US 11,905,719 B2
Automated wall finishing system and method
Maria J. Telleria, Redwood City, CA (US); Henrik Bennetsen, San Francisco, CA (US); Gabriel F. Hein, El Cerrito, CA (US); Jonathan B. Pompa, Long Beach, CA (US); Kevin B. Albert, San Francisco, CA (US); and David Warner, San Rafael, CA (US)
Assigned to Canvas Construction, Inc., San Francisco, CA (US)
Filed by Canvas Construction, Inc., San Francisco, CA (US)
Filed on Apr. 19, 2022, as Appl. No. 17/724,272.
Application 17/724,272 is a continuation of application No. 16/740,848, filed on Jan. 13, 2020, granted, now 11,447,963.
Application 16/740,848 is a continuation of application No. 16/141,791, filed on Sep. 25, 2018, granted, now 10,577,810, issued on Mar. 3, 2020.
Claims priority of provisional application 62/562,981, filed on Sep. 25, 2017.
Prior Publication US 2022/0235559 A1, Jul. 28, 2022
Int. Cl. E04F 21/165 (2006.01); E04F 21/08 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); B05B 12/00 (2018.01); B05B 15/20 (2018.01); B05B 12/32 (2018.01); E04F 21/12 (2006.01); B05B 13/04 (2006.01); B05B 12/08 (2006.01); B05B 15/555 (2018.01); B05B 7/04 (2006.01); B05B 12/12 (2006.01); B05B 9/04 (2006.01)
CPC E04F 21/165 (2013.01) [B05B 12/00 (2013.01); B05B 12/006 (2013.01); B05B 12/085 (2013.01); B05B 12/32 (2018.02); B05B 13/0431 (2013.01); B05B 15/20 (2018.02); B25J 9/1697 (2013.01); B25J 15/0019 (2013.01); E04F 21/08 (2013.01); E04F 21/12 (2013.01); B05B 7/0408 (2013.01); B05B 9/04 (2013.01); B05B 12/082 (2013.01); B05B 12/12 (2013.01); B05B 15/555 (2018.02); B25J 9/1661 (2013.01); B25J 9/1679 (2013.01); G05B 2219/40114 (2013.01); G05B 2219/40298 (2013.01); G05B 2219/40518 (2013.01); Y10S 901/01 (2013.01); Y10S 901/41 (2013.01); Y10S 901/47 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mobile robotic coating system comprising:
a mobile base unit comprising:
a platform,
a cart to move on a ground, and
a lift coupled between the platform and the cart, the lift to raise and lower the platform;
a robotic arm having a base end and a distal end, wherein the base end of the robotic arm is coupled to the platform;
one or more sensors to detect surface data comprising a configuration of a building assembly;
a control system to determine a target ratio of a coating and an additive based on a target setting time of the coating; and
a coating end effector to selectively couple to the distal end of the robotic arm, wherein:
when coupled to the robotic arm, the coating end effector to apply the coating on the building assembly based on the surface data, the coating comprising the additive,
during the application of the coating, the coating is mixed with the additive to control a setting time of the coating, and
the coating end effector adjusts a mixing ratio of the coating in accordance with the target ratio determined by the control system.