Devices configured to operate on an angled surface, and associated systems and methods

Devices configured to operate on an angled surface (e.g., a roof), and associated systems and methods are disclosed herein. In some embodiments, representative systems include an apparatus with a body assembly, an arm assembly coupled to the body assembly, and a material handling assembly coupled to the arm assembly. The body assembly can include a body frame, and a plurality of positioning assemblies coupleable to cables and configured to position and/or orient the body frame on the surface. The arm assembly includes a proximal end portion rotatably coupled to the body portion and a distal end portion opposite the proximal end portion. The material handling assembly is coupled to the distal end portion of the arm assembly and is configured to carry a surface material to be positioned on the angled surface.

TECHNICAL FIELD

This present disclosure relates to devices configured to operate on an angled surface, and associated systems and methods. Some embodiments relate to devices configured to operate on a roof or similar structure to perform automated activities such as installing shingles.

BACKGROUND

The number of new buildings constructed has significantly increased over the past few decades. Moreover, the amount of climate-related damage to existing buildings and infrastructure continues to grow, which has increased demand for construction labor. However, construction jobs can be repetitive, low-paying, and dangerous, leading to labor shortages in the industry. Roof installation and maintenance, for example, can be a slow and labor-intensive process, requiring various materials such as shingles to be transported from the ground to the roof and individually installed. There is also increasing demand for installing solar panels on residential and commercial roofs, yet such installations and maintenance remain mostly manual. There is a need to automate the management of roofs and other surfaces of structures.

A person skilled in the relevant art will understand that the features shown in the drawings are for purposes of illustrations, and variations, including different and/or additional features and arrangements thereof, are possible.

DETAILED DESCRIPTION

Embodiments of the present technology relate to devices configured to operate on an angled surface (e.g., roofs, windows walls, and the like), and associated systems and methods. Embodiments of the present technology can be used in a wide range of applications, including, but not limited to, placing and/or removing structures (e.g., shingles or solar panels) on a surface, as well as other tasks (e.g., painting a wall, installing wallpaper, cleaning windows, etc.). Conventional methods of carrying out the aforementioned tasks are mostly manual, which can be repetitive, low-paying, and dangerous. As a result, there are labor shortages for a wide variety of construction tasks notwithstanding the demand.

Embodiments of the present technology address at least some of the above-described issues. For example, embodiments of the present technology include an apparatus configured to operate on an angled surface relative to a direction of gravity. The apparatus can comprise a body assembly including a body frame and a plurality of positioning assemblies coupled to the body frame, wherein the positioning assemblies are configured to position and/or orient the body frame on the surface, an arm assembly including a proximal end portion and a distal end portion opposite the proximal end portion, wherein the arm assembly is rotatably coupled to the body portion, and a material handling assembly coupled to the distal end portion of the arm assembly, wherein the material handling assembly is configured to carry a surface material.

Additionally or alternatively, embodiments of the present technology can include a system for operating a device on an angled surface. The system can comprise an apparatus (e.g., a surface management apparatus) configured to operate over an angled surface and carry a surface material, wherein the angled surface includes an x-axis, a y-axis normal to the x-axis, and a z-axis normal to an x-y plane defined by the x-axis and the y-axis. The apparatus can comprise a body frame and a plurality of positioning assemblies at peripheral portions of the body frame, wherein individual ones of the positioning assemblies include a tensioner device. The system can also comprise an anchoring system comprising a plurality of anchors attached at peripheral portions of the surface, and a plurality of cables, wherein the cables are coupleable to and configured to extend between one of the anchors and one of the positioning assemblies of the apparatus. The system can further comprise a controller operably coupled to the tensioner devices, and that adjusts the tensioner devices to control a tension of the cables. In doing so, the controller can position the apparatus along the x-y plane and orient the apparatus about the z axis.

Embodiments of the present technology also include a method of operating an apparatus to place surface materials on a surface. The method can comprise providing a system that includes anchors attached to a surface, cables coupled to individual ones of the anchors, and the apparatus including positioning assemblies coupled to individual ones of the cables. The method can also comprise receiving inputs including (i) a geometry of the surface and (ii) one or more dimensions of surface materials to be installed on the surface. The method can further comprise (i) determining an initial position of the apparatus based on the geometry of the surface and the one or more dimensions of the surface materials, and (ii) determining a tension of the individual ones of the cables to move the apparatus to the initial position based on the initial position.

Embodiments of the present technology provide several advantages and improvements over existing solutions. For example, embodiments of the present technology can include a high level of automation, significantly reducing the manual labor needed, as well as reducing installation defect rates and operational expenditures associated with manual labor.

In the Figures, identical or similar reference numbers identify generally similar, and/or identical, elements. Many of the details, dimensions, and other features shown in the Figures are merely illustrative of particular embodiments of the disclosed technology. Accordingly, other embodiments can have other details, dimensions, and features without departing from the spirit or scope of the disclosure. In addition, those of ordinary skill in the art will appreciate that further embodiments of the various disclosed technologies can be practiced without several of the details described below.

II. Systems for Operating an Apparatus on an Angled Surface

FIG.1Ais a schematic view of a system101for operating a device, cart, or apparatus100(“apparatus100”) on an angled surface108, configured in accordance with embodiments of the present technology. As explained herein, the angled surface108can be configured to have structures or surface materials (e.g., shingles) attached thereto by the apparatus100. The system101can include the apparatus100and an anchoring system191, and can be disposed on top of or otherwise proximate to a roof106of a building104. The building104can be a residential building such as a house or an apartment, a commercial building such as an office building or a hotel, etc. The roof106can include one or more angled or inclined roof surfaces joined together at various angles, with the angled surface108being one such surface. In the illustrated embodiment, the shape of the angled surface108is a trapezoid. In other embodiments, the shape of the angled surface108can be a rectangle, a triangle, a parallelogram, or any other shape (e.g., a non-rectangular shape). The angled surface108can be oriented at any angle, such as vertical (i.e., parallel to a direction of gravity), horizontal (i.e., perpendicular to the vertical), at least 1 degree, 5 degrees, 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees, 70 degrees, 80 degrees, or 89 degrees from the direction of gravity, between 5-45 degrees, or between 1-89 degrees from the direction of gravity. In some embodiments, the angled surface108can include an overhanging surface. As explained elsewhere herein, surface materials can include subsurface materials (i.e., materials to be applied underneath other materials on a surface, such as structural support) and materials to be applied to an underside of a surface (e.g., a ceiling).

In the illustrated embodiment, the anchoring system191includes a plurality of anchors190mounted on or attached to the angled surface108. The anchors190can be secured manually to the roof106and/or angled surface108in a fixed position. The number of anchors190can be 3, 4, 5, 6, or more. As explained elsewhere herein, the number of anchors can be determined based on the degrees of freedom of the angled surface onto which the structures are being attached. For example, the number of anchors can be one more than the number of degrees of freedom.

The arrangement of the anchors190can also vary. For example, the anchors190can be positioned and secured to a periphery109or peripheral portions of the angled surface108, as shown. For example, the anchors190can be positioned at or proximate to corners and/or edges of the angled surface108. Additionally or alternatively, the anchors190can be positioned away from the periphery109and towards the center of the angled surface108. In some embodiments, the anchors190can be positioned and secured to multiple surfaces (e.g., two or more surfaces) of the roof106, and/or to surfaces and/or structures other than the angled surface108, such as the other surfaces of the roof106and/or the building104in the illustrated embodiment.

The anchoring system191can also include a plurality of cables102connected between individual ones of the anchors190and the apparatus100. The cables102can comprise stainless steel and/or be configured to withstand a maximum tension (e.g., 38 kilonewtons). In some embodiments, the lengths and/or tension of the cables102can be individually controlled (e.g., via mechanisms of the apparatus100and instructions from the controller130). As described elsewhere herein, the apparatus100can be positioned, oriented, and/or transported across the angled surface108via the anchored system191and/or components of the apparatus100, e.g., by controlling the length and/or tension of the individual cables102. In some embodiments, the cables102can be attached to existing structures on or proximate to the angled surface108instead of or in addition to the anchors190. In some embodiments, the tension in each of the cables102can be maintained at or below a maximum operating tension (e.g., 2 kilonewtons) during operation on the angled surface108.

The system101can further include a controller130in communication with the apparatus100, via a wired connection and/or wirelessly, and used to control movement and/or operation of the apparatus100over the angled surface108. The controller130can allow operators to control aspects of the apparatus100and/or the overall system101from a remote location. The controller130can also be programmed to control the apparatus100in a partially or fully autonomous manner. Many embodiments of the controller130and/or technology described below may take the form of computer-executable instructions, including routines executed by a programmable computer. The controller130may, for example, include a combination of supervisory control and data acquisition (SCADA) systems, distributed control systems (DCS), programmable logic controllers (PLC), control devices, and processors configured to process computer-executable instructions. Those skilled in the relevant art will appreciate that the technology can be practiced on computer systems other than those described herein. The technology can be embodied in a special-purpose computer or data processor that is specifically programmed, configured or constructed to perform one or more of the computer-executable instructions described below. Accordingly, the terms “controller” and “computer” as generally used herein refer to any data processor. Information handled by these computers can be presented at any suitable display medium. The controller130can be included and/or operably coupled to any of the systems, devices, or apparatuses described herein, even if not shown or described with reference to a particular figure.

The technology can also be practiced in distributed environments, where tasks or modules are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules or subroutines may be located in local and remote memory storage devices. Aspects of the technology described below may be stored or distributed on computer-readable media, including magnetic or optically readable or removable computer disks, as well as distributed electronically over networks. Data structures and transmissions of data particular to aspects of the technology are also encompassed within the scope of particular embodiments of the disclosed technology.

FIG.1Bis a schematic of the apparatus100, configured in accordance with embodiments of the present technology. As shown, the apparatus100can include a body assembly110, an arm assembly160coupled to the body assembly110, and a material handling assembly170(e.g., an applicator) coupled to the arm assembly160. The material handling assembly170can be attached to the body assembly110directly or via the arm assembly160. The apparatus100can include fewer and/or additional assemblies. The term “assembly” as generally used herein can include a single component or a group of multiple components.

Referring toFIGS.1A and1Btogether, in operation, the anchoring system191and/or components of the apparatus100can be used to position and/or orient the body assembly110on the angled surface108. As the apparatus100moves, the material handling assembly170can place and/or apply one or more surface materials on, under, or proximate to the angled surface108. For example, the surface materials can include roof shingles, the angled surface108can be a roof, and the apparatus100can remove and/or install the shingles on the roof during operation. In another example, the surface materials can include solar panels and the apparatus100can remove and/or install solar panels on the roof during operation. In another example, the surface materials can include underlayment and the apparatus100can install the underlayment underneath other materials on the surface. In another example, the surface materials can include brackets that hold down solar panels and/or shingles, and the apparatus100can install the brackets underneath, on the sides of, and/or over such solar panels and/or shingles. In yet another example, the surface materials can include cleaning products, the angled surface108can be a window, and the apparatus100can clean the window during operation.

