Control of a semi-automatic material application system using adhesive tape

Abstract

A method for applying material (M) to a work surface (5) using a semi-automatic material application system (1) is described. The semi-automatic material application system (1) comprises a material supply unit (2), a material application device (3), and a control unit (4) at least for the material application device (3). The material application device (3) is movable, preferably self-propelled and / or self-adjusting. An information acquisition device (44) of the material application system (1) acquires at least one piece of information (I) concerning at least one criterion of a material application to be carried out, which is physically arranged on the work surface (5). Using the information (I), the material application device (3) is controlled such that material (M) is applied to a target area (6) of the work surface (5).The invention further relates to an adhesive tape (7) for use in a method for applying material (M) to a work surface (5) by means of a semi-automatic material application system (1) and a corresponding use of an adhesive tape (7) as well as a set (10) comprising an adhesive tape (7) and a semi-automatic material application system (1).

Description

[0001] The invention relates to a method for applying material to a work surface by means of a semi-automatic material application system, which has a material supply unit, a material application device, and a control device at least for the material application device. It also relates to an adhesive tape for use in a method for applying material to a work surface by means of a semi-automatic material application system and a corresponding use of an adhesive tape. The invention further relates to a set comprising an adhesive tape and a semi-automatic material application system, which has a material supply unit, a material application device, and a control device at least for the material application device.

[0002] In recent years, machines have increasingly been used in the construction industry to automatically apply building materials to work surfaces. Such construction robots can operate autonomously within certain limits and are used on construction sites, for example, to apply paints and varnishes in the form of coatings to surfaces such as building walls.

[0003] A construction robot can be controlled to apply material, such as paint, to a work surface using Building Information Modeling (BIM) or a point cloud of an environment. These approaches create different levels of digital reality and can be used to control or train construction robots. Relevant building data can be digitally modeled, combined, and captured in BIM models. A BIM model can, for example, contain data relating to the floor plan, architecture, or materials of a building. A point cloud can, for example, be created using a point cloud scanner (point cloud scanning), which can provide a three-dimensional view of an environment at the moment the point cloud is created.

[0004] One problem with using BIM models to control a construction robot can be that such models are not available for all buildings. This limits the possible uses of construction robots. Creating a digital model based on a point cloud may not be worthwhile for smaller work areas, for example. In addition, BIM models and models based on point clouds do not always accurately represent the actual or physical environment they model. Construction sites are usually dynamic places where many people are working at the same time. For example, tools and equipment such as ladders or scaffolding are often used temporarily and then stored on the construction site. Accordingly, it can happen that areas of a wall or floor that are generally freely accessible, even in a digital model, are temporarily occupied, e.g. by scaffolding.Therefore, the actual conditions on a construction site can change at any time and in unpredictable ways. Such short-term changes in the actual situations on a construction site are often not taken into account in a pre-generated digital model.

[0005] It is an object of the present invention to provide a method for applying material to a work surface by means of a semi-automatic material application system, an adhesive tape, a use of an adhesive tape and a set comprising an adhesive tape and a semi-automatic material application system, with which at least some of the aforementioned disadvantages can be reduced or avoided.

[0006] This object is achieved by a method according to claim 1, by an adhesive tape according to claim 11, by a use of an adhesive tape according to claim 14 and by a set according to claim 15.

[0007] The invention relates to a method for applying material to a work surface by means of a semi-automatic material application system comprising at least one material supply unit, a material application device, and a control device at least for the material application device. The material application device is designed to be movable, preferably self-propelled and / or self-adjusting. In the method, an information acquisition device, preferably a scanner, of the material application system acquires at least one piece of information relating to at least one criterion for a material application to be carried out. The at least one piece of information is and / or will be physically arranged (externally) on the work surface, in particular in the form of an adhesive tape. The adhesive tape is preferably applied or adhered to the work surface manually.

[0008] The semi-automatic material application system, in particular the material application device, is controlled using the at least one previously acquired piece of information such that material is applied to a target surface of the work surface as intended by means of the material application device, in particular in an automated process. Preferably, the material application device is controlled by the control device as a function of the at least one piece of information such that a target material application to the target surface takes place by means of the material application device, in particular to produce a target coating on the target surface. This means that at least one piece of information, preferably several pieces of information, are acquired by the semi-automatic material application system and can be incorporated into the control of the operation of the material application system, in particular the material application device, or are taken into account for control purposes.In other words, the control of the operation of the semi-automatic material application system, preferably the material application device, may be based at least in part on information that was previously physically arranged on the work surface and detected by the semi-automatic material application system itself.

[0009] Advantageously, the at least one piece of information that is physically arranged on the work surface can be used to control the operation of the semi-automatic material application system, hereinafter referred to as the material application system for short, (together with other control mechanisms), in particular the operation of the material application device as part of the material application system. The information can preferably be arranged manually on the work surface in question, e.g. by gluing it on. The term “physical” means that the information is realized in material form, in substance form and / or in objective form and is thus arranged on the work surface. Advantageously, by applying the physically embodied information to the work surface, a user can (co-)control the operation of the material application device or the entire material application system to a certain extent.In particular, a user can guide or direct the material application through the material application device by the way in which the information is applied. The user can give the control device specific instructions regarding a specific location on the work surface by positioning the information accordingly on the work surface. This advantageously results in particularly flexible and reliable operation of the material application system because, in particular, the operation of the material application device can be specifically adapted to a specific work surface and to the actual conditions on a construction site. In contrast to digital models, which represent a construction site at an earlier point in time, the method allows the operation of the material application device to be adapted to a current situation on a construction site, thus enabling a quasi-live adjustment of operation.Another advantage is that the control of the material application device or the entire material application system can be simplified, for example, compared to construction robots based on digital models, because the application of the adhesive tape to the work surface is part of the control process. This can increase user-friendliness and improve the acceptance of semi-automatic material application systems.

[0010] The invention further relates to an adhesive tape for use in a method for applying material to a work surface by means of a semi-automatic material application system, in particular for use in a method according to the invention. The adhesive tape provides at least one piece of information relating to at least one criterion of a material application to be performed, in particular when the adhesive tape is arranged on a work surface. The adhesive tape preferably comprises at least one piece of information, preferably two or more pieces of information, each relating to a criterion of a material application to be performed, preferably each defining a criterion.The at least one piece of information is provided by the adhesive tape in such a way that it can be captured by an information capture device of the semi-automatic material application system, wherein the semi-automatic material application system, in particular a material application device of the material application system, can be or is controlled using the information in such a way that material is applied to a target surface of the work surface, preferably in an automated process.

[0011] The invention further relates to a use of an adhesive tape, in particular an adhesive tape according to the invention, in a method for applying material to a work surface by means of a semi-automatic material application system, in particular in a method according to the invention, wherein the semi-automatic material application system, in particular a material application device of the material application system, can be or is controlled using at least one piece of information relating to at least one criterion of a material application to be carried out, which information is or is provided by means of the adhesive tape, in such a way that material is applied to a target surface of the work surface, preferably in an automated process.

[0012] The invention further relates to a set comprising an adhesive tape according to the invention and a semi-automatic material application system, which has a material supply unit, a material application device, and a control device at least for the material application device, wherein the material application device is designed to be movable, preferably self-propelled and / or self-adjusting. The semi-automatic material application system comprises an information acquisition device, preferably a scanner, whereby information relating to at least one criterion of a material application to be carried out, which is or is provided by the adhesive tape, can be acquired at least once. During operation, the information can be physically arranged in the form of the adhesive tape on the work surface.The semi-automatic material application system, in particular the material application device, is designed to be controlled using the information so that material is applied to a target area of ​​the work surface, preferably in an automated process. In particular, the semi-automatic material application system is designed to carry out a method according to the invention.

[0013] Advantageously, the adhesive tape, the use of the adhesive tape, and the set can achieve the corresponding benefits described in relation to the method for applying material.

