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1. 发明申请

WO2021063814A1 SPORTS FIELD MARKING EQUIPMENT 审中-公开
公开(公告)号：WO2021063814A1
公开(公告)日：2021-04-08
申请号：PCT/EP2020/076856
申请日：2020-09-25
申请人： TINYMOBILEROBOTS APS
发明人： KRISTENSEN, Jens, Peder, Kvols , HANSEN, Rudi , MOSE, Christoffer , JENSEN, Peter , KORSGAARD, Kristian , JØRGENSEN, Lars, Bayer
IPC分类号： B05B12/12 , B05B13/005
摘要： 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.

2. 发明申请

WO2022171476A1 MOBILE ROBOT WITH DISPLACEABLE SPRAY TOOL 审中-公开
公开(公告)号：WO2022171476A1
公开(公告)日：2022-08-18
申请号：PCT/EP2022/052205
申请日：2022-01-31
申请人： TINYMOBILEROBOTS APS
发明人： FLYDTKJÆR, Palle , JAGD, Lasse Thorfinn , KRISTENSEN, Jens Peder Kvols , HANSEN, Rudi , MOSE, Christoffer , JENSEN, Peter , KORSGAARD, Kristian
IPC分类号： B05B13/00
摘要： 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.

3. 发明申请

WO2022171417A1 MOBILE ROBOT WITH DISPLACEABLE SPRAY TOOL 审中-公开
公开(公告)号：WO2022171417A1
公开(公告)日：2022-08-18
申请号：PCT/EP2022/051428
申请日：2022-01-24
申请人： TINYMOBILEROBOTS APS
发明人： FLYDTKJÆR, Palle , JAGD, Lasse Thorfinn , KRISTENSEN, Jens Peder Kvols , HANSEN, Rudi , MOSE, Christoffer , JENSEN, Peter , KORSGAARD, Kristian
IPC分类号： B05B13/00
摘要： 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.

4. 发明申请

WO2022207451A1 SPORTS FIELD WITH AUTOMATIC LINE MARKING 审中-公开
公开(公告)号：WO2022207451A1
公开(公告)日：2022-10-06
申请号：PCT/EP2022/057769
申请日：2022-03-24
申请人： TINYMOBILEROBOTS APS
发明人： HANSEN, Rudi , MOSE, Christoffer , JENSEN, Peter , FLYDTKJÆR, Palle , KORSGAARD, Kristian , JAGD, Lasse Thorfinn , KRISTENSEN, Jens Peder Kvols
IPC分类号： A63C19/06 , G01C15/00 , B05B12/00 , B05B13/00 , B25H7/04 , B25J9/16 , E01C23/16 , G05D1/02 , A63C19/065 , A63C2019/067 , B05B12/124 , B05B13/005 , G01C15/002 , G05D1/0016 , G05D1/0221 , G05D1/0274 , G05D1/0278
摘要： 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.

5. 发明申请

WO2018007365A1 A METHOD FOR INTERACTIVELY PROVIDING WAYPOINTS TO A MOBILE ROBOT FOR USE IN THE MARKING OF A GEOMETRIC FIGURE ON A GROUND SURFACE 审中-公开
标题翻译：一种用于交互地为移动机器人提供移动机器人的方法以用于在地表上标记几何图形的方法
公开(公告)号：WO2018007365A1
公开(公告)日：2018-01-11
申请号：PCT/EP2017/066591
申请日：2017-07-04
申请人： TINYMOBILEROBOTS APS
发明人： KRISTENSEN, Jens, Peder , MOSE, Christoffer, Præst , HANSEN, Rudi
IPC分类号： B25J9/16 , G05B19/425
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 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.
摘要翻译：本发明涉及一种为移动机器人交互地提供航点以用于在地面上标记几何图形的方法，其包括以下步骤：i）选择接受手动定位的控制功能在地面上的两个或更多个目标位置处的移动机器人的移动; ii）将所述移动机器人定位在接近要在表面上标记的第一目标位置，并且将所述移动设备的位置确定装置引导至所述第一目标位置以进行标记; iii）指示移动机器人将第一目标位置存储为第一路标点; iv）重复步骤ii）-iii）以获得至少一个第二路点; v）选择控制功能，接受手动选择在所述地面上标记的几何图形; vi）指示移动机器人基于两个或更多个路标计算对所选表面上的几何图形的最佳拟合; vii）指示移动机器人从所述几何图形的拟合位置计算用于标记的几何图形的航点坐标; 和viii.a）指示移动机器人存储计算的几何图形的航点坐标; 或viii.b）指示移动机器人标记表面上的几何图形。

6. 发明申请

WO2022167228A1 A METHOD FOR INTERACTIVELY PROVIDING WAYPOINTS TO A MOBILE ROBOT FOR USE IN THE MARKING OF A GEOMETRIC FIGURE ON A GROUND SURFACE 审中-公开
公开(公告)号：WO2022167228A1
公开(公告)日：2022-08-11
申请号：PCT/EP2022/051212
申请日：2022-01-20
申请人： TINYMOBILEROBOTS APS
发明人： JENSEN, Peter , FLYDTKJÆR, Palle , KRISTENSEN, Jens Peder Kvols , KORSGAARD, Kristian
IPC分类号： A63C19/06 , B05B12/12 , B05B12/16 , G01D1/02
摘要： 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.

7. 发明申请

WO2017109066A1 A COMPUTER IMPLEMENTED METHOD FOR INTERACTIVELY PROVIDING WAYPOINTS FOR USE IN THE PRE-MARKING/MARKING/REMARKING OF A SURFACE STRUCTURE 审中-公开
标题翻译：一种计算机实施的方法，用于相互提供用于在表面结构的预标记/标记/备件中使用的方式点
公开(公告)号：WO2017109066A1
公开(公告)日：2017-06-29
申请号：PCT/EP2016/082369
申请日：2016-12-22
申请人： TINYMOBILEROBOTS APS
发明人： KRISTENSEN, Jens, Peder , HANSEN, Rudi , DATH, Søren, Møller
IPC分类号： G06T1/00
CPC分类号： G06T1/00
摘要： 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.
摘要翻译：本发明涉及用于交互式地提供用于表面结构的预标记/标记/标记中使用的航点的计算机实现的方法。该方法包括以下步骤：i）显示将被预标记/标记/标记的地理区域的一个或多个地理参考和正交校正的图像/视频帧; ii）在选择控制接受用户对用于标记的一个或多个目标位置的手动选择以及用于被标记的几何图形时，基于地理参考且正交整形的图像/视频帧计算对几何图形的最佳拟合在一个或多个目标位置上; 其中用于执行标记的所述一个或多个目标位置的所述手动选择直接在所述地理参照且正校正的图像/视频帧上的一个或多个特定点处的所述地理参考和正交图像/视频帧上进行; 以及iii）计算用于被标记的几何图形的地理坐标，所述x，y显示坐标对应于所述几何图形在地理参照和正交图像/视频帧上的拟合位置。

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