GB2566553A

GB2566553A - Marking apparatus and method

Info

Publication number: GB2566553A
Application number: GB1715098.8A
Authority: GB
Inventors: Bosworth Neil
Original assignee: Intelligent Drone Engineering Ltd
Current assignee: Intelligent Drone Engineering Ltd
Priority date: 2017-09-19
Filing date: 2017-09-19
Publication date: 2019-03-20
Also published as: GB201715098D0

Abstract

A marking apparatus 100 comprises a UAV 10, having a plurality of supporting legs 11, which, in use, are arranged to allow the UAV 10 to stand on a ground surface (not shown). The UAV 10 has a processing unit 12, a location unit 14 and a power source 16. Positioned on an underside of the UAV 10 CD is a support which holds a stabilising device 30, such as a gimbal. The gimbal 30 secures a marking device 43, which may comprise a paintball-style marking device for producing a permanent or semi-permanent mark on a ground surface. The power source 16 may be a rechargeable battery and may provide power to the processing unit 12, location unit 14, as well as a propulsion system which comprises motors 18 and rotors 19. The processing unit 12 may also comprise memory which is used to store programmes and way-point information for use by the UAV. A user may program the way-points by connecting the UAV 10 to a computer system by cable, or else other means, such as a wireless network. The marking device 100 enables different coloured marks to be placed for different purposes.

Description

MARKING APPARATUS AND METHOD

The present invention relates to an apparatus and method for marking a location in real space and is concerned particularly, although not exclusively, with apparatus and method for making a physical mark at a real-world location using an unmanned aerial vehicle.

There are many instances in which it is necessary to mark a location, for subsequent reference by an operative or a machine. One such example is in the field of construction where, during an initial phase known as 'setting out' , markers are placed on the ground to indicate points on a construction plan, which may relate to features of the plan requiring subsequent work, e.g. excavation, construction and so on. The construction plan may be stored in an electronic device such as a computer, following its creation. The plan will include detailed information about the locations of features of the site.

Marking real-world locations for a construction project is a time consuming and labour intensive task, often requiring numerous people and as heavy, cumbersome equipment. In a setting-out process, a Site Engineer may plot the outline of a building, for example, or set out the locations for foundations, or road drainage amongst other items.

Current methods require a Site Engineer to set out coordinate positions using a tripod-mounted surveying device known as a Total Station which, once set to a local coordinate grid, enables positions relative to the Total

Station to be entered. The relative positions are then used to direct the Site Engineer to the corresponding real-world position based upon the known location of the Total

Station .

This system requires the Site Engineer to have a line of sight to the Total Station. However, obstacles, traffic and the general topography of the terrain can cause difficulties with maintaining a line of sight. Furthermore, 10 the Site Engineer is required to carry the Total Station, a tripod, spray paint and a target pole/prism, which needs to be set up, often on difficult terrain such as uneven ground and other building materials. Additionally, each time the Total Station is moved, for example, to obtain a better 15 line of sight, it is necessary to recalibrate the local grid and input new setting-out points relative to the new local grid.

Embodiments of the invention aim to provide a method and 20 apparatus for marking a location in real space which addresses, at least in part, problems with the prior art.

The present invention is defined in the attached independent claims, to which reference should now be made.

Further, preferred features may be found in the sub-claims appended thereto.

According to a first aspect of the present invention, there is provided an apparatus for deploying a marker at a real30 world location, the apparatus comprising an unmanned aerial vehicle having a marking device.

The marking device may be removably mounted on the vehicle.

The vehicle may comprise a stabiliser capable of adopting and/or maintaining a predetermined position and/or orientation with respect to a ground surface.

The vehicle may comprise one or more supporting legs.

The marking device may be removably mounted to the stabiliser.

The stabiliser may be removably mounted to a lower surface of the unmanned aerial vehicle, preferably between the one or more supporting legs.

The marker may be a physical and/or semi-permanent marker, or else may comprise a transient mark such as an image or spot of light.

