GB2551565B

GB2551565B - A UAV apparatus for surface treatment

Info

Publication number: GB2551565B
Application number: GB1610986.0A
Authority: GB
Inventors: Koivuharju Arto
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-06-23
Filing date: 2016-06-23
Publication date: 2019-09-04
Anticipated expiration: 2036-06-23
Also published as: GB201610986D0; EP3474999A2; WO2017220803A3; WO2017220803A2; GB2551565A

Description

A UAV apparatus for surface treatment

Background

The present disclosure is concerned with an apparatus for treating a surface such as a wall or ceiling. Particularly, but not exclusively, an disclosure described herein is concerned with an airborne apparatus which cooperates with a surface to be treated to allow safe and accurate work to be performed on a target surface.

In the construction industry walls and ceilings for example are treating in a wide variety of ways. One very common treatment is rendering i.e. applying a layer of plaster or render to the brick surface to create a smooth and aesthetic surface.

Summary of the Disclosure

In a first teaching of an disclosure described herein there is provided a surface treatment apparatus according to claim 1.

Thus, according to an disclosure described herein there is provided an apparatus that can move relative to a surface which is to be treated by the device in a vertical direction whilst providing an internal region or space which can accommodate a variety of surface treating or finishing tooling.

The biasing portion positively locates the apparatus in position against the surface, for example a wall. This biassing action prevents movement of the apparatus during the treatment process and reacts against and reaction forces acting on the apparatus as a result of the treatment process.

For example, in a rendering operation render ejected from the apparatus would create an opposite reaction force directing the apparatus away from the wall.

Thus, accurate treatment of a surface can be performed at a plurality of locations in a vertical or horizontal direction.

It will be recognised that the term surface treatment is intended to cover a range of surface finishing operations that presently take place in the construction industry and which are performed manually by raising operatives (humans) on scaffolding or access platforms.

The support frame may be any suitable structure which is sufficiently strong to support the robotic arms or treatment devices contained within the boundary of the frame. The support frame may for example be formed of a tubular structure defining an interior space to receive the arms or devices. A suitable material such as titanium, aluminium or another low density material or alloy may be used. Equally carbon fibre or carbon reinforced plastic materials may be used.

The one or more lift generating portions are arranged to cause the apparatus to move vertically. The lift generating portions may be any suitable arrangement that causes lift.

They may, for example, be in the form of a plurality of rotatable propellers which generate vertical lift on activation. The plurality of propellers may be independently controlled and manipulated to allow for movement of the apparatus in x, y and z directions. The propellers may be powered by an electrical battery incorporated in the apparatus powering a plurality of electric motors coupled to the propellers.

The one or more biassing portions may similarly be one or more electrically powered propellers which are activated to generate a horizontal thrust biassing or pushing the apparatus against the surface to be treated. Alternatively a small gas turbine could be used to generate even greater biassing force.

Thus, unconventionally the apparatus may be specifically adapted to be forced and biassed into contact with a surface.

By arranging the lift generating portions and biassing portions at approximately 90 degrees to one another (orthogonally) the apparatus can move vertically (and in x and z directions) so as to be positioned proximate to the surface to be treated and then the biassing portion activated to push the apparatus firmly against the surface before and during the treatment process.

The robotic arms or surface treatment devices may be any suitable surface treatment apparatus. The space defined by the support frame conveniently provides a region or space into which the surface treatment devices can be carried and from which they can operate on the surface being treated.

The space may additionally contain power supplies, materials (paint, render) and other equipment necessary for the desired surface treatment process.

The space may include a plug and socket type arrangement which can conveniently allow a plurality of different tools to be inserted into the space and plugged in. For example, the apparatus may be provided with a power supply which can communicate electrical power to the device or tooling when it is plugged in. Thus, a generic housing may be provided which is configurable to perform different operations according to the device which is located within the inner space of the apparatus.

The robotic arms may conveniently extend and retract from within the support frame to allow for movement of the apparatus and operation of the treatment process.

