Patent ID: 7981462

Claim:
A method for applying a color design to a surface of a wall around protrusions, balconies, doors, windows, sills, or cornices using a movable application device comprising a first position measurement system configured to measure a position of the movable application device relative to multiple stationary components, a computer control unit, multiple paint application elements, a second position measurement system configured to measure a motion of the movable application device, and at least one roller or sliding element, wherein the method comprises, moving the movable application device on the surface; measuring the position of the movable application device during the step of moving; and controlling the paint application elements based upon the step of measuring; which includes a first step of positioning multiple stationary components at fixed locations to define a reference coordinate system for the first position measurement system; measuring geometric properties of the surface within the reference coordinate system to generate a first data set, which is a digital representation of the geometry of the surface; generating a second dataset by assigning color data of the color design to the first data set; a second, paint applying step of applying paint to a portion of the surface alongside an area containing previously applied paint by moving the movable application device in a way, that the rollers or sliding elements do not contact the previously applied paint by configuring the movable application device to have the paint application elements protrude laterally beyond the rollers or sliding elements; applying paint at a first position on the surface where valid position data is available by using the first measurement system; applying paint at a second position on the surface by using the second measurement system wherein the first measurement system is unable to provide valid position data due to disturbed intervisibility between the movable application device and a minimum required number of stationary components by performing the steps of, relocating the paint application device to a third position on the surface, where valid position data is available from the first measurement system; and subsequently moving the application device from the third position to the second position on the surface, where the position data of the second position is calculated by the computer control unit based on the third position from the first measurement system, and movement data from second measurement system.