Automated Wall Spraying Gondola with Visual Feedback Control
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Solution Overview
Problem
Existing robotically-operated painting and cleaning systems for building walls lack efficiency and stability, particularly in traversing wall surfaces and maintaining optimal operation amidst wind forces, requiring enhanced structural and performance capabilities.
Innovation Solution
An automated system comprising a carrier with a robotic mechanism, visual monitoring system, computing device, and controller that scans structural characteristics and profiles to independently control the robotic mechanism and spray nozzle for efficient and stable operation, using a carrier with options like aerial work platforms, boom lifts, scissor lifts, and gondola carriers with suction cups for secure adhesion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If large-sized carriers are used to accommodate painters and equipment, then the structural stability and support capability are improved, but the device complexity and wind susceptibility increase
Solution Approach 1:
The patent replaces manual painting operations with an automated robotic mechanism that uses computer vision and control systems to perform spray painting. This substitution reduces the need for large structural carriers designed to support human workers and equipment, as the robotic system is more compact and can be supported by simpler carrier structures.
Solution Approach 2:
The robotic mechanism is equipped with its own positioning and control systems, including visual monitoring and automated navigation capabilities. This self-service capability allows the system to operate autonomously without requiring complex carrier structures designed for human operation and supervision.
2Device complexity
If automated robotic mechanisms are incorporated to reduce carrier size, then the device complexity is reduced, but the capability to traverse wall surfaces efficiently deteriorates
Solution Approach 1:
The robotic mechanism incorporates dynamic positioning capabilities with multiple degrees of freedom, allowing it to adapt its position and orientation as it traverses the wall surface. The system includes movable arms and joints that can adjust in real-time to maintain optimal painting positions, enabling efficient coverage despite the reduced carrier size.
Solution Approach 2:
The system employs visual monitoring systems and sensors that provide real-time feedback on the robotic mechanism's position, the wall surface characteristics, and painting progress. This feedback enables automated adjustment of traversal paths and painting parameters, maintaining high productivity with a compact carrier design.
3Ease of operation
If the robotic mechanism is made compact for easy movement, then the ease of operation is improved, but the stability under wind forces deteriorates
Solution Approach 1:
The carrier system incorporates counterweight mechanisms and balancing systems that compensate for the compact robotic mechanism's reduced inherent stability. These counterweights and active balancing systems provide the necessary stability against wind forces while maintaining the compact, easily movable design of the carrier.
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
The system enables quick, efficient, and stable painting and cleaning operations with reduced human intervention, minimizing time, cost, and labor by optimizing movement and adhesion, thus enhancing operational efficiency and safety.
Implementation Method 1
wherein the suction cups are configured to selectively adhere with the wall of the building for positioning the gondola carrier
Data Source
AI summary
The present invention provides an automated system for spraying a wall of a building. The automated system comprises a gondola mounted on the building, the gondola having a linear track disposed thereon, wherein the linear track is disposed horizontally with respect to the height of the building; a robotic mechanism slidably mounted on the linear track of the gondola, the robotic mechanism further having an end effector adapted to support a spray nozzle thereon; a visual monitoring system configured to scan structural characteristics and profiles of the wall; a computing device disposed in communication with the visual monitoring system and the robotic mechanism, wherein the computing device is configured to receive the scanned structural characteristics and profile of the wall from the visual monitoring system; and a controller communicably coupled to the computing device, the controller configured to independently control operation of respective ones of the robotic mechanism, and the spray nozzle according to the scanned structural characteristics and profiles of the wall.