DE102020128428A1 - Method and device for processing a wall or facade of a building - Google Patents

Abstract

The invention relates to a method and a device (1) for processing a facade (F), with a work route being determined, preferably automatically, and automatically a Working unit (8) is guided along this predetermined working path to edit the wall or facade (Fa). For this purpose, the processing device (1) has means for determining the surface to be processed, a working unit (8) for processing the wall or facade, a positioning system (7) for the working unit (8), a base station (2) which controls the positioning system (7 ) carries, and has a processor and control unit (6) with a memory for program code and data, which is connected to the device (1) to control the device (1).

Description

The invention relates to a method and a device for automatically processing a wall or facade of a building.

From the pamphlet DE 10 2008 024 914 A1 a device for guiding tools, in particular painting tools, is known, this device being designed to guide such a tool in precise directions with the aid of a motor drive. For this purpose, this device has a standing device on which two guide rails and a holding device with a held tool that can be guided into any desired position, the device being designed in such a way that the holding device with the held tool moves on a guide rail and this guide rail on the other guide rail, which is mounted on a stand, can be moved back and forth horizontally.

From the pamphlet DE 10 2009 043 784 A1 an automatic machine for applying paint to surfaces is known, which has a mobile stand device, a vertically oriented guide rail which is connected to the stand device and can be positioned vertically aligned at various positions, a moving device for holding and moving painting tools, and a paint reservoir includes a motorized conveyor. The mobile stand has a measuring device in the upper area, which measures the distance between the stand and a wall, with an electronic controller maintaining a desired distance between the wall and the stand while the stand is moving, in order to ensure that the stand is moved essentially parallel to the wall, with paint being applied to ceilings and walls with the painting tool held by the moving device and the motorized conveyor device.

An essential problem of the known device for processing walls of a building is, however, that the current devices are not flexible and mature enough to process an area of a wall or facade of a house to be processed independently in a way and time-optimized manner.

It is therefore the object of the invention to find a method and a device which make it possible to work on a wall or facade of a house with the least possible outlay in terms of personnel and material.

This object is solved by the features of the independent patent claims. Advantageous developments of the invention are the subject matter of subordinate claims.

The inventor has recognized that a significant simplification in the processing of a facade or a wall of a house is possible if first an area to be processed with its coordinates or relative coordinates to a fixed point in space is determined on the basis of an area defined in this way a work path it is determined which a working unit is to travel and then this working path is traversed in a processor-controlled manner on the surface to be worked on or at a predetermined distance thereto with the working unit. In addition, the distance to the wall or facade can be measured on the way to work and used to compensate for possible deviations of the real surface from the surface determined stereometrically using reference points. In addition, the throughput of a medium to be applied by the working unit can also be controlled in accordance with the operating speed of the working unit, with the aim of as uniform an order as possible.

In principle, it is possible to use a stationary base unit with a positioning device that is adapted to the dimension to be processed in order to carry out such a method. If this base unit is designed to be movable, with the movement relative to the surface to be processed or the determined reference points being determined, then every movement of the base unit can be taken into account during the automatic processing of the surface of the wall or facade, or necessary displacements of the base unit due to an insufficient range of the positioning unit can be compensated.

In a preferred embodiment, however, it is proposed to lay out a rail system along a wall to be processed or along the facade of an entire house, on which the base unit can travel over the facade for recording reference points and for subsequent processing. In this case, path markings can also be arranged in the rail system, on which the base station is oriented with regard to its positioning.

• - Erfassen der Außengrenzen der zu bearbeitenden Wand oder Fassade,
• - Erfassen der innerhalb der Außengrenzen liegenden Innengrenzen nicht zu bearbeitender Aussparungen,
• - Bestimmen der Kontur einer zu bearbeitenden Arbeitsfläche auf der Basis der bestimmten Außengrenzen und der Innengrenzen,
• - Bestimmen mindestens eines Arbeitsweges einer Arbeitseinheit zum Bearbeiten der Arbeitsfläche,
• - automatisches Abfahren des mindestens einen Arbeitsweges und Bearbeiten der Wand oder Fassade mit der Arbeitseinheit entlang des vorbestimmten Arbeitsweges.

