Patent Publication Number: US-2022235559-A1

Title: Automated wall finishing system and method

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is continuation of U.S. application Ser. No. 16/740,848, filed Jan. 13, 2020, which is a continuation of U.S. application Ser. No. 16/141,791, filed Sep. 25, 2018, which is a non-provisional of, and claims the benefit of U.S. Provisional Application No. 62/562,981, filed Sep. 25, 2017, which applications are hereby incorporated herein by reference in its entirety and for all purposes. 
    
    
     This application is also related to U.S. Non-provisional applications filed contemporaneously herewith having attorney Docket Numbers 0111061-001US0, 0111061-002US0, 0111061-003US0, 0111061-004US0, 0111061-005US0, 0111061-006US0, 0111061-007US0, having respective application numbers 15/942,158, 15/942,193, 15/941,886, 15/942,318, 15/942,087, 15/942,286 and 15/941,974 and respectively entitled “AUTOMATED DRYWALL PLANNING SYSTEM AND METHOD,” “AUTOMATED DRYWALL CUTTING AND HANGING SYSTEM AND METHOD,” “AUTOMATED DRYWALL MUDDING SYSTEM AND METHOD,” “AUTOMATED DRYWALL SANDING SYSTEM AND METHOD,” “AUTOMATED DRYWALL PAINTING SYSTEM AND METHOD,” “AUTOMATED DRYWALLING SYSTEM AND METHOD,” and “AUTOMATED INSULATION APPLICATION SYSTEM AND METHOD.” These applications are hereby incorporated herein by reference in their entirety and for all purposes. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an exemplary perspective drawing illustrating an embodiment of an automated surface installation and finishing system. 
         FIG. 2  is an exemplary perspective drawing illustrating another embodiment of an automated wall finishing system. 
         FIG. 3  is an exemplary block diagram illustrating systems of an automated wall finishing system in accordance with one embodiment. 
         FIG. 4  is an exemplary block diagram illustrating systems of an automated wall finishing system in accordance with one embodiment, including a plurality of end effectors configured to couple to an end of a robotic arm. 
         FIG. 5  illustrates a block diagram of method of installing surfaces in accordance with one embodiment. 
         FIGS. 6 a  and 6 b    illustrate example embodiments of a substrate in accordance with various embodiments. 
         FIGS. 7 a  and 7 b    illustrate an embodiment of an automated compound application process where the joint compound is applied in a thick layer using a sprayer. 
         FIGS. 8 a , 8 b  and 9 a  and 9 b    illustrate a series of steps in an example method of installing a substrate to generate a wall assembly. 
         FIG. 10  illustrates an embodiment of a wall finishing system applying a coating to a substrate in accordance with one embodiment. 
         FIG. 11  illustrates an embodiment of a coating end effector configured to automatically dispense and apply joint tape at seams between substrate edges. 
         FIG. 12  illustrates one embodiment of a coating end effector that includes a spray gun that is coupled onto the robotic arm. 
         FIG. 13  illustrates another embodiment of a coating end effector that includes a spray gun that is coupled onto the robotic arm. 
         FIG. 14  illustrates an example of an in-line nozzle for mixing components of the coating, water, and any additives at an application site. 
         FIG. 15  illustrates an example embodiment of a coating end effector that includes a spray pattern detection mechanism, in which a vision system can be used to monitor the pattern of coating spray coming out of the nozzle to detect clogs, nozzle wear, low pressure, or other problems with the spray gun or related system such as coating lines, coating source or the like. 
         FIG. 16  illustrates an example embodiment of a coating end effector that comprises a vacuum system that includes a vacuum hood disposed around an end and nozzle of a spray gun to capture overspray. 
         FIG. 17  illustrates an example embodiment of a coating end effector that comprises a spray guard that partially extends about and past the face of the nozzle of the spray gun. 
         FIG. 18  illustrates an example of a coating end effector that comprises a coating flat box to apply the coating compound. 
         FIG. 19  illustrates an example embodiment of a coating end effector that comprises a first blower and a second blower. 
         FIG. 20  illustrates an example embodiment of a coating end effector, which comprises a nozzle cassette system where a cassette of nozzles is attached to the end of the spray gun. 
         FIG. 21  illustrates another example embodiment of a coating end effector that comprises a nozzle rotating system that can be part of a spray gun. 
         FIG. 22  illustrates an example embodiment of a substrate applicator end effector, wherein a roll of substrate is mounted within a roll body of the end effector and fed under a roller. 
         FIG. 23  illustrates an example embodiment of an automated wall finishing system where a substrate end effector utilizes studs of a wall assembly as a guide for delivering substrate between or on the studs, header and/or footer of a wall assembly. 
         FIG. 24  illustrates another example embodiment of a coating end effector that comprises a fluid stream nozzle and coating nozzle that can be part of a spray gun. 
     
    
    
     It should be noted that the figures are not drawn to scale and that elements of similar structures or functions are generally represented by like reference numerals for illustrative purposes throughout the figures. It also should be noted that the figures are only intended to facilitate the description of the preferred embodiments. The figures do not illustrate every aspect of the described embodiments and do not limit the scope of the present disclosure. 
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The following disclosure pertains to an automated drywalling finishing system, which in some embodiments can be used for generating a wall, finishing a wall, or the like. Further examples can be used for drywalling, including one or more of planning a configuration and location of drywall pieces on a wall assembly, cutting drywall pieces, hanging drywall pieces, performing mud work on hung drywall pieces, performing sanding on mudded drywall pieces and painting sanded drywall pieces. 
     Various aspects of the present disclosure pertain to a surface finishing system and method for spraying plaster, stucco, parex, gypsum, or the like, over a porous substrate material to create a wall. In some examples, the substrate material can comprise mesh, paper, cloth surface, lath, buttonboard, rock lath, rainscreen, drywall board, a porous surface, or the like. The substrate material can be flexible to follow curved or complex contours in various examples. The material may be transported in rolls or sheets and fastened to load bearing structures to generate a portion of a wall. The substrate can also comprise a woven structural cabler, woven electrical cables, or the like. The substrate can be instrumented with sensors that measure humidity, temperature, conductivity, sound, and the like, which can be used to provide feedback during the spraying process; to serve as in wall-sensors for detection of leaks in the walls, temperature and humidity of the room, environmental problems; or for other suitable purposes. 
     In accordance with a finishing method of one embodiment, a substrate is attached to wood, metal, concrete or any structural material and a coating is sprayed onto the substrate. The coating material can comprise plaster, gypsum, concrete, stucco or other suitable mineral formulation. The coating may also comprise polymers such as latex and acrylics, as well as adhesion additives including glue and other bonding agents. The coating can comprise a synthetic material such as Parex, an acrylic synthetic stucco, or the like. 
     One aspect pertains to systems and methods for automated mixing, delivering, applying, curing, and/or drying coatings onto a substrate. In one embodiment, an automated surface finishing system can be used to mix, deliver, apply, and dry coatings onto porous substrates. The automated surface finishing system can be used to apply tape on seams between substrate edges, apply coating or plaster onto the tape and substrate, expedite the drying process, or any combination of these processes. The automated surface finishing system can also be used to apply the coating and achieve any level of drywall finish including between level 0 and level 5. The automated surface finishing system can utilize joint compound known as mud or setting type compound also known as hot mud. It can also utilize plaster, gypsum, polymer coatings, or the like in some example. Joint compound as discussed herein can encompass pre-mixed, topping, taping, multi-use, all-purpose, and setting type compounds. The automated surface finishing system can also be used with other coatings including plaster, cement, stucco, and paint applied onto drywall, lath, mesh or another suitable substrate. The automated surface finishing system can cover how the coating is prepared, how it is delivered onto the substrate and how it is set, cured or dried. 
     The methods described in this disclosure can be conducted manually or automatically using an automated system. The automated system can comprise a robotic manipulator, vision system, tool for cutting a substrate, tool for attaching the substrate to the structural material, measurement system, mobile cart, coating material pump, powered finishing tools, power sprayer and any combination of these components. The robotic arm and mobile base can be driven using pressurized fluids, electric motors, cable drives, belt drives, solenoids, voice coils, or any suitable combination of power source. The automated surface finishing system can be electrically or gas powered; it may also utilize pressurized fluid from an external source. The automated system can also take the form of a gantry, where a tool is positioned using an x-y-z stage. The tool-holder can have additional degrees of freedom to orient a tool or end effector or change the position of the tool. 
     The automated systems and methods disclosed can encompasses all or any of the steps of preparing for, generating and finishing a wall assembly or other portions of a structure, from planning the layout of the substrate material, to attaching the substrate to structural members, to spraying a coating, and finishing the coating. Finishing steps can include but are not limited to troweling, sanding, polishing, knocking-down, applying a texture finish, smoothing, compacting, leveling, floating, edging, cutting grooves or expansion gaps, painting, stenciling, and the like. The automated system can be used to control the finishing tools allowing for controlled material application, removal, and finishing. 
     A vision system, measurement sensors, and/or model of a room or structure can be used to determine how a substrate material should be cut to cover the surface. The vision system (which can comprise one or more camera, LIDAR, radar, sonar, or the like), can be used to create a model of the structural material including studs and determine how the system should be used to cover the structures with the substrate and the coating. The automated system can utilize a computational planner that utilizes one or both of the models captured by the vision system and the building plan to determine how the automated system will perform all or any of the steps in a sprayed-on walls process. The automated system can be used to cut, trim, and/or finish the edges of the substrate material. The layout of the substrate can be optimized to minimize the number of breaks or seams in the substrate or to control the location of seams. The substrate material can be hung or attached to the structure manually or using the automated system. The substrate can be attached by nails, screws, staples, glue, anchors or any other suitable fixing component. The substrate material may be overlapped at breaks or can generate seams. 
     Turning to  FIGS. 1 and 2 , examples of an automated surface finishing system  100  are illustrated, which includes a base unit  120 , a robotic arm  140  and an end effector  160 . The base unit  120  comprises a platform  122  and a cart  124  with a lift  126  disposed between the platform  122  and cart  124 . The cart  124  can be configured to be disposed on the ground and move within an XY plane defined by axes X and Y, and the lift  126  can be configured to raise the platform  122  up and down along axis Z, which is perpendicular to axes X and Y. 
     In the examples of  FIGS. 1 and 2 , the cart  124  can comprise a plurality of wheels  128 , which can be used to move the cart  124  and surface finishing system  100  on the ground in the XY plane. Such movement can be motorized or can be non-motorized. For example, in some embodiments, the surface finishing system  100  can be configured for automated movement of the cart  124 , motorized movement based on input from a user and/or non-motorized movement based on physical movement by a user. Additionally, while an example having wheels  128  is shown in some examples herein, it should be clear that the cart  124  can be configured for motorized and/or non-motorized movement via any suitable structures, systems, or the like. 
     In the examples of  FIGS. 1 and 2 , the lift  126  is shown comprising a scissor lift that can raise and lower the platform  122  relative to the cart  124  along axis Z. Such movement can be motorized or can be non-motorized. For example, in some embodiments, the surface finishing system  100  can be configured for automated movement of the lift  126 , motorized movement of the lift  126  based on input from a user and/or non-motorized movement based on physical operation of the lift  126  by a user. Additionally, while an example of a scissor lift is shown herein, it should be clear that any suitable lift system can comprise the lift  126  without limitation. 
     The platform  122  can comprise a hub  130 , which can couple with the robotic arm  140  at a base end  142  of the robotic arm  140 . The hub  130  can comprise an input interface  132  that allows for various systems to couple with the hub  130 , which can allow for resources provided by such systems to be provided to the robotic arm  140  and/or the end effector  160  coupled at a distal end  144  of the robotic arm  140  as discussed in more detail herein. For example, a pneumatic source, a power source, a vacuum source, a paint source, a coating or joint compound source, or the like can be coupled to the hub  130 .  FIG. 1  illustrates an example having an air compressor  134  and a vacuum source  136  coupled to the hub  130 .  FIG. 2  illustrates an example having an air compressor  134  coupled to the hub  130 , which can be used to power pneumatic actuators  146  of the robotic arm  140  and/or provide compressed air to the end effector  160  at the distal end  144  of the robotic arm  140 . 
     In various embodiments, the robotic arm  140  can comprise any suitable robotic arm or positioning stage system, which can include pneumatic actuators, electric actuators, and the like. The robotic arm  140  can have any suitable number of degrees of freedom. Although the examples of  FIGS. 1 and 2  illustrate an example having pneumatic actuator units  146  separated by arm couplers  148 , this example configuration should not be construed to be limiting on the wide variety of robotic arms  140  or positioning stages that are within the scope and spirit of the present disclosure. 