Optionally, the marking device is arranged to deploy a marker such as a marking fluid, which may comprise paint or dye, for example. The fluid being deployed freely such as in a spray or may be contained in a capsule such as a paintball.

Preferably, the marking is capable of deploying more than one marking fluid, such as fluids of different colours. This enables the device to be used to make markings of different colours so that different objects/type of marking can be distinguished.

The vehicle is preferably arranged in use to determine its location using a satellite positioning system, such as GPS, GLONASS, or Galileo, and/or a local positioning system.

The stabiliser may comprise a mount, preferably a gimbal mount, wherein the mount is preferably arranged to ensure the marker is positioned/oriented correctly substantially above a real-world location which is being marked. The mount may position/orient the marker, automatically and may do so passively. Optionally, the gimbal may be actuated to enable the marker to be positioned and oriented to a predetermined position.

Preferably, the one or more supporting legs are retractable and/or foldable.

Optionally, the marker further comprises an indicator device for indicating the location to be marked.

The indicator device may comprise a laser sight. Alternatively, and/or additionally, the indicator device may further comprise a camera.

The apparatus may be arranged to transmit the camera image to a remote station.

Preferably, the unmanned aerial vehicle may have a manual mode enabling a user to control its position.

Optionally, the user may use a remote control to control the position of the unmanned aerial vehicle.

According to a second aspect of the invention there is provided a method for making a real-world mark in at least one location using an unmanned aerial vehicle, the method comprising the steps of directing the unmanned aerial vehicle to the or each real-world location, causing the vehicle to adopt a position at the location, and deploying a marking device to make the mark.

The method may include causing the vehicle to be position above a ground surface, preferably at a predetermined height.

The method may comprise directing the vehicle to the or each location using remote control apparatus. Alternatively, or in addition, the method may comprise directing the vehicle to the or each location by providing the vehicle with coordinate information.

Preferably, the method further comprises the step of returning to a predetermined start position upon completion of marking one or more locations.

The method may comprise causing the vehicle to make a physical mark, such as by deploying a marking fluid such as paint of dye, the fluid being deployed freely, such as in a spray, or being contained in a capsule such as a paintball.

Optionally, the method further comprises the step of orienting the marker prior to activation.

Preferably, the predetermined distance above the ground surface may be less than 10.0m, more preferably less than 2.0 m and still more preferably between 1.0 to 1.5 metres.

The method may further comprise entering a manual mode to reposition the unmanned aerial vehicle. Optionally, when in manual mode, the unmanned aerial vehicle is controlled by the remote control apparatus.

In a further aspect, the invention provides a computer programme product on a computer-readable medium, comprising instructions that, when executed by a computer, cause the computer to perform a method for making a real-world mark in at least one location using an unmanned aerial vehicle, the method comprising the steps of directing the unmanned aerial vehicle to the or each real-world location, causing the vehicle to adopt a position at the location, and deploying a marking device to make the mark,

The invention also comprises a program for causing a device to perform a method for making a real-world mark in at least one location using an unmanned aerial vehicle, the method comprising the steps of directing the unmanned aerial vehicle to the or each real-world location, causing the vehicle to adopt a position at the location, and deploying a marking device to make the mark.

The invention may include any combination of the features of limitations referred to herein, except such a combination of features as are mutually exclusive, or mutually inconsistent.

A preferred embodiment of the invention will now be described, by way of example only, with reference to the accompanying diagrammatic drawings in which:

Figure 1 is a schematic side view of a marking device according to an embodiment of the invention;

Figure 2 is a schematic flow diagram illustrating part of an exemplary method for marking real-world locations, in accordance with an embodiment of the invention;

Figure 3 is a plan view of an exemplary route of a marking device when marking real-world locations, in accordance with an embodiment of the invention; and

Figure 4 is a more detailed plan view of a part of an exemplary route of a marking device when marking real-world locations, in accordance with an embodiment of the invention.