According to this basic idea, the inventor proposes a method for automatically processing a wall or facade of a building, the following method steps being carried out:

• - Detection of the outer limits of the wall or facade to be processed,
• - Detection of the inner borders of recesses that are not to be machined and are located within the outer borders,
• - determining the contour of a work surface to be machined on the basis of the determined outer borders and the inner borders,
• - Determination of at least one work route of a work unit for processing the work surface,
• - Automatic departure of at least one working path and processing of the wall or facade with the working unit along the predetermined working path.

In principle, the outer and inner borders can be determined in different ways by determining prominent reference points of the outer and/or inner borders. For this purpose, a triangulation, ie a position determination by measured relative angles from two known fixed positions or a determination of the distance and the direction in space from a fixed point to reference points of the surface to be processed, can be used. Such measurements are preferably carried out using laser systems which are aligned with the reference points. On the basis of the positions determined in this way, the facade of a house can then be measured and, taking into account the areas to be left out, the area actually to be processed can be determined.

Another similar variant is that the outer and/or inner borders are determined by based on a photograph of the wall or facade, perspective calculations and the location of the camera producing the photograph at the time of the photograph.

Another possibility is to use a differential GPS system to physically bring a GPS sensor working with it to the position of the reference points and to record the geoposition there immediately.

However, it is particularly advantageous to approach the reference points directly with the positioning device and a sensor arranged thereon and to describe their position with the respective setting parameters of the positioning device itself. The external and/or internal limits can be determined with far less computational effort and with direct measurement using a sensor that is moved along the wall or facade and whose respective position is known. In this way, limits determined inaccurately by other methods can also be corrected.

However, it is particularly advantageous if a camera that can be positioned in a known manner transmits current recordings of the wall or facade to a display, with it being moved along the wall or facade while knowing its position. With the help of a light marking device, in particular a LASER pointer, or a target marking overlay on the display, the exact position on the wall or facade can be shown and the outer and/or inner limits can be determined or already roughly known limits can be corrected.

In the case of the last two embodiment variants, it is particularly advantageous if the sensor or the camera is arranged on a positioning device which is later also intended to carry the working unit. This makes it particularly easy to determine the relative coordinates, since these no longer have to be transferred to the coordinate system of the positioning device, but this is already being used.

According to the invention, with regard to the determination of the working path of the working unit, it is also proposed that a speed profile of the working unit and/or a profile of material throughput on the working unit corresponding to the working path or working speed be determined as an additional parameter of the at least one working path. As a result, on the one hand the application medium used can be applied in a particularly material-friendly manner, as with a particularly small amount of material, and on the other hand it can also be applied particularly evenly.

It is also proposed that the method according to the invention described here be carried out with the aid of the variants of devices described here. Program code is preferably stored in a memory of a processor and control unit, which executes the method completely or partially during operation or at least supports semi-automatic execution.

The purpose of the working unit is to apply either a medium, in particular plaster or paint, to the surface to be worked on automatically according to the previously determined working path. This can be done, for example, by spraying or spraying on or also by rolling up or brushing, the working unit being designed accordingly and the medium used also being supplied in a corresponding manner.

However, the working unit can also be designed to clean the surface, preferably by ejecting a medium, i.e. liquid or air permeated with particles, under pressure. In principle, however, the working unit can also be designed as another cleaning device, which, for example, rubs a deposit or dirt off the wall or facade with a preferably rotating brush and/or has a suction opening that sucks off the wall or facade or the rubbed-off covering.

• - ein Mittel zur Bestimmung von Referenzpunkten von Außengrenzen der Wand oder Fassade und innerhalb der Außengrenzen liegender Begrenzungen von Aussparungen,
• - eine Arbeitseinheit zum Bearbeiten der Wand oder Fassade,
• - ein Positioniersystem, welches die Arbeitseinheit an der Wand oder Fassade in eine vorgegebene Arbeitsposition bringt,
• - eine Basisstation, welche das Positioniersystem trägt,
• - und über eine Prozessor- und Steuereinheit mit einem Speicher für Programmcode und Daten verfügt, die mit der Vorrichtung verbunden ist, um die Vorrichtung zu steuern.