     As discussed in more detail herein, an end effector  160  can be coupled at the distal end  144  of the robotic arm  140 . In some examples, the automated surface finishing system  100  can comprise modular and/or multi-use end effectors  160 , which can be configured for various drywalling, construction, or other tasks. For example, as discussed herein, end effectors  160  can be configured for substrate planning, substrate hanging, applying coating or joint compound to hung substrate, sanding the coating, painting, and the like. Although various examples herein relate to drywalling and construction, further embodiments of the surface finishing system  100  can be configured for any suitable tasks, including construction tasks, manufacturing tasks, gardening tasks, farming tasks, domestic tasks, and the like. Accordingly, the discussions herein related to drywalling and construction should not be construed to be limiting on the wide variety of tasks that the system  100  can be configured for. 
     Turning to  FIG. 3 , a block diagram of a surface finishing system  100  is illustrated, which includes a base unit  120  coupled to a robotic arm  140 , which is coupled to an end effector  160 . The base unit  120  is shown comprising a control system  322 , which is operably coupled to a vision system  324 , sensors  326 , and a movement system  328 . The robotic arm  140  is shown comprising sensors  346  and a movement system  348 , which are operably coupled to the control system  322 . The example end effector  160  is shown comprising a vision system  364 , sensors  366 , a movement system  368 , and one or more end effector devices  370 , which are operably connected to the control system  322 . 
     In various embodiments, the connections between the control system  322  and respective vision systems  324 ,  364 ; respective sensors  326 ,  346 ,  366 ; respective movement systems  328 ,  348 ,  368 ; and end effector devices  370  can comprise any suitable type of connection including wired and/or wireless connections. For example, such connections can be configured for digital and/or analog communication of information between respective elements. 
     The vision systems  324 ,  364  can comprise one or more suitable vision system including one or more visible spectrum camera, radar, light detection and ranging (LIDAR) system, sonar, infrared camera, thermal camera, stereo cameras, structured light camera, laser scanners, and the like. The vision systems  324 ,  364  can comprise the same or different elements. Additionally, in some embodiments, one or both of the vision systems  324 ,  364  can be absent. In some embodiments, the robotic arm  140  can comprise a vision system. 
     The sensors  326 ,  346 ,  366  can comprise any suitable sensors in various embodiments including one or more sensors of humidity, temperature, air flow, laser curtains, proximity sensors, force and torque sensors, pressure sensors, limit switches, rotameter, spring and piston flow meter, ultrasonic flow meter, turbine meter, paddlewheel meter, variable area meter, positive displacement, vortex meter, pitot tube or differential pressure meters, magnetic meters, humidity sensor, conductivity sensor and depth or thickness sensors. The sensors  326 ,  346 ,  366  can comprise the same or different elements. Additionally, in some embodiments, one or more of the sensors  326 ,  346 ,  366  can be absent. 
     The movement systems  328 ,  348 ,  368  can comprise any suitable movement systems in various embodiments including one or more of an electric motor, pneumatic actuators, piezo electric actuator, and the like. For example, in some embodiments the movement system  328  of the base unit  120  can comprise the lift  126  and motors that drive wheels  128  of the cart  124  (see  FIGS. 1 and 2 ). In another example, the movement system  348  of the robotic arm  140  can comprise pneumatic actuators  146  as illustrated in the examples of  FIGS. 1 and 2 . In various embodiments, the movement system  368  of the end effector  160  can comprise motors or other systems that are configured to move, change the orientation of, rotate, or otherwise configure the end effector  160 . In some embodiments, one or more of the movement systems  328 ,  348 ,  368  can be absent. 
     As discussed herein, the one or more end effector devices  370  can comprise various suitable devices, including a cutting device, hanging device, coating device, sanding device, painting device, vacuum device, and the like. Other suitable devices can be part of an end effector  160  and can be selected based on any desired task that the end effector  160  may be used for. 
     As discussed in more detail herein, the control system  322  can receive data from the vision systems  324 ,  364  and sensors  326 ,  346 ,  366  and can drive the movement systems  328 ,  348 ,  368  and one or more end effector devices  370  to perform various tasks including substrate planning, substrate hanging, applying coating or joint compound to hung substrate, sanding the coating, painting, and the like. Accordingly, the control system  322  can drive the surface finishing system  100  to perform various suitable tasks, with some or all portions of such tasks being automated and performed with or without user interaction. The control system can comprise various suitable computing systems, including one or more processor and one or more memory storing instructions that if executed by the one or more processor, provide for the execution of tasks by the automated surface finishing system  100  as discussed in detail herein. Additionally, while a control system  322  is shown as being part of the base unit  120 , in further embodiments, the control system can be part of the robotic arm  140  or end effector  160 . Also, further examples can include a plurality of control systems and/or control sub-systems, which can be suitably disposed in one or more of the base unit  120 , robotic arm  140 , and or end effector  160 . 
     Turning to  FIG. 4 , an exemplary block diagram illustrating systems of an automated surface finishing system  100  that includes a base unit  120  coupled to a robotic arm  140  and including a plurality of end effectors  160  configured to couple to the distal end  144  of the robotic arm  140 . In this example, the end effectors  160  include a cutting end effector  160 C, a hanging end effector  160 H, a coating end effector  160 M, a sanding end effector  160 S and a painting end effector  160 P. 
     As shown in  FIG. 4 , the base unit  120  can comprise a vacuum source  422 , a paint source  426 , a coating source  430 , a power source  432 , and one or more base unit devices  438 . In various embodiments, one or more of the vacuum source  422 , paint source  426 , coating source  430 , and power source  432  can couple with a hub  130  ( FIGS. 1 and 2 ) and provide resources to an end effector  160  coupled at the distal end  144  of the robotic arm  140  and/or to the robotic arm  140 . For example, the vacuum source  422  can be coupled with a vacuum tube  424  that extends via the robotic arm  140  to an end  424 E, which can couple with an end effector  160  as discussed herein. The paint source  426  can be coupled with a paint tube  432  that extends via the robotic arm  140  to an end  432 E, which can couple with an end effector  160  as discussed herein. The coating source  430  can be coupled with a coating tube  432  that extends via the robotic arm  140  to an end  432 E, which can couple with an end effector  160  as discussed herein. 
     The power source  434  can be coupled with a power line  436  that extends via the robotic arm  140  to an end  436 E, which can couple with an end effector  160  as discussed herein. Additionally, the power source  434  can provide power to arm devices  442  of the robotic arm  140  (e.g., sensors  346  and movement system  348 ) and to base unit devices  438  of the base unit  120  (e.g., control system  322 , vision system  324 , sensors  326  and movement system  328 ). In various embodiments, the power source can comprise one or more batteries and/or can be configured to plug into wall receptacles at a work site. For example, a power cord can be coupled to the power source  438 , which allow the surface finishing system  100  to be powered by local power at a worksite via a wall receptacle, generator, external batteries, or the like. However, in some embodiments, the automated surface finishing system  100  can be completely self-powered and can be configured to operate without external power sources at a worksite. In further embodiments, the robotic arm  140  and/or end effectors  160  can comprise a separate power source that can be separate from the power source  438  of the base unit. 
     In various embodiments, the automated surface finishing system  100  can be configured to perform a plurality of tasks related to installing and finishing surfaces in construction. In such embodiments, it can be desirable to have a base unit  120  and robotic arm  140  that can couple with and operate a plurality of different end effectors  160  to perform one or more tasks or portions of tasks related to drywalling. For example, the cutting end effector  160 C, hanging end effector  160 H, coating end effector  160 M, sanding end effector  160 S and painting end effector  160 P can be selectively coupled with the robotic arm  140  at the distal end  144  to perform respective tasks or portions of tasks related to surface finishing. 
     For example, the cutting end effector  160 C can be coupled at the distal end  144  of the robotic arm  140  and coupled with the power line  436  to power cutting devices  462  of the cutting end effector  160 C. The cutting end effector  160 C can be controlled by the automated surface finishing system  100  to cut substrates or perform other cutting operations. In some examples, the cutting end effector  160 C can comprise a cutting vacuum that is coupled to vacuum source  422  via the vacuum line  424  to ingest debris generated by cutting done by the cutting end effector  160 C. 
     The hanging end effector  160 H can alternatively be coupled at the distal end  144  of the robotic arm  140  and coupled with the power line  436  to power hanging devices  464  of the hanging end effector  160 H. The hanging end effector  160 H can be controlled by the automated surface finishing system  100  to hang substrate, assist with substrate hanging, or the like. 
     The coating end effector  160 M can alternatively be coupled at the distal end  144  of the robotic arm  140  and coupled with the power line  436  to power coating devices  466  and/or coating applicators  468  of the coating end effector  160 M. The coating end effector  160 M can be controlled by the automated surface finishing system  100  to perform “mudding” or “coating work” associated with surface finishing, including application of joint compound (also known as “mud”) to joints between pieces of hung substrate, and the like. Additionally, the coating end effector can also be configured to apply joint tape, or the like. Additionally, the coating end effector  160 M can comprise a coating vacuum  469  that is coupled to vacuum source  422  via the vacuum line  424  to ingest excess joint compound or coating generated by the coating end effector  160 M. 
     The sanding end effector  160 S can alternatively be coupled at the distal end  144  of the robotic arm  140  and coupled with the power line  436  to power sanding devices  464  of the sanding end effector  160 S. The sanding end effector  160 S can be controlled by the automated surface finishing system  100  to sand coatings, and the like. Additionally, the sanding end effector  160 S can comprise a sanding vacuum  472  that is coupled to vacuum source  422  via the vacuum line  424  to ingest debris generated by sanding done by the sanding end effector  160 S. 
     The painting end effector  160 P can alternatively be coupled at the distal end  144  of the robotic arm  140  and coupled with the power line  436  to power a paint sprayer  474  and/or painting devices  476  of the painting end effector  160 P. The painting end effector  160 P can be controlled by the automated surface finishing system  100  to paint drywall or other surfaces. Additionally, the painting end effector  160 P can comprise a painting vacuum  472  that is coupled to vacuum source  422  via the vacuum line  424  to ingest excess paint spray generated by painting done by the painting end effector  160 P. 
     Although the example automated surface finishing system  100  of  FIG. 4  is illustrated having five modular end effectors  160 , other embodiments can include any suitable plurality of modular end effectors  160 , with such end effectors  160  having any suitable configuration, and being for any suitable task or purpose. In further examples, the automated surface finishing system  100  can comprise a single end effector  160 , which can be permanently or removably coupled to the robotic arm  140 . Additionally, in some examples a given end effector  160  can be configured to perform a plurality of tasks. For example, in one embodiment, an end effector  160  can be configured for coating work, sanding and painting. Accordingly, the example of  FIG. 4  should not be construed to be limiting on the wide variety of other embodiments that are within the scope and spirit of the present disclosure. 
     Turning to  FIG. 5 , a method  500  of drywalling is illustrated, which can be performed in whole or in part by an automated surface finishing system  100  as discussed herein. The example method  500  or portions thereof can be performed automatically by the automated surface finishing system  100  with or without user interaction. 
     The method  500  begins at  510 , where a configuration and location of substrate pieces is planned. As discussed herein, in various examples a substrate can comprise one or more of mesh, paper, cloth surface, lath, buttonboard, rock lath, rainscreen, a porous surface, drywall board. For example, in some embodiments, the automated surface finishing system  100  can be configured for automated scanning and mapping of a worksite (e.g., framing elements of a house or building) and automated planning of the shapes and sizes of substrate to be disposed at the worksite to generate walls, ceilings, and the like. Such scanning and mapping can include use of vision systems  324 ,  364  ( FIG. 3 ) and the like. Planning of shapes and sizes of substrate can be based at least in part on the scanning and mapping and can be performed by a computing device  100  of the automated surface finishing system  100  or other suitable device which can be proximate or remote from the automated surface finishing system  100 . In some embodiments, such planning can be based at least in part on building plans or maps that were not generated by the automated surface finishing system  100 . 
     The method  500  continues to  520 , where substrate pieces are cut. Such cutting can be based at least in part on the scanning, mapping and planning discussed above. Additionally, such cutting can be performed by the automated surface finishing system  100  at a worksite (e.g., via a cutting end effector  160 C) or can be performed by a system remote from the worksite and generated substrate pieces can be delivered to the worksite. 
     At  530 , generated pieces of substrate can be hung at the worksite, including hanging on studs, beams, posts, wall plates, lintels, joists, and the like, to define walls, ceilings and the like. Screws, nails or other suitable fasteners can be used to hang the substrate. In some embodiments, the automated surface finishing system  100  can be configured to hang substrate including positioning the substrate and coupling the substrate in a desired location. In some examples, the automated surface finishing system  100  can be configured to assist a user in hanging substrate, including holding the substrate and/or tools in place while the user fixes the substrate pieces in place. In various examples, a hanging end effector  160 H can be used for such substrate hanging. 