The support frame may, as discussed above, be an open frame structure in which all of the faces of the structure may be open i.e a space frame type structure. This reduces aerodynamic drag as the apparatus moves and reduces overall weight.

The face of the support structure on an opposing side of the structure to the biassing portion may be the open face of the structure. Thus, the internally mounted surface treatment devices can extend through this open face to interact/treat the surface.

As discussed above the biassing portion forces the apparatus against the surface being treated. The apparatus may be provided with a plurality of surface abutment portions arranged in use to contact the surface to be treated. This provides a physical connection between the apparatus and the surface.

The abutment portions themselves may be in any suitable form depending on the treatment operation to be performed. For example, the abutment portions may be in the form of a plurality of wheels which allow the apparatus to roll over the treatment surface. Such an arrangement allows for un-resistive movement and prevents damage to the treatment surface. The wheels may have parallel axes of rotation such that the apparatus moves in a straight line on activation of the lift generating portions. This allows a line or strip of surface to be treated by movement of the apparatus relative to the surface.

The surface treatment devices may be fixed within the support frame with movement relative to the surface being achieved by movement of the whole apparatus. Alternatively, the treatment devices may have a degree of movement within the support structure such that the support structure is positioned and the internal treatment devices move relative to the surface whilst the apparatus is fixed and biassed against the surface.

The abutment portions may alternatively be in the form of suction cups which draw the apparatus onto the wall surface. This may for example be particularly convenient when the surface to be treated is smooth allowing the suction cups to create a suitable vacuum.

The robotic arms or surface treatment devices contained within the space defined by the support frame may be selected depending on the particular surface treatment operation to be performed.

Operations that may be performed by surface treatment apparatus contained within the support frame may include: rendering/plastering painting sandblasting (or other abrasive methods) such as grinding applying insulating foam pressure washing

The robotic arms may also be configured to perform one or more of the followings operations (which may be used interchangeably in the list above): spraying and 3D printing on the treatment surface support structure installing, attaching components and holding supporting plates, spraying material layers (for example fibre-concrete). applying shotcrete, fiber concrete, filler and insulation in liquid, foam and solid form, attaching solar cell to surfaces using forms of panel, roll or sprayed. (this can be achieved using magnetic rails, fasteners or using glue applied by the device)

The apparatus may additionally comprise one or more sensors arranged to measure distances, materials and to determine the surface profile of the surface to be treated. For example, the apparatus may utilise one or more cameras to determine the amount of material needed for repairing or wall treatments.

The apparatus may additional comprise shielding to prevent materials, for example paint or render, from being erroneously directed at the wrong areas. These may, for example, be in the form of concave portion or ‘umbrella’ shaped cover or covers around the material dispensing nozzles.

Excess material may for example be collected by one or more suction nozzles for reducing dust caused by the surface treatments.

In a mode of operation in which material is to be applied to the treatment surface (for example a wall) the material may be carried in a suitable vessel within the support frame.

The support frame may then be provided with a vessel and pumping apparatus operable to pump render or paint (for example) from the vessel to the moveable nozzle.

Alternatively the apparatus may be provided with material from the ground i.e. from a ground based source. In such an arrangement the apparatus may further comprise a flexible supply conduit (a pipe or hose) through which materials can be supplied to the apparatus.

The flexible supply conduit may be in the form of an elastomeric hose arranged in use to supply render or paint to the surface treatment apparatus or sand/air for sand blowing, shotcrete, insulation foam or fillers.

In applications where material is being applied to the treatment surface the apparatus may further advantageously comprise a smoothing portion arranged to contact the surface to be treated and to slide relative to the surface upon movement of the support frame relative to the surface to be treated.

Viewed from another teaching there is provided a method of treating a surface wherein a surface treatment apparatus as described herein is controlled so as to be proximal to a surface to be treated, said method comprising the steps of: (A) activating the biasing portion to bias the support frame against the surface to be treated; (B) activating the one or more robotic arms or treatment devices to extend out of the envelope defined by the support frame to effect the treatment to the surface; (C) relocating the surface treatment apparatus; and (D) repeating steps A to C.