[0014] The control device can be implemented in the form of a computer unit with suitable software. For this purpose, the computer unit can, for example, have one or more cooperating microprocessors or the like. In this respect, the object is also achieved by a corresponding computer program product with a computer program that can be loaded directly into a memory device of a computer unit, in particular a control device of a material application device of a semi-automatic material application system according to the invention, with program sections to carry out all steps of the method according to the invention when the program is executed in the computer unit or in the control device. Such a computer program product can, in addition to the computer program, optionally comprise additional components such as documentation and / or additional components, including hardware components such as hardware keys (dongles, etc.) for using the software.A computer-readable medium, for example a memory stick, a hard disk or another portable or permanently installed data carrier, on which the program sections of the computer program that can be read and executed by a computer unit, in particular the control device, are stored, can be used for transport to the computer unit or control device and / or for storage on or in the computer unit or control device.

[0015] Further, particularly advantageous embodiments and developments of the invention emerge from the dependent claims and the following description, wherein the claims of one claim category can also be developed analogously to the claims and description parts to form another claim category and, in particular, individual features of different embodiments or variants can be combined to form new embodiments or variants.

[0016] The semi-automatic material application system is designed to be "semi-automatic" in that the generation of a target coating requires the cooperation of a user of the material application system at least once. In particular, it can be provided that the user physically arranges at least one piece of information used to carry out a target material application on the work surface. Furthermore, it can be provided that an initial positioning of the material application device with respect to the work surface is carried out by a user. The material application system is designed to be "semi-automatic" in that a target material application can be carried out in an automated process after initiation by the user, in particular based on at least one piece of recorded information that is physically arranged on the work surface.An automated process is understood to mean that the process steps involved can be or are carried out as intended without direct manual human intervention (after initiating the automated process). The operations encompassed by the automated process are preferably controlled by the control device of the material application system. The control device can preferably be trained using machine learning algorithms based on training data to control the automated process.

[0017] The material application system comprises at least one material supply unit which is functionally connected to the material application device during operation. In principle, the material supply unit can be part of the material application device. However, it is preferred that the material supply unit is designed separately from the material application device and can be immobile during operation. Regardless of the specific embodiment, the material supply unit can be designed to supply the material application device with material during operation and / or to keep one material or different materials in stock. The material supply unit can be designed and / or controllable to set at least one of the following parameters in the material which is provided in the material application device: a type orThe nature of the material, a mixture of different (starting) materials, a material temperature, a material pressure, a viscosity, or a dilution of the material. Preferably, the adjustment of at least one parameter can be made depending on real-time data acquired before and / or during a material application. The material supply unit and, accordingly, the entire material application system can preferably operate according to the airless principle. The material supply unit is preferably designed to supply the material application device with electrical energy during operation.

[0018] The material application system is preferably designed to apply a fluid as a material to the work surface. This includes substances that continuously deform under the influence of shear forces. For example, liquids or pasty substances can be processed. Preferably, the material can be selected from paints, also called coatings or painting materials, which refer to liquid to paste-like and optionally powder-like substances or mixtures thereof, which, when applied to surfaces, result in a physically drying or chemically hardening coating, e.g. in the form of a coating. This preferably includes paints that are applied by spraying. A definition of a paint is also given in DIN 55945. Alternatively or additionally, joint compound, sealant, filler and similar materials can be applied to the work surface.The invention is described, without limitation, using a paint or a coating material as the material to be applied.

[0019] The material application system comprises a control device which is designed at least to control the operation of the material application device, in particular to carry out the method according to the invention and / or to produce a target coating by means of the material application device. A target coating is understood to mean that a target material is applied to a target surface. This can, for example, produce a specific material image or material pattern on the target surface. To produce a target coating, different materials can be applied to the same area several times in succession, e.g. in layers, whereby individual parts of the target surface can be exposed to different materials and / or different materials. The production of a target coating can preferably take place by spraying or spraying material.The target area is part of the work area, whereby the work area can extend beyond the target area and, for example, can include areas that border the target area.

[0020] It is preferred that the operation of the material supply unit can also be controlled by means of the (same) control device. The control device can preferably be designed as part of the material application device. It would also be possible for the material application system to have a plurality of partial control devices, e.g. in the material supply unit and in the material application device, which interact and together form the control device of the material application system. In principle, the material supply unit can also have a separate control device. It is preferred that a user can access the control device for controlling the material application system via a user interface, e.g. as part of the material application device, in particular in order to create, adapt and / or confirm control commands.Furthermore, the user can initiate, modify, and / or terminate the automated process and / or the method for applying material using the user interface. The method for applying material can be part of the automated process. The user interface can preferably include a control display interface.

[0021] The invention is described below by way of example using a possible embodiment of a semi-automatic material application system, wherein the invention is not limited to the described material application system, but can be implemented in different semi-automatic material application systems.

[0022] The material application device can have a movable base platform and a working unit with at least one material application head, which working unit extends in a longitudinal direction. The at least one material application head is preferably designed to be movable in the longitudinal direction along the working unit. Preferably, the material application head can be actively moved along the working unit by means of a controllable drive. The working unit can be arranged detachably on the base platform, in particular by means of a detachable or reversible coupling. This means that the working unit can be completely separated from the base platform and / or that the working unit can be reversibly arranged on the base platform (without the working unit). Preferably, the working unit is arranged on the base platform in an interchangeable manner, whereby the working unit can be replaced by another working unit.

[0023] The at least one material application head is preferably designed to apply a material to the work surface as intended during operation of the material application system, preferably in the form of a target material application. In particular, the material application head is designed and / or controllable such that the material application head is moved linearly along the work unit during material dispensing.

[0024] The material application head can be designed and / or controllable in such a way that it can be moved longitudinally along the working unit by means of a chain drive. The chain drive can be designed such that a maximum possible travel distance or travel length of the material application head along the chain, i.e., the distance along which the material application head can be moved during operation, automatically adapts or adjusts to a specific, preferably a modified, longitudinal extension of the working unit.

[0025] The material application device can in principle have two or more material application heads, which are then preferably separately controllable. Preferably, the material application device is designed and / or controllable such that the (respective) material application head is moved linearly along only a single axis along the working unit for applying material to the work surface. Preferably, the material application head is moved discontinuously along the working unit for material application. Preferably, the material application head is moved linearly along the working unit alternately in opposite directions for material application. Preferably, the material application can be carried out by guiding the material application head along at least one linear guideway of the working unit and actively moving it by means of a drive.

[0026] The material application device is preferably designed and / or controllable to move the material application head in a path-by-path manner, i.e., in the form of (imaginary) paths, along or across the work surface during operation. For this purpose, the material application head can be moved longitudinally along the work unit, in particular alternately in opposite directions. Preferably, the material application head is moved linearly along an (imaginary) path along the work surface during operation, creating a corresponding material path on the work surface.

[0027] Preferably, a path, in particular a material path, of the material application head can be defined by a width of the applied material and / or by a (potential or actual) spray width of a nozzle. A respective path preferably corresponds to a distance traversed by the material application head during operation in a prescribed direction, in particular relative to the work surface. Accordingly, a specific (elongated) part of the surface can be assigned to a respective path, which is represented by the path and / or which is processed by the material application head as it travels along the path.

[0028] Preferably, the base platform can temporarily stand still while the material application head is generating a web of material (material web) on the work surface. Preferably, the base platform is moved such that, after completion of a first material web, the material application head is moved relative to the work surface to generate a second material web adjacent to the first material web. Preferably, the material dispensing by the material application head can be temporarily interrupted while the base platform is repositioned. In principle, it is also possible for material dispensing to occur while the base platform is being moved. It is also possible for the same material web to be coated multiple times to generate a desired coating.

[0029] The working unit is preferably designed to be adjustable in size, preferably in an automated process, in order to set a specific longitudinal extent of the working unit along which the material application head is movable during operation. The working unit can preferably be rotated by an angle of at least 90°, preferably 180°, about a longitudinal axis of the working unit, preferably in an automated process. The longitudinal axis preferably runs parallel to the longitudinal extent of the working unit, wherein the longitudinal extent corresponds to the longest extent of the working unit in one direction. Alternatively or additionally, the working unit can be pivotally mounted in order to set a specific orientation or position of the longitudinal axis of the working unit in space, e.g., in relation to the base platform and / or the floor of a building. The pivoting of the working unit can be controlled by means of the control device.

