公开(公告)号：US20190308323A1

公开(公告)日：2019-10-10

申请号：US16309108

申请日：2017-07-04

申请人： TINYMOBILEROBOTS APS

发明人： Jens Peder Kristensen ,  Christoffer Praest Mose ,  Rudi Hansen

IPC分类号： B25J9/16 ,  G05B19/4155

摘要： 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 hi 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.

公开(公告)号：US20220339525A1

公开(公告)日：2022-10-27

申请号：US17764502

申请日：2020-09-25

申请人： TinyMobileRobots ApS

发明人： Jens Peder Kvols Kristensen ,  Rudi Hansen ,  Christoffer Præst Mose ,  Peter Jensen ,  Kristian Korsgaard ,  Lars Bayer Jorgensen

IPC分类号： A63C19/06

摘要： Sports field marking equipment includes a) a paint applying means adapted for 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 includes program instructions executable by the first processor for receiving a goal and/or corner post detection signal and the measured distance from the distance sensor to the goal and/or corner post; receiving the position and direction of the sports field marking equipment from the position determining device at the time of receiving the detection signal; computing waypoint coordinates of the goal and/or corner post based on the received data; and storing the computed waypoint coordinates of the goal and/or corner post.

公开(公告)号：US10960545B2

公开(公告)日：2021-03-30

申请号：US16309108

申请日：2017-07-04

申请人： TINYMOBILEROBOTS APS

发明人： Jens Peder Kristensen ,  Christoffer Praest Mose ,  Rudi Hansen

IPC分类号： G05B19/425 ,  B25J9/16 ,  G05B19/4155

摘要： 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.

公开(公告)号：US20240181482A1

公开(公告)日：2024-06-06

申请号：US18284712

申请日：2022-03-24

申请人： TinyMobileRobots ApS

发明人： Rudi Hansen ,  Christoffer Mose ,  Peter Jensen ,  Palle Flydtkjær ,  Kristian Korsgaard ,  Lasse Thorfinn Jagd ,  Jens Peder Kvols Kristensen

IPC分类号： B05B12/12 ,  A63C19/06 ,  B05B13/00 ,  G05D1/229 ,  G05D1/242 ,  G05D1/248 ,  G05D105/00 ,  G05D109/10 ,  G05D111/10

CPC分类号： B05B12/124 ,  A63C19/06 ,  B05B13/005 ,  G05D1/229 ,  G05D1/242 ,  G05D1/248 ,  A63C2019/067 ,  G05D2105/17 ,  G05D2109/10 ,  G05D2111/17

摘要： 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.

公开(公告)号：US20240152161A1

公开(公告)日：2024-05-09

申请号：US18273609

申请日：2022-01-20

申请人： TinyMobileRobots ApS

发明人： Peter Jensen ,  Palle Flydtkjær ,  Jens Peder Kvols Kristensen ,  Kristian Korsgaard

IPC分类号： G05D1/648 ,  B05B12/00 ,  B05B13/00 ,  G05D1/246

CPC分类号： G05D1/6484 ,  B05B12/00 ,  B05B13/005 ,  G05D1/246 ,  G05D2105/17

摘要： 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.