)日：2021-09-30
申请号：PCT/GB2021/050697
申请日：2021-03-22
申请人： Q-BOT LIMITED
发明人： HAMBLIN, Chris , KIFF, Josh , TAYLOR, Daniel , HOLLOWAY, Mathew
IPC分类号： B05B7/04 , B05B7/12 , B05B13/00 , B05B13/04 , B05B15/652 , B05B15/72 , B25J5/00 , E04B1/76 , B29B7/74 , B05B12/08 , B05B12/32 , B05B12/084 , B05B13/005 , B05B13/0431 , B05B15/55 , B05B7/0408 , B05B7/1209 , B05B7/1263 , B25J11/0075 , B29B7/728 , B29B7/7409 , B29B7/7419 , B29B7/7428 , B29B7/7433
摘要： There is provided a spray unit for a remotely operable spray apparatus. The spray unit (4) is configured to spray a material having first and second material components. The spray unit comprises a first material inlet (17) for receiving the first material component, a second material inlet (18) for receiving the second material component, and a spray component (20) comprising a mixing chamber and a spray orifice (19). The spray component is movable between a spraying position in which the mixing chamber is in communication with the first and second material inlets such that the first and second material components enter the mixing chamber and are sprayed via the spray orifice, and a non-spraying position in which the mixing chamber is closed from the first and second material inlets. The spray unit further includes a pneumatic actuator operable to move the spray component between the spraying position and the non-spraying position, and a remotely operable electric actuator arranged to control operation of the pneumatic actuator.

6. 发明申请

WO2020079394A1 SENSOR APPARATUS 审中-公开
公开(公告)号：WO2020079394A1
公开(公告)日：2020-04-23
申请号：PCT/GB2019/052665
申请日：2019-09-23
申请人： Q-BOT LIMITED
发明人： NAPIER, Ashley , WAGH,Shubham , KIFF, Josh , MOREIRA, Laura , HAMBLIN, Chris , HOLLOWAY, Mathew
IPC分类号： G01C3/02 , G01C15/00 , G01C25/00 , G01S17/02 , G01S17/42 , G01S17/89
摘要： There is provided a portable sensor apparatus (10) for surveying within a room (30) of a building. The sensor apparatus (10) comprises: a sensor unit (12) for temporary insertion into a room (30), the sensor unit (12) being moveable in a scanning motion, and comprising a plurality of outwardly directed sensors (16, 20, 24) arranged to capture sensor data associated with an environment of the sensor apparatus (10)as the sensor unit is moved through the scanning motion. The plurality of sensors (16, 20, 24) comprises: a rangefinder sensor (16);a thermal imaging sensor (20); and a camera (24).

7. 发明申请

WO2017009642A1 REMOTELY OPERATED DEVICE 审中-公开
标题翻译：远程操作设备
公开(公告)号：WO2017009642A1
公开(公告)日：2017-01-19
申请号：PCT/GB2016/052116
申请日：2016-07-13
申请人： Q-BOT LIMITED
发明人： HOLLOWAY, Mathew , HAMBLIN, Christopher , TAYLOR, Daniel
IPC分类号： B25J1/02 , B25J19/02 , B05B15/06
CPC分类号： B25J1/02 , B05B12/122 , B05B13/005 , B05B13/0431 , B05B15/62 , B25J19/023
摘要： Apparatus for spraying a material on a surface comprises at least one elongate member (408) having a distal end and a proximal end, at least one spray nozzle (1404) mounted at the distal end of the elongate member for spraying the material in a spray pattern, a ground-engaging member (1420) mounted at the distal end of the elongate member and arranged to facilitate translational movement of the apparatus over a ground surface, a camera (1406) mounted at the distal end of the elongate member (1408) and connected to a camera output, the camera being arranged for capturing images of the spray pattern and the camera output being arranged to facilitate the viewing of images of the spray pattern from the proximal end of the elongate member, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.
摘要翻译：用于在表面上喷涂材料的装置包括具有远端和近端的至少一个细长构件（408），安装在细长构件的远端处的至少一个喷嘴（1404），用于将喷涂材料喷射安装在所述细长构件的远端并且布置成便于所述设备在地面上的平移运动的地面接合构件（1420），安装在所述细长构件（1408）的远端处的照相机（1406）并且连接到相机输出端，所述相机布置成用于捕获所述喷射图案的图像，并且所述相机输出被布置成便于从所述细长构件的近端观看所述喷射图案的图像;以及控制机构，其被布置为控制喷嘴从细长构件的近端的操作。