[0030] The (respective) material application head can have at least one material dispensing unit for applying material to the work surface, preferably two or more separately controllable material dispensing units. The material dispensing units can be identical or different in construction. A respective material dispensing unit can have at least one single nozzle, optionally multiple nozzles, for dispensing material. It is also possible for a material dispensing unit to have at least one type of spray gun. Mixed forms are also possible.

[0031] The material application device, preferably the (respective) material application head, can have at least one information acquisition device, preferably a scanner, which is designed to acquire the at least one piece of information relating to at least one criterion of the material application to be carried out. The information acquisition device is preferably arranged in or on the material application head and can be moved together with it. The acquired information can be fed to the control device. The scanner can preferably be designed to be plane-parallel to the (respective) material dispensing unit. During operation, a detection range of the scanner (for information) preferably comprises at least one (current) spray area and / or spray position of the material application head on the work surface.Preferably, the scanner is designed such that the detection area is larger than a (current or potential) spray area, wherein, during operation, a region of the work surface that is located upstream of a (current or potential) spray area in the direction of movement can also be detected. Preferably, during operation, the scanner, in particular the detection area, has a certain lead in front of a current or potential spray position and / or spray area of ​​the material application head. The lead can be implemented in the method such that the operation of the material application device can be controlled as a function of detected information with respect to the part of the work surface on which the relevant information is arranged.

[0032] The at least one piece of information is preferably provided by means of an adhesive tape that is or will be arranged externally on the work surface. Preferably, the at least one piece of information can be provided by an adhesive tape or in the form of an adhesive tape. This means that the adhesive tape can comprise at least one piece of information that is readable or detectable by the scanner and can be processed by the control device, in particular for controlling the material application system taking the information into account. The information can preferably be provided in machine-readable form.

[0033] Preferably, the (same) adhesive tape can comprise and / or provide two or more pieces of information relating to two or more different criteria for a material application to be carried out. Accordingly, each piece of information can relate to a specific (different) criterion, in particular define a respective criterion (assuming evaluation by the control device). Preferably, the respective pieces of information can be acquired separately by the scanner and / or processed by the control device. Preferably, two or more pieces of information can be contained in the same barcode. In particular, depending on a reading direction by the scanner, at least two different pieces of information can be acquired from the (same) adhesive tape, in particular from the same barcode, and / or evaluated by the control device.For example, if the scanner's reading direction is perpendicular to the longitudinal extension of the adhesive tape, a first piece of information can be captured, while if the second reading direction is along the adhesive tape, a second, different piece of information can be captured from the same adhesive tape. Thus, the same barcode can provide different information for the process depending on whether the scanner's reading direction is along or across the longitudinal extension of the adhesive tape.

[0034] The respective information can be provided in the form of a segmentation of the adhesive tape. The adhesive tape can preferably be divided into two parts in a longitudinal direction or can be made up of multiple parts in the longitudinal direction. For example, a first part or a first segment can comprise a first piece of information relating to a first criterion, while a second, different part or a second segment can comprise a second piece of information relating to a second criterion. The two segments can, for example, be parallel to one another in the longitudinal direction of the adhesive tape.

[0035] Alternatively or additionally, the respective information can be provided in the form of a machine-readable barcode. The barcode can run lengthwise of the adhesive tape and / or transversely to a longitudinal direction or longitudinal extension of the adhesive tape. It is also possible for the barcode to be intermittent, so that certain areas of the adhesive tape do not have a barcode. Preferably, the same barcode can be implemented multiple times in succession in the longitudinal direction on or in the adhesive tape in order to provide at least one piece of information. For this purpose, the adhesive tape can contain a sequence of barcodes. As mentioned, it is possible for the same barcode to provide multiple pieces of information relating to two or more criteria. It is also possible for two different barcodes to be implemented alternately on or in the adhesive tape, with each barcode providing at least one (different) piece of information, optionally each multiple pieces of information relating to two or more criteria.

[0036] Alternatively or additionally, the respective information can be provided in the form of a machine-readable QR code. In principle, the information can be provided using a two-dimensional or three-dimensional machine-readable code on or in the adhesive tape.

[0037] Alternatively or additionally, the respective information can be provided by means of or in the form of a specific color of the adhesive tape and / or in the form of a specific color of a self-luminous adhesive tape. For example, different information can be provided by different colors of an adhesive tape. It is possible for the same adhesive tape to have areas with different colors, with each color representing a specific piece of information.

[0038] Alternatively or additionally, the respective information can be provided by means of or in the form of a reflective adhesive tape and / or in the form of an electrically conductive adhesive tape and / or in the form of a magnetic adhesive tape. For the sake of completeness, it should be noted that mixed forms of the described adhesive tapes are also possible. For example, the same adhesive tape can comprise one or more barcodes and can additionally have areas with different colors and can optionally have magnetic sections. Furthermore, two or more different adhesive tapes can be used in the method for applying material (material application method), each to provide at least one specific piece of information at a specific (different) position on the work surface. It is also possible to arrange the same adhesive tape with the same information on two or more separate areas of the work surface.

[0039] The (respective) adhesive tape can be arranged on the work surface in the material application process in such a way that the adhesive tape marks a material-free area of ​​the work surface for the material application system. This means that the material application system can recognize a material-free area based on the adhesive tape, in particular based on the at least one piece of information included and / or based on the positioning of the adhesive tape on the work surface, wherein the material application device is controlled in such a way that no material is applied to this area during operation. This can preferably be done in an automated process. The material-free area can be part of the work surface. However, the material-free area is not part of the target surface. Applying the adhesive tape to the work surface is preferably part of the material application process.The adhesive tape can be applied prior to material application and / or during ongoing operation. Optionally, the adhesive tape can be applied by someone other than the user of the material application system.

[0040] In the material application process, the (respective) adhesive tape can be arranged along at least two opposite sides of a material-free area on the work surface. Preferably, the adhesive tape can be arranged along the entire length of two opposite sides of a material-free area, wherein the two sides are substantially transverse to a direction of movement of the material application head relative to the work surface.

[0041] The (respective) adhesive tape can be arranged on the work surface in the material application process in such a way that a material-free area of ​​the work surface is bordered on all sides by the adhesive tape, i.e. along each side that the material-free area has with respect to the work surface. In particular, the material-free area can be completely enclosed on the outside by adhesive tape. The adhesive tape can be arranged on the work surface in such a way that a self-contained structure of adhesive tape is created on the work surface, with the material-free area lying inside the adhesive tape. A material-free area of ​​a work surface can, for example, be selected from a (building) door, a window, radiators, attachments to walls, ceilings or floors, e.g. switches, sockets, lamps and the like. It is possible for a material-free area to be defined by different adhesive tapes.

[0042] As described, the (respective) adhesive tape preferably provides at least one piece of information that can be taken into account when controlling the operation of the material application device. Accordingly, in the material application method, the material application device can be controlled depending on the information provided by the adhesive tape such that, during operation, the (respective) material-free area is excluded from material application. Accordingly, the adhesive tape can provide a geometry and / or a spatial position of a material-free area relative to the work surface (as a criterion).

[0043] Alternatively, and preferably additionally, in the material application process, an adhesive tape can be arranged along at least one, e.g. entire, side of the target surface on the work surface. Preferably, the target surface can be bordered on all sides by adhesive tape. Accordingly, an outer outline of the target surface can be defined by the adhesive tape. Preferably, a target coating of a target surface defined in this way can be produced in an automated process. This makes it possible to demarcate the target surface that is to be coated during operation from the work surface. This can be desired, for example, if only part of a work surface is to be processed initially, e.g. because other parts of the same work surface are not yet accessible.

[0044] Advantageously, the use of an adhesive tape in the material application process allows for particularly accurate material application because the precise positioning of the adhesive tape on the work surface can be carried out by a specialist, e.g. a painter. Advantageously, the specialist can, based on their expertise, evaluate and estimate the material application to be carried out in advance on a case-by-case basis and can use this as a basis for specifically positioning the adhesive tape. In particular, a specialist can particularly well estimate which areas of a work surface should and should not be coated, and where exactly an adhesive tape should be placed (to demarcate a material-free area). For example, on an outdoor construction site, the adhesive tape could be placed at a certain distance from a material-free area in order to prevent unwanted transport of material into the material-free area by wind.This means that professional experience and personal assessment of a specific task can be incorporated into the control of the material application device. Both factors can have a significant impact on the accuracy and thus the visual result of a material application, although these human factors are not taken into account, at least not in individual cases, with construction robots that are based purely on digital models. Because the specialist can individually assess the specifics of each material application, the material application process is also particularly flexible. By combining the human factors, which can influence the material application process through the positioning of the adhesive tape, with the scanner and control device, practical and reliable control of the material application system can be provided.