As described herein, the anchoring system191can allow the apparatus100to be positioned and/or oriented on the angled surface108as needed during operation. Furthermore, by including the material handling assembly170distinct from the body assembly110, the apparatus100can place and/or apply the surface materials at edges of the angled surface108without having the center of mass of the apparatus (e.g., within the body frame) at the edges of the angled surface108, thus reducing the risk of the apparatus100falling over.

During operation, the position and/or orientation of the body assembly110and of the material handling assembly170can further be arranged to optimize certain parameters, such as optimizing (e.g., reducing) tension in the cables102, and/or optimizing (e g, minimizing) travel distance of the apparatus100across the angled surface108. The arm assembly160can include components that allow multiple degrees of freedom to facilitate movement of the material handling assembly170relative to the body assembly110.

FIG.2is an enlarged perspective view of a system201(e.g., the system101inFIG.1A) for operating an apparatus200(e.g., the apparatus100) on an angled surface208(e.g., the angled surface108), configured in accordance with embodiments of the present technology. The system201can include the apparatus200and an anchoring system291, which includes a plurality of cables202(e.g., the cables102) and a plurality of anchors290(e.g., the plurality of anchors190) mounted on or attached to a periphery209of the angled surface208. In the illustrated embodiment, each anchor290is mounted to both the angled surface208and an adjacent surface207(obscured from view inFIG.2). As described herein in further detail (e.g., with respect toFIGS.9A and9B), attaching to more than one surface allows individual ones of the anchors290to be more secure and provide better positioning and orienting of the apparatus200. In other embodiments, the anchors290can be secured at other positions on the angled surface208. The system201can further include one or more utility cords215attached to one or more components of the apparatus200. The utility cord215can supply power (e.g., electricity), compressed air, network connection, etc. from the ground while and/or before the apparatus200operates on the angled surface208.

During operation, the position and/or orientation of the apparatus200can be controlled, such as by individually controlling the lengths and tension of the cables202. The apparatus200can be used to place and/or apply a surface material205(e.g., a roof shingle or any of the surface materials described with respect toFIGS.1A and1B) on the angled surface208. As described herein, the apparatus200can carry multiple surface materials205and place the surface materials205(e.g., one by one) in a predetermined and/or optimized layout while the apparatus200moves across the angled surface208. In some embodiments, the surface material205can comprise a rectangle with a length of at least 5 inches, 10 inches, 20 inches, 30 inches, 40 inches, or within a range of 5-40 inches and a width of at least 5 inches, 10 inches, 20 inches, 30 inches, 40 inches, or within a range of 5-40 inches.

FIG.3is a perspective view of the apparatus200. The apparatus200can include a body assembly310(e.g., the body assembly110ofFIG.1B), an arm assembly360(e.g., the arm assembly160), and a material handling assembly370(e.g., the material handling assembly170). In the illustrated embodiment, the body assembly310is attached to five different cables202. In other embodiments, the body assembly310can be attached to fewer (e.g., three, four) or more (e.g., six, seven) cables202.

The body assembly310includes a body frame313, which can be a rigid structure comprising metal (e.g., aluminum, steel), plastic, or a combination thereof. The body frame313can include a z-axis (e.g., a first body frame axis) extending along a vertical dimension, an x-axis (e.g., a second body frame axis) extending along a length dimension of the body frame313and normal to the z-axis, and a y-axis (e.g., a third body frame axis) extending along a width dimension of the body frame313and normal to the x-axis. In the illustrated embodiment, the body frame313includes a top portion312, a first side portion314, a second side portion316opposite the first side portion314, a third side portion318generally extending between the first and second side portions314and316, and a fourth side portion319opposite the third side portion318. The body assembly310also includes a plurality of positioning assemblies320(e.g., tensioner devices or assemblies) coupled to the body frame313. Two such positioning assemblies320on the first side portion314of the body frame313are shown inFIG.3. The body frame313can partially cover (as shown) or fully cover the positioning assemblies320to provide protection. Details of each positioning assembly320is described herein (e.g., with respect toFIG.4).

The body assembly310can further include one or more actuators311(e.g., rails) at or coupled to the top portion312of the body frame313, a sliding portion362coupled to and moveable by the actuators311, and a bearing363coupled to the sliding portion362for engaging the arm assembly360. The body assembly310can include a plurality of wheels315coupled to the body frame313, and allowing the body assembly310to move across a surface (e.g., the angled surface208inFIG.2). The body assembly310can also include one or more hoppers317for receiving, storing, and/or releasing (when needed) materials. The hoppers317can include a first hopper configured to receive surface materials (e.g., the surface material205), and a second hopper configured to receive fixation supplies (e.g., nails, screws, adhesives) for fixing the surface materials to the surface. The body assembly310can also include wiring for supplying power (e.g. from the utility cord215inFIG.2) to the positioning assemblies320, the actuators311, the bearing363(which can be motorized), and the arm assembly360.

The arm assembly360can be attached to an upper portion of the body assembly310, such that the arm assembly360can rotate partially or fully (e.g., 360 degrees) around the body frame313. The arm assembly360can include a proximal end portion coupled to the body assembly310(e.g., to the body frame313) and a distal end portion opposite the proximal end portion. The distal end portion can be coupled to the material handling assembly370. As shown inFIG.3, the arm assembly360can include a first arm portion364, and a second arm portion366coupled to the first arm portion364. A first end of the first arm portion364is rotatably coupled to the sliding portion362via the bearing363of the body assembly310. A first end of the second arm portion366is rotatably coupled to a second end of the first arm portion364, e.g., via a bearing365. The bearing367and/or actuator368(e.g., a linear actuator) is attached to a second end of the second arm portion366, can be coupled to the material handling assembly370. The arm assembly360can also include wiring for supplying power from the body assembly310to the bearings365,367(which can be motorized), the actuator368, and the material handling assembly370. In some embodiments, the arm assembly360omits the second arm portion366and only includes the first arm portion364.

During operation of the apparatus200, the actuators311can be controlled (e.g., via the controller130inFIG.1A) to move the sliding portion362(and thus the arm assembly360) along axis A1. The bearing363can be controlled to rotate the first arm portion364along rotation direction R1 relative to the sliding portion362. The bearing365can be controlled to rotate the second arm portion366along rotational direction R2 relative to the first arm portion364. Each of the bearing367and the actuator368can be controlled to move the material handling assembly370along axis A2 and rotational direction R3 relative to the second arm portion366. In doing so, embodiments of the present technology allow the material handling assembly370to be moved relative to the body assembly310with five degrees of freedom (i.e., A1, R1, R2, R3, and A2). Having multiple degrees of freedom enables the material handling assembly370to be positioned and oriented with more control and precision relative to the body assembly310. During operation, for example, the material handling assembly370can place a surface material in a variety of positions and orientations around the body assembly310while the body assembly310remains fixed in position relative to the surface, reducing the required amount of movement for the body assembly310, which may be the heaviest and bulkiest assembly in some embodiments. The material handling assembly370can also place and/or apply surface materials at the edges of the surface while the body assembly310stays away from the edges, thus reducing risk of the apparatus200falling off the surface.

FIG.4is an enlarged perspective view of the first side portion314of the body assembly310. A portion of the body frame313is rendered partially transparent to show important features of the technology. In the illustrated embodiment, two positioning assemblies320are shown attached to the body frame313on the first side portion314. Each positioning assembly320can include a motor421(e.g., a servo motor) attached to the body frame313, a motor brake422coupled to the motor421, and a reduction gearbox423coupled to the motor brake422, e.g., via gears. The gears can include a first gear424acoupled to the reduction gearbox423, a second gear coupled to and configured to be actuated by the first gear424a, and a third gear424ccoupled to and configured to be actuated by the second gear424b.

The body assembly310can include a cable drum425disposed along a drum axis (“axis, drum”) substantially oriented horizontally, an actuator427(e.g., a lead screw) disposed along an actuator axis and operably coupled to the cable drum425, and a drum tensioner or drum winder428(“drum winder428”) coupled to the actuator427. In some embodiments, the drum axis and the actuator axis are parallel to one another. The cable drum425can be coupled to the second gear424b, and can include a spiraling groove426for receiving one of the cables202. The third gear424ccan be attached to the actuator427. The drum winder428can include a pulley429for engaging the cable202, which can extend from the pulley429to another pulley430. The pulley430can be attached to the body frame313via hinge434and disposed proximate to a force-measuring sensor432(e.g., a load cell, a force transducer). The cable202can extend further to a pivot assembly440, which will be described herein in further detail (e.g., with respect toFIG.6). The cable202can continue to extend from the pivot assembly440to an anchor (e.g., the anchor290inFIG.2) mounted on the surface (e.g., the angled surface208).

During operation of the apparatus200, the motor421can be controlled (e.g., via the controller130inFIG.1A) to rotate the first and second gears424aand424bbased on a desired tension, and at desired rotation rates and/or angles. Rotation of the second gear424brotates the cable drum425about the drum axis, which winds or unwinds the cable202onto or from the spiraling groove426. Rotation of the second gear424brotates the third gear424c, which actuates the actuator427. The actuator427moves the drum winder428along a linear axis parallel to the actuator axis. The drum winder428can ensure that the cable202remains in the spiraling groove426during rotation of the cable drum425, reducing the risk of the cable202tangling or causing an uneven rate of winding or unwinding. The gear ratio between gears424band424ccan be configured such that the actuator427moves the drum winder428at the same or similar rate as the portion of the cable202being wound onto or unwound from the spiraling groove426.

Winding or unwinding a particular cable202via a corresponding motor421changes the length of the portion of the cable202extending between the body assembly310and a corresponding anchor (e.g., the anchor190) attached to the surface. Therefore, the motor421can be controlled to shorten the cable202to position the body assembly310closer to the corresponding anchor, or lengthen the cable202to position the body assembly310farther from the corresponding anchor.

As tension in the cable202changes during operation of the apparatus200, the cable202can push against the pulley430, and because the pulley430is only attached to the body frame313via the hinge434, the pulley430can then push against the force-measuring sensor432. The force-measuring sensor432can be used to calculate real-time tension in the cable202, which can then be used to control movement of the apparatus200(FIG.3) and/or body assembly310, as will be described elsewhere herein.