An unmanned aerial vehicle hereinafter referred to as a UAV, of the kind commonly known as a drone, generally comprises a compact, lightweight body with a plurality of rotors capable of lifting the drone and accurately positioning and orienting it above a ground surface. Some UAVs have inbuilt location positioning systems, such as GPS, which allow them to fly autonomously following a number of pre-set location way-points. Furthermore·, most UAVs also enable a user to control aspects of the position and orientation in real-time using a remote-controlled unit.

Referring to Figure 1, there is shown a schematic side view of a marking device generally at 100. The marking device 100 comprises a UAV 10, having a plurality of supporting legs 11, which, in use, are arranged to allow the UAV 10 to stand on a ground surface (not shown). Whilst the UAV 10 of Figure 1 shows two supporting legs 11, it will be appreciated the UAV 10 may comprise more than two supporting legs 11. In some embodiments, the supporting legs 11 may be retractable and/or foldable. This enables the supporting legs to be moved out of the way of any equipment suspended from the UAV during flight. The supporting legs 11 may rotate about an axis, in a direction as shown by Arrow A, into a retracted position shown as broken lines at 11a. It will be appreciated that in other

embodiments (not	shown),	the	supporting	legs	11	may
telescope, fold,	or otherwise retract into	the	body	of	the
UAV 10.
The UAV 10 has a	processing	unit	12, a location	unit	14	and
a power source	16. The	power source	16	may	be	a

rechargeable battery for example and may provide power to the processing unit 12, location unit 14, as well as a propulsion system which comprises motors 18 and rotors 19.

The processing unit 12 may also comprise memory (not shown) which is used to store programmes and way-point information for use by the UAV when marking out real-world locations. A user may program the way-points by connecting the UAV 10 to a computer system by cable, or else other means, such as a wireless network.

The location unit 14 enables the UAV 10 to determine its real-world location. In some embodiments, the real-world location may be determined by a global positioning system such as GPS, GLONASS, or Galileo. In other embodiments, the real-world location may be determined by the use of a local positioning system. In such embodiments, a plurality of transmitters are set up in known locations, and the location of the UAV 10 is initially determined in relation to the known locations of the transmitters. In some embodiments, the combination of a global positioning system and a local positioning system may be used to increase the accuracy of the marking device 100.

Positioned on an underside of the UAV 10 is a support 20. The support is arranged to removably receive one or more of a plurality of different modules, an example of which will be described below.

The support 20, in use, holds a stabilising device 30, such as a gimbal. The gimbal 30 secures a marking device 40, which in this case comprises a 'paintball''-style marking device. It will be appreciated that other marking device 40 may be used, such as a spray head, or similar, for producing a permanent or semi-permanent mark on a ground surface.

The gimbal 20 serves to stabilise the marking device 40.

The gimbal 30 may achieve this passively, using gravity and an arrangement of hinged/pivotable axes. Alternatively, the gimbal may be actuated, and for example, motor driven, and may enable a user to position/orient the marking means 40 depending on predetermined requirements. The position/orientation may be computer controlled and specified by the user, for example in advance when programming the way-points. Alternatively, the orientation of the gimbal may be manually controlled by the user using a remote control.

The marking device 40 may have a dispensing guide 42 used to accurately place a mark on a ground surface. For example, the dispensing guide 42 may be the barrel of a paintball marking device as shown in Figure 1. Attached to the marking device is an indicator device, such as a laser sight 43 or similar used to indicate to an observer on the ground surface where the mark will / should be placed. The observer may be an operative standing close by. Alternatively, the UAV 10 may also have a camera, and an image from a camera may be relayed to a remote user, who may observe the laser sight before triggering the paintball marking device.

In some embodiments, a user will follow the UAV as it makes its way through the list of programmed way-points. The marking device 40 may be directed to automatically mark the way-point on the ground surface when given coordinates are reached. Alternatively, a user may be required to direct the marking means 40 to mark the way-point.

Embodiments of the marking device

100 may enable different coloured marks to be placed for different purposes .

For example, when setting out for a mark may be used, and a plan when setting water pipe a out a plan blue for electricity cables, yellow for example.