[0045] It is common practice on construction sites for certain areas to be covered with adhesive tape to keep them free of material. Advantageously, the material application process can be carried out in a time-saving manner because the masking of certain areas is already planned and therefore no additional effort is required. In this special process, the operation of the material application system can be (co-)controlled by the masking. It is preferred that the adhesive tape is a masking tape. The adhesive tape can preferably be a conventional masking tape that includes at least one piece of machine-readable information. The masking tape can also be referred to as masking tape. The masking tape preferably corresponds to known masking tapes in terms of width, length, material thickness and adhesive properties.

[0046] The material application method can provide for the (relevant) information to be acquired and processed before the start of material application to the target surface and / or during material application to the target surface. Preferably, the (relevant) information is acquired several times consecutively and / or continuously during operation and processed by the control device.

[0047] The material application process is preferably carried out such that the scanner, during operation, permanently or continuously detects (scans) an area of ​​the work surface that is located upstream of a current or potential spray position of the material application head relative to a current direction of movement of the material application head. This can be the case both during material dispensing and during a temporary interruption of material dispensing. Advantageously, this can generate a certain amount of lead time, which can be used by the control device to control the operation of the material application device accordingly.

[0048] The material application process is preferably carried out in such a way that the material application is temporarily interrupted at least once following the use of the at least one piece of information and then resumed to generate the target coating. This means that the information provided by the adhesive tape is preferably not a (final) termination criterion for the material application.

[0049] The at least one piece of information provided by means of the adhesive tape can relate to, in particular define, at least one of the criteria described below. The method for applying material is preferably carried out such that the respective criterion is adhered to and / or achieved in the method. It is again pointed out that two or more pieces of information, each determining a different criterion, can be taken into account in the material application method. It is also possible for the same adhesive tape to define different criteria depending on the operating situation of the material application device. This is described below. Preferably, in the material application method, a (respective) piece of information is detected by the scanner, wherein the information is evaluated by means of the control device in order to obtain an associated criterion (which is defined by the information).The control device can control the material application system in such a way that the (respective) criterion is taken into account in the material application process or in such a way that the material application process is carried out depending on the (respective) criterion.

[0050] A criterion can preferably be the beginning of a material-free area, e.g., with respect to a material web and / or the entire work surface. Accordingly, the material application system can be controlled based on the criterion such that no material is (temporarily) applied in an area adjacent to the adhesive tape in the direction of movement of the material application head. Accordingly, the provided information can contain an instruction to (temporarily) terminate a spraying operation of the material application head as a criterion for material application (in coded form). This instruction can be processed by the control device and taken into account in the material application process.

[0051] A criterion can be the end of a material-free area, e.g., in relation to a material web and / or the entire work surface. Accordingly, the material application system can be controlled based on the criterion so that material is applied to the work surface in an area adjacent to the adhesive tape in the direction of movement of the material application head. Accordingly, the information provided can contain an instruction to (temporarily) initiate spraying of the material application head as a criterion for material application (in coded form). This instruction can be processed by the control device and taken into account in the material application process.

[0052] In the material application method, it is particularly possible for an adhesive tape to comprise information which, when first detected by the scanner, results in the material application being (temporarily) interrupted. For this purpose, the material application head can be moved inactively (without dispensing material) linearly along a path, optionally along several adjacent paths, relative to the work surface. A subsequent second detection of the same adhesive tape (with the same information) by the scanner can result in the material application being resumed. Accordingly, the(n) same adhesive tape can define different criteria depending on the operating state of the material application device. Advantageously, this allows effective control of the operation of the material application device to be achieved with just one adhesive tape in order to keep areas free of material.

[0053] A criterion can be a geometry and / or a spatial position of a material-free area relative to the work surface, in particular with respect to a (respective) material web. Preferably, information can be provided by the adhesive tape in such a way that, after detecting the information, the control device can determine the direction in which a material-free area adjoins and / or the direction in which an area to be coated adjoins (in each case based on the position of the information on the work surface).

[0054] A criterion can be a spatial position of the work surface and / or the target surface in a room. Alternatively or additionally, a criterion can be a geometry and / or a spatial position of the target surface relative to the work surface. Alternatively or additionally, a criterion can be a material properties, a pressure and / or a layer thickness of material that is to be applied to a specific area of ​​the target surface. Alternatively or additionally, a criterion can be a frequency of material application to a specific area of ​​the target surface, e.g., material application to a specific material web. Advantageously, the adhesive tape can be used to mark particularly sensitive areas of a work surface for the material application device, e.g., areas surrounding windows, whereby the material application device can be controlled differently in this area, e.g., with regard to the material pressure, in order to achieve a particularly good result.In this way, too, the specialist can significantly improve the result of the material application by using his or her expertise.

[0055] Alternatively or additionally, a criterion can be a post-treatment, preferably a processing, of a material that was previously applied to the work surface by means of the material application head. For example, the material application device can comprise a material processing unit for contact-applying processing of the work surface, in particular a rotatable roller or cylinder for rolling a material application onto the work surface. The material processing unit, in particular the roller, can be moved (purely) passively across the work surface and / or can have a controllable active drive.

[0056] In the material application method, it can be provided that the control device uses the (respective) information to create a process sequence for carrying out the material application, wherein at least one of the subsequent process parameters is determined and wherein the relevant process parameter is taken into account for controlling the operation of the material application device. Preferably, the process sequence can be created before the start of the material application, wherein a change to the process sequence occurs during ongoing operation depending on the at least one piece of information.

[0057] A process parameter can be a position of the material application device in relation to the work surface, e.g., a current position during material application. Alternatively or additionally, a process parameter can be a starting point and / or an end point of a movement of the material application device along the work surface for material application, in particular for generating a target coating. Alternatively or additionally, a process parameter can be a repositioning of the material application device to reach a specific starting point of a movement of the material application device along the work surface for material application. Advantageously, this makes it possible to coat adjacent material webs with a desired overlap. This can save time and material, and improve the efficiency of the material application system.

[0058] Alternatively or additionally, a process parameter can be a path and / or a sequence for applying material to the target surface, taking into account at least one material-free region. Preferably, a path can include the material application head being moved across the work surface in strips, whereby adjacent material strips are generated and whereby adjacent material strips are coated one after the other. Preferably, a path can include at least one material strip comprising a material-free region. It is possible for only a specific (longitudinal) section of a material strip to remain free of material. In principle, a material strip or a strip could also remain free of material along its entire length.

[0059] Preferably, a (material) spray path can be determined and / or changed during ongoing operation, in particular in real time, depending on at least one (immediately) previously acquired piece of information. Preferably, the material application device can be controlled based on the most recently determined or updated spray path. It is also possible for a current material application direction and / or a future material application direction by the material application head, e.g. a spray direction (as a process parameter), to be determined and / or changed during ongoing operation depending on at least one (immediately) previously acquired piece of information. Alternatively or additionally, a process parameter can be a direction of movement of the material application device along the work surface and / or the target surface for material application.

[0060] A material application method using a process sequence is described below by way of example. The invention is not limited thereto and, in particular, not all of the described steps need to be implemented or other steps can be provided. Initial positioning of the material application device is preferably carried out by a user, e.g., a specialist. For example, the material application device can be steered and operated via a guide bar of the material application device and moved by means of a drive into the desired starting position or to a starting point of the material application. It is also possible for a user to push the material application device into the starting position, i.e., without an active drive.Alternatively or additionally, it would be possible for the control device to be configured to control the material application device such that it assumes a starting position for the material application in an automated process. This eliminates the need for initial positioning by the user. Preferably, as part of the initial positioning, the material application device can be moved to a starting point or position at a defined distance from the work surface and / or at a defined spatial position relative to the work surface.