FIG.5is an enlarged perspective view facing the third and fourth side portions318,319of the body assembly310. A portion of the body frame313is rendered partially transparent to show important features of the technology. In the illustrated embodiment, two positioning assemblies320are shown attached to the body frame313on the third side portion318and another positioning assembly320is shown attached to the body frame313on the fourth side portion319. In total, the illustrated embodiment includes five positioning assemblies320(two shown inFIG.4and three shown inFIG.5), which are arranged such that the five cables202attached to corresponding ones of the five positioning assemblies320extend from different portions of the body assembly310. In the illustrated embodiment, for example, the body frame313has a generally prismatic shape, four of the five cables202extend from each of the four lower corners of the body frame313, and the fifth cable202extends from the fourth side portion319, as shown. In some embodiments, the body assembly310can have a generally cylindrical shape, a spherical shape, a pyramid shape, or any other three-dimensional shape.

During operation, as discussed above with respect toFIG.4, each positioning assembly320can be independently controlled to change the length of the cable202extending between the body assembly310and a corresponding anchor. The positioning assemblies320can also be controlled to orient (i.e., rotate) the body assembly310. By controlling the lengths and/or tension of the cables202independently, the apparatus200can be positioned and/or oriented as desired on the surface. In some embodiments, the positioning assemblies320can rotate the body frame313across a range of at least 10 degrees, 20 degrees, 30 degrees, 60 degrees, 120 degrees, 180 degrees, or between 10-180 degrees.

FIG.6is an enlarged perspective view of the cable pivot assembly440that can be included in individual ones of the positioning assemblies320. The cable pivot assembly440can include a frame structure641, a pulley642rotatably mounted to the frame structure641, a first bearing643(e.g., an angular contact bearing) mounted to the frame structure641, a second bearing644mounted to the frame structure641, a sensor or encoder645(“encoder645”) mounted to the second bearing644, a distance sensor646(e.g., a laser distance sensor), and a cable guide647mounted to the distance sensor646and/or the frame structure641. The cable202can extend from the pulley430(FIG.4) through the first bearing643, around the pulley642, and through the cable guide647toward an anchor (e.g., the anchor290inFIG.2). The second bearing644can be attached to the body frame313(FIG.3) such that the pivot assembly440can rotate about a pivot axis defined by the portion of the cable202extending through the first bearing643.

During operation, as the cable length is changed (e.g., via the motor421), the distance sensor646can obtain (e.g., measure or calculate) the distance to the anchor to which the cable202extends. The cable guide647can ensure that the distance sensor646faces toward the anchor, as long as there is sufficient tension in the cable202. Furthermore, as discussed herein, the different positioning assembles320can be independently controlled to rotate the body assembly310relative to the angled surface. Because the anchors remain fixed in position and the second bearing644allows the pivot assembly440to freely rotate relative to the body frame313, the encoder645can obtain any angular changes of the second bearing644, and thus any angular changes of the cable202relative to the body assembly310. As described elsewhere herein, the measurements obtained by the distance sensor646and the encoder645can be used as inputs for controlling the apparatus200.

FIG.7is a perspective view of the material handling assembly370, andFIG.8is a sectional view of the material handling assembly370along line8-8ofFIG.7. Referring toFIGS.7and8together, the material handling assembly370can include a frame structure772, a connection member771attached to the frame structure772, one or more sensors773(e.g., cameras, machine vision cameras, or lasers) mounted on or at the frame structure772, a plurality of handling members774,775attached to the frame structure772, and wiring776coupled to the handling members774,775. In some embodiments, the sensors773can be attached to an upper portion of the frame structure772and arranged to face downward (e.g., toward the angled surface). In some embodiments, the handling members774,775can be attached to a lower portion of the frame structure772such that the handling members774,775are disposed proximate to the surface. In the illustrated embodiment, the handling members774,775comprise suction cups. Individual ones of a first set of the handling members774can comprise a single suction cup, while individual ones of a second set of the handling members775can comprise two suction cups arranged side-by-side, as shown.

The material handling assembly370can further include one or more fixation devices880(e.g., nail guns, adhesive applicators) (FIG.8), a fixation device motor882, and pulleys886attached to the frame structure772. A belt884can wrap around the pulleys886and operably couple the fixation device motor882to the fixation devices880.

During operation, the arm assembly360can be controlled to move the material handling assembly370between a first location, such as proximate to the hopper317(FIG.3) to retrieve surface materials and/or fixation supplies (e.g., nails, screws, adhesives), and a second location, such as a position on the surface to place the surface materials. The handling members774,775can be toggled between an on state, in which the handling members774,775attach to, seal, and/or lift a surface material (e.g., when proximate to the hopper317), and an off state, in which the handling members774,775unseal and/or release the surface material (e.g., when at a desired position on the surface. The wiring776can supply power (e.g., electricity) and/or control signals to individual ones of the handling members774,775. In some embodiments, the handling members774,775comprise suction cups and the dual suction cups structure of the second set of the handling members775can provide back-up functionality when, for example, one of the suction cups lands on an edge of the surface material and cannot reliably lift the surface material.

The sensors773can obtain the position of the surface material placed by the handling members774,775, such as by detecting an edge of the surface and/or displacement from another adjacent surface material that has already been placed on the surface. In doing so, the body assembly310can be used to move the apparatus200to a general desired area, thus serving as a “coarse” adjustment, and the arm assembly360and/or material handle assembly370can be used to place the surface material at a specific position of the angled surface, thus serving as a “fine” adjustment. Once the sensors773or other sensors confirm that the surface material is positioned at a desired spot on the surface, the fixation device motor882can be controlled (e.g., via the controller130) to actuate the fixation devices880and fix the surface material to the surface. For example, the fixation devices880can comprise nail guns and the fixation device motor882can move the belt884to continuously activate the nail guns to nail the surface material to the surface.

FIGS.9A and9Bare perspective and sectional views, respectively, of an anchor990(e.g., the anchor290inFIG.2), configured in accordance with embodiments of the present technology. Referring toFIGS.9A and9Btogether, the anchor990can comprise a first anchor member910(FIG.9A), a second anchor member930, an anchor hinge920pivotably coupling the first and second anchor members910,930, a bearing940(e.g., a cross-roller bearing) attached to the second anchor member930, a bushing950attached to the bearing940such that the bushing950is rotatably coupled to the second anchor member930, a rod member960disposed at least partially inside the bushing950, and a biasing member970(e.g., a compression spring) also disposed at least partially inside the bushing950. The bushing950can include a first cavity952and a second cavity954(FIG.9B) interconnected but separated by a ring portion956(FIG.9B). The biasing member970can be disposed in the first cavity952. The rod member960can be disposed in both the first and second cavities952,954. The rod member960can include a flat end portion962configured to contact the biasing member970. In some embodiments, the anchor990can also include a reflector plate (e.g., the reflector plate981discussed herein with respect toFIGS.9C and9D). The reflector plate can be attached to the bushing951or another component of the anchor990.

Prior to operation of an apparatus (e.g., the apparatus200) on an angled surface908(e.g., the angled surface208), the anchor990can be installed, e.g., on a roof or other structure. The second anchor member930can be attached to the angled surface908(e.g., via fasteners) while the first anchor member910can be attached to an adjacent surface907(e.g., the adjacent surface207) of the roof906. The anchor hinge920allows the first and second anchor members910,930to be attached to two different surfaces that are angled to each other. The rod member960can be attached to a distal end of a cable902(e.g., the cable202) via, for example, cable splicing and pins. In some embodiments, the first anchor member910is omitted and the anchor990is attached only to a single surface.

During operation of the apparatus, the apparatus can move and/or rotate relative to the angled surface908. The bearing940allows the rod member960attached to the cable902to rotate on the plane of the angled surface908. Rotation of the rod member960allows the apparatus to be positioned and/or oriented on the angled surface908without bending the cable902. The biasing member970allows the rod member960, and thus the distal end of the cable902, to remain relatively fixed in position relative to the anchor990while also allowing for some movement as needed. The slack provided by the biasing member970can beneficially reduce tension in the cable902and reduce the load on components of the apparatus, thereby reducing risk of mechanical failure.

FIGS.9C and9Dare perspective and sectional views, respectively, of an anchor991(e.g., the anchor290inFIG.2or the anchor990inFIGS.9A and9B), configured in accordance with embodiments of the present technology. Referring toFIGS.9C and9Dtogether, the anchor991can comprise a first anchor member911, a second anchor member931, an anchor hinge921pivotably coupling the first and second anchor members911,931, a bearing941(e.g., a cross-roller bearing) attached to the second anchor member931, a bushing951attached to the bearing941such that the bushing951is rotatably coupled to the second anchor member931, a pulley mount963(FIG.9D) disposed at least partially inside the bushing950, a pulley961attached to the pulley mount963, a biasing member971(e.g., a compression spring) also disposed at least partially inside the bushing951, and a reflector plate981attached to the bushing951. The bushing951can include a first cavity953, and a second cavity955(FIG.9D) interconnected to the first cavity953. The biasing member971can be disposed in the first cavity953. The pulley mount963can be disposed in both the first and second cavities953,955. The pulley mount963can include an end portion (e.g., a flat end portion) configured to contact and/or be operably coupled to the biasing member971.

Prior to operation of embodiments (e.g., the apparatus200) of the present technology on an angled surface908(e.g., the angled surface208), the anchor991can be installed, e.g., on a roof or other structure. The second anchor member931can be attached to the angled surface908(e.g., via fasteners) while the first anchor member911can be attached to an adjacent surface907(e.g., the adjacent surface207) of the roof906. The anchor hinge921allows the first and second anchor members911,931to be attached to two different surfaces that are angled to each other. A cable (e.g., the cable202) can loop around or otherwise couple to the pulley961. In some embodiments, the first anchor member911is omitted and the anchor991is attached only to a single surface.

During operation of the apparatus, the apparatus can move and/or rotate relative to the angled surface908. The bearing941allows the bushing951and the pulley961, and hence the corresponding cable (e.g., the cable902), rotate on the plane of the angled surface908. Rotation of the pulley961allows the apparatus to be positioned and/or oriented on the angled surface908without bending the cable and while keeping the cable on the pulley961. The biasing member971allows the pulley mount963, and thus the distal end of the cable, to remain relatively fixed in position relative to the anchor991while also allowing for some movement as needed. The slack provided by the biasing member971can beneficially reduce tension in the cable and reduce the load on components of the apparatus, thereby reducing risk of mechanical failure. The reflector plate981can reflect a laser, a wave, or similar signal emitted from a distance sensor (e.g., the distance sensor646) configured to measure the distance to the anchor991.