     At  540 , coating work can be performed on the hung substrate. For example, a coating such as plaster, stucco, parex, gypsum, or the like (known also as “mud”) can be applied to seams or joints between adjacent pieces of substrate, over the substrate, and/or can be applied over fasteners such as screws or the like. In various examples, a coating end effector  160 M can be used to perform such coating work. 
     At  550 , sanding can be performed on the coatings. For example, where wet joint compound is applied to hung substrate, the joint compound can be allowed to dry and can then be sanded by a sanding end effector  160 S of an automated surface finishing system  100 . In various examples, sanding can be performed to smooth out joint compound to generate a planar or otherwise consistent profile on the pieces of substrate in preparation for painting. At  560 , the sanded substrate pieces can be painted. For example, in various examples, a painting end effector  160 P of an automated surface finishing system  100  can be used to paint the coating. 
     In some embodiments, after spraying the coating onto the substrate, the coating can be worked into the substrate using trowels, edges, and other suitable tools. This process can be done manually or using the automated system  100 . The tools may be powered using electricity, compressed air, hydraulics or a combination of these. The tools may be instrumented with sensors to measure humidity, pressure, viscosity, roughness, force, and light reflectivity. After the coating has dried, it may be treated with manual or powered tools to create the desired finish, texture, and material properties. The tools may be used by workers or the automated system  100  can use the tools to affect the surface. The system  100  may use tools such as sanders, polishers, powered trowels, or the like. The tools or automated system(s)  100  may utilize vacuum systems to capture particles or fumes. The sensors on the tools may be used to control the force, pressure, speed with which the tools are used on the surface. The system  100  may utilize sensors to capture the finish or texture of the coating at different stages. Cameras, laser systems, texture analyzers, reflectivity sensor, conductivity measurements, and/or other contact or non-contact systems may be used to determine the surface finish of the coating and be used as feedback for the tools and process. 
     The coating can be combined with a paint, tint, pigment, or the like before and/or after application on a substrate or other surface. The coating can also be subsequently sprayed with a paint or sealant to create the finished surface after the coating is applied to a substrate or other surface. Tinted plaster, gypsum, or the like, can be sprayed to create a colored surface in a single coating. Other additives can also be mixed into the coating to control curing or drying time, surface finish, material properties, and the like. Material properties can include hardness, reflectivity, sound insulation, thermal insulation, fire rating, texture, finish, and the like. Accelerated curing or drying of the coating can be achieved through light or temperature activation that can be passive or active; via exposure to air as the coating is sprayed; via addition of a chemical accelerant, curing agent, or catalyst during mixing; during spraying or as an additional coating; or the like. 
     Chopped fibers and other particles can be added to the coating before, during or after application to a substrate to create a composite. The fibers can act to increase the strength of the coating and can create mechanical bonds to the substrate materials. The fibers can be added directly into the mixture that can be pumped to a nozzle or such fibers can be applied at a nozzle. The substrate can be covered in fibers or features that the coating can attach to. 
     Tools such as a curing light, heater, or blower can be mounted on the same tool as the sprayer to follow the delivery or can be mounted on another suitable portion of the system  100  or separately therefrom. Additionally, the robotic system  100  can be used after spraying to move such a heater, blower, light, or other suitable tool or device over the substrate or surface. The velocity of the base unit  120  can be controlled to set a given work time for each of the tools. The curing or drying time can also be controlled by mixing powdered material with a volatile solvent instead of water. 
     Although the method  500  of  FIG. 5  relates to hanging and finishing surfaces, it should be clear that other hanging and finishing methods can similarly be employed by the automated surface finishing system  100 , including methods related to hanging particle board, plywood, sheet rock, laminate, tile, wall boards, metal sheeting, lath and the like. Similarly the methods can be used with different coatings including plaster, polymer coatings, cement, stucco, organic coatings, and the like. Accordingly, the method  500  of  FIG. 5  should not be construed to be limiting. 
     In one aspect, the present disclosure pertains to systems and methods for automated mixing, delivering, applying, curing, and/or drying coatings onto a substrate. In one embodiment, an automated surface finishing system  100  can be used to mix, deliver, apply, and dry coatings on substrates. The automated surface finishing system  100  can be used to apply tape on seams between substrates, apply joint compound or plaster onto the tape and substrate, expedite the drying process, or any combination of these processes. The automated surface finishing system  100  can also be used to apply the joint tape and compound and achieve any level of drywall finish including between level 0 and level 5. The automated surface finishing system  100  can utilize joint compound known as mud or setting type compound also known as hot mud. Joint compound as discussed herein can encompass pre-mixed, topping, taping, multi-use and all-purpose compounds. The automated surface finishing system  100  can also be used with other coatings including plaster, cement, stucco, and paint applied onto drywall, lath, mesh or another suitable substrate. The automated surface finishing system  100  can cover how the coating is prepared, how it is delivered onto the substrate and how it is set, cured or dried. 
     The automated surface finishing system  100  can include humidity, temperature, air flow sensors, or the like, to establish environmental conditions for a task. Such sensors can comprise sensors  326 ,  346 ,  366  of a base unit  120 , robotic arm  140  and/or end effector  160  of the automated surface finishing system  100  (see, e.g.,  FIG. 3 ). An automated coating system can utilize these environmental sensors to determine optimal joint compound mixture ratios, set path parameters such as feed speed, thickness of coating applied, blade profiles and pressures, and sprayer settings. The environmental information in conjunction with the coating parameters can be used to determine or estimate drying and setting times for the coating allowing the automated surface finishing system  100  to plan when a next step should begin. 
     The automated surface finishing system  100  can also determine when the coating has set and dried by measuring the moisture content, thermal conductivity of the covered seam, using a thermal imaging camera or thermometer (contact or non-contact), detecting differences in colors using a camera, or the like. Thermal measurements can be used to infer the moisture content by comparing the temperature of the coating to the surrounding materials, and as the water evaporates from the mixture, the temperature of the compound can be lower than that of the surrounding materials. 
     Models of the coating drying process can also be used to estimate the time to dry or cure given a set of starting conditions and information about the environment. Similarly, the models of the coating in combination with environmental and substrate information can be used to estimate the drying shrinkage of the coating. 
     Environmental sensors can be used in conjunction with an HVAC system, heater, air conditioner, fans, or the like, to control the room conditions. The sensor readings can trigger any of these systems or a combination to maintain the room at the desired conditions for quality, reduced drying or setting time, or comfort of the operator. In some embodiments, such environmental control systems can be a part of the automated surface finishing system  100  or can be located external to the automated surface finishing system  100  including environmental controls systems of a worksite. Accordingly, in various embodiments, the automated surface finishing system  100  can be configured to control environmental control systems that are a part of or external to the automated surface finishing system  100 , including via wired and/or wireless communication. 
     A coating system can comprise of a variety of tools that enable the coating system to mix, deliver, apply, smooth, dry, cure a coating, or any combination of these. Such tools can be positioned and controlled using a robotic manipulator, robotic arm, positioning stage, gantry or any combination of these. A single end effector  160  or any multitude of end effectors  160  can be used to complete the task through coordinated or individual paths. The robotic arms  140  or tool stages can be moved around the room using a mobile base unit  120  that can be powered or moved manually by an operator. For example, in some embodiments a coating system of an automated surface finishing system  100  can include one or more coating end effector  160 M, and elements associate with the base unit  120 , including a coating source  430  (see  FIG. 4 ). 
     The mobile base unit  120 , one or more end effectors  160  and/or one or more robotic arms  140  can include sensors (e.g., sensors  326 ,  346 ,  366  as discussed in  FIG. 3 ) to ensure safe operation next to the user. Safety sensors can include but are not limited to laser curtains, proximity sensors, force and torque sensors, pressure sensors, limit switches, or the like. Additionally, the automated surface finishing system  100  can include systems to track location of one or more user relative to end effector  160 , robotic arm  140  and/or mobile base unit  120 , including speed limiters and/or vision systems, such as LIDAR, radar, sonar, or any combination of these (for example, vision systems  324 ,  364  of  FIG. 3 ). 
     As discussed herein, the mobile base  120  can include a vertical lift  126  that can be powered or unpowered. The vertical lift  126  can be used to lift or lower the robotic arm  140 , end effector  160  and portions of a coating system, which can be disposed on the end effector  160 , platform  122 , a gantry or the like. The lift can be instrumented with a position sensor that can be used to capture and control the height of the lift  126 . For example such a sensor can comprise the sensors  326  as illustrated in  FIG. 3 . 
     Elements of coating system of the automated surface finishing system  100  can be controlled using the control system  322  that takes a variety of inputs (e.g., from sensors  326 ,  346 ,  366  and/or vision systems  324 ,  364 ) to determine tool paths and/or tool parameters for the platform  122  relative to the cart  124 , robotic arm  140 , and coating devices  468  and or coating applicator  466  of a coating end effector  160 M, which are required to achieve desired coating characteristics. 
     In various embodiments, the automated surface finishing system  100  can create a map of the target surfaces such as pieces of substrate, joints between pieces of substrate, and the like. This map or model can be created by importing building information modeling (BIM) and/or 2D, 3D plans into a planner system. The map can be created directly by the system by utilizing computer vision or mapping sensors to scan the room (e.g., the automated surface finishing system  100 ). The scanning technologies can include, and suitable devices including stereo cameras, structured light cameras, LIDAR, radar, sonar, laser scanners, thermal imaging or any combination of these components. For example, in some embodiments, such scanning or vision systems can comprise the vision systems  324 ,  364   
     Uploaded 3D or 2D plans can be combined with field data to create a more accurate map of the environment in some examples. The data from different sources can be combined using key features and user input. The map can include the location of framing studs, substrate joints, openings, protrusions, as well as pipes, electrical conduit, ventilation ducts, and any other components installed on the walls or ceilings. These locations may have been derived from the uploaded plans, the room scan, user inputs, and the like. To facilitate the creation of the map, a user can help identify features through analysis of images, tagging of the features physically or digitally. The user can physically tag components using various suitable methods, including but not limited to, a laser, tags, markers or a combination of these. The scanning or vision system can pick up these tags or track them as the user moves around the room and locates the features. The mapping system or planner can also take as an input a layout of how the substrate pieces were hung in the room to locate seams. This layout can be an input from the automated surface finishing system  100  or a system that is separate from the automated surface finishing system. The location of framing, type of anchors used and layout of the substrate can provide information on the planarity, flatness of the wall, and location of high or low points, which can be used determine tool paths and tool parameters. 
     The automated surface finishing system  100  can include a computational planner (e.g., implemented by the control system  322  of the base unit  100 ) which can utilize a map uploaded to the system  100  or created by the system  100  to determine tool paths and/or tool parameters to achieve a desired coating application. The planner can create toolpaths off a global map of a room and then update these paths given updated local measurements once the end effector  160 , robotic arm  140 , and/or mobile base  120  are in place. The planner can be informed by vision system data (e.g. obtained by one or both of vision systems  324 ,  364 ) on the flatness of the wall, user inputs, location of seams as specified by a layout planner or a scan of the room after the substrate was applied. The planner can determine toolpaths and/or tool parameters to enable the automated surface finishing system  100  to apply coating to smooth out joints, seams, low points, high points, and other features to create a visually flat wall. 
     For example, tool paths can include information corresponding to, or used to determine, instructions for one or more of movement systems  328 ,  348 ,  368  to drive the base unit  120 , robotic arm  140  and/or end effector  160  to move to perform desired tasks, including applying coating, applying joint tape, and the like. Tool parameters can include various setting for components of the end effector  160  (e.g., setting for the coating applicator  466  and/or coating devices  468  of a coating end effector  160 M), including a nozzle selection, a nozzle size setting, coating flow rate, and the like as discussed in more detail herein. 
     The toolpaths and/or tool parameters can also be determined based on a desired or required finish for completed coating work or for a completed wall assembly. For example, areas of a wall or ceiling that are exposed to changing, harsh, or bright lights can receive a higher quality finish with tighter controls on tool planarity, tool overlaps, thickness and characteristics of compound applied, texture. 
     The application of coating to a surface can inform how the surface is to be sanded, smoothed or polished to achieve a desired finish. For example, toolpaths and/or tool parameters generated during coating work can serve as inputs for generating toolpaths and/or tool parameters for sanding, which in some examples can enable sanding to be tuned according to the application of the compound, features, and compound characteristics such as how the compound was dried, compound type, compound hardness, and layers of compound applied. 
     For example, the automated surface finishing system  100  can determine toolpaths and/or tool parameters for performing mud work with a coating end effector  160 M, and these determined toolpaths, tool parameters, and/or data associated thereto can be used to determine toolpaths and/or tool parameters for one or more sanding tasks to be performed by the automated surface finishing system  100  using a sanding end effector  160 S. 