Within the scope of the invention, a device for processing a wall or facade, preferably an outer wall, of a building is also proposed, which has at least the following features:

• - a means of determining reference points of external boundaries of the wall or façade and boundaries of recesses lying within the external boundaries,
• - a working unit for processing the wall or facade,
• - a positioning system, which brings the working unit into a predetermined working position on the wall or facade,
• - a base station that carries the positioning system,
• - and having a processor and control unit with a memory for program code and data, connected to the device in order to control the device.

It is pointed out that the connection described above does not necessarily have to be a physical connection between the device and the processor and control unit, since a radio connection between the device and the processor and control unit is also sufficient to carry out the desired calculations and to realize a control of the device. In particular, the processor and control unit can also be in the form of a laptop or tablet and the connection can be made via WLAN, Bluetooth or the like.

It is particularly advantageous if there is program code in the memory which automatically calculates a work route, preferably optimized in terms of time and/or distance, during operation on the basis of predetermined limits of a work area and travels this automatically with the work unit. When traveling the work route, the work unit can be in operation and carry out the task assigned to it.

It is also particularly favorable if the base station is positioned on a rail or sliding system which is laid out on a subsurface in front of the wall or facade to be processed. Such a rail system, on which one or more base stations can move essentially horizontally along the wall or facade, possibly also around a house, preferably on wheels, has the advantage that the base is at a clearly defined height level and a predetermined one distance to the wall or facade. In addition, a position detection system can also be connected to the rail system, which detects the horizontal position of the base station. For example, optically recognizable or electrically or magnetically recognizable or also mechanical markings can be attached along the rail, by which the position detection system can be oriented.

To propel such a base station on rails, on the one hand, the base station itself can have a drive that drives the wheels, on the other hand, a chain, belt, or belt system can be connected to the base station and this can be used to move the base station in a defined manner and with a defined position are used.

If the base station is used without a previously laid rail system, it can also be advantageous if the base station is arranged on chains if the ground is soft. This drastically reduces the area-specific pressure, so that the device according to the invention can also be used around a house in unfavorable underground conditions.

Alternatively, the base station can also be stationary within the scope of the invention, so that it carries out the processing starting from a fixed position in front of the wall or facade.

For flexible positioning of the work unit, it is proposed that the positioning system has a lifting system and/or an articulated arm and/or a telescopic arm and/or a telescoping articulated arm with which the work unit can be moved to any position on the wall or facade.

It is further proposed that the positioning system has a sensor which detects the boundary of the wall and/or the areas of the wall to be left out during processing and/or the areas of the wall to be processed. A mechanical and/or optical sensor and/or an ultrasonic sensor can be used for this purpose, for example.

Basically, the device described here for editing a wall or facade allows the use of any work units along a defined path to processed wall or facade is passed at a defined distance. If the device is used exclusively for a specific work process, for example only for plastering or only for the application of paint, the work system can be permanently integrated. However, if different work is to be done, it is also advantageous to provide an interchangeable adapter for different work units at the end of the positioning system.

The working unit can be designed, for example, as a paint application or plastering system, wherein the paint application or plastering system can have a brush, a roller or a spray or spray device.

If the working unit is in the form of a spraying or spraying device, it can be advantageous to attach at least one lateral delimiting surface to delimit the wall or facade being processed.

In the case of a facade to be processed, there will also be surfaces that are at an angle, usually vertical, to the surface of the facade. For example, these can be protrusions or window and door reveals. In order to process these, it is proposed to use a special working unit which is designed to process such surfaces that are at an angle to the facade. Alternatively or in addition, an additional joint with an adjustment device can be arranged in the area of the fastening or the changeover adapter of the working unit, ie between the positioning device and the working unit. The respective work unit can thus be swiveled in the desired manner for processing such surfaces which are at an angle to the facade. Preferably, the adjusting device can also be designed to be variably controllable, so that no interruptions are necessary during the working process for working on these surfaces.

Furthermore, the device according to the invention, in particular the base station, can be equipped with at least one proximity or motion sensor that monitors the immediate vicinity of the base station for possible approaches of people or animals. In the event of an approach, an emergency shutdown of the device can then be activated automatically in order to avoid possible injuries to the approaching person by an operating device.