[0061] The control device is preferably programmed such that, for material application, the material application head is moved linearly along the longitudinal extent of the working unit, creating a possibly discontinuous material web on the work surface. For this purpose, the material application head can be moved between a starting point and an end point. A starting point can be at a lower end of the working unit and an end point at an opposite upper end of the working unit, and vice versa. The longitudinal extent of the working unit can be adapted to the work surface, e.g., to a room height. The material application head can preferably have sensors in order to maintain a specific distance from building parts that border the work surface during operation.For example, to coat a wall, the longitudinal extension of the working unit can be adapted to the height of the room so that the material application head can be moved vertically while leaving a certain amount of free space between the material application head and the ceiling or floor of the building.

[0062] During movement of the material application head, the material application device is preferably stationary with respect to the work surface. The material application head can be moved once or multiple times along the same material web. After completion of a (first) material web, the material dispensing by the material application head can be temporarily paused. To generate the (first) material web, the material application device is preferably located at the starting point or in the starting position. The material application device can be moved automatically along the work surface while maintaining a constant distance (as part of the automated process). It can be provided that the distance remains constant within a tolerance range during movement. The tolerance range can, for example, be a deviation of a maximum of 2 cm, preferably a maximum of 3 cm, compared to a target value.For this purpose, the material application device can be self-propelled and controllable by the control device. For example, the material application device can have several separately controllable electric motors, e.g., servo motors, each of which is assigned to a ground-mounted drive wheel of the material application device.

[0063] Preferably, the base platform is moved such that the material application head can produce a further (second) material web that borders on the previous (first) material web. Preferably, the method can produce a specific overlap between two adjacent material webs. For material application, the material application head can again be moved linearly between a start position and an end position. Preferably, a direction of movement of the material application head can be opposite to a direction of movement of the previous material web. Material application can preferably be resumed automatically, i.e., in the automated process, after repositioning the base platform.The described sequence of coating the work surface web by web and alternately repositioning the base platform can be continued until the scanner of the material application device detects at least one piece of information that is physically located on the work surface. This means that the information can be assigned to a specific material web or web.

[0064] The (respective) information can relate exclusively to a specific material web on which the information is arranged, or it can also relate to a material web or web to be subsequently coated. It is possible for a piece of information to relate only to a specific section of a material web or web. In particular, it is possible for a piece of information to apply only to a defined part of the width of a material web or web. Accordingly, the information can relate only to a segment of a material web that runs along the material web.

[0065] For example, on a specific (third) material web, an adhesive tape can be arranged orthogonally to the direction of movement of the material application head, i.e., transversely to a longitudinal extent of the material web. The adhesive tape can include the information that a material-free area is provided in the region beyond the adhesive tape, i.e., immediately adjacent to the adhesive tape in relation to the direction of movement. Accordingly, the control device would control the material application apparatus such that the material application is temporarily paused after the adhesive tape has been completely passed. The material application head can then be moved inactively, i.e., without dispensing material, along the work surface. Preferably, a further adhesive tape with further information can be arranged on the same (third) material web or track.Preferably, after detecting this additional information, in particular after the adhesive tape has passed through the material application head, the material dispensing on the same material web can be resumed until a predetermined end position of the material application head is reached with respect to this (third) material web. The base platform can then be repositioned to align the material application head for coating a further (fourth) material web. Preferably, the material dispensing on this new material web can start automatically after the repositioning has taken place.

[0066] During the movement of the material application head along this further fourth material web, the material dispensing can be temporarily paused as a result of the detection of a first piece of information and then resumed after the detection of a second piece of information until the material application head has reached a predetermined end position with respect to this (fourth) material web. The base platform can then be repositioned again for coating an adjacent further (fifth) material web. Preferably, adjacent material webs can be coated in opposite directions. This procedure can be repeated several times until the entire target area is coated with material. Preferably, the control device can detect that a certain end point of the movement along the work surface has been reached. This can, for example,This may be the case if a certain minimum distance (parallel to a direction of movement of the base platform) is not met between the base platform and a wall of the building.

[0067] Alternatively or additionally, it would also be possible for the material application head to be moved inactively after the temporary interruption of material delivery until it reaches a designated end position, after which the base platform is repositioned for coating a subsequent material web. The material application head can then continue to move inactively along the new material web or path until the scanner detects new information, e.g., contradictory information.

[0068] In a typical material-free area, e.g., a window in a building wall, the material-free area may be bounded on all sides by adhesive tape. Preferably, the information provided may not only identify the beginning and end of the material-free area with respect to a specific material web or track, but also its position with respect to the direction of movement of the material application head, in particular with respect to the spraying direction. For example, the adhesive tape may contain a barcode, whereby the control device may determine, with respect to the respective material web or track, whether the material application head is approaching the beginning or end of a material-free area.Alternatively or additionally, the control device can determine whether a current or potential spray position of the material application head is approaching a lateral edge of the material-free area, wherein the lateral edge runs parallel to the longitudinal extension of a material web. Alternatively or additionally, the control device can determine whether a current or potential spray position of the material application head is located inside or outside the material-free area.

[0069] In the material application method, it can be provided that at least one process parameter is displayed to a user of the material application system before the start of the material application and / or during the material application. Accordingly, the adhesive tape can provide instructions for requesting user input in real time. For example, the adhesive tape can comprise information such that a user is prompted, e.g. by means of a pop-up window on the user interface, to confirm a spray direction or to confirm the start or end of a material-free area. Preferably, the process sequence is only started or continued after approval by the user or a change to the process sequence by the user. Preferably, a user of the material application system can access the control device via the user interface and can in particular change, start, pause or end the material application method.The steps described above, as long as they do not concern the application of the adhesive tape, can be controlled by the control device in an automated process.

[0070] In the material application method, it can be provided that the environment of the material application device is continuously detected and / or monitored by means of at least one safety scanner. Preferably, the control device can determine different danger levels based on the scan area. If, for example, movement and / or an object is detected within a range of two meters from the scanner, an (alarm) message can be generated for the operator by means of the control device. If (unknown) movement or an object is detected within one meter of the scanner, the material application can be temporarily paused, wherein the material application can be resumed with approval from the operator. Preferably, a pop-up window can be generated on the display by means of the control device so that the operator can check for possible dangerous situations and, if necessary,After the hazard has been eliminated, the material application can be continued. If an object or movement is detected within a range of less than 50 centimeters around the scanner, the material application device can be shut down or the material application process can be aborted (without prior interaction with the operator).

[0071] The invention is explained in more detail below with reference to the accompanying figures using exemplary embodiments. In the various figures, identical components are provided with identical reference numerals. The figures are generally not to scale. They show: Fig. 1 is a schematic view of a material application system for carrying out a method according to the invention, Fig. 2 a schematic view of parts of the material application system from Fig. 1, Fig. 3 a schematic view of a part of a material application device of a material application system for carrying out a method according to the invention, Fig. 4 a schematic view of a material application system during the implementation of a method according to the invention, Fig. 5 and Fig. 6 schematic views of adhesive tapes according to the invention.

[0072] Fig. Figure 1 shows a schematic view of a semi-automatic material application system 1 designed to carry out a method according to the invention. The semi-automatic material application system 1 comprises a material supply unit 2 and a movable material application device 3. Fig. 1, some details of the semi-automatic material application system 1 are not shown, e.g. supply lines 49 for a material application head 41 ( Fig. 3). The material supply unit 2 is immobile during operation of the material application system 1 and is connected to the material application device 3 via hoses 20 or cables 20. The material supply unit 2 is designed, among other things, to supply the material application device 3 with material and electrical energy via the hoses 20 or cables 20 during operation in order to apply material to a work surface.

[0073] The material application device 3 comprises Fig. 1 shows, by way of example, a movable base platform 30 and an elongated working unit 40 detachably arranged thereon. The movable base platform 30 has, in this example, two driven wheels, each of which is assigned a separate drive motor 35, 35' (see also Fig. 2), e.g. an electric motor each, so that the two wheels can be controlled or driven individually. The two front wheels here, which point towards the working unit 40, are not driven in this example. The movable base platform 30 forms a housing, in the interior of which, among other things, a compressor 33 for opening and closing a nozzle or a spray gun of the material application head 41 and batteries 34 as a backup power source in order to be able to safely shut down the material application device 3 in the event of a power failure or malfunctions in the power supply, as well as other components not shown in detail, which are required for the material application, are housed. The movable base platform 30 can, unlike in Fig. 1 shown, be closed off from the environment and accordingly comprise a predominantly closed housing (see e.g. Fig. 4).

