Robotic Coating System with Position Correction for Building Facades
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Solution Overview
Problem
The building and public works sector faces increasing construction costs due to high raw material and labor costs, demanding regulations, and the lack of automated solutions for coating applications, which are often complex and prone to precision errors due to geometric deformations and variability in building surfaces.
Innovation Solution
A robotic coating application system that includes an application robot, control modules, and location means with sensors and a registration module to correct positioning errors, allowing for agile programming and adaptation to singularities on building surfaces by identifying marker elements and updating coordinates for precise movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual implementation of coating application is used, then labor flexibility is maintained, but labor costs increase and musculoskeletal disorders occur among workers
Solution Approach 1:
The application system is divided into modular components: a support structure with maneuvering means, an application robot, location means, and control means. Each module performs a specific function and can be independently configured or replaced, reducing overall system complexity while maintaining automation capabilities
Solution Approach 2:
The application robot is designed with universal capabilities to handle various coating applications on different building surfaces. The system can adapt to different singularity types (openings, balconies, moldings) through programmable control, making it a multi-functional device that replaces multiple specialized manual operations
2Measurement precision
If classic digital chain is used for positioning, then theoretical precision is achieved, but actual positioning accuracy deteriorates due to geometric deformations and assembly deviations
Solution Approach 1:
Location means (sensors, cameras, laser scanners) continuously measure the actual position of the application robot and the building surface geometry. This real-time feedback is fed to the control means, which calculates correction factors to compensate for geometric deformations and assembly deviations, maintaining positioning accuracy throughout operation
Solution Approach 2:
The system performs preliminary scanning and mapping of the building surface before coating application begins. Reference points and singularities are identified and stored in advance, allowing the control system to pre-calculate positioning corrections and anticipate geometric variations during the coating process
3Ease of manufacture
If application system is assembled with theoretical positioning, then initial setup is simplified, but precision errors increase due to assembly deviations
Solution Approach 1:
Location means measure the actual assembled position of all components against the theoretical model. The control means processes these measurements to generate correction factors that compensate for assembly deviations, allowing simple assembly without sacrificing final positioning precision
Solution Approach 2:
The system dynamically adjusts positioning parameters based on actual assembly conditions. Instead of requiring perfect theoretical assembly, the control means modifies coordinates, orientations, and transformation matrices to account for real-world assembly variations, maintaining coating application precision
4Productivity
If automated application system is implemented, then productivity increases, but system complexity and implementation difficulty increase
Solution Approach 1:
The automated system is segmented into independent functional modules that can be controlled and programmed separately. This modularity simplifies implementation by allowing incremental integration and testing of each component while maintaining overall productivity benefits
Solution Approach 2:
The control means acts as an intermediary between the location means, maneuvering means, and application robot. It processes complex positioning and coordination tasks, shielding the user from the underlying system complexity while enabling high-productivity automated operation
Data Source
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AI summary
The present invention relates to a system for applying a coating to a surface (S) of a building (B), for example, external thermal insulation on a building facade. The application system (1) comprises at least one application robot (2) and localization means (5) designed to determine a theoretical estimated position of said at least one application robot (2) within a global model (G). The localization means (5) include, in particular, a registration module (10) for correcting an estimated position of said at least one application robot (2) within said global model (G), from a theoretical estimated position to a corrected estimated position, taking into account said relative position of said at least one application robot (2) with respect to at least one reference element (8) intended to be transferred onto said building surface (S) (B) at singularities (R).