In addition, it is pointed out that it is also part of the scope of the invention if several working units are arranged on the positioning device at the same time, one or more of the working units being able to be activated as required.

Correspondingly, the device can also have means for selecting and activating the specific working units either on an operating unit of the base station or on an operating unit that is at least communicatively connected to the base unit, for example a tablet.

The processor and control unit, which carries out the automatic control of the device, preferably carries out the method steps described here during operation on the basis of program codes stored in the memory.

With regard to any rail system used, it should also be noted that such a rail system should preferably be fixed to the building, i.e. appropriate fixing devices and connection systems should be provided between the building wall and rail system to ensure appropriate stability and immovability in relation to the building.

Furthermore, it is favorable to make such a rail system adjustable in height, so that unevenness in the ground around the building can be compensated for. Advantageously, the height adjustment devices used for this should be able to be provided with differently designed feet or base plates, so that an adaptation to different soil conditions is possible.

The invention is described in more detail below on the basis of preferred exemplary embodiments with the aid of the figures, with only the features necessary for understanding the invention being shown. It should be noted here that the features shown and described in these exemplary embodiments can also be combined with the device variants described above.

• 1: Gebäude mit umlaufendem Schienensystem und ermittelten Referenzpunkten;
• 2: Fassade eines Gebäudes mit einer Variante eines automatisch bestimmten Arbeitsweges;
• 3: Fassade eines Gebäudes mit einer sehr einfachen Variante eines automatisch bestimmten Arbeitsweges;
• 4: Fassade eines Gebäudes mit einer weiteren Variante eines automatisch bestimmten Arbeitsweges;
• 5: erfindungsgemäße Vorrichtung in Frontalansicht;
• 6: erfindungsgemäße Vorrichtung in Seitenansicht;
• 7: erfindungsgemäße Vorrichtung in Seitenansicht mit horizontal ausfahrbarer und teleskopierbarer Positioniervorrichtung;
• 8: erfindungsgemäße Vorrichtung in Seitenansicht mit schwenk- und teleskopierbarer Positioniervorrichtung;
• 9: erfindungsgemäße stationäre Vorrichtung in Frontalansicht mit teleskopierbarem Gelenkarm als Positioniervorrichtung.

They show in detail:

• 1 : building with rail system running around and determined reference points;
• 2 : facade of a building with a variant of an automatically determined commute to work;
• 3 : facade of a building with a very simple variant of an automatically determined commute to work;
• 4 : facade of a building with another variant of an automatically determined commute to work;
• 5 : device according to the invention in a front view;
• 6 : device according to the invention in side view;
• 7 : device according to the invention in side view with horizontally extendable and telescopic positioning device;
• 8th : device according to the invention in side view with pivotable and telescoping positioning device;
• 9 : stationary device according to the invention in a front view with a telescoping articulated arm as a positioning device.

The basic idea of a special embodiment of the invention is to create a device or machine that works in three dimensions and can independently paint an outer facade of a building. For this purpose, the device measures, preferably independently, the corners of the building including any projections that may be present, the window reveals including the doors and the roof structure. In this way, the surface to be processed is determined in its outer borders and, if necessary, surfaces located therein that are not to be processed with their inner borders, so that the processing of the facade is limited exclusively to the surface to be processed determined in this way. So areas that are to be kept free, such as windows and doors, are left out of processing, such as brushing, painting, varnishing, spraying, etc.

In the special embodiment shown here, the base station moves on a rail system, which is placed at least along a facade of a building or around the building to be processed. The rails used for this can be made available in different lengths and sizes.

A computer system built into the machine or a processor system connected to it via electrical lines or radio technology, for example in the form of a laptop or tablet, can be used to control the machine. Of course, a power source is required and provided to operate the device, which can be a simple on-site power connection with 240V or 400V or a power storage device built into the device itself or a power generator that generates the required power itself.

In the 1 shows the perspective view of a building G with a facade F, which can be seen on two sides facing the viewer. Several windows and a door are arranged in the facade. A rail system S was laid on the ground around the building, on which the device 1 according to the invention is arranged so that it can move horizontally and can thus bypass the building. To drive the device 1, the rail system can be provided with a drive belt, drive chain or drive belt running along or between the rails, which is coupled to the device 1 and positions it on the building in a defined manner.