With reference toFIGS.9A-9Dtogether, in some embodiments anchors990,991can further include positioning assemblies, such as the positioning assemblies320(FIG.3). The positioning assemblies on the anchors990,991can be independently controlled to change the length and/or tension of each of the cables. In systems comprising anchors that include positioning assemblies, the apparatus (e.g., the apparatus200) may not include positioning assemblies. In embodiments where positioning assemblies are included only in the anchors, the apparatus can be more lightweight. In embodiments where positioning assemblies are included only in the apparatus, power, control, and/or communication need only be directed to the apparatus, and the anchors can remain purely mechanical.

FIG.10is a perspective view another apparatus1000configured to operate on an angled surface (e.g., the angled surface108), configured in accordance with embodiments of the present technology. The apparatus1000can include a body assembly1010(e.g., the body assembly110ofFIG.1B), an arm assembly1060(e.g., the arm assembly160), and a material handling assembly1070(e.g., the material handling assembly170). The body assembly1010is attached to a plurality of cables1002(e.g., the cables102). As shown in the illustrated embodiments, the cables can be attached to both an upper portion and a lower portion of the body assembly1010.

The body assembly1010includes a body frame1013, which can be a rigid structure comprising metal (e.g., aluminum or steel), plastic, or a combination thereof. The body assembly1010also includes a plurality of positioning assemblies1020attached to the body frame1013and extending generally vertically between the upper and lower portions of the body frame1013. The body frame1013can partially cover (as shown) or fully cover the positioning assemblies1020, e.g., to provide protection. The body assembly1010can further include a bearing1063attached to the body frame1013and the arm assembly1060(and operably coupled to an actuator or motor), a plurality of wheels1015coupled to the body frame1013, and one or more hoppers1017for receiving, storing, and/or releasing (when needed) one or more surface materials (e.g., the surface material205) and/or fixation supplies (e.g., nails, screws, adhesives). The individual positioning assemblies1020can be controlled to change lengths of or tension in the cables1002in order to position and/or orient the body assembly1010relative to the surface.

The arm assembly1060can include a proximal end portion coupled to the body assembly1010(e.g., to the body frame1013) and a distal end portion opposite the proximal end portion. The distal end portion can be coupled to the material handling assembly1070. The arm assembly1060includes a first arm portion1062attached to the bearing1063of the body assembly1010and extending generally horizontally, a second arm portion1064slidably attached to the first arm portion1062(e.g., via an actuator, a telescoping mechanism) and extending generally horizontally, a third arm portion1066attached to the second arm portion1064and extending generally vertically, and a fourth arm portion1068slidably attached to the third arm portion1066(e.g., via an actuator) and extending generally vertically. The first arm portion1062is rotatable about an axis extending through the body frame1013, the second arm portion1064is extendable independent of the other arm portions, and the fourth arm portion1068is extendable and rotatable independent of the other arm portions. The arm assembly1060can further include a bearing1069coupled to the fourth arm portion1068and operably coupled to an actuator or motor. The bearing1069can be coupled to the material handling assembly1070. The arm assembly1060can also include wiring for supplying power from the body assembly1010to the material handling assembly1070.

In some embodiments, the arm assembly1060can have different configurations and provide the same or more degrees of freedom. For example, the arm assembly1060can include three rotary joints (e.g., Selective Compliance Assembly Robot Arm (SCARA)), components that allow movement along two linear axes and rotation around another axis, or components that allow movement along and/or rotation about multiple axes. In some embodiments, the arm assembly1060can include additional or alternative components that allow higher degrees of freedom.

During operation of the apparatus1000, the bearing1063can be controlled to rotate the first arm portion1062along rotational direction R4 relative to the body frame1013. The second arm portion1064can be moved (e.g., by controlling an actuator) along axis A3 relative to the first arm portion1062. For example, the first arm portion1062can comprise a housing from or into which the second arm portion1064can be extended or retracted. The fourth arm portion1068can be moved (e.g., by controlling an actuator) along axis A4 relative to the third arm portion1066. The bearing1069can be controlled to rotate the material handling assembly1070along rotational direction R5 relative to the fourth arm portion1068. As such, embodiments of the present technology allow the material handling assembly1070to be moved relative to the body assembly1010with multiple degrees of freedom (e.g., four degrees of freedom R4, A3, A4, and R5). Having multiple degrees of freedom enables the material handling assembly1070to be positioned and oriented with more control and precision relative to the body assembly1010. During operation, for example, the material handling assembly1070can place a surface material in a variety of positions and orientations around the body assembly1010while the body assembly1010remains fixed in position relative to the surface. This reduces the required amount of movement for the body assembly1010, which can require significant energy to move. The material handling assembly1070can also place and/or apply surface materials at the edges of the surface while the body assembly1010stays away from the edges, thus reducing risk of the apparatus1000falling off the surface.

FIG.11is a perspective view of the material handling assembly1070, configured in accordance with embodiments of the present technology. The material handling assembly1070can include a frame structure1172including an aperture1171for receiving and connecting to the arm assembly1060(e.g., via the second bearing1069). The material handling assembly1070can also include one or more sensors1173(e.g., cameras, machine vision cameras, or lasers) and a plurality of handling members1174attached to the frame structure1172. In some embodiments, the sensors1173can be attached to an upper portion of the frame structure1172and arranged to face downward (e.g., toward the surface). In some embodiments, the handling members1174can be attached to a lower portion of the frame structure1172such that the handling members1174are disposed proximate to the surface. In the illustrated embodiment, the handling members1174comprise suction cups. The material handling assembly1070can further include one or more fixation devices1180(e.g., nail guns, adhesive applicators) (obscured from view inFIG.11, but similar to the fixation devices880shown inFIG.8) attached to the frame structure1172.

During operation, the arm assembly1060can be controlled to move the material handling assembly1070between various locations, such as toward the hopper1017(FIG.10) to retrieve surface materials and/or fixation supplies, and toward various positions on the surface to place the surface materials. The handling members1174can be toggled between an on state, in which the handling members1174attach to, seal, and/or lift a surface material (e.g., at the hopper1017), and an off state, in which the handling members1174unseal and/or release the surface material (e.g., at a desired position on the surface. After a first surface material1105a(e.g., the surface material205inFIG.2) is placed on the surface, the sensors1173can keep track of the position of a second surface material1105bbeing placed by the handling members1174, such as by detecting edges of the first and second surface materials1105a,1105bwithin a field of vision1175of the sensor1173. In some cases, it may be desirable to place the second surface material1105b(i) over a portion of the first surface material1105aand create overlap, (ii) side-by-side (e.g., abutting) the first surface material1105a, or (iii) spaced apart from the first surface material1105a(as shown). The sensors1173can also detect edges of the surface within the field of vision1175, e.g., to avoid placing the surface materials over the edges of the surface. However, in some cases, it may be desirable to place the surface materials over the edges to, for example, increase the effective surface area of a roof and/or improve the aesthetic appearance of the roof. In some embodiments, the body assembly1010can be used to move the apparatus1000to a general desired area, thus serving as a “coarse” adjustment, and the arm assembly1060and/or material handle assembly1070can be used to place the surface material at a specific position of the angled surface, thus serving as a “fine” adjustment. Once sensors1173or other sensors confirm that the surface material is positioned at a desired spot on the surface, the fixation devices1180can be actuated to attach the surface material to the surface. The fixation devices1180can comprise nail guns, adhesive applicators, etc.

FIG.12is an enlarged perspective view of yet another apparatus1200configured to operate on an angled surface, configured in accordance with embodiments of the present technology. The apparatus1200can include a body assembly1210, which can include a body frame1213, wheels1215attached to the body frame1213, and a plurality of positioning assemblies1220attached to the body frame1213, one of which is shown in detail inFIG.12. The positioning assemblies1220may be an example of the positioning assembly1020described herein with respect toFIG.10.

Each positioning assembly1220can include a motor1221coupled to the body frame1213, a cable drum1225oriented generally vertically and operably coupled to the motor1221, an actuator1227(e.g., a lead screw), a gearbox1224operably coupling the motor1221to the cable drum1225and/or the actuator1227, and a drum tensioner or drum winder1228(“drum winder1228”) coupled to the actuator1227. Each positioning assembly1220can also include a pivot assembly1240and a cable gripper1212, each attached to the body frame1213.

The cable drum1225includes a spiraling groove1226for receiving one of a plurality of cables1202(e.g., cables102inFIG.1A). The drum winder1228can include a pulley1229for engaging the cable1202extending from the cable drum1225. The cable can extend from the pulley1229to another pulley1242included in the pivot assembly1240, and further to an anchor (e.g., the anchor190inFIG.1A). The pivot assembly1240can also include a distance sensor1246(e.g., a laser distance sensor). The cable1202can loop around the anchor and attach to the cable gripper1212.

During operation of the apparatus1200, the motor1221can be controlled (e.g., via the controller130inFIG.1A) to rotate gears in the gearbox1224at desired rotation rates and/or angles. Rotation of the cable drum1225winds or unwinds the cable1202onto or from the spiraling groove1226. The actuator1227moves the drum winder1228, which can ensure that the cable1202remains in the spiraling groove1226during rotation of the cable drum1225, reducing the risk of the cable1202tangling or causing an uneven rate of winding or unwinding. Winding or unwinding a particular cable1202via a corresponding motor1221changes the length of the portion of the cable1202extending between the body assembly1210and a corresponding anchor attached to the surface. Therefore, the motor1221can be controlled to shorten the cable1202to position the body assembly1210closer to the corresponding anchor, or lengthen the cable1202to position the body assembly1210farther from the corresponding anchor. The distance sensor1246can measure the distance to the corresponding anchor in real-time.

The cable gripper1212can allow the cable1202to exert a downward force (e.g., toward the angled surface), improving the stability of the apparatus1200during operation. The downward force applied by the cable1202can be greater when the apparatus1200is near the anchor around which the cable1202is coupled or loops (e.g., when the angle of the portion of the cable extending between the anchor and the cable gripper1212is steep). Configuring the cable1202to extend from the cable gripper1212to an anchor, and back to the apparatus (e.g., to the pivot assembly1240), however, requires approximately double the cable length compared to when the cable1202is configured to extend once between the apparatus and the anchor (e.g., the apparatus200). Doubling the cable length can also require doubling both the winding rate of the cable drum, which increases energy consumption, and the length of the cable drum, which requires bigger components and adds weight.

