G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
G05D 1/248 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
09 - Scientific and electric apparatus and instruments
Goods & Services
Robots for layout, marking and other maintenance tasks on sports- and infrastructure areas; line marking machines; robotic painting machines for layout and marking of sport fields and infrastructure. Software for layout, marking and other maintenance tasks on sports- and infrastructure areas; Software for line marking robots for sport pitches, line marking machines and Robotic painting machines for marking of sport pitches..
3.
A METHOD FOR CALIBRATING A SPRAY TOOL MOUNTED ON A MOBILE MARKING ROBOT
The present invention relates to a method for calibrating a spray tool mounted on a mobile marking robot. The method comprises taking a photo with a handheld camera device of a preset pattern of painted lines marked by a spray tool of a mobile marking robot, with complementary IMU metadata of the handheld computing device; using said IMU metadata to create an image by rectifying the captured photo to get a projection that matches the plane of the surface on which the lines are painted; using machine vision to recognize and measure the painted lines on the rectified image; and using the measurements to calibrate the spray tool of the mobile marking robot.
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
B05B 13/00 - Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups
A63C 19/06 - Apparatus for setting-out or dividing courts
E01C 23/22 - Devices for marking-out, applying or forming traffic or like markings on finished pavingProtecting fresh markings for forming markings in situ by spraying
E01C 23/22 - Devices for marking-out, applying or forming traffic or like markings on finished pavingProtecting fresh markings for forming markings in situ by spraying
B05B 9/04 - Spraying apparatus for discharge of liquid or other fluent material without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible containerSpraying apparatus for discharge of liquid or other fluent material without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pump
F04B 43/12 - Machines, pumps, or pumping installations having flexible working members having peristaltic action
5.
MOBILE APPARATUS WITH A DEVICE ADAPTED FOR REMOVING DEW FROM GRASS
A sports field having automatic line marking capabilities. The sports field includes a robotic total station in communication with a mobile marking robot configured for marking and re-marking of lines on a sports field.
B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
A63C 19/06 - Apparatus for setting-out or dividing courts
B05B 13/00 - Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups
G05D 1/242 - Means based on the reflection of waves generated by the vehicle
G05D 1/248 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
G05D 105/00 - Specific applications of the controlled vehicles
Use of vector format graphics with robot marking, allowing the end user to design and use his own templates. By using vector graphics formats as a tool to let the user make his own templates, the user will have the flexibility of the CAD files in being able to draw any type of drawing, and at the same time having the flexibility of the templates by being able to move, scale and rotate the template freely.
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
B05B 15/50 - Arrangements for cleaningArrangements for preventing deposits, drying-out or blockageArrangements for detecting improper discharge caused by the presence of foreign matter
A63C 19/06 - Apparatus for setting-out or dividing courts
E01C 23/22 - Devices for marking-out, applying or forming traffic or like markings on finished pavingProtecting fresh markings for forming markings in situ by spraying
F04B 49/00 - Control of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for in, or of interest apart from, groups
G05D 9/00 - Level control, e.g. controlling quantity of material stored in vessel
B05B 13/00 - Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups
9.
LINE MARKING APPARATUS WITH A SPRAY FAN WIDTH ADJUSTABLE SPRAY TOOL
The present invention relates to a line marking apparatus with a spray nozzle system that is easy adjust and which is less prone to get stuck in paint smear and splatter. The spray nozzle system comprises an adjusting mechanism adapted for adjusting the spray fan width of the paint exiting the tip of said spray nozzle. The adjusting mechanism comprises a pair of plates pivotably mounted on each side of the spray nozzle and each with a free end extending below the tip of said spray nozzle.
B05B 1/32 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages in which a valve member forms part of the outlet opening
B05B 12/34 - Shielding elements, i.e. elements preventing overspray from reaching areas other than the object to be sprayed movable relative to the spray area
A63C 19/06 - Apparatus for setting-out or dividing courts
The present invention relates to a sports field with automatic line marking of its playing fields. The sport field comprises a robotic total station and a mobile marking robot.
The present invention relates to a mobile robot adapted for driving/maneuvering in a workspace limited by a known geometry, and with a mounted spray meansable to be actuated in a two-dimensional workspace relative to the mobile robot.
The present invention relates to a mobile robot adapted for driving/maneuvering in a workspace limited by a known geometry, and with a mounted spray means able to be actuated in a limited linear motion perpendicular to the driving direction.