Thus a large surface can be treated, including areas which would previously have required raised platforms or the like to allow operatives to reach the area. This enhances safety and speed.

Where paint, render or the like are to be applied to the surface being treated the robotic arms (or manipulators) may be in the form of nozzles configured to apply the render or paint to the surface to be treated.

Viewed from yet another teaching, there is provided a surface treatment system according to claim 18.

Thus, according to such an arrangement a primary unmanned aerial vehicle (UAV) can apply the surface treatment and a plurality of secondary UAVs can provide support to the primary UAV by carrying and supporting one or more supply lines to the primary UAV. These supply lines may for example be power lines such as electrical power or lines that supply material which is to be applied by the primary UAV. They could for example be paint, render or the like. For example, the supply line may be an elongate flexible conduit fluidly connecting the primary unmanned aerial vehicle to a material source.

The supply line may be arranged to be supported at predetermined intervals along its length by the plurality of secondary unmanned aerial vehicles.

In an alternative arrangement the supply line may additionally remove material from the apparatus, for example the supply line may include a suction line to suck debris from the apparatus which may, for example, be created by an abrasive operation e.g. grinding or blasting.

Advantageously, the system may further comprise a flight controller arranged to navigate the primary unmanned aerial vehicle to a desired location where surface treatment is to occur and to independently control each of said plurality of secondary unmanned aerial vehicles to support the elongate flexible conduit in mid-air. Thus the primary UAV can navigate around complex spaces without hinderance from the supply line which is carried and supported by the plurality of secondary UAVs.

The flight controller may be configured to cause the plurality of secondary unmanned aerial vehicles to move relative to the primary unmanned aerial vehicle such that the elongate flexible conduit does not apply a tensile force to the primary unmanned aerial vehicle. This prevents unwanted movement of the primary UAV either during positioning and/or when in-situ. The tensile force caused by the weight of the supply line on the primary UAV may prevent the primary UAV from being accurately position or it may cause the primary UAV to move as material is pumped along the supply line.

The primary UAV may be adapted to perform a range of different tasks or actions to effect the ‘treatment’ of the surface. The term ‘treatment’ is intended to include such a variety of actions to tasks associated with building and/or renovating. For example, the surface treatment may be any one of: - 3d printing to provide a predetermined surface finish or profile to the surface; one or more robotic arms which may be controlled to hold or position objects against the wall or surface; ' sandblasting or other abrasive process to change the surface profile or geometry; ' pressure washing in which the supply line carries water that can be sprayed onto the wall; ' painting; or ' rendering

It should be noted that this list is not exhaustive and other processes may be performed by the apparatus described herein.

The system or apparatus may further be provided with one or more surface profile sensors arranged in use to determine the surface profile against which the apparatus is biased. Thus the system can be configured to perform surface assessment before performing any form of treatment. For example, the apparatus may be programmed to apply a particular surface roughness or profile and may first scan the target surface and treat areas that do not meet the predetermined surface profile, for example with render or the like.

The apparatus may also detect areas where paint has eroded and repair the area by repainting that region or remove the paint (such as sandblasting or sanding).

The primary and secondary UAVs may be controlled to position the primary unmanned aerial vehicle at a position where surface treatment is to occur and to subsequently control the secondary unmanned aerial vehicles to couple a flexible conduit to the primary unmanned aerial vehicle.

It will be recognised that the features of the teachings of the disclosure(s) described herein can conveniently and interchangeably be used in any suitable combination

It will be further recognised that an disclosure described herein advantageously provides an apparatus that can be positioned in previously difficult locations using the lift generating portions. Furthermore the apparatus can be securely held in position by means of the biassing portions. In cooperation with a series of UAVs an accurate and flexible system is provided which allows a range of processes to be performed by virtue of the flexibility to incorporate a range of tools or processing equipment within the frame of the apparatus.

Particular aspects of the invention are set out in the appended claims.