FIGS.13A and13Bare top-down and side views, respectively, of an anchor1390(e.g., the anchor190inFIG.1A), configured in accordance with embodiments of the present technology. Referring toFIGS.13A and13Btogether, the anchor1390can include a surface mating portion1391, a bearing1392attached to the surface mating portion1391, a pulley stand1394attached to the bearing1392, a pulley1393mounted on the pulley stand1394, and a plate1395attached to the pulley stand1394and/or the bearing1392. A cable1302(e.g., the cable102inFIG.1A) can extend from a component of an apparatus (e.g., the cable gripper1212of the apparatus1200inFIG.12), extend around the pulley1393, and extend back towards another component of the apparatus (e.g., the pivot assembly1240).

Prior to operation of the apparatus (e.g., the apparatus1200inFIG.12), the surface mating portion1391can be attached to a surface (e.g., the angled surface108), such as via fasteners. During operation of the apparatus, the bearing1392enables the pulley1393, and hence the cable1302, to freely rotate relative to the surface on which the surface mating portion1391attaches to. The pulley stand1394and the plate1395provide structural support in keeping the pulley1393in place while tension in the cable1302exerts a force on the pulley1393.

The horizontal orientation of the positioning assemblies320(FIGS.3-5) and the vertical orientation of the positioning assemblies1020,1220(FIGS.10and12) provide different advantages. For example, orienting cable drums vertically (e.g., as shown via the cable drum1225) allows the length of the cable drum to be extended without increasing the proportion of the angled surface occupied by the apparatus. A longer cable drum can wind more cable, and an apparatus with a smaller footprint can have greater maneuverability across the angled surface. On the other hand, orienting cable drums horizontally (e.g., the cable drums425) allows the center of gravity of the apparatus (e.g., the apparatus200) to be low, reducing the risk that the apparatus tips over during operation. Depending on a desired application and end use of the apparatus, embodiments of the present technology can include positioning assemblies in either the horizontal or vertical orientation.

FIGS.14A and14Bare perspective views of a system1401for operating an apparatus1400(e.g., the apparatus100inFIG.1A) on an angled surface1408(e.g., the angled surface108), configured in accordance with embodiments of the present technology. The angled surface1408can be part of a roof1406of a building structure1404(e.g., residential, commercial, etc.). In the illustrated embodiment, the system1401includes five anchors1490(e.g., the anchors190) coupled to the roof1406(as described herein) and mounted along a periphery1409of the angled surface1408.

Referring toFIGS.14A and14Btogether, the anchors1490can be mounted manually or at least partially autonomously by a different device. Afterward, a ramp1403can be placed or installed between the ground and an edge of the angled surface1408to provide a path from the ground to the angled surface1408. In some embodiments, the apparatus1400can be positioned at a lower portion of the ramp1403and raised to the angled surface1408manually, autonomously, or via a separate device. The cables1402(e.g., the cables102inFIG.1A) (FIG.14B) can be brought to the angled surface1408separately and attached to the apparatus1400accordingly. In some embodiments, the apparatus1400can be positioned at the lower portion of the ramp1403and coupled to one or more of the cables1402. The apparatus1400can then be raised by tensioning the one or more of the cables1402such that the apparatus travels via the ramp1403to the angled surface1408.

In some embodiments, the ramp1403can comprise a flat structure such that the apparatus1400can be pushed or pulled upward. In some embodiments, the ramp1403can comprise a motorized belt such that the belt lifts the apparatus1400from the ground onto the angled surface1408. In some embodiments, the ramp1403can comprise a solar panel configure to generate power and transfer the generated power to the apparatus1400(e.g., via the utility cord215). In some embodiments, the apparatus1400is manually raised to the angled surface1408and is then coupled to the cables1402. In some embodiments, the cables1402can be included with the apparatus (e.g., the cables can be wound on a cable drum, such as the cable drum425or the cable drum1245) and pulled out of the apparatus.

III. Methods of Operating an Apparatus to Place Surface Materials on a Surface

FIG.15is a flowchart illustrating a method1500of operating an apparatus (e.g., the apparatus200, the apparatus1000) to place surface materials (e.g., the surface material205) on a surface (e.g., the angled surface208), configured in accordance with embodiments of the present technology. The method1500can include providing a system (e.g., the system101, the system201) comprising anchors (e.g., the anchors190, the anchors290, the anchors1390), cables (e.g., the cables102, the cables202, the cables1202) coupled to individual ones of the anchors, and the apparatus coupled to the cables (process portion1510).

The method1500can further include receiving inputs including a geometry of the surface, and one or more dimensions of surface materials (e.g., the surface material205) to be installed on the surface (process portion1520). In some embodiments, the surface can comprise a roof surface, a window, or any other part of a structure. The surface can have a shape of a rectangle, a parallelogram, a triangle, or any other shape. In some embodiments, the surface material can comprise a roof shingle, a solar panel, a cleaning product (e.g., a wiping sheet), etc. The one or more dimensions of the surface materials can include lengths, widths, thicknesses, diameters, or other dimensions.

The method1500can further include, based on the geometry of the surface and the one or more dimensions of the surface materials, determining an initial position of the apparatus (process portion1530). The initial position can be at or near an edge of the surface (e.g., the periphery109, the periphery209), a corner of the surface, or a center of the surface. In some embodiments, the initial position of the apparatus can be further based on a length and an orientation of an arm assembly (e.g., the arm assembly160).

The method1500can further include, based on the initial position, determining a tension of the individual ones of the cables to move the apparatus to the initial position (process portion1540). In some embodiments, the lengths and/or tension of individual ones of the cables can be determined via kinematics, as described elsewhere herein (e.g., with respect toFIGS.25and26). In some embodiments, the method1500can be implemented by a controller (e.g., the controller130).

In some embodiments, the method1500can further include, based on the geometry of the surface and the one or more dimensions of the surface materials, (i) determining a placement position of one of the surface materials and (ii) determining a viable workspace on the surface for the apparatus. Determining the initial position of the apparatus can comprise determining a plurality of candidate positions around the placement position and selecting a subset of the candidate positions overlapping with the viable workspace on the surface. In some embodiments, the apparatus can further include an arm assembly, and determining the initial position of the apparatus can be based on (i) a length and an orientation of the arm assembly, (ii) minimizing tension in the cables, and/or (iii) minimizing travel distance of the apparatus across the surface.

In some embodiments, the method1500can further include, based on the geometry of the surface and the one or more dimensions of the surface materials, determining an initial orientation of the apparatus. Determining the tension of the individual ones of the cables can be further based on the initial orientation of the apparatus. Additionally or alternatively, the method1500can further include (i) placing a first surface material and a second surface material on the surface, and (ii) measuring a distance between a first edge of the first surface material and a second edge of the second surface material.

FIGS.16A-Care top-down views of a system1601(e.g., the system101) including an apparatus1600(e.g., the apparatus100) in various configurations on an angled surface1608(e.g., the angled surface108), configured in accordance with embodiments of the present technology. Referring toFIGS.16A-Ctogether, the system1601can also include an anchoring system1691(e.g., the anchoring system191) comprising a plurality of anchors1690(e.g., the anchors190) positioned at various points on or around the angled surface1608. The apparatus1600can be held in position on the angled surface1608via cables1602of the anchoring system1691providing a particular tension to each of the cables1602.FIGS.16A-Cshow the apparatus1600positioned and oriented in the same manner on the angled surface1608, but with a surface material1607held by the apparatus1600at various positions relative to the apparatus1600. For example,FIG.16Ashows the apparatus1600carrying the surface material1607below the apparatus1600,FIG.16Bshows the apparatus1600carrying the surface material1607above the apparatus1600, andFIG.16Cshows the apparatus1600carrying the surface material1607at a side of the apparatus1600. As described herein with respect to various embodiments of the apparatus, a body assembly (e.g., the body assembly310) of the apparatus can remain in a fixed location while an arm assembly (e.g., the arm assembly360) moves a material handling assembly (e.g., the material handling assembly370) around the body assembly in order to, for example, minimize movement or travel of the body assembly while still accessing various locations on the angled surface1608for placing the surface material1607. In doing so, the body assembly can be used to move the apparatus to a general desired area, thus serving as a “coarse” adjustment, and the arm assembly and/or material handle assembly can be used to place the surface material at a specific position of the angled surface, thus serving as a “fine” adjustment.

FIG.17is a top-down view of a system1701(e.g., the system101) including an apparatus1700(e.g., the apparatus100) in various configurations on an angled surface1708(e.g., the angled surface108), configured in accordance with embodiments of the present technology. The system1701can including an anchoring system1791(e.g., the anchoring system191) comprising a plurality of anchors1790(e.g., the anchors190). As similarly discussed above with respect toFIGS.16A-C, the apparatus1700can be positioned and/or oriented at various positions on the angled surface1708while carrying a surface material (obscured from view inFIG.17) at various positions relative to the apparatus1700. In the illustrated embodiment, for example, the apparatus1700is shown at four different positions (and orientations) with a body assembly positioned at a distance from the edges of the angled surface1708. An arm assembly and a material handling assembly of the apparatus1700is shown carrying and placing the surface material at the edges. As will be described in further detail below, the positions, orientations, and travel path of the apparatus1700can be optimized based on certain factors, including to reduce risk of the apparatus1700falling over an edge of the angled surface1708, to minimize total travel path, and/or to minimize tension in cables1702, etc.

FIG.18is a top-down view of a system1801(e.g., the system101) including am apparatus1800(e.g., the apparatus100) on an angled surface1808(e.g., the angled surface108), configured in accordance with embodiments of the present technology. A controller (e.g., the controller130) and/or a computer system can define the angled surface1808as a surface coordinate plane formed by x-axis, surface and y-axis, surface. In the illustrated embodiment, the origin of the surface coordinate plane is defined at an edge of the angled surface1808and at or proximate to an anchor1890(e.g., the anchor190), and the x- and y-axes are set parallel to one or more edges of the angled surface1808. In other embodiments, the origin of the surface coordinate plane can be defined elsewhere and/or the x- and y-axes can be set at an angle to one or more edges of the angled surface1808.

An anchoring system1891(e.g., the anchoring system191) can include a plurality of anchors1890(e.g., the anchors190) and a plurality of cables1802(e.g., the plurality of cables102). A position and orientation of a body assembly1810(e.g., the body assembly110) can be defined relative to the surface coordinate plane (e.g., x-y coordinates and an apparatus angle θ1 about z-axis, surface). A length and a unique tension vector of each cable1802can also be defined relative to the surface coordinate plane. For example, the length of each cable can be measured by a first sensor included in the apparatus1800(e.g., the distance sensor646). The tension vector can be measured by a second sensor (e.g., the force-measuring sensor432) and a third sensor (e.g., the encoder645).

A position and orientation of a material handling assembly1870(e.g., the material handling assembly170) can be defined relative to an apparatus coordinate plane defined by an x-axis, device and a y-axis, device (e.g., x-y coordinates and an arm angle θ2).

