Graphical application system

A graphical application system configured to apply a desired pattern onto a large area arbitrarily shaped target surface, the system comprising:

• a graphical application device comprising:
• a base structure,
• at least one trackable optical feature at the base structure,
• at least one nozzle configured to expel paint onto the target surface,
• a driving unit configured to position the nozzle with respect to the base structure in at least two dimensions, and configured to adjust an expelling aim of the nozzle on the target surface, whereby an application range is defined as an area within which the nozzle is positionable by the driving unit,
• a local camera directed towards the target surface, and
• a controller configured to establish a local referencing of the nozzle with respect to a visual feature by imaging the target surface with the local camera, wherein the visual feature is a previously applied section of the desired pattern, and
• an external referencing device as a surveying instrument located remote from the graphical application device, configured to establish a global referencing of the base structure of the graphical application device with respect to the target surface according to the trackable optical feature of the base structure of the application device in at least three degrees of freedom, and configured to provide the global referencing to the controller, wherein
• the desired pattern is larger than the application range, and
• the controller is configured to split the desired pattern into multiple tiles, which tiles fit within the application range, and
• the controller is configured to subsequently applies those tiles with the controller configured to initiate a stepwise relocation of the graphical application device with respect to the target surface according to the global referencing,
• wherein the graphical application system comprises the controller configured to control the driving unit and the expelling of the nozzle according to an actual position of the nozzle and the desired pattern in such a way that an application of the desired pattern on the target surface is achieved,
• wherein the controller is configured to determine a primary alignment of the application range with respect to the target surface by the global referencing,
• wherein the controller is configured to determine with a further alignment of the actual tile to one or more previously applied tiles by the local referencing, and
• the controller configured to position the nozzle within the application range according to the local referencing.