Figures

Aspects of the invention will now be described, by way of example only, with reference to the accompanying figures in which:

Figure 1 shows a third angle view of an apparatus according to the invention;

Figure 2 shows a side elevation of the apparatus;

Figure 3 shows a plan view for the apparatus;

Figure 4 shows a view from beneath the apparatus;

Figure 5 shows a view of a primary UAV and a plurality of secondary UAVs;

Figure 6 shows a side elevation of a primary UAV with a nozzle and guard arrangement;

Figure 7 shows a primary UAV and a pair of secondary UAVs;

Figure 8 shows an alternative embodiment of a UAV for applying solar panels; and

Figure 9 shows a still further embodiment of a UAV cooperating with a supply line support winch.

While the invention is susceptible to various modifications and alternative forms, specific embodiments are shown by way of example in the drawings and are herein described in detail. It should be understood however that drawings and detailed description attached hereto are not intended to limit the invention to the particular form disclosed but rather the invention is to cover all modifications, equivalents and alternatives falling within the spirit and scope of the claimed invention

Detailed Description

Figure 1 shows a third angle view of an apparatus according to an invention described herein.

The principal components of the apparatus are shown.

The surface treatment apparatus 1 comprises a support frame 2. The support frame is in the form of a frame or cage defining an inner space or envelope 3 surrounded by the frame structure. The frame structure may be any suitable shape to accommodate the surface treatment devices (discussed below).

The support frame may be formed, for example, of a plurality of titanium tubes defining a cube frame and shown in figure 1.

The upper surface 4 of the frame 2 comprised the lift generating portions 5 which in this arrangement are in the form of 4 independent propellers 6. Each propeller is independently controlled by means of an electric motor.

It will be recognised that independent operation of the 4 propellers allows the apparatus to move vertically and also in an x and y direction. This can be achieved with conventional unmanned aerial vehicle (UAV) or drone technology.

The apparatus further comprises a biassing portion 7 which is located on the rear side of the apparatus (the ‘front’ side being the side from which surface treatment is performed.

The biassing portion 7 comprises a pair of propellers 8. Activation of the propellers 8 (again by means of electrical motors) causes the apparatus to be forced or biassed in a direction A shown in figure 1.

The biassing portion 7 is located on an opposing face of the apparatus in figure 1 but it will be recognised that the biassing portion could be located on an alternative face of the apparatus. The important aspect being that the biassing force acts in the direction of the surface to be treated.

Thus, the lift generating portion and biassing portion are configured to cause movement in a generally orthogonal direction to each other. Put another way, the lift generating portion allows the apparatus to move vertically and in x and y directions to position the device. The biassing portion acts to force the apparatus firmly against the surface to be treated.

The apparatus may also comprise a plurality of wheels or rollers 9. The wheels act to roll against the surface to be treated as the apparatus moves in direction B shown in figure 1.

The wheels shown in figure 1 have parallel axes of rotation such that all of the wheels 9 rotate together allowing for movement in the direction B upon activation of the lift generating portion 5. The rollers advantageously allow the apparatus to roll along the wall surface preventing damage.

The inner space or envelope 3 may be provided with a plurality of different tools or surface finish/treatment devices. In the example shown in figure 1 the inner space 3 is provided with a pair of nozzles 10A, 10B. Each nozzle 10A, 10B is mounted on a rail 11A, 11B. The nozzles may be fixed to the rails or alternatively movable such that each nozzle may move along the respective rail in direction B. The nozzles 10A, 10B could for example move along the rail by means of a linear actuator (not shown) or a worm gear drive.

Similarly the nozzles may be configured to move along the horizontal rails 12A, 12B to allow for movement of the nozzle in direction C shown in figure 1.

In a movable configuration the apparatus can be position at the desired location by activation and control of the lift generating portion 5 and then biassing against the surface by activation of the biassing portion 7. The nozzles 10A and 10B can then be moved relative to the surface in directions B and C to effect surface treatment across the entire area defined by the vertical and horizontal rails.