FIG.19is a schematic of a shingle layout, configured in accordance with embodiments of the present technology. In the illustrated embodiment, six rectangular roof shingles1907aand one edge roof shingle1907bare arranged in three partially overlapping rows. Each row is shown with two rectangular roof shingles arranged side-by-side. The roof shingles can be placed on top of one another such that bottom edges of roof shingles in one row are separated from bottom edges of roof shingles in an adjacent row by a predetermined dimension D1 (e.g., an exposure dimension), and side edges of roof shingles in one row are separated from side edges of roof shingles in an adjacent row by a predetermined dimension D2 (e.g., an offset dimension). Moreover, the edge roof shingle1907bcan have a trapezoidal shape and be placed side-by-side with a rectangular roof shingle1907a. One side of the edge roof shingle can have a dimension D3 (e.g., a shingle width dimension). Once the dimensions D1, D2, D3 are measured, they can be compared against predetermined minimum, maximum, or exact values that the shingle layout requires. In some embodiments, the shingles1907a,1907bcan have other shapes (e.g., parallelograms, triangles, circles, ovals) and dimensions. The shingle layout as shown and the principles described above can be applied to other surface materials, such as solar panels and cleaning products.

FIGS.20A and20Bare schematics of a shingle2007cut for placement on an edge of a surface, configured in accordance with embodiments of the present technology. The shingle2007can be an example of the edge shingle1907bshown inFIG.19. InFIG.20A, the shingle2007can be cut along line2000asuch that the remaining portion (on the left side of the line2000a) has four edges. On the other hand, inFIG.20B, the shingle2007can be cut along line2000bsuch that the remaining portion (on the left side of the line2000a) has five edges. In some embodiments, a controller (e.g., the controller130inFIG.1A) or a computer system (“controller”) can validate only cut shingles that have four edges, as shown inFIG.20A. In some embodiments, the controller can validate only cut shingles that have five edges. In other embodiments, validation can require a different number of edges, a range of number of edges, or different criteria (e.g., a sufficient surface area, shape, etc.).

FIG.21is a schematic of a shingle layout on a surface, configured in accordance with embodiments of the present technology. A plurality of shingles (or other surface materials) can be arranged in rows on an angled surface2108(e.g., the angled surface108inFIG.1A). In the illustrated embodiment, the filled in shingle2107in Row 13 represents a shingle currently being placed (e.g., by the apparatus100). When placing the shingle2107, a controller (e.g., the controller130inFIG.1A) or a computer system can measure the distance D4 between an edge2100of the shingle2107(extended across multiple rows as shown by the dotted line) and another shingle in an adjacent row (e.g., in Row 12), and validate that the distance D4 is greater than a first predetermined minimum value for that dimension (FIG.19). Additionally or alternatively, the controller can measure the distance D5 between an edge2100of the shingle2107(extended across multiple rows as shown by the dotted line) and another shingle two rows away (e.g., in Row 11), and validate that the distance D5 is greater than a second predetermined minimum value for that dimension.

The various dimensions and validation criteria discussed above with respect toFIGS.19-21can be measured by one or more sensors (e.g., the sensors773, the sensors1173) of an apparatus (e.g., the apparatus100), e.g., while the apparatus is placing surface materials on a surface. If a measured dimension is greater than a predetermined maximum dimension, less than a predetermined minimum dimension, outside a predetermined range, or otherwise fails a validation criterion, the apparatus can move the surface material to a different position and/or orientation, e.g., until all validation criteria are met. In some embodiments, the apparatus may reject a given surface material entirely and discard it or store it for future disposal.

FIG.22is a schematic illustrating positioning and orienting an apparatus (e.g., the apparatus100) on a surface2208(e.g., the angled surface108), configured in accordance with embodiments of the present technology. An anchoring system2291(e.g., the anchoring system191) can include a plurality of anchors2290(e.g., the anchors190) attached to various positions on or proximate to the surface2208.

Based on inputs such as the geometry of the surface2208and dimensions of the apparatus, a controller (e.g., the controller130inFIG.1A) or a computer system can determine a viable workspace2210on the surface2208. The viable workspace2210can represent the region within which a body assembly (e.g., the body assembly110) of the apparatus can safely operate without falling off the surface2208, causing undue tension in any cables (e.g., the cables102), or causing excessive stress on components of the apparatus or the anchors2290. For example, the viable workspace2210can be a region spaced apart from the edges of the surface2208, as shown.

Afterward, the controller can determine a site at which to place a surface material2205(e.g., the surface material205), such as via the principles discussed above. The controller can then determine a plurality of candidate positions or regions2220for the body assembly of the apparatus to be at in order for a material handling assembly (e.g., the material handling assembly170) attached to the body assembly via an arm assembly (e.g., the arm assembly160) to reach the placement site of the surface material2205. In the illustrated embodiment, the candidate positions2220are distributed around the surface material2205at a relatively constant distance. The controller can then choose a subset2230of the candidate positions2220that overlap with the viable workspace2210. In some embodiments, the controller can evaluate individual ones of the subset2230for potential issues, such as risk of collision between one or more components of the apparatus and the surface material2205, between different components of the apparatus (e.g., a collision between the body assembly and the material handling assembly), and/or between the surface material2205and cables. The controller can then pick one or more positions among the subset2230that are determined to be issue/collision-free. Finally, the controller can choose a specific position that achieves certain goals, such as minimizing the total travel distance of the body assembly, reducing tension in the cables, reducing stress on the components of the apparatus, and/or finding the most centered position.

FIGS.23A-Care schematics illustrating an apparatus2300(e.g., the apparatus100) placing surface materials2307a,2307b,2307con a surface2308(e.g., the angled surface208), configured in accordance with embodiments of the present technology. Referring first toFIG.23A, the apparatus2300is shown placing surface material2307ain Row 4 of a layout on the surface2308. While the apparatus2300can remain stationery while placing the first surface material2307a, the apparatus2300can be moved in direction2310(e.g., by controlling the lengths and tension of cables2302) to place the next surface materials in Row 4. In some embodiments, the apparatus2300can remain in a viable workspace (e.g., the viable workspace2210ofFIG.22) during operation. Referring next toFIG.23B, the apparatus2300is shown placing surface material2307bin a final position of Row 4, after which the travel direction2310can reverse and the apparatus2300can continue placing surface materials in Row 5, Row 6, and so forth. As shown, the surface material can be in a different position relative to the apparatus2300for different surface materials. Referring finally toFIG.23C, the apparatus2300is shown placing surface material2307cin Row 7. The apparatus2300can continue to move across the surface2308until all surface materials are placed and the layout is complete.

In the illustrated embodiment, the apparatus2300moves in a back-and-forth path such that the apparatus2300moves leftward when placing surface materials2307in an even-numbered row and rightward when placing surface materials2307in an odd-numbered row. In some embodiments, the travel path can be hardcoded or otherwise predetermined. In some embodiments, the travel path can change, evolve, and/or be optimized during operation as machine vision gathers new information, such as by graph searching for a surface material placement order including estimated material reload times and positions.

FIGS.24A and24Bare graphs illustrating example tension and lengths, respectively, of cables (e.g., the cables102) used to position and orient an apparatus (e.g., the apparatus100) on an angled surface (e.g., the angled surface108) over time, configured in accordance with embodiments of the present technology. In some embodiments, the cable tension values shown inFIG.24Acan be measured by a set of sensors (e.g., the force-measuring sensor432) and the cable lengths shown inFIG.24Bcan be measured by another set of sensors (e.g., the distance sensor646). As shown in the graphs, the tension and lengths of the cables can vary over time as the apparatus is re-positioned and/or re-oriented on the surface in order to place surface materials at various positions on the surface. In some embodiments, the cable tension and lengths change non-linearly when the apparatus is moved in a straight line across the angled surface.

FIG.25is a diagram illustrating a method of placing surface materials on a surface, configured in accordance with embodiments of the present technology. In some embodiments, the illustrated method can be implemented by a controller (e.g., the controller130) or on a computer system. For example, a path planning software can be used to determine a travel path of a body assembly (e.g., the body assembly110) of the apparatus across the surface. The path planning software can calculate and send cable length and tension control commands to positioning assemblies (e.g., the positioning assemblies320) of the body assembly, e.g., based on cart or apparatus winch kinematics. The cart winch kinematics can be used as a coarse positioning system for positioning a surface material by first positioning the body assembly. The path planning software can also calculate and send estimated arm joint positions to an arm assembly (e.g., the arm assembly160) attached to the body assembly based on arm kinematics. The estimated arm joint positions can include positions and/or orientations of, for example, the sliding portion362, the first bearing363, the first arm portion364, the second bearing365, the second arm portion366, the third bearing367, and/or the linear actuator368(obscured from view) discussed above with respect toFIG.3.

In some embodiments, the path planning software uses a numerical optimizer to determine the appropriate tension in each of the cables (e.g., the cables102). The tension in each cable can be determined such that the sum of external forces and the sum of moments acting on the body assembly are each equal to zero. The cable tensions can also be subject to a predetermined or calculated range such that the tension in each cable is always above a prescribed minimum value (e.g., a minimum tension value to allow the cable to exert a force on the apparatus) and always below a prescribed maximum value (e.g., a maximum tension value to avoid mechanical failure of the apparatus, cables, anchors, etc.). The external forces can include static forces such as the gravitational force, the normal force exerted by the angled surface, the tension applied by the cables, and the weight of the arm assembly and/or the material handling assembly applied to the body assembly. The external forces can also include dynamic forces such as the force the arm assembly exerts on the body assembly as the arm assembly moves the material handling assembly during operation.

The numerical optimizer can also be configured to operate based on an optimization function, including minimizing the average tension value in the cables, minimizing the greatest tension value amongst the cables, and/or minimizing the standard deviations between the tension values in the cables. In some embodiments, the numerical optimizer can be configured to operate based on a combination of multiple optimization functions with different optimization functions assigned a weight.

In some embodiments, the different positioning assemblies can be controlled via different optimization functions or algorithms. For example, three out of five positioning assemblies can be configured to control and optimize the length and/or tension of the corresponding cables while the remaining two positioning assemblies can be configured to control and optimize only the tension in the corresponding cables. In another example, a first subset of the positioning assemblies can be configured to control the position of the apparatus while a second subset of the positioning assemblies (possibly overlapping with the first subset) can be configured to control the orientation of the apparatus. In some embodiments, the positioning assemblies can be controlled via the same optimization function, such as controlling and optimizing both length and tension in the corresponding cables, but with length control given more weight than tension control, or vice versa.