[0074] The movable base platform 30 has Fig. 1 on the left a handlebar with control elements 31 arranged thereon. For example, a user of the material application device 3 can steer the movable base platform 30 via the handlebar and the control elements 31 and control the driving operation, e.g., to move the material application device 3 to a specific location, e.g., to a starting point for a material application, or to move it between two locations. A display 32 is also arranged in the area of ​​the handlebar (in Fig. 1 not shown in detail), which forms a user interface via which a user can access a control device 4 of the material application system 1. In this example, the control device 4 is designed as part of the material application device 3.

[0075] In the right-hand area, the movable base platform 30 has a working unit 40, which Fig. 1 is shown without an outer housing for the sake of clarity. The working unit 40 has an elongated shape and extends lengthwise in a longitudinal direction LR. A longitudinal extension LE of the working unit 40 corresponds to the longest extension of the working unit 40 in one direction (in the longitudinal direction LR), here in the vertical direction. A longitudinal axis x of the working unit 40 runs parallel to the longitudinal direction LR. The working unit 40 has a material application head 41 which can be moved in the longitudinal direction LR along the working unit 40. In the example shown here, the working unit 40 has a chain drive 50 to move the material application head 41. The chain drive 50 can, for example, have, among other things, two gear wheels and an electric motor (both not shown), which are arranged on the material application head 41.Each gearwheel can be in engagement with a chain 52, so that the material application head 41 can be actively moved by a movement of the gearwheels along the chains 52 in the longitudinal direction LR.

[0076] To navigate the material application device 3 in space, the material application device 3 has various sensors, the signals of which are forwarded to the control device 4 and processed there. For example, the working unit 40 has an ultrasonic sensor 45 at its end, e.g., to determine the distance between the upper end of the working unit 40 and a ceiling of a building. The working unit 40 has an upper distance sensor 45' ( Fig. 2) and a lower distance sensor 45'' on ( Fig. 1), which are moved together with the material application head 41 in the longitudinal direction LR. These two sensors 45', 45'' are signal-connected to the control device 4 and are intended to determine a distance between the material application head 41 and, for example, a floor or ceiling of a building during operation. The sensor 45'' can be used, for example, to determine a distance between a nozzle or spray gun of the material application head 41 and a work surface during operation.

[0077] The material application device 3 further comprises a front laser sensor 45''' on the working unit 40 ( Fig. 1) and a rear laser sensor 36 ( Fig. 2) on the base platform 30, the data of which is taken into account by the control device 4 to control the movement of the base platform 30 in space, e.g., to move the movable base platform 30 along a work surface in an automated process. The movable base platform 30 also has a safety scanner 37 to detect movements and / or objects within a range of, e.g., two meters from the safety scanner 37. In the event of a movement or an object within one meter, a warning message can be generated and displayed to a user via the display 32.

[0078] In Fig. 1, the base platform 30 has a first drive 38, e.g., a linear drive 38, wherein the working unit 40 has a second drive 48, e.g., a second linear drive 48, each of which is controllable by the control device 4. The first linear drive 38 can be controlled in this way and is designed to rotate the working unit 40 by a specific angle about the longitudinal axis x. This is shown by a synopsis of Fig. 1 and Fig. 2, wherein the working unit 40 and in particular the material application head 41 starting from Fig. 1 is rotated by an angle of approximately 90° (relative to the longitudinal axis x) in Fig. 2. The second linear drive 48 can be controlled in this way and is designed to change or adjust the longitudinal extent LE of the working unit 40.

[0079] Fig. 2 shows a schematic view of parts of the material application system 1 from Fig. 1, wherein the material supply unit 2 is not shown here. The material application device 3 is, in contrast to Fig. 1 from a different perspective, wherein the working unit 40 was rotated by an angle of approximately 90° around the longitudinal axis x.

[0080] Fig. Figure 3 schematically shows part of a material application device 3 of a material application system for carrying out a method according to the invention. Fig. 3 shows a detailed view of a material application head 41 having a nozzle 42 as a material dispensing unit at its end. A nozzle opening of the nozzle 42, not shown in detail, has a specific distance a from a working surface 5 or from a target surface 6, wherein the distance a is preferably kept constant during operation. The nozzle 42 is connected here, for example, to a supply line 49, which is guided externally along a housing of the working unit 40 by means of a drag chain 49', wherein the supply line 49 is connected at its end to the base platform 30, e.g., by means of a coupling point 43 ( Fig. 4). The supply line 49 is in Fig. 3 is shown purely schematically, since preferably several separate supply lines 49 are provided in order to supply the nozzle 42 and the material application head 41 with material and electrical energy during operation, for example.

[0081] The material application head 41 has Fig. 3 has an information acquisition device 44, here a scanner 44, which is arranged plane-parallel to the nozzle 42 on the material application head 41. The scanner 44 is designed to acquire information that is physically arranged on the work surface 5, wherein the information is transmitted to the control device 4 ( Fig. 1) are transmitted and using the information the material order system can be controlled for the material order.

[0082] In Fig. 3, the scanner 44 and the nozzle 42 are connected via a narrow web, e.g. made of metal, to another part of the material application head 41, which is arranged within the casing of the working unit 40 and is therefore not visible here. Depending on the embodiment, it is possible, for example, for the nozzle 42 to be detachably arranged on the material application head 41 and to be separated from other parts of the material application head 41, e.g. for replacement. The part of the material application head 41 located in the working unit 40 comprises, among other things, two gears and an electric motor for moving the material application head 41 in the longitudinal direction LR during operation.

[0083] In Fig. 4 schematically shows a material application system 1 during the implementation of a method for applying material (material application method) according to the invention. In the example shown here, a wall in a building is sprayed with paint as material M by means of the material application device 3. The material application method can begin with a user carrying out an initial positioning of the material application device 3, e.g., by moving the material application device 3 to a starting point SP. Starting from the starting point SP, the material application device 3 can be controlled in an automated process by means of the control device such that the material application head 41 is moved linearly in the longitudinal direction LR along the working unit 40 in order to apply material M in the form of adjacent material webs onto the work surface 5 or onto the target surface 6. In the example in Fig. 4, the working surface 5 or the target surface 6 is already coated in the left part, whereby a current position PS of the material application device 3 is between the starting point SP and an end point EP of the material application process.

[0084] The material application process is described in more detail below, starting from the current position PS of the material application device 3. In the automated process, the material application head 41 is moved linearly along a path between a start position and an end position in a (first) direction to apply material M in the form of a material web B1 to the target surface 6. The material web B1, as well as the other material webs, are symbolized by arrows. To generate the material web B1, the material application head 41 is moved vertically from top to bottom. Fig. 4 shows a spray area 42' or a spray position 42' of the material application head 41, which essentially corresponds to a width of the material web B1. Furthermore, jets 44' or a detection area 44' of the scanner 44 are symbolized, which detection area 44' covers the spray area 42' and also detects further areas of the work surface 5. The scanner 44 is designed such that, with reference to a direction of movement of the material application head 41 during operation, an area of ​​the work surface 5 which is upstream of the spray area 42' is also detected. The scanner 44 is designed here such that the detection area 44' is wider than a respective material web or than the corresponding web, i.e. areas of the work surface 5 which are laterally adjacent to the respective material web or web are also covered.This makes it possible for the scanner 44 to detect an adhesive tape 7 with information I during the production of the material web B1, which adhesive tape lies outside the material web B1 and is only relevant for the spraying operation with regard to a subsequent material web B2. The material application system 1 can recognize, depending on the information I, that the material application device 3 is approaching a material-free area 8. The information I can preferably be provided such that the control device can determine the direction in which the material-free area 8 is located with respect to the direction of movement of the material application head 41, ie a position of the material-free area 8 can be determined (as a criterion of the material application method). For this purpose, the adhesive tape 7 can comprise a barcode, as can be seen from FIG. Fig. 5 and Fig. 6. Since in this example the information I lies outside the spraying area 42' of the material web B1 and is therefore not directly relevant for the generation of the material web B1, the spraying operation on the material web B1 continues without interruption.