The nozzles could alternatively be moveable by means of a robotic arm positioned within the inner space 3.

The nozzles may apply different materials to the surface by means of a pressed supply of liquid or semi-liquid material. For example the nozzles could be supplied with plaster or render which is projected from the end of the nozzle onto the surface to be treated. The paint or render may be supplied to the apparatus via supply line 13 which communicates paint or render from a reservoir to the nozzles. This may for example be a long elastomeric pipe or hose.

Figure 2 shows a view of the apparatus from the front i.e. towards the pair of nozzles. Like reference numerals are used corresponding to those used in figure 1.

Figure 3 is a rear view of the apparatus showing the supply line 13.

The supply line may be replaced by an internal tank or reservoir mounted in the inner space 3. The reservoir may be provided with a pump and conduit such that the paint or render can be supplied to the nozzles 10A, 10B.

Figure 4 is a view from above the apparatus and illustrates an additional (and optional) splash guard 14. The guard 14 acts to capture any material which might be reflected from the surface being treated i.e. it prevents render or paint being reflected and spraying onto other parts or areas of the wall or surface.

Figure 5 shows a side view of the apparatus with the guard 14 in place. Figure 5 also shows the supply line 13 and additionally the internal conduit 15 that carries the internal pipework that fluidly connects the supply line 13 to the small hoses 16 attached to each of the nozzle 10A.

Figure 6 shows the opposing side of the apparatus with supply line 13, and small hose 16, this time connected to nozzle 10B.

Figure 7 shows an apparatus as described with reference to figures 1 to 6 cooperating with a plurality of secondary unmanned aerial vehicles 17A, 17B. In this arrangement the surface treatment apparatus functions as a primary unmanned aerial vehicle 1, supported by a pair of secondary unmanned aerial vehicles 17A, 17B.

As shown the secondary vehicles 17A, 17B support portions of the supply line 13. Each secondary vehicle is provided with a coupling which holds the supply line at a predetermined position. As the secondary vehicles move they can carry portions of the supply line. The support prevents the entire weight of the supply line 13 from being applied to the conduit 15 as illustrated by curves 18,19 in the supply line.

In use the primary vehicle 1 can move and position itself at the desired location and activate the biassing portion. As the primary vehicle moves it can be followed by a plurality of secondary vehicles. In figure 7 only two are shown but it will be recognised that any number could be used, each following the path of the previous vehicle to the target destination.

Supporting the supply line 13 in this way prevents any tensile forces being applied to the primary vehicle which may cause inaccurate positioning and/or defective surface treatment.

It additionally permits the primary vehicle to operate a long distances from the paint or render supply.

Figure 8 shows an alternative UAV which is adapted to position discrete objects on to a wall or surface. This may, for example, be a solar panel. Arranging a plurality of solar panels on a wall can create a solar array.

In figure 8 the UAV 1 comprises a support frame 20 which contains the tooling. Support portions 21 are arranged at one end of the UAV and abut against the wall or surface when in use. Tooling 22 is arranged at the front of the UAV for cooperation with the wall or surface. The tooling is supplied with power/materials by the internal supply conduits 23 which connect the tooling 22 to the reservoir/batteries 26 of the UAV.

In such an arrangement the tooling 22 may be adapted so that it can extend away from the UAV towards the wall in direction X. As one example, a solar panel may be provided with an adhesive backing such that movement of the tooling (carrying the panel) in the X direction brings the panel into contact with the wall against which is adheres. The process can be repeated to create a solar array.

The panels may for example be mounted by the apparatus on rails and connected together mechanically and/or electrically by connectors or fasteners on the sides of the panels. The rail may for example incorporate a wire providing for an electrical connection.

The embodiment shown in Figure 8 additionally comprises an optical camera 27 which can be used to convey images of the operation of the tooling to the user and/or provide information on the surface to be worked upon by the UAV.

Sensors 28 may additionally be incorporated such as ultrasound, thermal imagers, lidar or other laser scanner.