Additionally, machine vision software can calculate and send corrected arm joint positions to the arm assembly based on arm kinematics to supplement or override the estimated arm joint positions sent by the path planning software. Machine vision can be implemented via sensors (e.g., sensors773) on a material handling assembly (e.g., the material handling assembly170) of the apparatus and/or other sensors in order to detect real-time positions and orientations of surface materials relative to the surface and/or other objects (e.g., surface materials already placed). The material handling assembly can be attached to the arm assembly, so the arm kinematics can be used as a precise positioning system for positioning the surface material.

FIG.26is a diagram illustrating a method of moving an apparatus (e.g., the apparatus100) across a surface (e.g., the angled surface108), configured in accordance with embodiments of the present technology. In some embodiments, the illustrated method can be an example of the path planning software described above with respect toFIG.25. In some embodiments, the illustrated method can be implemented by a controller (e.g., the controller130) or on a computer system. In some embodiments, the method can include providing or obtaining inputs such as the geometry of the angled surface and/or the positions of the anchors on the angled surface to the path planning software. The method can include discretizing the angled surface into a grid of shapes (e.g., squares, triangles, rectangles) (e.g., as shown inFIG.22) and using a heuristic to assign a “C” value to each shape in the grid. The “C” values can form a continuous function across the angled surface. The method can then include determining the appropriate cable lengths and tension vectors for each X, Y, C coordinate and/or orientation on the angled surface based on an X virtual axis and a Y virtual axis of the angled surface, and a C virtual axis formed by the “C” values assigned. In some embodiments, the method can run a numerical optimizer (e.g., the numerical optimizer described above with respect toFIG.25) to determine the appropriate lengths and/or tension vectors for each position and orientation. For example, the path planning software can generate a cable length and tension map accordingly and share the map with the controller.

Once a path for a body assembly (e.g., the body assembly110) of the apparatus to travel is determined, the body assembly can be assigned a specific coordinate position defined by the X virtual axis, the Y virtual axis, and the C virtual axis. In some embodiments, the coordinate position can be defined relative to the surface coordinate plane described above with respect toFIG.18. The coordinates can then be used as inputs to, for example, an inverse kinematics algorithm, and the controller(s) (e.g., the controller130) can in turn can calculate computed length and tension values for each cable for setting corresponding position assemblies (e.g., the positioning assemblies320). In some embodiments, motors (e.g., the motor421, the motor1221) can be controlled to adjust the length and/or tension in the cables to match the computed values respectively. Various sensors included in the apparatus (e.g., the distance sensor646, the force-measuring sensor432, the encoder645) can then measure the actual real-time lengths, tension, and/or angles of individual ones of the cables and communicate the measurements to the inverse kinematics algorithm. In some embodiments, the two-way communication between the inverse kinematics algorithm and the cable controllers comprises a feedback loop in which the algorithm and the cable controllers continuously adjust and correct the lengths and tension of each cable to achieve the desired position of the body assembly at any given moment. In some embodiments, the controller can use linear interpolation on the tension values to move the body assembly.

IV. Computer System

FIG.27is a block diagram that illustrates an example of a computer system2700in which at least some operations described herein can be implemented. As shown, the computer system2700can include: one or more processors2702, main memory2706, non-volatile memory2710, a network interface device2712, video display device2718, an input/output device2720, a control device2722(e.g., keyboard and pointing device), a drive unit2724that includes a storage medium2726, and a signal generation device2730that are communicatively connected to a bus2716. The bus2716represents one or more physical buses and/or point-to-point connections that are connected by appropriate bridges, adapters, or controllers. Various common components (e.g., cache memory) are omitted fromFIG.27for brevity. Instead, the computer system2700is intended to illustrate a hardware device on which components illustrated or described relative to the examples of the figures and any other components described in this specification can be implemented.

The computer system2700can take any suitable physical form. For example, the computing system2700shares a similar architecture as that of a server computer, personal computer (PC), tablet computer, mobile telephone, game console, music player, wearable electronic device, network-connected (“smart”) device (e.g., a television or home assistant device), AR/VR systems (e.g., head-mounted display), or any electronic device capable of executing a set of instructions that specify action(s) to be taken by the computing system2700. In some implementation, the computer system2700can be an embedded computer system, a system-on-chip (SOC), a single-board computer system (SBC) or a distributed system such as a mesh of computer systems or include one or more cloud components in one or more networks. Where appropriate, one or more computer systems2700can perform operations in real-time, near real-time, or in batch mode.

The network interface device2712enables the computing system2700to mediate data in a network2714with an entity that is external to the computing system2700through any communication protocol supported by the computing system2700and the external entity. Examples of the network interface device2712include a network adaptor card, a wireless network interface card, a router, an access point, a wireless router, a switch, a multilayer switch, a protocol converter, a gateway, a bridge, bridge router, a hub, a digital media receiver, and/or a repeater, as well as all wireless elements noted herein.

The memory (e.g., main memory2706, non-volatile memory2710, machine-readable medium2726) can be local, remote, or distributed. Although shown as a single medium, the machine-readable medium2726can include multiple media (e.g., a centralized/distributed database and/or associated caches and servers) that store one or more sets of instructions2728. The machine-readable (storage) medium2726can include any medium that is capable of storing, encoding, or carrying a set of instructions for execution by the computing system2700. The machine-readable medium2726can be non-transitory or comprise a non-transitory device. In this context, a non-transitory storage medium can include a device that is tangible, meaning that the device has a concrete physical form, although the device can change its physical state. Thus, for example, non-transitory refers to a device remaining tangible despite this change in state.

In general, the routines executed to implement examples herein can be implemented as part of an operating system or a specific application, component, program, object, module, or sequence of instructions (collectively referred to as “computer programs”). The computer programs typically comprise one or more instructions (e.g., instructions2704,2708,2728) set at various times in various memory and storage devices in computing device(s). When read and executed by the processor2702, the instruction(s) cause the computing system2700to perform operations to execute elements involving the various aspects of the disclosure.

It will be apparent to those having skill in the art that changes may be made to the details of the above-described embodiments without departing from the underlying principles of the present disclosure. In some cases, well known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the present technology. Although steps of methods may be presented herein in a particular order, alternative embodiments may perform the steps in a different order. Similarly, certain aspects of the present technology disclosed in the context of particular embodiments can be combined or eliminated in other embodiments. Furthermore, while advantages associated with certain embodiments of the present technology may have been disclosed in the context of those embodiments, other embodiments can also exhibit such advantages, and not all embodiments need necessarily exhibit such advantages or other advantages disclosed herein to fall within the scope of the technology. Accordingly, the disclosure and associated technology can encompass other embodiments not expressly shown or described herein, and the invention is not limited except as by the appended claims.

Throughout this disclosure, the singular terms “a,” “an,” and “the” include plural referents unless the context clearly indicates otherwise. Additionally, the term “comprising,” “including,” and “having” should be interpreted to mean including at least the recited feature(s) such that any greater number of the same feature and/or additional types of other features are not precluded.

Reference herein to “one embodiment,” “an embodiment,” “some embodiments” or similar formulations means that a particular feature, structure, operation, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present technology. Thus, the appearances of such phrases or formulations herein are not necessarily all referring to the same embodiment. Furthermore, various particular features, structures, operations, or characteristics may be combined in any suitable manner in one or more embodiments.

Unless otherwise indicated, all numerical parameters set forth in the following specification and attached claims are approximations that may vary depending upon the desired properties sought to be obtained by the present technology. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques. Additionally, all ranges disclosed herein are to be understood to encompass any and all subranges subsumed therein. For example, a range of “1 to 10” includes any and all subranges between (and including) the minimum value of 1 and the maximum value of 10, i.e., any and all subranges having a minimum value of equal to or greater than 1 and a maximum value of equal to or less than 10, e.g., 5.5 to 10.

The disclosure set forth above is not to be interpreted as reflecting an intention that any claim requires more features than those expressly recited in that claim. Rather, as the following claims reflect, inventive aspects lie in a combination of fewer than all features of any single foregoing disclosed embodiment. Thus, the claims following this Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment. This disclosure includes all permutations of the independent claims with their dependent claims.

The present technology is illustrated, for example, according to various aspects described below as numbered clauses (1, 2, 3, etc.) for convenience. These are provided as examples and do not limit the present technology. It is noted that any of the dependent clauses may be combined in any combination, and placed into a respective independent clause. The other clauses can be presented in a similar manner.

1. An apparatus configured to operate on an angled surface relative to a direction of gravity, comprising:a body assembly including a body frame and a plurality of positioning assemblies coupled to the body frame, wherein the positioning assemblies are configured to position and/or orient the body frame on the surface;an arm assembly including a proximal end portion and a distal end portion opposite the proximal end portion, wherein the arm assembly is rotatably coupled to the body portion; anda material handling assembly coupled to the distal end portion of the arm assembly, wherein the material handling assembly is configured to carry a surface material.

2. The apparatus of any one of the clauses herein, wherein the body frame includes (i) a first axis extending along a vertical dimension of the body frame and (ii) a second axis normal to the first axis and extending along a length dimension of the body frame, and wherein:the arm assembly is rotatably coupled to the body frame about the first axis, andthe arm assembly is movable, relative to the body frame, along the second axis.

3. The apparatus of any one of the clauses herein, wherein the body frame includes a third axis normal to the second axis and extending along a width dimension of the body frame, and wherein the arm assembly is extendable along the third axis.

4. The apparatus of any one of the clauses herein, wherein the material handling assembly is rotatably coupled to the distal end portion of the arm assembly, and at least a portion of the material handling assembly is moveable, relative to the arm assembly, in a direction toward and away from the distal end portion of the arm assembly.

5. The apparatus of any one of the clauses herein, wherein the positioning assemblies are configured to rotate the body frame across a range of at least 300 degrees.

6. The apparatus of any one of the clauses herein, wherein individual ones of the positioning assemblies are at peripheral portions of the body frame and comprise:a winch assembly coupled to the body frame, the winch assembly comprising:a drum coupled to the body frame and configured to receive a cable; anda drum winder coupled to the body frame and configured to wind and unwind the cable from the drum.

7. The apparatus of any one of the clauses herein, wherein the drum extends along a drum axis, and wherein the winch assembly further comprises:an actuator coupled to the body frame and extending along an actuator axis, wherein the drum winder is coupled to the actuator; anda motor coupled to the body frame and configured to rotate the drum about the drum axis and actuate the actuator such that the drum winder moves along the actuator axis.

8. The apparatus of any one of the clauses herein, wherein individual ones of the positioning assemblies comprise a cable pivot assembly including:a bearing rotatably coupled to the body frame, wherein the bearing is configured to rotate about a pivot axis;a pulley coupled to the bearing;a distance sensor coupled to the pulley; andan encoder coupled to the bearing and configured to measure a rotation angle of the bearing relative to the body frame.