[0085] The adhesive tape 7 can be applied manually to the work surface 5 before the material application begins. The adhesive tape 7 frames a window 8 as a material-free area 8. The adhesive tape 7 is in Fig. 4 are arranged along two opposite sides 9, 9' of the material-free area 8. The area of ​​the work surface 5 to which the adhesive tape 7 is adhered is not sprayed in the material application process, so that this area of ​​the work surface 5 is not part of the target area 6. The adhesive tape 7, together with the material application system 1, forms a set 10.

[0086] To produce the material web B1, the material application head 41 is moved, for example, in the direction of the floor until a certain permissible minimum distance between the material application head 41 and the floor is reached, wherein the material application head 41 has corresponding sensors 45', 45'' ( Fig. 1 and Fig. 2). This can be the case, for example, if the material application head 41, in particular a nozzle, is in a position P1 relative to the working surface 5. After completion of the material web B1, the spraying operation is temporarily stopped in the automated process, wherein the material application device 3 is moved from the current position PS in a direction R parallel to the working surface 5. In this case, a distance a' between the working unit 40 and the target surface 5 and a distance a between an outlet opening of the nozzle 42 and the working surface 5 ( Fig. 3) remain essentially constant. As a result, the material application head 41 is moved laterally relative to the work surface 5, which is symbolized by the horizontal arrow starting from position P1. The material application device 3 is moved such that the material application head 41, in particular a nozzle, is moved to a position P2, after which the movement of the material application device 3 is temporarily stopped.

[0087] In the automated process, the material application head 41 is moved linearly from position P2 (as the starting position of the material web B2) in an opposite (second) direction to apply material M in the form of another material web B2 to the target surface 6, with the spraying operation being resumed at position P2. To generate the material web B2, the material application head 41 is moved vertically from bottom to top along a path until a position P5 is reached, which is an end position of the material web B2. The material application process can be carried out such that the two material webs B1 and B2 overlap.

[0088] As a result of the linear (upward) movement of the material application head 41, the scanner 44 detects a horizontal adhesive tape 7 at a position P3 before the spraying area 42' reaches the same position P3. The adhesive tape 7 can provide information I at position P3 concerning the beginning of a material-free area 8 with respect to this material web B2 (as a criterion for material application). The information I can be processed by the control device so that, starting at position P3, the spraying operation is temporarily interrupted. The material application head 41 is moved inactively and preferably without interruption vertically on the material web B2 or the corresponding web until the scanner 44 detects a horizontal adhesive tape 7 with information I at position P4.The adhesive tape 7 can provide information I at position P4 concerning the end of a material-free area 8 with respect to this material web B2 (as a criterion for material application). The information I can be processed by the control device so that the spraying operation is resumed starting from position P4. The material application head 41 is actively and preferably continuously moved vertically on the material web B2 until a position P5 is reached (as the end position of this material web B2). Upon reaching position P5, the spraying operation is temporarily interrupted.

[0089] After completion of the material web B2, the material application device 3 is moved in the direction R parallel to the work surface 5 in the automated process, so that the material application head 41 is moved laterally here and brought to a position P6, which is symbolized here by a horizontal arrow. As soon as the material application head 41, in particular the nozzle, is arranged in position P6, the base platform 30 temporarily stops. Starting from position P6, the material application head 41 is moved linearly along a path (downward) in the automated process in order to apply material M in the form of another material web B3 to the target surface 6, wherein the spraying operation is resumed in position P6. As a result of the linear (downward) movement of the material application head 41, the scanner 44 detects a horizontal adhesive tape 7 at a position P7 before the spray area 42' reaches the same position P7.The adhesive tape 7 can provide, at position P7, information I relating to the beginning of a material-free region 8 with respect to this material web B3 (as a criterion for material application). The information I can be processed by the control device so that, starting at position P7, the spraying operation is temporarily interrupted. The material application head 41 is moved inactively and preferably without interruption vertically on the material web B3 or the corresponding web until the scanner 44 detects a horizontal adhesive tape 7 with information I at position P8. The adhesive tape 7 can provide, at position P8, information I relating to the end of a material-free region 8 with respect to this material web B3 (as a criterion for material application). The information I can be processed by the control device so that, starting at position P8, the spraying operation is resumed.The material application head 41 is actively and preferably continuously moved vertically along the material web B3 until a position P9 is reached (as an end position of this material web B3). Upon reaching position P9, the spraying operation is temporarily interrupted.

[0090] The procedure described above can be repeated until the entire target surface 6 is coated with material M, e.g., until the material application device 3 has reached the end position EP. Preferably, the control device continuously determines a current path PF of the material application during operation, taking into account information I arranged on the relevant material webs B1-B3. The path PF can therefore be continuously updated during operation and can involve the target surface 6 being processed web by web, with some material webs B1-B3 comprising material-free sections, and other material webs B4 being coated with material M along their entire length. If the scanner 44 does not detect any information on a material web, the material application head 41 is moved in spraying mode between a predetermined start position and an end position of the relevant material web in order to apply material to the entire web.

[0091] Preferably, one and the same adhesive tape 7 can be used to mark the entire material-free area 8. Preferably, the control device 4 ( Fig. 1) programmed so that, depending on the operating situation of the material application device 3, different processes in the material application method are triggered by the same adhesive tape 7. For example, on material web B2, the material application head 41 is initially active until it reaches the adhesive tape 7, wherein, as a result of the detection of information I, the spraying operation at position P3 is stopped. On material web B3, the material application head 41 is initially inactive until it reaches the adhesive tape 7 at position P8, wherein, as a result of the detection of information I, which is provided by the same adhesive tape 7 as at position P3, the spraying operation at position P8 is resumed. Because the same adhesive tape 7 can be used on all sides 9, 9' of the window 8, the masking can be carried out in a particularly time-saving manner.

[0092] In Fig. 5 shows schematically and by way of example a part of an adhesive tape 7 according to the invention. The adhesive tape 7 can, for example, be a masking tape and can preferably be provided on a roll. The adhesive tape 7 comprises a first barcode BC, which is printed several times on the adhesive tape 7, alternating with a second barcode BC'. The barcodes BC, BC' differ from one another in this example in the orientation of the bars. For each barcode BC, the bars are aligned parallel to a longitudinal extent of the adhesive tape 7, and for each barcode BC', they are aligned transversely to the longitudinal extent. The two barcodes BC, BC' are identical apart from the orientation of the respective bars. However, depending on the specific positioning of the adhesive tape 7 on the work surface 5, different information I can be recorded.

[0093] In Fig. 6 shows schematically and by way of example a part of an adhesive tape 7 according to the invention, e.g. the adhesive tape of Fig. 5. The adhesive tape 7 is used to define a material-free area 8 on the outside, whereby the material-free area 8, unlike in Fig. 6, is preferably completely surrounded by adhesive tape 7. The adhesive tape 7 can preferably be used in a material application process to provide information I. In this example, the information I relates to the beginning or end of the material-free region 8 and the position of the material-free region 8 with respect to the material application head.

[0094] In the material application process, a detection area 44' of a scanner (in Fig. 6 not shown) is moved in paths over the working surface 5 or the target surface 6. In the left part of Fig. 6, the detection area 44' is moved upwards in the reading direction R'. As soon as a section of the adhesive tape 7 is (completely) arranged in the detection area 44', the (respective) barcode BC' is detected and the information I contained therein is determined by the control device. The information I here relates to the criterion that a material-free area 8 adjoins the adhesive tape 7 in the reading direction R' on the material web or web in question. The information I is accordingly processed by the control device in such a way that at the level of the adhesive tape 7 (relative to the reading direction R') the material dispensing is temporarily interrupted and the material application head continues to move inactively. The (respective) barcode BC' contains the additional information I, in which direction the material-free area 8 is located, relative to the reading direction R'.In this example, the latter information I is provided by the design of the bars of the (respective) barcode BC'. This can be achieved by having a relatively thick bar pointing away from the material-free area 8, and the last bar of the barcode BC' in the reading direction R' being relatively thin and facing the material-free area 8.