In the embodiment in figure 8 the UAV is powered by an 8 propeller arrangement 25.

Figure 9 shows a still further embodiment of a surface treatment apparatus described herein. In this embodiment the UAV 1 cooperated with a movable supply line support winch 29.

As described above the issue with the weight of materials within the supply line can be solved using a plurality of supporting UAVs which trace the path of the primary UAV. Alternatively the UAV may be provided with a movable winch 29 which can be positioned by the UAV above the area which it to be treated or worked upon.

The movable winch 29 is provided with cables 30 which is can coil onto a drum by means of an electric motor. The cables 30 are provided with a loop, hook or other means 31 to support the supply lines 32 as the UAV works on the wall or surface.

In operation the UAV communicates with the winch and issues instructions as to how much the winch to coil the cables 30 to prevent the supply lines 32 from applying forces to the UAV. As the UAV moves up and down so too does the loop 31 by means of movement of the winch.

One a vertical strip of wall has been treated or worked upon the UAV can fly up to the winch and using a coupling means lift the winch into a new position before commencing surface treatment on the next portion of wall or surface. In effect the surface treatment apparatus comprised a primary flying UAV portion and a detachable winch portion 29.

The winch may advantageously be provided with a counterweight allowing the drum of the winch to extend over the side of the building as shown for example in figure 9.

In another embodiment the winch could lift the UAV allowing the upper propellers to be deactivated. A biasing propeller may be optionally used in this embodiment and is not shown in figure 8.

Control of the apparatus may be using a conventional hand held controller. Alternatively haptic gloves and virtual reality glasses may be used.

In an arrangement comprising a primary and one or more secondary unmanned aerial vehicles the collective control of the primary and secondary vehicles may be such that the user controlled flightpath of the primary UAV is recorded in three dimensions and each of the secondary UAVs is controlled so as to fly at a predetermined separation along the same flight path. Thus, this supply lines can be supported so as to follow the flight path through complex geometries.

The apparatus described herein may be particularly advantageous in hazardous environments where humans cannot safely work. For example, nuclear power stations or nuclear clean-up applications or other environments which are unsafe for human occupation.

Although the main disclosure above is concerned with vertical movement of the UAV it will be recognised that horizontal movement of the UAV will be equally as important for many tasks the apparatus can perform. For example un-rolling rolls of solar cells in a horizontal direction will require horizontal movement of the apparatus. Equally painting or rendering (or other treatment processes) may also involve a horizontal movement of the apparatus between vertical movements to treat entire walls of surfaces.

Claims

1. A surface treatment apparatus comprising a support frame, said support frame comprising one or more lift generating portions arranged in use to cause vertical movement of the support frame and one or more biasing portions arranged in use to bias the support frame against a surface to be treated, wherein the lift generating portions and biasing portions are arranged to cause movement in substantially orthogonal directions to each other, and wherein the support frame defines an internal region arranged to receive one or more robotic arms or surface treatment devices, wherein the internal region is surrounded by the frame structure.

2. A surface treatment apparatus as claimed in claim 1, wherein the one or more lift generating portions are positioned on an upper surface of the support frame and the one or more biasing portions are located on a side surface of the support frame orthogonal to the one or more lift generating portions.

3. A surface treatment apparatus as claimed in claim 1 or 2, wherein the side of the support frame on the opposing side of the frame to the biasing portions is open such that the one or more robotic arms or the surface treatment devices can extend out of the space defined by the support frame.

4. A surface treatment apparatus as claimed in claim 3, wherein all sides of the support frame are open.

5. A surface treatment apparatus as claimed in any preceding claim, wherein the side of the support frame on the opposing side of the frame to the biasing portion(s) is/are further provided with a plurality of surface abutment portions arranged in use to contact the surface to be treated.

6. A surface treatment apparatus as claimed in claim 5, wherein the surface abutment portions are in the form of a plurality of wheels.

7. A surface treatment apparatus as claimed in claim 6, wherein the plurality of wheels are in the form of 4 wheels having parallel axes of rotation.