In the 1 reference points Ra for the outer borders A and corner points of the facade and Ri for the inner borders I of the areas to be left out during processing are also drawn. With the device 1 and its positioning device 2, equipped with a corresponding working unit 3, namely a sensor for detecting corner points, for example a camera with a position marking device, the reference points are traversed and their position and thus the area Fa certainly.

After defining the surface Fa to be processed, a favorable, preferably optimal, path for processing the surface Fa is determined, along which the working unit 3 is to be moved, for example with the aid of a plaster application system as the working unit 3 to automatically apply plaster to the surface to perform Fa.

Alternatively or additionally, for example, a high-pressure cleaner, a sandblaster or a paint application system can also be used as the working unit 8 .

the 2 shows the one to be processed facade surface Fa from the 1 , wherein within the facade area Fa to be processed, an automatically determined working path W is shown in dashed lines. The areas not to be processed are - just like in the 3 and 4 - shown cross-hatched.

In the automatic definition of this work route W, a boundary condition was defined that the work route W should initially lead the work unit along the outer contours over the shortest possible, preferably shortest, route. On this section, for example, it can be determined that the working speed is reduced in order to enable more precise working at the limits. The remaining area to be processed is then filled, with higher speed and a correspondingly higher material throughput being used at the same time. In addition, it is assumed as a boundary condition that, if possible, a continuous path with primarily up and down movements and little side forward movement is preferred. Such a default is particularly suitable for device variants, as in the 4 and 5 is shown. In other words, with a positioning device that itself does not move sideways, but causes it to move sideways by moving the base station.

Another variant of an automatically determined work path W for a facade surface Fa to be processed from the 1 is in the 3 shown. To determine the working path, the area Fa to be processed was hatched with a number of parallel working paths in a direction corresponding to the preferred direction of movement of the working unit, with the working unit applying nothing as soon as it moves over an area to be left out. This can be done by turning off the media supply temporarily or by lifting a brush or applicator roller. In terms of programming, it is also very easy with this variant, at the end of an up or down movement of the work unit, to look for the spatially closest beginning of a section that has not yet been processed, move the work unit there without material application and then process this nearest section until all sections have been completed.

the 4 shows a combination of the calculated work routes from the 2 and 3 , where initially according to the 2 the outer contour and the inner borders are machined as accurately and precisely as possible and then the remaining area to be machined is filled in at increased speed in simple up and down movements.

Without departing from the scope of the invention, there is also the possibility as the preferred direction of movement instead of the vertical movement, as shown in FIGS 2 until 3 is shown using a horizontal movement. This can always be more favorable when, for mechanical reasons, it is more favorable to move the work unit horizontally.

the 5 and 6 show a processing device 1 according to the invention in a front view and a side view. This processing device 1 has a base station 2 with a chassis 3, wherein in the base station 1 - shown schematically - a power supply unit 4, a drive system 5 and a processor system 6 are arranged. In addition, the processing device 1 has a positioning device 7 and a working unit 8 arranged on the positioning device 7 . The working unit 8 is connected to the positioning device 7 and the base station 2 via an interchangeable adapter 9 .

Also not shown in detail is a line and pump system, which conveys the media stored therein, such as plaster, paint, water, etc., from the storage containers 10 arranged on the base station 2 to the working unit 8 in order to process them therewith. The conveyance of the medium is preferably regulated automatically according to the feed speed of the working unit on the wall.

Instead of or in addition to the processor system 6, a laptop or tablet connected wirelessly to the base station can also be used for the calculations and the control.

the 7 shows the processing device 1 in a side view, with a first variant of a horizontal displaceability of the positioning device 7 relative to the base station 2 being shown. The positioning device 7 is telescopic here, with the movement by the telescopic arm only going in the up and down direction. In order to be able to move the positioning device 7 and thus also the work unit 8 attached to it in the direction of the house wall and away from it, the positioning device 7 itself is connected to the base station 2 via an additional lifting device 11, so that a horizontal displacement in the direction of the wall can take place.

Thus, the horizontal position along the facade F is adjusted via the controlled sideways movement of the base station 2 on the rail system S, the height is adjusted via the retraction and extension of the telescopic positioning device 7 and the proximity of the working unit 8 to the facade F is adjusted via the additional lifting device 11.