[0095] The remaining barcodes BC, whose bars are arranged vertically here, have no influence on the material application process due to the reading direction R' in the detection area 44' bottom left, e.g., because the barcodes BC are only read once in the reading direction R'. The situation is different for the detection area 44' top right in Fig.6. This detection area 44' is moved downward in the reading direction R' along the adhesive tape 7, whereby the barcodes BC with the vertical bars provide the information I that the material-free area 8 to the left of the adhesive tape 7 ends (relative to the reading direction R'). Accordingly, the control device can plan the further material application process by evaluating and using the information I so that no material-free area 8 is provided on a subsequent material web (to the right of the vertical adhesive tape 7). The remaining barcodes BC', whose bars are arranged horizontally here, have no influence on the material application process with the reading direction of the detection area 44' at the top right and the positioning of the adhesive tape 7 on the work surface 5. Thus, the adhesive tape 7, which is vertical here, can function as additional confirmation of the spatial extent of the material-free area 8 in the material application process.In principle, the material-free area 8 in this example is already sufficiently defined by the horizontal adhesive tapes 7 (only one shown here) and the material application carried out transversely to the target surface 6 along what are here vertical material webs.

[0096] Finally, it should be noted once again that the material application method and the semi-automatic material application system described in detail above, as well as the adhesive tapes, are merely exemplary embodiments that can be modified in a variety of ways by those skilled in the art without departing from the scope of the invention. Furthermore, the use of the indefinite articles "a" or "an" does not preclude the possibility of the relevant features being present multiple times. List of reference symbols 1 semi-automatic material application system 2 Material supply unit 3 Material application device 4 Control device 5 Work surface 6 Target area 7 Adhesive tape 8 material-free area / window 9, 9' page 10 sets 20 hoses / cables 30 basic platform 31 Control element 32 displays 33 Compressor 34 Battery 35, 35' traction motor 36 sensors 37 security scanners 38 Drive / Linear Drive 40 working unit 41 Material application head 42 Material dispensing unit / nozzle 42' spray area / spray position 43 Coupling point 44 Information capture device / scanner 44' beams / detection range 45, 45', 45'', 45''' Sensor 48 Drive / Linear Drive 49 supply line 49' drag chain 50 chain drive 52 chain a, a' distance B1-B4 material web BC, BC' Barcode EP endpoint I Information LE Longitudinal extension LR longitudinal direction M Material P1-P9 positions PF Path PS Position R direction R' Reading direction SP starting point x axis

Claims

[1] Method for applying material (M) to a work surface (5) by means of a semi-automatic material application system (1) which has a material supply unit (2), a material application device (3) and a control device (4) at least for the material application device (3), wherein the material application device (3) is designed to be movable, preferably self-propelled and / or self-adjusting, wherein an information acquisition device (44) of the material application system (1) acquires at least once information (I) relating to at least one criterion of a material application to be carried out, which is physically arranged on the work surface (5), and wherein the material application system (1) is controlled using the information (I) such that material (M) is applied to a target surface (6) of the work surface (5). [2] Method according to claim 1, wherein the information (I) is provided by means of an adhesive tape (7) arranged on the work surface (5). [3] Method according to claim 2, wherein the adhesive tape (7) is arranged on the work surface (5) in such a way that the adhesive tape (7) marks a material-free area (8) of the work surface (5) for the semi-automatic material application system (1). [4] Method according to claim 2 or 3, wherein the adhesive tape (7) is arranged on the work surface (5) along at least two opposite sides (9, 9') of a material-free area (8) of the work surface (5). [5] Method according to one of claims 2 to 4, wherein a material-free region (8) of the working surface (5) is delimited on all sides by adhesive tape (7), and / or wherein the adhesive tape (7) is arranged along at least one side of the target surface (6) on the working surface (5), wherein preferably the target surface (6) is delimited on all sides by adhesive tape (7). [6] Method according to one of claims 2 to 5, wherein the material application device (3) is controlled as a function of the information (I) provided by the adhesive tape (7) such that a material-free area (8) of the working surface (5) is left out of the material application. [7] Method according to one of the preceding claims, wherein the information (I) is recorded before the start of a material application to the target surface (6) and / or during a material application to the target surface (6), preferably several times and / or continuously. [8] Method according to one of the preceding claims, wherein the information (I) relates to at least one of the following criteria: - a beginning of a material-free area (8), - one end of a material-free area (8), - a geometry and / or a spatial position of a material-free area (8) with respect to the working surface (5), - a position of the work surface (5) and / or the target surface (6) in a room, - a geometry and / or a spatial position of the target surface (6) with respect to the working surface (5), - a material quality, a pressure and / or a layer thickness of material (M) to be applied to a specific area of ​​the target surface (6) and / or a frequency of material application to a specific area of ​​the target surface (6), - a post-treatment of an applied material (M). [9] Method according to one of the preceding claims, wherein the control device (4) uses the information (I) to create a process sequence for carrying out the material application, wherein at least one of the following process parameters is determined: - a position of the material application device (3) in relation to the work surface (5), - a starting point (SP) and / or an end point (EP) of a movement of the material application device (3) along the working surface (5), - repositioning of the material application device (3) to reach a starting point (SP), - a path (PF) and / or a sequence for applying material (M) to the target surface (6) taking into account at least one material-free area (8), preferably a current and / or future material application direction, - a direction (R) of movement of the material application device (3) along the working surface (5) and / or the target surface (6) for material application. [10] Method according to claim 9, wherein at least one process parameter is displayed to a user of the semi-automatic material application system (1) before the start of the material application and / or during the material application, wherein preferably the process sequence is started or continued after a release by the user or a change of the process sequence by the user. [11] Adhesive tape (7) for use in a method for applying material (M) to a work surface (5) by means of a semi-automatic material application system (1), in particular in a method according to one of claims 1 to 10, wherein the adhesive tape (7) provides at least one piece of information (I) relating to at least one criterion of a material application to be carried out, which piece of information can be acquired by an information acquisition device (44) of the material application system (1), and wherein the material application system (1) can be controlled using the information (I) such that material (M) is applied to a target surface (6) of the work surface (5). [12] Adhesive tape according to claim 11, wherein the adhesive tape (7) provides information (I) relating to two or more criteria of a material application to be carried out, and / or wherein the information (I) is provided in the form of a segmentation of the adhesive tape (7), wherein preferably the adhesive tape (7) is divided into two in a longitudinal direction, and / or wherein the information (I) is provided in the form of a machine-readable barcode (BC, BC') which preferably runs along the adhesive tape (7) and / or transversely to a longitudinal direction of the adhesive tape (7). [13] Adhesive tape according to claim 11 or 12, wherein the information (I) is provided in the form of a color of the adhesive tape (7) and / or in the form of a color of a self-luminous adhesive tape (7) and / or in the form of a reflective adhesive tape (7) and / or in the form of an electrically conductive adhesive tape (7) and / or in the form of a magnetic adhesive tape (7). [14] Use of an adhesive tape (7), in particular according to one of claims 11 to 13, in a method for applying material (M) to a work surface (5) by means of a semi-automatic material application system (1), in particular in a method according to one of claims 1 to 10, wherein the material application system (1) can be controlled using at least one piece of information (I) relating to at least one criterion of a material application to be carried out, which is provided by means of the adhesive tape (7), in such a way that material (M) is applied to a target surface (6) of the work surface (5). [15] Set (10) comprising an adhesive tape (7) according to one of claims 11 to 13 and a semi-automatic material application system (1) which has a material supply unit (2), a material application device (3) and a control device (4) at least for the material application device (3), wherein the material application device (3) is designed to be movable, preferably self-propelled and / or self-adjusting, wherein an information acquisition device (44) of the material application system (1) can at least once acquire information (I) relating to at least one criterion of a material application to be carried out, which information is provided by the adhesive tape (7), and wherein the material application system (1) can be controlled using the information (I) such that material (M) is applied to a target surface (6) of the work surface (5), in particular for carrying out a method according to one of claims 1 to 10. [16] Computer program product with a computer program which can be loaded directly into a memory device of a computer unit, in particular a control device (4) of a material application device (3) of a semi-automatic material application system (1), with program sections in order to carry out all steps of the method according to one of claims 1 to 10 when the computer program is executed in the computer unit, in particular in the control device (4).

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