This may be used, variety of different components of a plan with a single piece of equipment, without having to change the marking colours of the device, and/or carry a enables the user to mark a large amount of additional equipment.

Figure 2 is an example flowchart showing the steps of a method 200 of marking locations from an architectural plan of a site in the real world. The method 200 starts at step 210 with a user, usually a Site Engineer, programming a plurality of waypoints as indicated by the architectural plan. The way-points may be programmed on a separate system, such as a laptop or tablet computer, and transferred to the memory of the marking device by cable and/or wireless connection.

Once the points have been programmed, the method 200 progresses to step 220 where the apparatus is instructed to start marking the programmed way-points. Once started the method progresses to step 230 where an integer variable, n, is set to zero, indicating the start of the list of programmed way-points.

The method 200 then progresses to step 240 where the waypoint location associated with the integer variable, n, is loaded. Using the UAV's location unit, the UAV is directed towards the way-point. Once at the location, the method 200 progresses to step 250.

At step 250, the marking device marks a ground surface with a semi-permanent mark. In some embodiments, such as the one of Figure 1, the semi-permanent mark may be a paintball fired by a paintball marking device arranged to hang from the underside of the UAV. In an alternative embodiment, the semi-permanent mark may be paint dispensed from a spray device. The skilled person will appreciate that other methods of marking a ground surface with a semi-permanent mark may be used. In some embodiments, the marking device may be arranged to mark the ground surface automatically when arriving at the programmed way-point. In other embodiments, a user may be required to activate the marking means using a remote control, when the UAV indicates that it has arrived at the programmed way-point.

Once the programmed way-point has been marked the method 200 progresses to step 260 where a check is undertaken. If the integer variable is equal to the number of programmed way-points, the method 200 progresses to step 280, else the method 200 progresses to step 270, where the integer variable is incremented.

After incrementing the integer variable at step 270, the method 200 progresses back to step 240 where the UAV loads the next programmed way-point and is directed to its location. Steps 240, 250, 260 and 270 loop until, at step 260, it is determined that the integer variable is equal to the number of programmed way-points, at which point, the method 200 progresses to step 280.

At step 280, all the programmed way-points will have been marked, and the UAV is directed back to the starting position.

Figure 3 shows an exemplary route 300 taken by a marking device plotting out a series of points to indicate the layout of a building. A marking device of the type shown in Figure 1 starts at a known starting location 310, and once programmed with a plurality of way-points begins marking their locations. The marking device follows each point (for example 320, 340) along a straight line of sight path indicated by the arrows (for example 330) . The UAV is directed to hover approximately 1.0 to 1.5 metres above the ground surface. Once the final way-point 340 has been marked, the marking device returns to the starting location 310.

Figure 4 shows a further step in the marking process. Each way-point (e.g. 320, 340) of Figure 3 may represent a centre point for a foundation/trench to be excavated, and once it has been marked out, more detailed indications may be required on the ground surface. These more detailed indications may mark out the size of the trench indicating the outer perimeter of the foundations of a building or the width of trench required to receive a particular pipe. Using each centre point 320,340 as a starting point, the marking device may mark out a plurality of further points 410 to indicate the outer perimeter of a foundation. The marking device then follows a path, as indicated by the arrows (for example 420) to mark out the additional points.

This ensures the centre of the foundation is the preprogrammed way-point.

In some embodiments, a site engineer may program each of the additional points, alternatively, predetermined templates may be used, and when setting out the desired way-points, the marking device automatically marks out the additional points. The marking of the additional points may be undertaken once all of the programmed way-points have been marked out, or alternatively, they may be marked out directly as the marking device makes its way through the list of pre-programmed way-points.

Whilst the example given above is of setting out a construction site, it will be appreciated by those skilled in the art that other marking operations may be carried out using the apparatus and/or methods according to the present invention.

For example, the apparatus could be used in a search and rescue operation. The camera may be an infrared camera capable of detecting heat signatures, which in a disaster recovery situations may be used to help locate trapped people. The marking means 40 can then be used to mark on the ground the location of the trapped people so that a recovery team know exactly where to excavate so as to rescue them. In this case, the UAV may be directed to fly at higher levels so as to obtain an overview of the current state on the ground.