In addition, it is also proposed that the positioning device 7 be pivotable in the lower area about a pivot axis 12, preferably aligned parallel to the facade or parallel to the axes of the wheels of the base station. The result of this is that the working area that can be reached by the positioning device 7 is increased and the flexibility of the processing device 1 is thus improved.

Another variant of a processing device 1 is in the 8th shown. This processing device 1 differs from that in 7 illustrated in that the positioning device 7 is now designed to be tiltable about a pivot axis 13 lying in the area of the base station, preferably at the bottom, perpendicular to the direction of travel of the base station 2 . This also allows the distance between the working unit 8 at the tip of the positioning device 8 and the facade F to be set in the desired manner.

A similar mobility of the positioning device 7 on a base station 2 can also be achieved if the positioning device 7 is mounted at the bottom around two axes or around a ball joint and higher up the positioning device 7 is connected to the base station via two independently controllable telescopic rods that span a triangle 2 are connected.

In the 9 Finally, a variant of a processing device 1 is shown, which is designed to be stationary and stands on four cantilevered supports 14, which are protected against slipping and sinking by plates adapted to the ground. The basic structure of the variants from the 5 until 8th However, a similar processing device 1 has, instead of the simple telescoping positioning device 7, a positioning device 7 designed as an articulated arm, the articulated arms 7.1 and 7.2 of which are also designed to be telescopic. In this case, the lower joint is also designed as a ball joint, so that free mobility of the articulated arm 7 in all directions is ensured.

Overall, the invention therefore proposes a method and a device for working on a facade, a working path being determined, preferably automatically, on the basis of previously determined, preferably automatically, boundaries of a wall to be worked on, and a working unit being guided automatically along this predetermined working path to edit the wall. For this purpose, the processing device has means for determining the surface to be processed, a working unit for processing the wall, a positioning system for the working unit, a base station which carries the positioning system, and has a processor and control unit with a memory for program code and data, connected to the device to control the device.

Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. In particular, the invention is not limited to the specified combinations of features, but other combinations and sub-combinations that are obviously executable for a person skilled in the art can also be formed from the disclosed features. Embodiments are therefore also to be regarded as included and disclosed by the invention which are not explicitly shown or explained in the figures, but which result from the explained embodiments and can be generated by means of separate combinations of features. Likewise, it is also within the scope of the invention to cause a mechanical reversal of the functions of the individual mechanical elements of the invention.

Reference List

G

building

f

facade

fa

surface to be processed

Ra

Reference points of the outer borders of the facade

Ri

Reference points of the inner borders of the areas to be left out

S

rail system

1

processing device

2

base station

3

chassis

4

power source

5

drive system

6

processor system

7

positioning device

8th

unit of work

9

interchangeable adapter

10

reservoir

11

lifting device

12

pivot axis

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• DE 102008024914 A1 [0002]
• DE 102009043784 A1 [0003]

Claims (26)