     Similarly, determining toolpaths and/or tool parameters for performing coating work with a coating end effector  160 M can be based on various suitable inputs, including toolpaths, tool parameters, and/or the like associated with hanging substrate or applying insulation to a wall assembly on which the substrate is hung. For example, the automated surface finishing system  100  can determine toolpaths and/or tool parameters for performing substrate hanging with a hanging end effector  160 H, and these determined toolpaths, tool parameters, and/or data associated thereto can be used to determine toolpaths and/or tool parameters for one or more coating tasks to be performed by the automated surface finishing system  100  using a coating end effector  160 M. 
     During coating work, automated surface finishing system  100  can apply a layer or profile of compound that is greater than a thickness that can be conventionally manually applied by human workers to allow for a sanding system (e.g., a sanding end effector  160 S) to sand down the compound to a desired plane. For example, in some examples, manual joint compound application mud can be profiled to taper from high points. The automated surface finishing system  100  can apply a thicker layer than normal enabling a sanding system to sand down high points to be level to the adjacent surfaces. 
     For example, related applications that are incorporated herein illustrate one example of a mud application profile for a pair of drywall pieces that form a seam, where joint compound is applied over consecutive layers, which can include joint tape, to taper out the high points of joint compound over a wider area. Sanding can then be used to smooth out the final profile. The high points of joint compound can be caused by various features, including the seam, feature, raised stud, defect, or any combination of these. In some embodiments, such a mud application can be undesirable for automated application; however, in further embodiments, such a mud application profile can be employed by an automated system such as the automated surface finishing system  100 . 
     As discussed herein, various types of substrates can be used to generate a wall assembly including a substrate that comprises mesh, paper, plastic, cloth surface, lath, buttonboard, rock lath, rainscreen, drywall board, a porous surface, or the like. For example,  FIG. 6 a    illustrates an example of a two-layer substrate  610  that comprises a porous layer  611  and a less-porous layer  612 . The porous layer  611  can have pores where the coating material can enter and adhere, while the less-porous layer  612 , which can be attached to a wall or studs, can be non-porous and impermeable to the coating material such that the coating material does not impregnate or permeate through the less-porous layer  612 . For example, the less-porous layer  612  can stop the coating material from reaching the opposing side of the substrate. In further embodiments, the less-porous layer  612  can be porous such the coating material is able to soak through, impregnate, or permeate at least a portion of the less-porous layer  612 . 
     Such a configuration of a multi-layer substrate  610  comprising a porous layer  611  and a less-porous layer  612  can be desirable for allowing a fluid coating material to be applied to the substrate  610  as described herein, and when the fluid coating material dries to become rigid or non-fluidic, the porous layer  611  can provide a support matrix for dried coating material to improve the strength of the dried coating material and/or to assist with coupling the dried coating material to the less-porous layer  612  and thereby to the wall or studs that the less-porous layer  612  is coupled to. 
     Such a multi-layer substrate  610  comprising a porous layer  611  and a less-porous layer  612  can have various suitable configurations. For example, the porous layer  611  and a less-porous layer  612  can be physically separate layers that are coupled via an adhesive, weld, or the like. In other examples, a portion of the porous layer  611  can be embedded in a portion of the porous layer  611  or the porous layer  611  can be an integral part of and can extend from the less-porous layer  612 . 
     Also, one or both of the porous layer  611  and less-porous layer  612  can be rigid or flexible. For example, the less-porous layer  612  can comprise a rigid drywall board or piece of wood and the porous layer  611  can comprise a flexible cloth or batting. In further examples, both the porous layer  611  and less-porous layer  612  can be flexible (e.g., the less-porous layer  612  can comprise an impermeable or semi-permeable paper or plastic and the porous layer  611  can comprise a flexible permeable matrix or mesh of a suitable material. Having both the porous layer  611  and less-porous layer  612  being flexible can be desirable because such a configuration can allow the substrate  610  to be stored in rolls and applied to studs or a wall via the roll, which may or may not include cutting of the substrate  610 . 
     Although various examples include application of the substrate  610  to a wall or studs with the porous layer  611  and less-porous layer  612  being coupled together, in further embodiments, the porous layer  611  and less-porous layer  612  can be applied separately. For example, the less-porous layer  612  can be first applied, and then the porous layer  611  can be applied to the less-porous layer  612 . 
     Various embodiments can include selecting, configuration or changing properties of the substrate  610  to address different surfaces such as walls or ceilings or to control the target finish. The porosity, absorption properties, mesh size, wettability, adhesion properties, anchor spacing, substrate thickness and material composition may be controlled in the substrate to achieve the desired finish or address vertical vs horizontal surfaces. A backing material (e.g., the less-porous layer  612 ) may be used behind a mesh or porous surface (e.g., the porous layer  611 ) to set the thickness of the coating. The material thickness of the substrate  610  and/or spacing between substrate  610  and structural surfaces such as studs may also be used to control the thickness of the coating. The substrate  610  can comprise two or more different materials or mesh sizes as a way to control the thickness of the surface. For example, the substrate  610  can comprise any suitable plurality of different layers including two, three, four, five, six, or the like. 
     In some embodiments, the substrate  610  can be instrumented with one or more sensors that can measure humidity, temperature, conductivity, sound, or the like, which can be used to provide feedback during the spraying process; to serve as in wall-sensors for detection of leaks in the walls, temperature and humidity of the room, or environmental problems; or for other suitable purposes. For example one or both the porous layer  611  and less-porous layer  612  can comprise any suitable type of sensor. In some examples, such sensors can each wirelessly communicate with the system  100 . In other examples, such sensors can be operably coupled (e.g., wirelessly or via a wire) to a wall assembly device, home automation system, or other suitable system and the surface finishing system  100  can communicate wirelessly with such a system or device. 
     Also, while the example of  FIG. 6 a    illustrates a substrate  610  having a plurality of layers, further examples can include a substrate having a single layer as shown in  FIG. 6 b   , which illustrates a substrate  610  consisting essentially of a less-permeable layer  612 . However, in further embodiments, a substrate can consist essentially of the porous layer  611  or less-porous layer  612 . 
       FIGS. 7 a  and 7 b    illustrate an example joint compound application process where the coating  630  is applied in a thick layer using a sprayer that generates a mud spray  700 . Such an application process can be performed by the automated drywalling system  100  in various embodiments. The thickness of the coating  630  being applied to the pieces of substrate  610 A,  610 B defining a seam  620  can allow for a sanding system to be used to sand back high points of coating  630  to a level surface. The high points of coating  630  can be caused by the seam  620 , feature, raised stud, defect, or any combination of these. 
     The substrate  610  and sprayed coating  630  can be used as a stand-alone wall coating system for single-coat applications or as part of a multi-coat wall coating system. A multi-coat wall coating system can comprise two or more layers of the same or different materials applied manually and/or with automation. This can allow for an automated application of a coating  630  to the substrate  610  with desirable structural properties to be followed by an application of a coating  630  with desirable aesthetic finishing properties. 
     In some embodiments, a substrate  610  can have coating  630  applied as shown in  FIGS. 7 a , 7 b    or via other suitable methods as discussed herein and/or the substrate  630  can be pre-impregnated with a coating material  630  prior to hanging or it may be impregnated by one coating followed by a second material. The substrate  630  can be impregnated with a material similar to pre-preg composites. The coating material  630  in the substrate  610  can be activated or wetted by spraying a liquid material over it the coating material  630  to convert the impregnated material into a rigid coating. The coating  630  may be electrostatically charged and the substrate  610  grounded to accelerate coating particles towards the substrate  630  and improve adhesion and/or reduce overspray of the coating  630 . The coating  630  can contain additives to facilitate electrostatic charging. 
     The 2D or 3D maps created by the automated surface finishing system  100  can be registered to the physical environment utilizing recognizable features such as doors, windows, outlets, corners, or the like. Such registration can also be done using markers, tags, laser outlines that are placed in the room, or the like. A projection and/or visualization system of the automated surface finishing system  100  can find the features or markers and can locate the maps created using these found features or markers. The automated surface finishing system  100  can utilize a user interface to enable the user to help locate the map or projection relative to the environment and resolve any issues or discrepancies. A user can utilize a physical marker to signify key features for the automated surface finishing system  100  allowing the automated surface finishing system  100  to locate the plan relative to the environment. The automated surface finishing system  100  can also use a robotic manipulator or end effector  160  to find target features, markers or surfaces and locate them relative to its own base unit  120  which can be located using a localization system including, but not limited to laser range finders, computer vision, LIDAR, radar, sonar, stereo vision, odometry, IMUs, or any combination of these. 
     The robotic arm  140  can utilize a compliant or force limiting end effector  160  to enable safe contact with the environment allowing the automated surface finishing system  100  to accurately locate target surfaces, features or components, accommodate errors in positioning without damaging the substrate or the end effector  160 . By utilizing the robotic arm  140  and compliant end effector  160  to locate a physical component, the system  100  can establish a point, line, or plane and therefore locate the virtual plan on the environment. Toolpaths can be updated from the virtual plane to the physical plane. Refitting of the toolpaths onto the contacted surfaces can enable the system  100  to deal with errors and discrepancies between the modeled and physical environment. Such tools, features or elements of the system  100  can enable quick on-site calibration using global room wide maps and local measurements. Refitting the toolpaths can allow for errors in positioning of end effector  160 , mobile base  120  or robotic arm  140 . The system  100 , including an end effector  160  can utilize radar, sonar, thermal imaging to establish what is behind the substrate (e.g., drywall), this information can be used to update a virtual map and ensure that no damage is done to any electrical, plumbing or ventilation while working on or about the substrate. 
     The planner can output tool poses or tool paths for the automated surface finishing system  100  (e.g., for an end effector  160 , robotic arm  140 , base unit  120 ) including, but not limited to joint commands, target poses and end effector positions, or any combination of these. The system  100  can also output paths for a gantry system or positioning stage which can be used in conjunction with the robotic arm  140  and/or end effector  160  or without a robot to move and position coating tools (e.g., coating devices  466  and/or coating applicators  468  of a coating end effector  160 M). The planner can also output paths for the mobile base  120  to position a gantry, positioning stage, robotic arm  140 , end effector  160 , or to move a tool to assist a user in the finishing process, or to position visualization and lighting equipment, which may or may not be a part of the automated surface finishing system  100 . The mobile base  120  and vertical lift  126  may work in coordination with a user, robotic arm  140 , end effector  160  or a combination of these to execute the task. The planner system can control different components of the automated surface finishing system  100  (e.g., the base unit  120 , robotic arm  140  and/or end effector  160 ) allowing for coordinated movements and forces with the target goal of moving the end effector  160  or portions thereof to a desired position under the prescribed forces and moments. The mobile base unit  120  can be used as a rough positioning stage, with the vertical lift  126  setting the height of the robotic arm  140  and end effector  160  which may act as a fine positioning stage. 
     Turning to  FIGS. 8 a , 8 b , 9 a  and 9 b   , examples of a wall assembly  800  including a plurality of substrate pieces  610 A,  610 B,  610 C,  610 D is illustrated. The wall assembly  800  can comprise a header  810  and footer  820 , with a plurality of studs  830  extending therebetween as shown in  FIG. 8 a   . As shown in  FIG. 8 b   , the substrate  610  can be coupled to the studs  830  via a plurality of fasteners (e.g., drywall screws) that extend though the substrate  610  and into the studs  830 . The substrate  610  can define one or more seams  620 , including in the example of FIG.  8   b  a vertical seam  620 V and a horizontal seam  620 H. In some embodiments, coating work can be performed on the seams  620  as shown in  FIG. 9 a    and leaving portions of the substrate  610  without coating  630 . Additionally or alternatively, coating can be applied to portions of the substrate  610  in addition to about the seams  620  as shown in  FIG. 9   b.    
       FIG. 10  illustrates one example embodiment of the automated surface finishing system  100 , having a coating end effector  160 M that is configured to generate a coating spray or line. In this example embodiment, the system  100  is shown comprising a robotic arm  140  with a compound spraying or extruding end effector  160 . The robotic arm  140  and end effector  160  are shown mounted on a mobile base  120  with a vertical lift  126 . The base unit  120  can carry supporting systems for the automated surface finishing system  100  as discussed herein. 
     An end effector  160 , such as the embodiment  160 M 1  of a coating end effector  160 M, shown in  FIG. 11  can utilize a tool to automatically dispense and apply joint tape  640  at the seams  620  between substrate pieces  610 . In this example embodiment  160 M 1 , coating  630  can be dispensed from a flat box  1110  and joint tape  640  can be dispensed from a roller  1120 . The joint tape  640  can come into contact with the compound before a blade  1130 , which can be used to apply the joint tape  640  and joint compound  640  onto the seam  620 . The blade  1130  can smooth the tape  640  down and can apply the joint compound  640  on the seam  620 . 
