Method for applying paints and varnishes
The invention relates to a method for applying paints or varnishes with the aid of an application device in order to apply a color design on surfaces of buildings or public or civil engineering works in accordance with a previously executed implementation of a digital image model in a previously recorded digital surface object that represents the surface of the object. According to the invention, the application device moves on the surface of the object while contacting the surface thereof, the position of the application device is continuously measured or calculated using motion sensors and paint is applied in accordance with said implementation depending on the position thus determined. Application of paint by the application device is automatically stopped if the position of the application device with respect to a predefined position error acceptance threshold cannot be determined in a sufficiently accurate manner or if the corresponding paint or varnish has been fully applied in the position of the paint applying elements.
1. A method for applying a color design to a surface of a wall around protrusions, balconies, doors, windows, sills, or cornices using a movable application device comprising a first position measurement system configured to measure a position of the movable application device relative to multiple stationary components, a computer control unit, multiple paint application elements, a second position measurement system configured to measure a motion of the movable application device, and at least one roller or sliding element, wherein the method comprises,
moving the movable application device on the surface;
measuring the position of the movable application device during the step of moving;
and controlling the paint application elements based upon the step of measuring;
which includes
a first step of
positioning multiple stationary components at fixed locations to define a reference coordinate system for the first position measurement system;
measuring geometric properties of the surface within the reference coordinate system to generate a first data set, which is a digital representation of the geometry of the surface;
generating a second dataset by assigning color data of the color design to the first data set;
a second, paint applying step of
applying paint to a portion of the surface alongside an area containing previously applied paint by moving the movable application device in a way, that the rollers or sliding elements do not contact the previously applied paint by configuring the movable application device to have the paint application elements protrude laterally beyond the rollers or sliding elements;
applying paint at a first position on the surface where valid position data is available by using the first measurement system;
applying paint at a second position on the surface by using the second measurement system wherein the first measurement system is unable to provide valid position data due to disturbed intervisibility between the movable application device and a minimum required number of stationary components by performing the steps of,
relocating the paint application device to a third position on the surface, where valid position data is available from the first measurement system;
and subsequently moving the application device from the third position to the second position on the surface, where the position data of the second position is calculated by the computer control unit based on the third position from the first measurement system, and movement data from second measurement system.