8. 发明申请

WO2016207627A2 ROBOTIC VEHICLE 审中-公开
标题翻译：机动车
公开(公告)号：WO2016207627A2
公开(公告)日：2016-12-29
申请号：PCT/GB2016/051865
申请日：2016-06-22
申请人： Q-BOT LIMITED
发明人： TAYLOR, Daniel , HOLLOWAY, Matthew , CRISTOBAL, Miguel Julia , LIPINSKI, Thomas
IPC分类号： B05B13/00 , B05B13/04 , B62D1/26 , B25J5/00 , B25J11/00 , E04B1/76 , B60G9/02 , B62D7/00 , B05B12/12
CPC分类号： B05B13/005 , B05B12/122 , B05B13/0431 , B25J5/007 , B25J11/0075 , B25J13/06 , B25J15/0019 , B25J19/022 , B62D7/02 , E04B1/76 , E04F21/085 , Y10S901/01 , Y10S901/09 , Y10S901/43 , Y10S901/47
摘要： 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).
摘要翻译：特别是用于喷涂绝缘材料的机器人车辆包括底盘（110），至少两个具有公共旋转轴线的从动轮（122）和连接两个轮（122）的轮连接构件（151）。车轮连接构件（151）通过枢转连接件连接到底架，该枢转连接允许车轮连接构件围绕横向于车轮的公共旋转轴线的枢转轴线相对于底盘枢转。车轮连接构件（151）可以可拆卸地安装到底架（110）。

9. 发明申请

WO2022208057A1 AN APPARATUS FOR WORKING A WET COATING ON A SURFACE AND A METHOD OF THE SAME 审中-公开
公开(公告)号：WO2022208057A1
公开(公告)日：2022-10-06
申请号：PCT/GB2022/050751
申请日：2022-03-25
申请人： Q-BOT LIMITED
发明人： SOLER, Elodie , HOLLOWAY, Matthew , HAMBLIN, Chris , KIFF, Joshua , JOLLY, Tom , NAPIER, Ashley , WAGH, Shubham
IPC分类号： E04F21/08 , E04F21/16 , B25J15/00 , B05B13/00 , B05B13/04 , B25J19/00 , B05B13/005 , B05B13/0405 , B05B15/14 , B25J11/0075 , B25J17/0208 , B25J9/026 , E04G21/20
摘要： An apparatus for working a wet coating, such as render material, applied to a surface, the apparatus comprising: an actuator arranged to move an arm across a surface having a wet coating applied thereon; a controller configured to move the arm across the surface along a tool path; and a tool head mounted to the arm, the tool head comprising a compliance module and a tool mounted to the compliance module such that the tool is movable in a stroke direction towards the surface relative to the arm. The compliance module comprises a biasing module arranged to urge the tool in the stroke direction to maintain contact between the tool and the wet coating such that the tool works the wet coating as the arm moves across the surface.

10. 发明申请

WO2020260877A1 METHOD AND APPARATUS FOR RENOVATION WORKS ON A BUILDING 审中-公开
公开(公告)号：WO2020260877A1
公开(公告)日：2020-12-30
申请号：PCT/GB2020/051535
申请日：2020-06-24
申请人： Q-BOT LIMITED
发明人： HOLLOWAY, Mathew , SOLER, Elodie , NAPIER, Ashley
IPC分类号： E04G23/02 , B05B12/00 , B05B13/00 , B05B13/04
摘要： The present application provides a method for renovation works on a building that has a plurality of building elements, for example walls. The method includes: receiving scan data of a building element of the building; (150) processing the scan data to determine at least one dimension of the building element and an initial property of the building element from the scan data; configuring (160) a building system for the building element to achieve a target property of the building element, the building system being configured according to the at least one dimension of the building element and according to the initial property of the building element; and generating instruction data (170) for fabricating the building system. There is also provided an apparatus for renovation works on a building that has a plurality of building elements, for example walls.

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