     In one embodiment, joint tape  640  can be fed off a roll  1120  onto a joint  620  defined by a first and second substrate piece  610 A,  610 B after being covered with coating  630 . In some embodiments, coating  630  can be delivered ahead of the tape  640  and the  640  tape can be flattened onto the surface of the substrate pieces  610  and seam  620  using a blade or trowel  1130 . The end effector  160  or other portion of the system  100  can also be used to automatically apply the tape  640  using tools such as banjo and bazooka systems. Tracking the position of the end effector  160  and portions thereof with devices, sensors, vision systems or other elements of the end effector  160 , robotic arm  140  and/or base unit  120  can enable the planner to create an updated map of the room with the location of the tape  640  and/or coating  630  and the conditions under which one or both were applied. 
     One or more vision system  324 ,  364  can also use tags or markers to track as an end effector  160  or as a user applies tape  640  on the surfaces and/or seam  620  of one or more substrate pieces  610  and that information can be communicated to and stored by the planner. The end effector  160  and/or robotic arm  140  can be used to control the orientation of tools or devices of the end effector  160  and the force applied on a surface as tape  640  is applied, which can be desirable in some examples to ensure that the tape  640  is embedded within coating  630  as desired. The surface finishing system  100  can apply, solid, porous and/or mesh joint tape  640  with or without adhesive that can be covered with coating  630  using a separate tool or a tool associated with an end effector  160 . 
     Joint tape  640  can be applied by the automated surface finishing system  100  and/or by an operator. Additionally, in some embodiments, joint tape  640  can be colored, dyed or marked so that it is easier for a vision system  324 ,  364  to identify the joint tape  640 . Different color tapes  640 , or tapes  640  having different identifying features (e.g., textures, images, barcodes, or the like) can be used in some embodiments to provide information to the automated surface finishing system  100  about the identity or characteristics of a specific joint  620  or other feature of one or more piece of substrate  610 . For example, butt joints can be covered with a first color tape  640 , tapered joints can be covered with a second color tape  640 , and factory joints can be covered with a third color tape  640 . An end effector  160  can also use a coating  630  that comprises fibers in addition to, or as an alternative to, tape  640 . One or more vision system  324 ,  364  can be used to identify seams  620  between substrate pieces  610  and data from such vision systems  324 ,  364  can be used to guide an end effector  160  during taping. The end effector  160  can also be guided using the planner&#39;s map of the surface which is located on the environment using relevant features such as markers, corners, openings, or the like. 
     The coating  630  can be delivered or applied onto joint tape  640 , seams  620  and/or surfaces of substrate pieces  610  using a variety end effectors  160  having a variety of elements, devices, or tools. For example,  FIG. 12  illustrates one embodiment  160 M 2  of a coating end effector  160 M that includes a spray gun  1210  that is coupled onto the robotic arm  140 . A trigger  1220  can be actuated with an actuator  1230  (e.g., a servo, solenoid, pneumatic cylinder, or the like) which can pull on the trigger  1220  to open the nozzle  1240  to generate a coating spray  700 . 
     In another example,  FIG. 13  illustrates another embodiment  160 M 3  of a coating end effector  160 M that includes a spray gun  1210  that is coupled onto the robotic arm  140 . An internal trigger (not shown) can be actuated with an actuator (e.g., a servo, solenoid, pneumatic cylinder, or the like) which can open the nozzle  1240  to generate a coating spray  700 . In the examples of  FIGS. 12 and 13 , coating can be fed to the spray gun  1240  and nozzle  1240  via a coating tube  432 , which can feed coating (e.g., joint compound, or the like) from a coating source  430  disposed at the base unit  120  (See  FIG. 4 ). 
     In various embodiments a spray gun  1210  can comprise an airless spray system or air assisted spray system. A pump can be used to move the coating  630  from the coating source  430  to the spray gun  1210 . The coating  630  can be pumped at high pressures, in some examples, to enable the coating  630  to be sprayed or aerosolized. In some examples, high joint compound particle speeds can produce a smoother finish, which can be desirable in some examples. 
     The pressure, flow rate, piping system resistance and the like, can be tuned or controlled by the automated surface finishing system  100  to change the speed and amount of coating  630  being delivered to the spray gun  1210  and ejected from the nozzle  1240  as a spray  700 . The automated surface finishing system  100  can use any suitable actuator (e.g., a servo, solenoid, air cylinder, linear actuator, or any combination of these) to open and close the nozzle  1240  of the spray gun  1210 . As shown in the example of  FIG. 12 , a manual spray gun  1210  can be instrumented to use an electro-mechanical system  1230  to pull the trigger  1220  allowing the system  100  to control the timing of the coating delivery as well as the opening and closing of the nozzle  1240 . 
     As shown in the example of  FIG. 13 , an automatic spray gun  1210  can also be used and controlled by the system  100  directly. The robotic arm  140  and end effector  160  and/or base unit  120  can thereby be used to spray the coating  630  as a spray  700  onto substrate pieces  610  and/or seams  620  defined by one or more substrate pieces  610 . The coating  630  can be sprayed before and/or after applying joint tape  640 . The automated surface finishing system  100  can use a mesh or porous tape  640  in some examples to allow the coating  630  to be sprayed through the joint tape  640  to fill a gap under the joint tape  640  (e.g., a seam  620  or the like). 
     The spray gun  1210  can use a variety of suitable nozzles  1240  including fan shape, bell shape, or the like. The system  100  can also use a tunable spray gun  1210  that can control the shape of the nozzle  1210 . The shape of the coating spray  700  may be controlled in some examples by physically changing the shape of the nozzle  1210 . The shape of the coating spray  700  can also be controlled using air streams, or the like which can act on the coating spray  700 . 
     In some embodiments, a cassette with different nozzles  1240  can be installed on the spray gun  1210  allowing the automated surface finishing system  100  to select a desired nozzle  1240  to control the shape of the spray  700 . A fan shape can also be tuned by using a set of sliding mechanisms to set the fan width and opening of the nozzle  1240 . The diameter of a bell may also be tuned by a sliding cone with expanding orifice size. The robotic arm  140  and/or base unit  120  can also be used to move the nozzle  1240  closer or farther away from a target surface resulting in a narrower or wider fan or bell spray pattern respectively. The system  100  can utilize an array or series of nozzles  1240  to spray the coating over a larger surface. The nozzles  1240  can be individually controlled and tuned or such nozzles  1240  can be controlled as a unit. 
     A series of tests can be performed to establish the characteristics of a pattern of coating spray  700  delivered by a nozzle  1240 . In one embodiment, one or more vision system  324 ,  364  can be used to characterize a pattern of coating spray  700  and provide feedback for tuning parameters including tool parameters related to a nozzle  1240 , spray gun  1210 , coating source  430 , or the like, as discussed herein. Another embodiment can utilize an array of sensors (e.g., piezo sensors or other force sensors) on a test board which can be used to measure the force applied by the pattern of coating spray  700  as it hits the sensors. The force pattern can be used to estimate a profile of the pattern of coating spray  700  as it is hitting the surface. The feedback from these sensors may be used to tune the profile of one or more spray nozzles  1240 , spray gun  1210 , coating source  430 , or the like. 
     The automated surface finishing system  100  can include a mixer, pump and the like that can deliver mixed coatings  630  to the various tools including a spray gun  1210 . Such a mixer, pump and the like can be part of a coating source  430  disposed at the base unit  120  or disposed external to the system  100 . A mixer may utilize sensors to control a mixing ratio of water, slurry or dry compound, and any additives that enhance structure of the compound, color the compound, decrease setting or drying time, or the like. The mixer can control the mix ratio by measuring the mass, volume, density, or viscosity of the components or the mixture that defines coating  630  or portions thereof. The mixing system can utilize pre-mixed coating  630  and can add water and/or additives as desired. 
     The automated surface finishing system  100  can also use a spray gun  1210  that has been designed to mix the components of the compound at the nozzle  1240 . For example  FIG. 14  illustrates an example of an in-line nozzle  1240  for mixing the coating compound  630 , water, and any additives at the application site. The nozzle  1240  can be detachable in some examples to be cleaned or to be disposable. 
     In various embodiments, a nozzle  1240  can deliver a controllable ratio of water, air, slurry or dry coating compound, as well as additives that modify the coating, including enhancing the structure of the coating, color the coating, or decrease or increase setting or drying time. Nozzles  1240  as discussed herein can be used with any suitable type of coating, compound  430 , or other material that can be sprayed, including but not limited to hot mud, plaster, or other curing compounds that set and cannot be washed off with water. 
     Compound lines  432 , nozzle  1240 , a pump, or the like, can be instrumented with sensors to measure flow rate, pressure and other desirable parameters. Pressure sensors can be used to monitor the pressure along a compound line  432  enabling the detection of changes in the pressure, flow rate, as well as the detection of clogs. In some examples, an orifice plate may be used to measure the flow rate through the coating system in combination with a set of pressure sensors. Other flow rate sensors can include, but are not limited to a rotameter, spring and piston flow meter, ultrasonic flow meter, turbine meter, paddlewheel meter, variable area meter, positive displacement, vortex meter, pitot tube or differential pressure meters, or magnetic meters for conductive coatings. Detecting a change in flow, pressure in the coating line  432 , or reaction force at the end effector  160  (e.g. at a spray gun  1210 ) can be used to determine that a clog has occurred. The spray gun  1210  can produce a reaction force when spraying so if that reaction force changes the system  100  can identify that the spray  700  has changed, which can be indicative of a clog or other issue. 
     A pattern of the coating spray  700  can also be monitored to detect clogs or wear of the nozzle  1240 . For example,  FIG. 15  illustrates an example embodiment  160 M 4  of a coating end effector  160 M that includes a spray pattern detection mechanism  1505 , in which a vision system  364  can be used to monitor the pattern of coating spray  700  coming out of the nozzle  1240  to detect clogs, nozzle wear, low pressure, or other problems with the spray gun  1210  or related system such as coating lines  432 , coating source  430  or the like. 
     In some examples, the stream of coating spray  700  can be monitored or the pattern of coating spray on a target wall can be monitored. The stream of coating spray  700  and/or pattern of coating spray  700  can be monitored using vision sensors  364 , which can include any suitable vision system, including but not limited to thermal sensors, moisture sensors, capacitance sensors, or the like. 
     In one embodiment, a camera can be placed next to the stream of coating spray  700  so that the profile of the coating spray  700  is captured. Image processing can be used to identify when the shape of the stream of coating spray  700  has changed. In another embodiment a laser curtain may be placed across the stream of coating spray  700 , if the flow is interrupted along any part of the fan or bell the laser would complete its path and be detected by a sensor on the other side of the stream of coating spray  700 . 
     A mixer, pump, coating lines  432 , and nozzle  1240 , and other suitable elements can be fitted with filters which can be used to catch debris or particles that may clog the nozzle  1240  or coating lines  432 . The filters can be placed an inlet of the pump, outlet and inlet of the mixer, directly before the coating line  432 , directly before the nozzle  1240 , or any point along or within the coating system. The automated surface finishing system  100  can monitor the pressure before and after the filters to detect when the filters need to be changed. Flow rate sensors can also be used to detect a clogged filter. The automated surface finishing system  100  can reverse its flow to clear clogs from the coating line  432 , nozzle  1240 , filters, or other components. 
     The spray gun  1210  or other coating end effector  160 M may also include a vacuum system  469 , spray guards, or the like, that can be used to minimize overspray and reduce the amount of excess coating  430  in the air. For example,  FIG. 16  illustrates an example embodiment  160 M 5  of a coating end effector  160 M that comprises a vacuum system  469  that includes a vacuum hood  1605  disposed around an end and nozzle  1640  of a spray gun  1610  to capture overspray. The vacuum hood  1605  can surround the spray gun  1210  and can include an adjustable vacuum setting. The vacuum hood  1605  can be coupled to the vacuum line  424 , which is connected to the vacuum source  422  to provide a vacuum to the vacuum hood  1605 . 
       FIG. 17  illustrates an example embodiment  160 M 6  of a coating end effector  160 M that comprises a spray guard  1705  that partially extends about and past the face of the nozzle  1260  of the spray gun  1210 . In this example, the spray guard  1705  is shown being generally triangular and fanning out from where the spray guard is coupled to the end effector  160 M. In some examples, the spray guard  1750  can be selectively deployed by the system  100  or a user to prevent overspray onto an undesired surface. The spray guard  1705  can be deployed in various suitable ways, including but not limited to, via a servo, pneumatic cylinder, solenoid or other electromechanical actuator, which can rotate or otherwise deploy the spray guard  1705  into place. 
