US 12,345,057 B2
Automated drywall painting system and method
Maria J. Telleria, Redwood City, CA (US); Gabriel F. Hein, Albany, CA (US); Kevin B. Albert, San Francisco, CA (US); Thomas F. Allen, Oakland, CA (US); Henrik Bennetsen, San Francisco, CA (US); Josephine Marie Pedersen, Martinez, CA (US); Jonathan B. Pompa, Long Beach, CA (US); Charlie Yan, San Francisco, CA (US); Alana G. R. Yoel, San Francisco, CA (US); Miles J. Flannery, San Francisco, CA (US); and Henry Tonoyan, San Francisco, CA (US)
Assigned to Canvas Construction, Inc., San Francisco, CA (US)
Filed by Canvas Construction, Inc., San Francisco, CA (US)
Filed on Oct. 18, 2022, as Appl. No. 17/968,372.
Application 17/968,372 is a continuation of application No. 15/942,087, filed on Mar. 30, 2018, granted, now 11,499,325.
Claims priority of provisional application 62/480,172, filed on Mar. 31, 2017.
Prior Publication US 2023/0043189 A1, Feb. 9, 2023
Int. Cl. E04F 21/02 (2006.01); B05B 1/28 (2006.01); B05B 7/00 (2006.01); B05B 9/00 (2006.01); B05B 12/12 (2006.01); B05B 13/04 (2006.01); B05B 15/625 (2018.01); B05C 5/00 (2006.01); B05C 5/02 (2006.01); B05C 11/10 (2006.01); B05D 1/02 (2006.01); B05D 3/04 (2006.01); B05D 3/06 (2006.01); B24B 7/18 (2006.01); B24B 49/12 (2006.01); B24B 55/06 (2006.01); B24B 55/10 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01); B26D 5/00 (2006.01); E04B 1/76 (2006.01); E04F 21/00 (2006.01); E04F 21/08 (2006.01); E04F 21/12 (2006.01); E04F 21/16 (2006.01); E04F 21/165 (2006.01); E04F 21/18 (2006.01); B05B 7/24 (2006.01); B05B 7/26 (2006.01); B05B 9/01 (2006.01); B05B 14/00 (2018.01); B05C 3/18 (2006.01); B25J 9/00 (2006.01); B26D 3/08 (2006.01)
CPC E04F 21/026 (2013.01) [B05B 1/28 (2013.01); B05B 7/0093 (2013.01); B05B 9/007 (2013.01); B05B 12/122 (2013.01); B05B 13/0431 (2013.01); B05B 15/625 (2018.02); B05C 5/004 (2013.01); B05C 5/02 (2013.01); B05C 11/1039 (2013.01); B05D 1/02 (2013.01); B05D 3/0413 (2013.01); B05D 3/067 (2013.01); B24B 7/182 (2013.01); B24B 49/12 (2013.01); B24B 55/06 (2013.01); B24B 55/10 (2013.01); B25J 9/1661 (2013.01); B25J 9/1697 (2013.01); B25J 11/0055 (2013.01); B25J 11/0075 (2013.01); B25J 15/0019 (2013.01); B26D 5/007 (2013.01); E04B 1/7654 (2013.01); E04F 21/0046 (2013.01); E04F 21/08 (2013.01); E04F 21/085 (2013.01); E04F 21/12 (2013.01); E04F 21/16 (2013.01); E04F 21/165 (2013.01); E04F 21/1652 (2013.01); E04F 21/1657 (2013.01); E04F 21/18 (2013.01); B05B 7/24 (2013.01); B05B 7/26 (2013.01); B05B 9/01 (2013.01); B05B 14/00 (2018.02); B05C 3/18 (2013.01); B25J 9/0084 (2013.01); B26D 3/085 (2013.01); G05B 2219/40114 (2013.01); G05B 2219/40298 (2013.01); Y10S 901/01 (2013.01); Y10S 901/41 (2013.01); Y10S 901/43 (2013.01); Y10S 901/47 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, the method comprising:
transmitting a first signal to a perception system of a painting system to scan one or more surfaces of a wall assembly;
receiving sensor data from the perception system;
determining a relative position of the painting system and the one or more surfaces of the wall assembly based on the scanning; and
transmitting a second signal to a robotic arm of the painting system to move the robotic arm to apply a spray of paint from a painting end effector of the painting system to the one or more surfaces of the wall assembly based at least in part on the relative position, wherein the painting system creates a feathered paint edge by reducing an amount of the paint applied by the painting end effector at an edge of a first region of the one or more surfaces;
receiving further sensor data comprising paint flow rate data; and
transmitting a third signal to cause a flow of the paint through the painting end effector to reverse to clear a clog based on detecting a change in the further sensor data.