ROBOT SAN BERNARDINO
for hazardous areas and building construction.

This product was born from the need to strengthen the dome of the basilica of San Bernardino in the city of L'Aquila, damaged by the earthquake of 2009. We have been asked to create a robot adapted to operate in hazardous areas, areas where the presence of operators is prohibited. The robot can be operated remotely (up to 50 meters) and consists of 3 axes driven by servomotors. From the first robot, used in San Bernardino, has led to a series of machines with features that allow: high accuracy and speed of operations. The salient features of this line of machines are:

• Very wide area on operating 1.8x1.8 meters, or 2.5x2.5 meters of the head brings spear.
• Holder head the lance that can bring: Plastering spears or lances for spraying sealants.
• Very low weight to allow installation of the robot, on cranes.
• Remote control by wire-less connection.
• Low power consumption to be powered with batteries.
• Arm stabilization to compensate for movement of the crane arm that leads the robot.

The side two figures, show a robot, made for the consolidation of the dome of the Basilica of San Bernardino in the historic center of L'Aquila. The dome was damaged by the earthquake of 2009.

Since the dome unsafe, for the first consolidation, the robot "San Bernardino" was mounted on a crane and taken at an altitude varying from 10 to 40 meters. The controls are completely wireless.

The robot is available in two models that differ in the maximum work surface:

• Version "1.8" horizontal x vertical stroke of the spear head supports 1.8 x 1.8 meters.
• Version "2.5" horizontal x vertical stroke of the spear head supports 2.5 x 2.5 meters.

The characteristics of both models are identical (except for the stroke, the two principal axes).
The system consists of two groups:
the robot with the cabinet to be installed on the crane,
the console with which the operator, at a safe distance, the robot commands. The console consists of a PC that is running the control program of the robot. On the PC monitor are open two windows to display images from the two cameras on the robot. The console also has a pair of joysticks to perform certain operations manually.
The robot is mounted on the arm of the crane, instead of the personnel basket, by means of a flange. The flange can be customized according to customer requirements.
The robot consists of a tubular steel frame on which are fixed the axes of movement. The frame is not fixed rigidly to the flange to the crane: by two motors, you can rotate the robot in the horizontal and the vertical axis to allow positioning of the axes parallel to the wall on which to operate. The alignment operation can be achieved remotely by means of two joysticks, of the control console.

The robot has two cameras wireless: a fixed camera is installed on the headstock spear, and situates the wall, a motorized camera is mounted on the frame, at a distance to allow a panoramic view of the robot and the wall.
To facilitate the placement of the machine, three bumpers are installed on the frame (two on the bottom side of the chassis and a center at the top of the frame). The buffers prevent the robot goes to bar against the wall, in case of contact in any direction, they emit a beep.
A major innovation in compared to the first model is the introduction of a triaxial accelerometer that detects the movements of the frame of the robot. The acquired data for correcting in real time the position of the head brings launches, allowing you to hold it in place even when the crane swings. To perform the work, the operator has 3 different modes:

• Automatic mode: using the joystick on the console, the operator acknowledges the points of the trajectory of the robot we will deliver the product. The acquisition is complete, the robot traces the trajectory delivering the product.
• After gaining points as described above. delivery can be made in parallel or zigzag profiles to cover a larger area around the ideal line.
• Manual mode dispensing: the operator manually pilot the robot with the joystick.

Launches on the headstock is fitted with two laser pointer to draw two lines on the wall. When the two lines form a cross on the wall, then the head is at a known distance. The two lasers facilitate the acquisition of points to be processed. Along with the laser, above the head is mounted an ultrasonic sensor, which displays the distance from the wall.