     In various embodiments, a coating end effector  160 M can comprise one or both of a vacuum system  469  and spray guard  1705  of various suitable configurations. The guard  1705  and/or vacuum system  469  can be deployed when the automated surface finishing system  100  is spraying near another surface or a feature. The spray guards  1705  and/or vacuum systems such as a vacuum hood  1605  can be retracted using a linear actuator, solenoid, air cylinder, or other suitable electro-mechanical actuator. In some embodiments, a spray guard  1705  can also be mounted on a rotary stage such that the spray guard  1705  can be rotated into place next to the sprayer  1210  by actuating the motor or servo. Accordingly, in some examples, the position of the spray guard about a circumference of the spray gun  1210  can be selected by the system  100  and/or a user. 
     In some embodiments, coating  630  can be applied and/or smoothed by using a blade that is dragged over applied coating  630 . Such a blade can be part of an end effector  160  having a spray gun  1210  or can be a separate end effector  160 . In some embodiments, a coating end effector  160 M can apply coating  630  and tape  640  at the same time for a layer, or can apply coating  630  over the tape  640  that has been previously applied. The shape, profile, and size of a coating blade can be controlled to deliver a desired profile of coating  630 . Similarly, the pressure or force on the coating blade can also be controlled to change the thickness and profile of the applied coating  630 , which can be based on data from the system  100  obtained from one or more vision system  324 ,  364 , sensors  326 ,  346 ,  366 , or the like. 
     The automated surface finishing system  100  can also include a coating end effector  160 M that comprises a coating flat box  1805  to apply the coating  630  as illustrated in the example embodiment  160 M 7  of  FIG. 18 . In various embodiments, the automated surface finishing system  100  can move the box  1805  along the seam  620 . An actuator  1810  can control the shape and/or position of a blade  1815  to tune the profile of coating  630  applied on the seam  620 . Various tool parameters, including box opening size, blade size, blade shape, and the like, can be controlled to simulate different sized boxes that are used to create a profile that feathers or blends a defect created by the seam  620  over a large portion of the substrate  610  to simulate flatness. 
     The end effector box  1805  can be automatically fed using a coating pump and coating line  432 . The coating end effector  160 M may also include sensors  366  (e.g., proximity, force, contact sensors) to ensure that the box  1805  is in contact with the substrate  610  during the application of coating  630 . Additionally, a vision system  364 ,  324  of the end effector  160  or base unit  120  can also be used to ensure that the flat box  1805  is in contact with the surface of the substrate  610  during application of coating  630 . 
     In some embodiments, a coating end effector  160  can deliver coating  630  through a sprayer  1210  and/or nozzle  1240  and then utilize a physical blade, trowel, air blade, roller or any other type of forming mechanism to smooth and profile the coating  630 . The coating end effector  160 M can utilize surrounding surfaces as datums. For example, a roller, wheel, blade, or the like, can be pushed in contact with the datum surface for reference. These contact points can extend away from a coating application zone to enable the use of datums away from the defect or joint  620 . The coating end effector  160 M can control the position of the contact points such that the correct or optimal datum surface is used. The force and pressure on the contact points may also be controlled. Force may be directly measured or estimated by monitoring the deflection of the mounting structure. 
     The coating tools can be mounted in series with a structure that limits, sets, or controls the amount of force applied on a target surface. The structure can limit, set or control the normal force applied on the surface by the blades, rollers, trowels, and the like, and/or it can limit, set or control forces applied by the tools along the target surface as well as torques applied. Such blades or rollers can be mounted on an air bag, air shock, air cylinder, air bellows, with a fixed or variable pressure setting. The pressure and the normal area of the pressure vessel can set the amount of forces applied by the tool on the target surface. The blade or roller can also be mounted on a spring, tunable spring, shock, or the like, in order to set, limit or control the forces applied on the target surface. The forces may also be set, limited, or controlled using a pressure controlled hydraulic system including, but not limited to a cylinder, bellows, or reservoir. In one embodiment, a short-stroke low-mass end effector linear actuator mechanism can be used for fast tracking of surface contours and constant normal force. In embodiments with more than one blade or roller, the tools can be mounted on a single force limiting structure, or each head or multiple tools can be mounted on separate structures. Mounting the tools or group of tools on separate structures can allows for the applied forces and moments to be set, limited, or controlled separately. 
     Coating tools can include sensors  366  and/or a vision system  364  to ensure the desired orientation of the blades or rollers relative to the wall. For example, one application includes ensuring planarity of the tool to the wall; however, the mechanism may also set the blade or roller to a specific target angle relative to the surface. The planarity may be established by utilizing the vision system  364  to detect the plane of the surface and then match the tool position using the degrees of freedom of the system  100 . The planarity may also be established by utilizing one or more sensor  366  at the end effector  160  (e.g., a set of proximity, range, or contact sensors to establish the position of a tool head relative to a wall). Blade or roller orientation can be controlled directly by setting the joint angles of the robotic arm  140 , by a powered gimbal or joint at the end effector  160 , and/or by a passive gimbal that allows the tool to tip and tilt relative to the end of the robotic arm  140 . A passive gimbal can enable the contact tool to follow the plane of a target surface despite errors in the position of the system  100 . 
     In another embodiment, the position of the contact may be controlled through the active gimbal using feedback from one or more of sensors  366 ,  346 ,  326  and/or vision systems  364 ,  324  that can establish the relative orientation between blades or rollers and surface. Powered or passive gimbals or end effector degrees of freedom can be encoded (e.g., via sensors  366 ) such that the orientation of the tool and/or end effector  160  is known to the system  100 . 
     A coating end effector  160 M can also utilize outriggers such as rollers to use adjacent surfaces or raised edges as datums to guide the application of coating  630  and achieve accurate corners. These rollers may be instrumented with sensors  366  and/or a vision system  364  to measure or determine force, contact, proximity, or the like. Additionally, or alternatively, such rollers can passively make contact while the surface finishing system  100  utilizes its sensors  366 ,  346 ,  326  (e.g., force and torque sensing) and/or vision systems  364 ,  324  to maintain a pressure or force against the datum surface. The information obtained or determined about tool orientation relative to the portions of the end effector  160 , robotic arm  140  and/or base unit  120  can be used to alter the toolpath, tool parameters and/or other system configurations to ensure the coating automation system can carry out the process without running into limitations of the hardware. 
     In both passive and active embodiments, the angular position of a gimbal or other portion of an end effector  160  can be recorded (e.g., via sensors  366  or vision system  364 ) to locate and establish the plane of the target surface. The angular position of the gimbal can be recorded using elements including, but not limited to encoders on the rotary axis, laser range finders, capacitance sensors, IMUs, an external vision system, sonar sensors, potentiometers, motor loads, or any combination of these. 
     The gimbal system may be tuned to minimize dynamic effects by using springs, dampers or a combination of these. In some embodiments with more than one blade or roller, all tools may be mounted on a single gimbal structure or each tool or groups of tools may be mounted on separate gimbals. Mounting the blades or rollers on separate gimbals can allows for tool surface planes to be set, limited, or controlled separately. Coating application tools can be mounted on a gimbal in series with a compliant system described above that limits, sets, or controls the force applied on the surface. 
     In some embodiments, a coating end effector  160 M can include elements including, but not limited to a heater, curing light, blower or a combination of these. For example,  FIG. 19  illustrates an example embodiment  160 M 8  of a coating end effector  160 M that comprises a first blower  1905  and a second blower  1910 . The first blower can be configured to apply cool and/or dry air to coating  630  that has been applied to the substrate  610  by the coating end effector  160 M. The second blower  1910  can be configured to apply heat and/or dry air to a surface of substrate  610  on which coating  630  will be applied. As shown in  FIG. 19 , the coating end effector  160 M can include a coating applicator  1915  that can include a tracking knife  1920  that can be used to profile the coating  630 . In various embodiments, preheating and drying the surface of substrate  610  on which coating  630  is being applied can improve the coating application process. Cooling and/or drying the applied coating  630  via the first blower  1905  can be desirable to speed the drying/curing process of the coating  630  and can improve the finish of the coating  630 . 
     In various embodiments, elements including but not limited to a heater, fan, UV light, microwave emitter, or a combination of these elements can also be a separate part of the automated surface finishing system  100 . These components can be mounted on an end effector  160 , a robotic arm  140 , mobile base  120 , positioning stage  122 , gantry, or the like, or can be static in the room and separate from the automated surface finishing system  100 . A purpose of these components can be to speed up the curing, drying, or setting time of the coating  630 , but can also be used to prepare the surface for the application of tape  640  or coating  630 . An embodiment of the end effector  160  utilizes a heater that leads the coating application for preheating the substrate surface  610  on which coating  630  will be applied by the coating end effector  160 M. The coating application point can be followed by a blower which can act over the applied coating  630 . The coating end effector  160 M can also utilize two heaters leading and following the coating application or utilize two fans or a combination of these. The tool parameters or settings on the fan, heaters, or lights may be determined by the planning system (e.g., by the control system  322 ) using information from one or more of sensors  366 ,  346 ,  326  and/or vision systems  364 ,  324 . For example, environmental sensors (e.g., temperature, humidity, and the like) and a prescribed coating composition and applied thickness can be used to determine tool parameters for environmental control tools or systems such heaters, coolers, blowers, or the like. In another example, the coating end effector can comprise a thermal imaging camera to assess the temperature of the coating  630  and calculate the moisture content of the coating  630 . The automated surface finishing system  100  can also have a humidity sensor, conductivity sensor and depth or thickness sensors such as laser range finders, sonar, radar, LIDAR, and the like. Toolpaths, tool parameters settings, coating composition, fan, heater, light settings, and the like can be adjusted in real-time based at least in part on the measurements, sensing or data obtained from such sensors or visions systems. 
     The automated surface finishing system  100  can utilize additives such as plaster of paris to accelerate the setting time of a coating of coating  630 . An accelerant can be mixed into the coating  630  during preparation, added in at the nozzle  1240 , applied to a coating  630  after deposition, or any combination of these. The automated surface finishing system  100  can utilize environmental information to decide the amount of accelerant to add and at what point in the process it should be introduced. In other words data from one or more vision system  324 ,  364  and/or sensors  326 ,  346 ,  366  to automatically modify the parameters of the composition, preparation, and application of the coating  630 . In some examples, accelerant may be sprayed on to a coating  630  after the coating  630  has been applied onto the target surface. 
     The automated surface finishing system  100  can utilize sensors (e.g., humidity or conductivity sensors) that are mounted on a substrate  610  before coating application, which can provide for tracking of the moisture content of the substrate  610  and/or coating  630  applied to the substrate  610 . Such sensors can be mounted directly onto the target surface, may be embedded in a joint  620 , or can be mounted on a coupon that is covered at the beginning of the process with the same parameters. Such sensors can be connected to a wireless communication system to send signals/data to the automated surface finishing system  100 . Moisture content and other information collected by such sensors can be used to control or adjust the settings on fans, blowers, heaters, curing lights, an HVAC system, or the like. The drying speed can also be used to adjust the composition of the coating  630 . Monitoring the moisture content can allow the system  100  to accurately estimate the time when the next step can begin (e.g., sanding, painting or the like). 
     The automated surface finishing system  100  can also determine when the coating has set and dried by measuring the thermal conductivity of the covered seam  620 , using a vision system (such as a thermal imaging camera); using a sensor such as a thermometer (contact or non-contact), or by detecting differences in colors using a vision system (e.g., due to color changes that occur between wet and dry coating  630 . Various measurements can be used to infer the moisture content of coating  630  by comparing a determined temperature of the coating  630  to the surrounding materials such as the substrate  610 . For example, as water or other solvent evaporates from a mixture of coating  630 , the temperature of the coating  630  can be lower than that of the surrounding materials. Models of the coating drying process can also be used to estimate the time to dry or cure given a set of starting conditions and information about the environment. The environmental sensors and/or vision systems can be used in conjunction with an HVAC system or heater, air conditioner, fans, or the like, to control the room conditions at a worksite. The sensor readings can automatically trigger any of these systems or a combination to maintain the room at the desired conditions for quality, reduced drying time, or comfort of the operator. 
     In various embodiments, the automated surface finishing system  100  can use one or more vision system  324 ,  364  and/or sensors  326 ,  346 ,  366  to establish a condition of a wall of the substrate before and after compound application to determine appropriate toolpaths and/or tool parameters. The system  100  can use computer vision, structured lights, stereo cameras, images, lights and shadows, LIDAR, radar, sonar, point clouds or any combination of these to establish the conditions of a target surface. These conditions can include establishing the surface plane relative to a coating application tool or another surface, detecting high or low points, curvature, and defects. One or more of the vision system  324 ,  364  can be used to create a topographical map of the surface to identify high and low spots. The map can be created after substrate  610  has been hung. The map can also be an input from a substrate layout system that specifies the location and types of joints  620  and features in the room. The map can be updated by the one or more vision system  324 ,  364  as the system  100  is moved or moves around the room. The system  100  can also utilize rollers, proximity sensors, contact sensors, profilometers, and the like, to measure the profile of the surface. The robotic arm  140 , end effector  160  and/or base unit  120  can be used to make contact with rollers or other mechanism on an encoded linear stage and then move these over the surface creating a topographical map. This can be done over joints or seams to determine the profile. The system  100  can then compute how the coating  630  should be applied and tapered to create a visually flat wall assembly. 