9. The apparatus of any one of the clauses herein, wherein individual ones of the positioning assemblies further comprises:a pulley coupled to the body frame and configured to receive a cable; anda sensor coupled to the pulley and configured to measure tension in the cable.

10. The apparatus of any one of the clauses herein, wherein the positioning assemblies comprises at least four positioning assemblies each configured to be coupled to a cable.

11. The apparatus of any one of the clauses herein, wherein the arm assembly comprises:a first actuator coupled to the body frame extending along a first axis;a first arm portion with a first end portion rotatably coupled to the first linear actuator; a second arm portion with a first end portion rotatably coupled to a second end portion of the first arm portion; anda second actuator rotatably coupled to a second end portion of the second arm portion and extending along a second axis, wherein the second axis is generally perpendicular to the first axis, wherein the material handling assembly is coupled to the second linear actuator.

12. The apparatus of any one of the clauses herein, wherein the arm assembly comprises:a first telescoping arm portion rotatably coupled to the body frame, wherein the first telescoping arm portion is configured to rotate about a first axis, wherein the first telescoping arm portion is configured to extend along a second axis generally perpendicular to the first axis;a second telescoping arm portion coupled to a distal end portion of the first telescoping arm portion, wherein the second telescoping arm portion is configured to extend along a third axis generally perpendicular to the second axis; andan attachment portion rotatably coupled to the second telescoping arm portion, wherein the attachment portion is configured to rotate about the third axis, wherein the material handling assembly is coupled to the attachment portion.

13. The apparatus of any one of the clauses herein, wherein the material handling assembly comprises:a material handling frame coupled to the distal end portion of the arm assembly; anda plurality of handling members coupled to the material handling frame, wherein, in operation, individual ones of the handling members are in an on state or an off state, such that the individual ones of the handling members attach to the surface management material when in the on state, and the individual ones of the handling members do not attach to the surface material when in the off state.

14. The apparatus of any one of the clauses herein, wherein individual ones of the handling members comprise a suction cup.

15. The apparatus of any one of the clauses herein, wherein the material handling assembly further comprises:a fixation device coupled to the material handling frame, wherein the applicator device comprises at least one of a motorized nail gun, a motorized staple fun, an adhesive applicator, and a heating element, wherein the applicator is configured to attach the surface material to the surface;an imaging device coupled to the material handling frame; anda processor operatively coupled to the imaging device, wherein the imaging device and the processor are configured to determine an edge of the surface and/or an edge of the surface material, and wherein the arm assembly is configured to be adjusted based on a determination by the processor.

16. The apparatus of any one of the clauses herein, wherein the material handling assembly comprises:a material handling frame coupled to the distal end portion of the arm assembly; anda fixation device coupled to the material handling frame, wherein the fixation device is configured to fix the surface material onto the angled surface.

17. The apparatus of any one of the clauses herein, wherein the surface comprises a rooftop, and wherein the surface material comprises a roof shingle.

18. The apparatus of any one of the clauses herein, wherein individual ones of the positioning assemblies are coupleable to individual ones of a plurality of cables extending from individual ones of a plurality of anchors attached to the angled surface, and wherein the body assembly further includes at least one of:a plurality of tension sensors configured to measure tension in corresponding ones of the cables;a plurality of length sensors configured to measure lengths of corresponding ones of the cables between corresponding ones of the anchors and the body assembly; ora plurality of encoders configured to measure angles of corresponding ones of the cables relative to the body assembly.

19. The apparatus of any one of the clauses herein, wherein the body assembly further includes a hopper configured to receive the surface material.

20. The apparatus of any one of the clauses herein, wherein the body assembly further includes a plurality of wheels configured to contact the surface, wherein the wheels are configured to facilitate movement of the body assembly as the positioning assemblies position and/or orient the body frame on the surface.

21. A system for operating a device on an angled surface, the system comprising:an apparatus configured to operate over an angled surface and carry one or more surface materials, wherein the angled surface includes an x-axis, a y-axis normal to the x-axis, and a z-axis normal to an x-y plane defined by the x-axis and the y-axis, the apparatus comprising a body frame and a plurality of positioning assemblies at peripheral portions of the body frame;an anchoring system comprising:a plurality of anchors attached at a periphery of the angled surface; anda plurality of cables, wherein individual ones of the cables are coupleable to and configured to extend between one of the anchors and one of the positioning assemblies of the surface management apparatus; anda controller operably coupled the positioning assemblies, wherein the controller is configured to affect tension of individual cables by operating the positioning assemblies, and wherein the tension of the individual cables cause the apparatus to be positioned along the x-y plane and orient the apparatus about the z-axis.

22. The system of any one of the clauses herein, wherein:the angled surface is a roof including an angle relative to a direction of gravity of 5-45 degrees,the positioning assemblies include a first positioning assembly, a second positioning assembly, and a third positioning assembly,the anchors includes a first anchor at a first corner portion of the roof, a second anchor at a second corner portion of the roof, and a third anchor at a third corner portion of the roof, andthe cables include a first cable coupled to and extending between the first positioning assembly and the first anchor, a second cable coupled to and extending between the second positioning assembly and the second anchor, and a third cable coupled to and extending between the third positioning assembly and the third anchor,wherein the first cable, the second cable, and the third cable each have a unique tension.

23. The system of any one of the clauses herein, wherein the apparatus further comprises:a plurality of tension sensors configured to measure tension in corresponding ones of the cables;a plurality of length sensors configured to measure length of corresponding ones of the cables between corresponding ones of the anchors and the body assembly; anda plurality of encoders configured to measure angles of corresponding ones of the cables along the x-y plane,wherein the tension sensors, the length sensors, and the encoders are configured to output measured data to the controller, andwherein the controller is configured to operate the individual ones of the tensioner devices based on the measured data.

24. The system of any one of the clauses herein, wherein individual ones of the positioning assemblies comprise:a distance sensor attached to a corresponding one of the cables, wherein the distance sensor is configured to measure a distance between the distance sensor and a corresponding one of the anchors to which the one of the cables extends; andan encoder configured to measure a rotation angle of the bearing relative to the body frame.

25. The system of any one of the clauses herein, further comprising a sensor on the apparatus and positioned to measure a displacement on the surface and/or a distance between adjacent ones of the surface materials.

26. The system of any one of the clauses herein, wherein individual ones of the anchors comprises:a bushing comprising a first cavity and a second cavity;a biasing member positioned in the first cavity; anda rod having a first end portion positioned in the first cavity and a second end portion positioned in the second cavity, wherein the first end portion is configured to compress the biasing member, and wherein the second end portion is configured to attached to a corresponding one of the cables.

27. The system of any one of the clauses herein, wherein the apparatus comprises five positioning assemblies, and wherein the anchoring system comprises five anchors and five cables.

28. A method of operating an apparatus to place surface materials on a surface, the method comprising:providing a system comprising:anchors attached to a surface,cables coupled to individual ones of the anchors, andan apparatus including positioning assemblies coupled to individual ones of the cables, receiving inputs including:a geometry of the surface, andone or more dimensions of surface materials to be installed on the surface;based on the geometry of the surface and the one or more dimensions of the surface materials, determining an initial position of the apparatus; andbased on the initial position, determining a tension of the individual ones of the cables to move the apparatus to the initial position.

29. The method of any one of the clauses herein, further comprising:based on the geometry of the surface and the one or more dimensions of the surface materials, determining a placement position of one of the surface materials; andbased on the geometry of the surface and the one or more dimensions of the surface materials, determining a viable workspace on the surface for the apparatus,wherein determining the initial position of the apparatus comprises determining a plurality of candidate positions around the placement position and selecting a subset of the candidate positions overlapping with the viable workspace on the surface.

30. The method of any one of the clauses herein, wherein the apparatus further includes an arm assembly, and wherein determining the initial position of the apparatus is based on a length and an orientation of the arm assembly.

31. The method of any one of the clauses herein, wherein determining the initial position of the apparatus is based on minimizing tension in the cables.

32. The method of any one of the clauses herein, wherein determining the initial position of the apparatus is based on minimizing travel distance of the apparatus across the surface.

33. The method of any one of the clauses herein, further comprising:based on the geometry of the surface and the one or more dimensions of the surface materials, determining an initial orientation of the apparatus, wherein determining the tension of the individual ones of the cables is further based on the initial orientation of the apparatus.

34. The method of any one of the clauses herein, further comprising:validating that one of the surface materials comprises four edges.

35. The method of any one of the clauses herein, further comprising:placing a first surface material and a second surface material on the surface; andmeasuring a distance between a first edge of the first surface material and a second edge of the second surface material.

36. The method of any one of the clauses herein, wherein the geometry of the surface comprises a parallelogram, a trapezoid, or a non-rectangular shape.

37. The method of any one of the clauses herein, wherein the system further comprises a sensor on the apparatus, and wherein measuring the distance comprises measuring the distance via the sensor.

38. The method of any one of the clauses herein, wherein the surface materials are configured to be attached to a roof, and wherein one of the surface materials comprises a first dimension of at least 5 inches and a second dimension of at least 10 inches.

39. An anchor fixedly attached to an angled surface and configured to be coupled to a cable, the anchor comprising:a base member configured to be fixedly attach to one or more angled surfaces;a bearing member attached to the base member and;a bushing attached to the bearing member and comprising a cavity; anda rod member at least partially disposed within the cavity, wherein the rod member is configured to be attached to a cable.

40. The anchor of the previous clause, further comprising a biasing member at least partially disposed within the cavity, wherein the biasing member is configured to be compressed by the rod member due to tension in the cable pulling on the rod member.

41. The anchor of any one of the clauses herein, wherein the bushing further comprises a ring portion defining an end of the cavity, wherein the rod member comprises an end cap at a distal end portion of the rod member, and wherein the anchor further comprises:a biasing member at least partially disposed within the cavity, wherein the biasing member is configured to be compressed between the ring portion and the end cap of the rod member due to tension in the cable pulling on the rod member.

42. The anchor of any one of the clauses herein, wherein the one or more angled surfaces includes a first surface and a second surface oriented at a non-zero angle relative to the first surface, and wherein the base member is a first base member fixedly attached to the first surface, the anchor further comprising:a second base member fixedly attached to the second surface and rotatably coupled to the first base member via a hinge.

43. The anchor of any one of the clauses herein, wherein the rod member is configured to be attached to the cable via cable splicing.

44. The anchor of any one of the clauses herein, further comprising a reflector plate attached to the bearing member and/or the bushing.