The present invention combines the use of vector format graphics with robot marking, allowing the end user to design and use his own templates. By using vector graphics formats as a tool to let the user make his own templates, the user will have the flexibility of the CAD files in being able to draw any type of drawing, and at the same time having the flexibility of the templates by being able to move, scale and rotate the template freely.
A63C 19/06 - Apparatus for setting-out or dividing courts
B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
B05B 12/16 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling the spray area
G01D 1/02 - Measuring arrangements giving results other than momentary value of variable, of general application giving mean values, e.g. root mean square values
The present invention relates to a sports field marking equipment comprising a) a paint applying means adapted for use in marking a sports field on a surface; b) a position determining device configured for determining the position of the sports field marking equipment; c) a distance sensor configured for detecting a goal and/or corner post and the distance thereto; d) a first processor; and e) a first memory coupled to the first processor. The first memory comprises program instructions executable by the first processor for i) receiving a goal and/or corner post detection signal as well as the measured distance from said distance sensor to said goal and/or corner post; ii) receiving the position and direction of the sports field marking equipment from said position determining device at the time of receiving said detection signal; iii) computing waypoint coordinates of the goal and/or corner post based on said received data; and iv) storing the computed waypoint coordinates of said goal and/or corner post.
B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
A mobile robot and method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface including the steps of: i) Selecting a control function accepting manual positioning of a mobile robot at two or more target locations on a ground surface; ii) Positioning the mobile robot in proximity to a first target location to be marked on a surface, and directing a position determining device of the mobile device to said first target location to be marked; iii) Instructing the mobile robot to store the first target location as a first waypoint; iv) Repeating steps ii)-iii) to obtain at least a second waypoint; v) Selecting a control function accepting manual selection of a geometric figure for being marked on said ground surface; vi) Instructing the mobile robot to compute the best fit for the selected geometric figure on the surface based on the two or more waypoints; vii) Instructing the mobile robot to compute waypoint coordinates of the geometric figure for being marked from the fitted position of said geometric figure; and viii.a) Instructing the mobile robot to store the computed waypoint coordinates of the geometric figure; or viii.b) Instructing the mobile robot to mark the geometric figure on the surface.
G05B 19/425 - Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
18.
A METHOD FOR INTERACTIVELY PROVIDING WAYPOINTS TO A MOBILE ROBOT FOR USE IN THE MARKING OF A GEOMETRIC FIGURE ON A GROUND SURFACE
The present invention relates to a method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface comprising the steps of: i) Selecting a control function accepting manual positioning of a mobile robot at two or more target locations on a ground surface; ii) Positioning the mobile robot in proximity to a first target location to be marked on a surface, and directing a position determining device of the mobile device to said first target location to be marked; iii) Instructing the mobile robot to store the first target location as a first waypoint; iv) Repeating steps ii)-iii) to obtain at least a second waypoint; v) Selecting a control function accepting manual selection of a geometric figure for being marked on said ground surface; vi) Instructing the mobile robot to compute the best fit for the selected geometric figure on the surface based on the two or more waypoints; vii) Instructing the mobile robot to compute waypoint coordinates of the geometric figure for being marked from the fitted position of said geometric figure; and viii.a) Instructing the mobile robot to store the computed waypoint coordinates of the geometric figure; or viii.b) Instructing the mobile robot to mark the geometric figure on the surface.
G05B 19/425 - Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
19.
A COMPUTER IMPLEMENTED METHOD FOR INTERACTIVELY PROVIDING WAYPOINTS FOR USE IN THE PRE-MARKING/MARKING/REMARKING OF A SURFACE STRUCTURE
The present invention relates to a computer implemented method for interactively providing waypoints for use in the pre-marking/marking/remarking of a surface structure. The method comprises the steps of i) displaying one or more georeferenced and ortho-rectified image/video frames of a geographical area to be pre-marked/marked/remarked; ii) upon selection of a control accepting manual selection by a user of one or more target locations for marking, and a geometric figure for being marked, computing the best fit for the geometric figure on the georeferenced and ortho-rectified image/video frame based on the one or more target locations; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and ortho-rectified image/video frame at one or more particular points on said georeferenced and ortho-rectified image/video frame; and iii) computing geographic coordinates of the geometric figure for being marked from x,y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image/video frame.