Method for automatically processing a wall or facade (F) of a building (G), the following method steps being carried out: 1.1. Detection of the outer limits (A) of the wall or facade (F) to be processed, 1.2. Detection of the inner borders (I) lying within the outer borders (A) of recesses that are not to be machined, 1.3. determining the contour of a work surface (Fa) to be machined on the basis of the determined outer boundaries (A) and inner boundaries (I), 1.4. Determining at least one working path of a working unit (8) for processing the work surface (Fa), 1.5. automatically moving along the at least one working path and processing the wall or facade (F) with the working unit (8) along the predetermined working path. Procedure according to the above Claim 1 , characterized in that the outer and/or inner borders are determined by triangulation or distance and angle determination from a point of view to reference points of the outer and/or inner borders (A, I). Procedure according to the above Claim 1 , characterized in that the outer and/or inner borders (A, I) are determined by on the basis of a photograph of the wall or facade (F), perspective calculations and the location of the camera producing the photograph at the time of taking the picture. Method according to any of the above patent claims 1 until 3 , characterized in that the outer and/or inner limits (A, I) are determined or corrected with the aid of a sensor moved along the wall or facade. Method according to any of the above patent claims 1 until 4 , characterized in that a camera, which transmits current recordings of the wall or facade to a display, is moved along the wall or facade while knowing its position and with the aid of a light marking device, in particular a LASER pointer, or a target marking overlay in a display External and/or internal borders (A, I) are determined or corrected. Method according to any of the above patent claims 1 until 5 , characterized in that a speed profile of the working unit (8) and a corresponding profile of material throughput on the working unit (8) are also determined as parameters of the at least one working path. Method according to any of the above patent claims 1 until 6 , characterized in that a device according to one of the device claims is used for the implementation, with a program being stored in the processor and control unit, which program executes the method, with the exception of the features, at least partially, preferably completely, automatically. Procedure according to the above Claim 7 , characterized in that an optical sensor, preferably a camera with a display and target marking overlay or LASER pointer, is used. Method according to any of the above patent claims 1 until 8th , characterized in that the working unit (8) applies a medium to the surface. Method according to any of the above patent claims 1 until 9 , characterized in that the working unit (8) cleans the surface, preferably with a device ejecting a medium under pressure. Device (1) for processing a wall or facade (F), preferably an outer wall, of a building, at least comprising: 11.1. a means for determining reference points of external boundaries (A) of the wall or façade (F) and internal boundaries (I) of recesses lying within the external boundaries, 11.2. a working unit (8) for processing the wall or facade (F), 11.3. a positioning system (7) which brings the working unit (8) into a predetermined working position on the wall or façade (F), 11.4. a base station (2) which carries the positioning system (7), 11.5. and has a processor and control unit with a memory for program code and data, which is connected to the device (1) to control the device (1). Device (1) according to the preceding Claim 11 , characterized in that there is program code in the memory, which automatically calculates a work route, preferably optimized in terms of time and/or distance, during operation on the basis of predetermined limits of an area (Fa) to be processed and travels this automatically with the work unit (8). Device (1) according to any one of the preceding Claims 11 until 12 , thereby characterized in that the base station (2) is arranged on a rail or sliding system (S) which is laid out on a substrate in front of the wall or facade (Fa) to be processed. Device (1) according to any one of the preceding Claims 11 until 12 , characterized in that the base station (2) has a chassis (3) with wheels, rollers, tires or chains. Device (1) according to any one of the preceding Claims 11 until 12 , characterized in that the base station (2) is arranged stationary. Device (1) according to any one of the preceding Claims 11 until 15 , characterized in that the positioning system (7) has a lifting system and/or an articulated arm and/or a telescopic arm and/or a telescopic articulated arm in order to be able to move the working unit (8) to any position on the wall or facade (F). . Device (1) according to any one of the preceding Claims 11 until 16 , characterized in that the positioning system (7) has a sensor which detects the boundary of the wall or facade (F) and/or the surfaces of the wall or facade to be left out during processing and/or the surfaces of the wall or facade to be processed. Device (1) according to the preceding Claim 18 , characterized in that the sensor is a mechanical and/or optical and/or ultrasonic sensor. Device (1) according to any one of the preceding Claims 11 until 18 , characterized in that the working unit (8) has a paint application or plastering system. Device (1) according to the preceding Claim 19 , characterized in that the paint application or plastering system has a brush or a roller or a spray or spray device. Device (1) according to the preceding Claim 20 , characterized in that the spraying or spraying device has at least one lateral delimiting surface for delimiting the processed wall or facade (Fa). Device (1) according to any one of the preceding patent claims 20 until 21 , characterized in that the spray or spray device is adjustable. Device (1) according to any one of the preceding Claims 11 until 22 , characterized in that the working unit (8) is connected to the positioning device (7) via an interchangeable adapter (9). Device (1) according to any one of the preceding Claims 11 until 23 , characterized in that a joint with an adjustment device is arranged between the positioning device (7) and the working unit (8). Device (1) according to any one of the preceding Claims 11 until 24 , characterized in that a proximity or movement sensor is arranged, which monitors the immediate vicinity of the base station (2) for approaching people. Device according to any of the preceding Claims 11 until 24 , characterized in that the processor and control unit (6) for the automatic control of the device (1), in the memory program code, which in operation, the method steps of one of the method claims 1 until 10 executes

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