     To achieve the coating thickness on the substrate  610 , the system  100  can optimize the delivery of the coating  630  to build up more coating  630  on low spots and less on high spots. The system  100  can also use information of the joint location to profile the coating delivery to account for the height variations typical of joints  620 . The end effector  160  can then be used to apply a specific profile of coating  630  to the wall. This can be done by controlling the profile of the sprayer  1210 , the shape and size of a troweling blade, the distance between the end effector  160  and substrate  610 , the flow rate of coating  630 , the tool speed, the number of passes over a given spot, or the consistency of the coating  630 . The robotic arm  140  and/or end effector  160  can utilize force control to apply the pressure required to deliver a desired amount of coating  630  or to achieve a desired surface texture or roughness. 
     A thickness measurement can also be used to determine the amount of coating  630  that is to be delivered to a given spot. The system  100  can also tune the profile of the delivered coating  630  to account for overlap of the subsequent application. The coating thickness at the edges can be reduced or feathered such that the overlap region achieves the final desired thickness. This approach can also be used to increase overlap error tolerance at transition points between robot workspaces. The automated system  100  can utilize the information about the room, compound mixture and desired compound profile to determine the application profile desired to account for shrinkage of the coating  630 . The system  100  can also use shrinkage models with environmental information obtained from sensors or vision systems to anticipate the shrinkage of the coating  630  as it dries. The delivered profile can account for shrinkage by increasing thickness of coating  630  applied such that the final post-shrinkage profile is the desired profile to achieve a visually flat wall. Compound mixture definition can include real-time automatic adjustments of gypsum, plaster of paris, and water content for optimal results given environmental conditions (determined based on data from sensors and/or visions systems), and layer finish requirements. 
     The system  100  can be instrumented with vision systems  324 ,  364  and/or sensors  326 ,  346 ,  366  that can be used to improve operation and ensure quality. During compound application the system  100  can use sensors  366  (e.g., force and torque sensors) mounted directly on the end effector  160 , or sensors  346  on the robotic arm  140 , and/or force and torque estimates determined by sensors  346  of robotic joints of the robotic arm  140  to apply a desired force during troweling or taping. The vision systems  324 ,  364  and/or sensors  326 ,  346 ,  366  can monitor force normal to a blade or rollers or on multiple axes including torque measurements and six-axis sensing. The force sensing can be used to control the force or pressure applied by one or more tool of an end effector  160 . A minimum force or contact readings can also be used to ensure contact is made before the coating  630  is allowed to flow, and force below a certain threshold or loss of contact can trigger the stop of joint compound flow. The automated surface finishing system  100  can use the force information to operate in force control, where the motions and speeds of the system  100  are driven to ensure a given force is applied in the desired directions. Similarly, force sensing can be used to detect contact with an object, obstacle, or intersecting wall or ceiling. By monitoring forces and torque on various portions of the robotic arm  140 , base unit  120  and/or end effectors  160 , the system  100  can detect that it has made contact with the adjacent wall or ceiling and alter the toolpath accordingly. The measurements can also be used to detect accidental contact and trigger a safety operation such as stopping the system  100  or retracting away from contact point. The system  100 , including the end effector  160  can also use sensors (e.g., contact or proximity sensors) and/or visions sensors to detect that the end effector  160  is touching the surface, obstacle, object, or worker, as well as detect the distance to an adjacent surface or contact with that surface. The force, contact, displacement, or proximity sensors can be mounted on outriggers from the end effector  160  to sense obstacles, objects, or adjacent surfaces ahead of the end effector  160 . The system  100  can detect, follow, and use adjacent walls as datums to guide coating application and achieve accurate corners. For example, in some embodiments, the end effector  160  can comprise a guiding element configured to engage a target surface, adjacent walls, or the like, to allow the end effector  160  to be guided in coating the target surface. For example, such a guiding element can include an arm extending from the end effector  160 , with the arm having a roller at the end of the arm configured to engage the target surface or portion of a wall assembly as a coating guide. 
     The base unit  120 , robotic arm  140  and/or end effector  160  can utilize multiple control strategies to complete various tasks. Position control can be used to command the system  100  to follow a trajectory given speed, acceleration, and jerk constraints. The system  100  can be controlled at the joint level by giving commands to the joints to achieve the desired robot state and tool position, or the control can be done at a higher level allowing a user or program to control end effector position and orientation. The system  100  can be controlled in task space where the system  100  controls a tool relative to the task. This approach can focus on achieving a desired tool position, orientation, speed, or the like, relative to the target surface rather than on each joint reaching its target goal. The system  100  can utilize force control to control the force applied to the target surface, an obstacle, adjacent surfaces, objects and so on. The applied force can be controlled in a single or multiple axes. Hybrid control modes can also be used. For example the system  100  can be commanded to achieve a given position as long as a given force is not exceeded. 
     The one or both of the vision system  324 ,  364  can be used to capture where and how the coating  630  has been applied. By monitoring the spray pattern applied on the wall the system  100  can detect clogs, nozzle or blade wear, or other problems. In one example, a thermal camera can be used to detect the applied coating  630 , which can be at a different temperature than the target material. The compound&#39;s temperature can be controlled to facilitate detection. Monitoring the compound temperature can also give information on the moisture content of the coating  630 . The coating  630  can have a prescribed coloring or additives to create contrast between the target surface and the coating  630  facilitating the detection of areas that have been covered by the coating  630 . The color can change as the coating  630  dries as well as after it has been sanded. The system  100  can also apply coatings  630  in layers with different colors in different layers of coating  630  to facilitate detecting how much coating  630  has been removed during application or sanding of coating  630 . Sensing such as capacitance, radar, resistance, humidity, conductivity, sonar measurements, or any combination of these can also be used to establish the thickness of the coating  630 . Lights can be mounted on the system  100  or externally to illuminate the surface enabling the detection of coated surfaces, high and low points, tool marks, coating roughness, orange peel, and defects using one or both of vision systems  324 ,  364 . 
     The system  100  can monitor the coverage achieved by the end effector  160  and update tool paths and tool parameters to ensure the desired coating profile is being applied. For example, the system  100  can dynamically tune a sprayer fan and/or bell until the spray pattern matches the desired shape, thickness, size. The system  100  can also move the sprayer  1210  closer or farther away from the target surface to change the spray pattern. The system  100  can also tune the material flow rate, pressure, spray tool speed, or the like, to achieve a desired thickness. The toolpaths and/or tool parameters can also be updated to ensure that the correct overlap is being achieved. 
     The system  100  can also utilize a feedback mechanism for communicating contact, forces, gimbal displacement information, tool orientation, motor loads, humidity and temperature readings, measurements of the applied coating  630 , to system  100  (e.g., to the control system  322 ) for the purpose of real time updating of the tool paths and tool parameters for improving finish of coating  630 . The system  100  can use tool position and orientation, captured surface conditions and models to update the robotic toolpaths to ensure that a desired position and/or contact is maintained during application of coating  630 . 
     The system  100  can also determine areas that need another application of coating  630 , rework using automated surface finishing system  100 , or rework to be done manually by the user. The user can also use a user interface of the system  100  to indicate areas that the user has identified as needing rework or need to be coated again. The system  100  can use this input along with other information about the previous work to create a new toolpath. Both user and system feedback can be fed into a machine learning algorithm to create a better model for coating future surfaces given a set of initial conditions. 
     The automated surface finishing system  100  can utilize a user interface to enable the worker to control, program, debug, plan, and setup the system  100 . The user interface can be used to give the user information of all the steps that must be taken to setup the system  100 . Each step can be checked off when complete and the user can request more information on each step. The workspace of the system  100  can be shown overlaid on a camera feed or projected onto the target surface to help the user position the end effector  160 , robotic arm  140  and/or mobile base unit  120 . The workspace can be projected using lights or lasers. The system  100  can also automatically perform certain steps and the user interface can report the progress of each step, as well as give guidance to the steps the user can follow to perform a task. The user interface can be used to setup the system  100  and run any calibration routines required. The interface can also be used to plan a job including detecting wall, user definition of path parameters or path itself, auto generation of the tool path, user input of tool parameters, and automatically optimized tool parameters given a set of user inputs. 
     The user interface can be a graphical user interface and include a 2D or 3D representation of the worksite and workspace. The representation can include camera feeds as well as computer models and reconstructions created using sensor data. The interface can overlay paths, quality visuals, progress, robot model, or the like, over camera or workspace models. As the task is completed the path can be highlighted in different colors or with different style lines to indicate completion, quality achieved, problem areas among others. 
     Any problems, issues, or bugs can be reported in the user interface. Lights on the end effector  160 , mobile base  120  and/or robotic arm  140  as well as sounds can also be used to indicate problems, movement of the end effector  160 , base unit  120  and/or robotic arm  140 ; that work is in progress; that the system  100  is on or off; that toolpath is running or paused, that the system  100  needs attention or refill of materials; and any other indicators of the system state. The user interface can also display information on the progress, task and tool parameters, and quality metrics of the task being performed. Environmental conditions can also be displayed and recorded by the interface. The system  100  can indicate to the user what steps to take to correct or improve conditions including air quality, temperature and humidity. If the system  100  detects unsuitable or unsafe conditions it can display a message warning the user and providing guidance on next steps. The system  100  can use an optimization to find what parameters could be used to improve the process including reducing work time, increasing quality, and minimizing material usage among others. The user interface can also create reports on the tasks executed, quality metrics, environmental conditions, completion, and performance logs. Information can include robot workspace, tool paths, progress, sequence of approach, application rates and thicknesses, spray pressures and flow rates, forces applied by the tool, coverage record, path speed, tracking error, time to complete the task, tool time, setup time, vacuum waste material collected, cleaning time. The user interface can also display on filter conditions, and the system  100  can trigger an alarm or instruction when the filter needs to be replaced or cleaned. 
     The user can interface with the system  100  using a computer, tablet, touch screen, mobile device, pendant, joystick, controller, or buttons directly on the system  100 . The worker can also position and train the robotic arm  140  and/or end effector  160  by directly moving joints of the robotic arm  140  or end effector  160 . The user interface, controller, or buttons can be used to record positions as well as change the control mode and task. 
     An augmented reality system can be used to show the worker a toolpath plan generated by the system  100 , instructions, original BIM or plan, or a combination of these. The augmented reality can be displayed using a headset, smart goggles, projections, or the like. The worker can be shown areas that require manual coating application. The user can also overlay the location of studs, framing, pipes, ducts, electrical system behind the board to facilitate compound application. Coating tools, both manual and automated can be tracked in the map using tags, IMUs, or other sensors and a warning can be given to the operator if an attempt is made to apply coating  630  in an erroneous position or under the wrong tool settings. The system  100  or tools can also utilize radar, sonar, thermal imaging to establish what is behind the substrate. 
     The automated surface finishing system  100  can also produce a visualization, paths, or instructions or a combination of these to guide the user in completing manual work. The visualization can include 2D or 3D maps marking the areas of work with labels. The visualization system can also include a projection of the plan onto the target surface this can be done with a laser system, projector or through augmented reality headset or goggles worn by the user. 
     The coating time, pressure, material flow rate, coating characteristics, and clogs can be tracked to inform when a nozzle  1210  or blade  1130  should be cleaned or changed. For example,  FIG. 20  illustrates an example embodiment  160 M 9  of a coating end effector  160 M, which comprises a nozzle cassette system  2005  where a cassette of nozzles  1240  is attached to the end of the spray gun  1210 . The cassette system  2005  can be rotated (e.g., via an electromechanical system) to deliver a nozzle  1240  to the spray gun  1210  for use. 
       FIG. 21  illustrates another example embodiment  160 M 10  of a coating end effector  160 M that comprises of a nozzle rotating system  2105  that can be part of a spray gun  1210 . In this example, the system  100  can utilize an actuator assembly  2110  (e.g., a servo or other electromechanical actuator) to rotate (e.g., 180 degrees) a portion  2115  of the nozzle  1210  allowing for coating  630  to go through the nozzle portion  2115  in reverse helping clear out clogs. 