8. A surface treatment apparatus as claimed in claim 5, wherein the surface abutment portions are in the form of suction pads.

9. A surface treatment apparatus as claimed in any preceding claim wherein the support frame comprises at least one robotic arm or surface treatment devices operable to extend out of the envelope defined by the support frame and to cooperate with the surface to be treated.

10. A surface treatment apparatus as claimed in claim 9, wherein the robotic arm is in the form of a movable nozzle for dispensing material onto the surface to be treated.

11. A surface treatment apparatus as claimed in 10, wherein the moveable nozzle is operable to dispense render or paint onto the wall.

12. A surface treatment apparatus as claimed in 11, wherein the support frame further comprises a vessel and pumping apparatus operable to pump render or paint from the vessel to the moveable nozzle.

13. A surface treatment apparatus as claimed in any preceding claim wherein the apparatus further comprises a flexible supply conduit through which materials can be supplied to the apparatus.

14. A surface treatment apparatus as claimed in claim 13, wherein the flexible supply conduit is in the form of an elastomeric hose arranged in use to supply render or paint to the surface treatment apparatus.

15. A surface treatment apparatus as claimed in any preceding claim, wherein the support frame further comprises a smoothing portion arranged to contact the surface to be treated and to slide relative to the surface upon movement of the support frame relative to the surface to be treated.

16. A method of treating a surface wherein a surface treatment apparatus as claimed in any preceding claim is controlled so as to be proximal to a surface to be treated, said method comprising the steps of (A) activating the biasing portion to bias the support frame against the surface to be treated; (B) activating the one or more robotic arms to extend out of the envelope defined by the support frame to effect the treatment to the surface; (C) relocating the surface treatment apparatus; and (D) repeating steps A to C.

17. A method as claimed in claim 16, wherein the robotic arms are in the form of nozzles configured to apply render or paint to the surface to be treated.

18. A surface treatment system comprising primary unmanned aerial vehicle and a plurality of secondary unmanned aerial vehicles, said primary vehicle comprising a support frame, said support frame comprising one or more lift generating portions arranged in use to cause vertical movement of the support frame and one or more biasing portions arranged in use to bias the support frame against a surface to be treated, wherein the lift generating portions and biasing portions are arranged orthogonally to each other, and wherein the support frame defines an internal region arranged to receive one or more surface treatment devices, wherein the internal region is surrounded by the frame structure.

19. A surface treatment system as claimed in claim 18, said system further comprising an elongate flexible conduit fluidly connecting the primary unmanned aerial vehicle to a material source.

20. A surface treatment system as claimed in claim 19, wherein the elongate flexible conduit is arranged to be supported at predetermined intervals along its length by the plurality of secondary unmanned aerial vehicles.

21. A surface treatment system as claimed in claim 20, wherein the system further comprises a flight controller arranged to navigate the primary unmanned aerial vehicle to a desired location where surface treatment is to occur and to independently control each of said plurality of secondary unmanned aerial vehicle to support the elongate flexible conduit in mid-air.

22. A surface treatment system as claimed in claim 21, wherein the flight controller is configured to cause the plurality of secondary unmanned aerial vehicles to move relative to the primary unmanned aerial vehicle such that the elongate flexible conduit does not apply a tensile force to the primary unmanned aerial vehicle.

23. A surface treatment system according to any of claims 18 to 22, wherein the surface treatment device is selected from a list comprising: a 3d printer, one or more robotic arms, a sandblaster, a pressure washer, painting apparatus or surface abrading apparatus.

24. A surface treatment system according to any of claims 18 to 23, further comprising one or more surface profile sensors arranged in use to determine the surface profile against which the apparatus is biased.

25. A surface treatment system according to any of claims 18 to 24, wherein the system is configured to position the primary unmanned aerial vehicle at a position where surface treatment is to occur and to subsequently control the secondary unmanned aerial vehicles to couple a flexible conduit to the primary unmanned aerial vehicle.