UAV Surface Marking With Stabilized 2-D Plotters for Limited-Access Structures

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Solution Overview

Problem

Marking surfaces of large, limited-access structures and objects is challenging due to safety concerns and inefficiencies of manual application methods, and existing ground-based robotic vehicles have limitations in accessibility.

Innovation Solution

Equipping unmanned aerial vehicles (UAVs) with a marking module that includes a 2-D plotter for free-form drawing and compliant stabilizers, allowing them to apply marking patterns and remove marks using interchangeable modules, including solvents and scrubbing pads.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If manual marking methods are used by workers, then marking can be applied to surfaces, but safety risks increase and time consumption increases due to need for ladders, scaffolding, or scissor lifts

Engineering Contradiction:

ImprovesafetyVSAvoidtime consumption

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The patent replaces manual mechanical marking systems (ladders, scaffolding, scissor lifts) with an autonomous aerial robotic system that flies to and marks surfaces without human physical presence, eliminating safety risks and time consumption associated with manual setup

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The aerial robotic system performs marking operations autonomously without requiring human operators to physically access the surface, with the robot navigating, positioning, and executing marking tasks independently

Inventive Principle:

Principle #25Self-service

2Extent of automation

If ground-based robotic vehicles are used for marking, then automation is achieved, but accessibility to certain environments is limited

Engineering Contradiction:

ImproveautomationVSAvoidenvironmental accessibility

Core Design Contradiction:

Extent of automationVSAdaptability or versatility

Solution Approach 1:

The patent transitions from ground-based to aerial-based robotic marking, moving the system into the three-dimensional air space dimension to access surfaces that are unreachable by ground vehicles, including overhead structures, tall buildings, and confined spaces

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Solution Approach 2:

The aerial robotic system is designed with universal applicability to operate in diverse environments (indoor, outdoor, confined spaces, tall structures) that ground-based systems cannot access, making it adaptable to various marking scenarios

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If modular marking units are coupled to UAVs, then marking capability is provided, but device complexity increases

Engineering Contradiction:

Improvemarking capabilityVSAvoidsystem complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent divides the aerial marking system into modular components (UAV platform, marking module, stabilization mechanisms) that can be independently designed, tested, and assembled, reducing overall system complexity while maintaining versatility

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces intermediate stabilization mechanisms (compliant stabilizers, pivotable couplings) that mediate between the UAV's flight movements and the marking device's positioning requirements, simplifying the control complexity by decoupling these functions

Inventive Principle:

Principle #24Intermediary (Mediator)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables safe and efficient marking and cleanup of surfaces with UAVs, addressing accessibility issues and reducing time and risk associated with manual methods.

Implementation Method 1

the visible material may also be detectable using an ultrasonic transducer array

Methodology Applied

Scientific EffectUltrasonic vibration: Ultrasonic Vibration

Implementation Method 2

the visible material may also be detectable using an eddy current sensor

Methodology Applied

Scientific EffectEddy current: Eddy Currents

Data Source

PatentUS12371193B2Methods for marking surfaces using unmanned aerial vehicles

Publication Date: 2025.07.29 THE BOEING CO

AI summary

Methods and apparatus for UAV-enabled marking of surfaces during manufacture, inspection, or repair of limited-access structures and objects. A UAV is equipped with a marking module that is configured to apply marking patterns (e.g., alignment features) of known dimensions to surfaces. The marking module may include a 2-D plotter that enables free-form drawing capability. The marking process may involve depositing material on the surface. The marking material may be either permanent or removable. A “clean-up” module may be attached to the UAV platform instead of the marking module, and may include solvents and oscillating or vibrating pads to remove the marks via scrubbing. The clean-up module can also be used for initial surface preparation.