     In various embodiments, nozzle or blade wear models can also take as an input the type and characteristics of coating  630  applied and the conditions under which such coating  630  was applied. One or more vision system  364 ,  324  of the system  100  can be used to detect finish, tool pattern and establish if the nozzle  1240  or blade  1130  needs to be changed, rotated, cleaned or otherwise modified. A user interface can display the wear on the nozzle  1240  or blade  1130  and alert the user when these need to be changed. A coating end effector  160 M can also include a mechanism to automatically replace or clean the nozzle  1240  or portions thereof. One embodiment (e.g.,  FIG. 20 ) can use a cassette with replacement nozzles  1240  that can be rotated into place. The sprayer  1210  can also have a mechanism  2105  to rotate the nozzle or portion thereof (e.g. a tip or feeding tube) to clear a clog (e.g.,  FIG. 21 ). The nozzle clearing or replacement can be run automatically by the system  100  without any human intervention or as a collaboration between the system  100  and the user. 
     The system  100  can generate reports and interface with other software platforms including BIM packages. Reports can be created that can be used for inspection and certification. A report can be customized to provide the information required to pass a standard, test, or certification. The reporting system can also provide a live update of the current task progress and live camera feed. This information can be used to help track asset performance and work progression. The data can be reported to a BIM system or other software to facilitate planning of other trades, next steps, or schedule inspections or other tasks. The reports can include full maps of the coating  630  applied and tool and path parameters utilized to complete the task. Further images or video can be recorded to facilitate quality checks or for tracking of issues. The system  100  can record parameters used to complete the task which can be fed to a machine learning software to enable the system  100  to learn from past work. The reports can also be used to optimize workflow and scheduling. The system&#39;s optimization function can be updated to meet the desired needs including minimizing task time, completion of the task in a part of the worksite to allow other trades to come in, minimizing cost, optimal use of assets and workforce, among others. The system&#39;s reports can also include information on environmental conditions and how the process was changed given the conditions. 
     The system  100  can create a report that shows the process parameters that were used to cover the surface as well as the order of operations. The report can include BIM, 3D and 2D maps or plans, images, video. The maps provided by the system  100  can be used to facilitate repairs and maintenance by providing the customer with the location of components behind the wall as well as the location of seams to facilitate the removal of panels or boards. 
     The updated room models that reflect the as built conditions and measurements can be exported for use in sanding the walls or for certification of quality at delivery. A complete map of the thickness of the compound applied with or without shrinking can be fed into the system  100  or a separate automated sanding system which can plan tool paths and parameters desired to achieve the desired finish by sanding. The system  100  can work in conjunction with a larger system that plans the full process from mapping a room, to cutting and hanging the substrate to finishing and painting of the surfaces. The system  100  can be used for coating surfaces with any suitable material, including but not limited to one or more coating  630 , which can include joint compound, plaster, gypsum, concrete, stucco, cement, paint, polymer coating, lacquers, varnishes, or any combination of these. The coating  630  can also comprise polymers such as latex, acrylics, or the like, and/or adhesion additives including glue and other bonding agents. The coating  630  can comprise a synthetic material such as Parex, an acrylic synthetic stucco, or the like. The system  100  can apply the coating(s) on any suitable substrate, including but not limited to drywall, boards, lath, mesh, or other substrates. The system  100  can also be used to apply other coatings such as wallpaper, polymer films, or the like. 
     The system may also utilize an end effector mounted on the robotic arm to layout and attach the substrate to the structural components.  FIG. 22  illustrates an example embodiment of a substrate applicator end effector  160 R, wherein a roll of substrate  610  is mounted within a roll body  2220  of the end effector  160  and fed under a roller  2230 . The substrate end effector  160 R can be moved over a target surface and the roller  2230  to push the substrate  610  into place in-between or over the studs  830  of a wall assembly  800  or other suitable location. For example, substrate  610  can be applied vertically or horizontally between studs  830  or horizontally or vertically over studs (e.g., as shown in  FIGS. 8 b , 9 a  and 9 b   ). In various examples, the substrate end effector  160 R can use studs  830  or other suitable framing element or other feature as a datum for guiding the insulation end effector  160 I. 
     In some embodiments, the width of substrate  610  can be set to match a spacing width between studs  830 , height of the wall, or the like. For example, a substrate end effector  160 R can comprise a blade, laser or other cutter that can be used to cut substrate  610  to size before, during or after application of the substrate  610 . Additionally, adhesive can couple substrate  610  within a wall assembly  800  or other suitable location. For example a roll of substrate  610  can be pre-impregnated with adhesive before or during application; a substrate end effector  160 R can apply adhesive ahead of the substrate  610  to help secure the substrate  610  to a stud  830 , or the like. 
     In some examples, an adhesive can be applied with an end effector  160  by spraying. Some examples can include a separate end effector  160  having an adhesive spray gun, or an adhesive spray gun can be part of a substrate end effector  160 R, that is configured to apply adhesive in front of the substrate  610  onto a surface that the substrate  610  is being applied to and/or by applying the adhesive onto the substrate  610  before the roller  2230 . 
       FIG. 23  illustrates an example embodiment of an automated wall finishing system  100  where a substrate end effector  160  utilizes studs  830  of a wall assembly  800  as a guide for delivering substrate  650  between or on the studs  830 , header  810  and footer  820  of the wall assembly  800 . As shown in  FIG. 23 , the end effector  160  can comprise an arm  2310  having a roller  2320  that can be pressed against an internal face of a stud  830  for guiding the sprayer  1210 . In various examples, the substrate end effector  160  can utilize the surrounding surfaces as datums and a roller, wheel, blade, or the like, and can be pushed in contact with such a datum surface or feature for reference. 
     Such contact points can extend away from a substrate application zone to enable the use of datums away from the where the sprayer  1210  is applying the coating  630 . For example,  FIG. 23  illustrates the end effector  160  having an arm  2310 , which can allow the sprayer  1210  to be spaced centrally between the studs  830 , while the roller  2310  contacts one of the studs  830  for use as a datum. 
     In various embodiments, the end effector  160  can control the position of the contact points such that the correct or optimal datum surface is used. For example, the arm  2310  can be extendible and retractable to provide for a desired offset from the stud  830  or other contact surface. Additionally, the force and pressure on contact points can also be controlled. For example, force can be directly or indirectly measured or estimated by monitoring the deflection of the mounting structure, and the like. In one embodiment, the spray end effector  160  can utilize a roller  2310  to guide the sprayer  1210  along a stud  830  or other portion of a wall assembly as shown in  FIG. 23 . In some examples, the system  100  can operate in hybrid force and position control following the stud  830  and spraying the coating  630  in a target area relative to the stud  830 . 
     In various embodiments, the system  100  can include a cutting tool for trimming the substrate  610  and/or coating  630  after the substrate  610  and/or coating  630  has been applied. For example, the system  100  can create a map or model of a room given a set of substrate application parameters and/or by directly mapping the room after the substrate  610  and/or coating  630  has been applied. A model or map of the room with substrate  610  and/or coating  630  can be used to determine areas that need to be trimmed or cut to enable the closing of the walls and installation of doors, windows and the like. In some examples, a substrate cutting tool can follow a front edge of studs  830 , or other suitable framing element, and cut substrate material  610  and/or coating  630  that protrudes beyond the plane of the stud  830 . In one embodiment, a substrate/coating cutting system can comprise a blade that is pushed along the edge of a stud  830 , which can remove substrate  610  and/or coating  630  that extends beyond the face of the stud  830 . The substrate/coating cutting tool can be powered or unpowered in various embodiments. The robotic arm  140  and/or end effector  160  can be used to drive a substrate cutting tool through the substrate  610  and/or coating  630 . Additionally, substrate  610  and/or coating  630  can be cut to create room for electrical boxes, wires, framing, conduit, pipes, or any other mechanical, electrical or plumbing component. 
     The one or more vision systems  364 ,  324 , sensors  624 ,  644 ,  664 , and/or model of the room or structure may be used to determine the amount of substrate  610  and/or coating material  630  to adequately cover the target surfaces (e.g., over or between studs  830 , over substrate  610  coupled to a wall assembly  800 , or the like). In various embodiments, such estimates can be used to pre-order materials (e.g., substrate  610 , coating  630 , and the like) and estimate duration of the job. The environmental conditions of the site can be monitored to determine curing and drying times and estimate the duration of the task or time remaining in a task. The site temperature, humidity, light, airflow, and the like can be controlled to affect drying, setting, and/or curing times of substrate  610  and/or coating  630 . De-humidifiers, heaters, fans, blowers, coolers, humidifiers, lights, or a combination of these can be mounted on the system  100  or the room to control the environmental conditions. 
     The coating material  630  (e.g., depending on the first coat, second coat and third coat, where present) can have different performance properties that allow for different finish textures to be achieved. The coating material  630  can be sprayed using an airless or air driven system. The coating material  630  can also have different performance properties based on code compliance pertaining to sound isolation, fire retardancy, weight distribution, and hardness of materials that can allow building-specific design intents to be accomplished. The delivery mechanism for coating  630  can include texture sprayers, paint sprayers, concrete sprayers, purpose built sprayers, and the like. The mixed coating  630  can be pumped directly to a nozzle  1240  or can be mixed into the liquid at or beyond the nozzle  1240 . The nozzle  1240  may utilize cartridges or a feeding tube to deliver powder, slurry, or additives (e.g., as shown in  FIG. 14 ). The cartridge or mixing nozzle may be disposable. The coating mixture  630  can be controlled to achieve a desired material property including viscosity, water content, mixture composition, and the like. The material composition can also be controlled depending on the monitored environmental conditions. The desired substrate material, geometry, orientation (vertical, horizontal, angled), schedule, and target finish can be used to determine the optimal coating mixture. 
     A nozzle  1240  or pump may be instrumented with a sensor to control a coating material delivery rate. Such a sensor can monitor pressure, flow rate, mass rate, trigger position, and the like. A nozzle orifice opening can be controlled to set the coating material delivery rate, the coating particle speed, the coating mixture composition, coating texture, and the like. The nozzle orifice can be controlled to produce the desired coating material delivery including coating spray shape, size, and the like. The size of the orifice can be controlled using a motor, servo, valve, or the like. The size of the orifice can be changed by changing the distance between two cones in some examples. 
     The system  100  can use a variety of nozzle shapes and sizes to deliver the coating, including fan and bell shapes. The tool may include a nozzle carousel (e.g., as shown in  FIG. 20 ) that the operator or system  100  can use to change the tip on the sprayer. The coating material  630  can be deposited evenly over the substrate  610 , which can ensure the surface of the substrate  610  is covered with a consistent thickness which can certify fire, insulation or sound ratings. 
     In some embodiments, a vacuum system can be used to control overspray (e.g., as shown in  FIG. 16 ). For example, a vacuum inlet can be mounted next to the nozzle and can utilize a hood that follows or surround the nozzle to capture the overspray. The vacuum system may also be mounted on the mobile base. In further embodiments, an air stream can be used to control coating overspray, to direct the coating spray or to control the size and/or shape of the coating spray. 
     For example,  FIG. 24  illustrates an example embodiment  160 M 11  of a coating end effector  160 M having a spray gun  1610  that comprises a coating nozzle  1640  surrounded by one or more air nozzles  2440 . As shown in the example of  FIG. 24 , the one or more air nozzles  2440  can generate an air flow curtain  2430  about the coating spray  700 , which can control overspray of the coating spray  700 , direct the coating spray  700 , control the size and/or shape of the coating spray  700 , or the like. For example, the one or more air nozzles  2440  can selectively focus or modify the coating spray  700  as necessary to generate a desired effect. 
     An air flow curtain  2430  can be generated in various suitable ways by one or more air nozzles  2440 . For example, in some embodiments, a plurality of separate air nozzles  2440  can be disposed surrounding the coating nozzle  1640 . In another embodiment, a ring nozzle can define an air nozzle  2440  that surrounds the coating nozzle  1640 . The one or more air nozzles  2440  can be fed via various suitable sources including from a compressed air source located at the base unit  120  or other suitable location about or apart from the system  100 . Also, in further embodiments, any suitable fluid can be used to generate the flow curtain  2430 . 
     The system  100  can include a cleaning or clearing system and process to clear a coating nozzle  1640  of clogs. Such a cleaning or clearing system can be used to clear or flush the entire system from pump to nozzle of material in some examples. The system  100  can automatically detect (e.g., through pressure sensors or time) when the spray system should be cleared and in response can automatically run a cleaning routine for the spray system. The cleaning routine can also be triggered by the operator at the end of the cleaning process or when problems arise. The portions of the system  100  associated with storing and generating a spray of coating  630  can be designed to be sealed to the environment so that no curing or drying of the coating  630  happens within the system  100  (e.g., the compound source  430 , compound lines  432 , a pump, or the like). 
     The described embodiments are susceptible to various modifications and alternative forms, and specific examples thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the described embodiments are not to be limited to the particular forms or methods disclosed, but to the contrary, the present disclosure is to cover all modifications, equivalents, and alternatives.