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：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.