Furthermore, although the above-described examples discuss marking a ground surface with paint or similar, the apparatus could be arranged to release a marker such as a 5 dart, peg or buoy.

Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance, it should be understood that the 10 applicant claims protection in respect of any patentable feature or combination of features referred to herein, and/or shown, in the drawings, whether or not particular emphasis has been placed thereon.

Claims

1. An apparatus for deploying a marker .at a real-world location, the apparatus comprising an unmanned aerial vehicle having a marking device.

2. The apparatus according to Claim 1, wherein the marking device is removably mounted on the vehicle.

3. The apparatus of any previous claim, wherein the vehicle comprises one or more supporting legs.

4. The apparatus of Claim 3, wherein the one or more supporting legs are retractable and/or foldable.

5. The apparatus of any previous claim, wherein the marker is a physical and/or semi-permanent marker, or else comprises a transient mark such as an image or spot of light.

6. The apparatus of any previous claim, wherein the marking device is arranged to deploy a marker such as a marking fluid, which comprises paint or dye, for example .

7. The apparatus of Claim 6, wherein the fluid is deployed freely such as in a spray or may be contained in a capsule such as a paintball.

8. The apparatus of any previous claim, wherein the marking device is capable of deploying more than one marking fluid, such as fluids of different colours.

9. The apparatus of any of Claims 6 - 8, wherein the marker comprises an indicator device for indicating the location to be marked.

10. The apparatus of Claim 9, wherein the indicator device comprises a laser sight.

11.

The apparatus of any of Claims 9 -10, wherein the indicator device may further comprise a camera.

12. The apparatus of Claim 11, wherein the camera is arranged to transmit the camera's image to a remote station.

13. The apparatus of any previous claim, wherein the vehicle is arranged in use to determine its location using a satellite positioning system, such as GPS, GLONASS, or Galileo, and/or a local positioning system.

14. The apparatus according to any previous claim, wherein the vehicle comprises a stabiliser capable of adopting and/or maintaining a predetermined position and/or orientation with respect to a ground surface.

15. The apparatus of Claim 14, wherein the marking device is removably mounted to the stabiliser.

16. The apparatus of any of Claims 14 or 15, wherein the stabiliser is removably mounted to a lower surface of the unmanned aerial vehicle,

17, The apparatus of any of Claims

14 - 16, wherein the stabiliser is removably mounted between the one or more supporting legs.

18. The apparatus of any of Claims

14 - 17, wherein the stabiliser comprises a mount, wherein the mount is arranged to ensure the marker is positioned/orrented correctly substantially above real-world location which is being marked.

The mount may position/orient the marker, automatically and may do so passively.

19. The apparatus of Claim 18, wherein the mount is a gimbal mount

20. The apparatus of Claim 14, wherein the gimbal is actuated to enable the marker to be positioned and oriented to a predetermined position.

21. The apparatus of any previous claim, wherein the unmanned aerial vehicle has a manual mode enabling a user to control its position.

22. The apparatus of Claim 21 wherein, the user uses a remote control to control the position of the unmanned aerial vehicle.

23. A method for making a real-world mark in at least one location using an unmanned aerial vehicle, the method comprising the steps of directing the unmanned aerial vehicle to the or each real-world location; causing the vehicle to adopt a position at the location; and deploying a marking device to make the mark.

24. The method of Claim 23, further comprising the step of causing the vehicle to be position above a ground surface, preferably at a predetermined height.

25. The method of Claim 24, wherein of the predetermined height above the ground surface may be less than 10.0m, more preferably less than 2.0 m and still more preferably between 1.0 to 1.5 metres.

26. The method of any of Claims 23 - 25, further comprising the step of directing the vehicle to the or each location using remote control apparatus.

27. The method of any of Claims 23 - 26, further comprising directing the vehicle to the or each location by providing the vehicle with coordinate information,

28. The method of any of Claims 23 - 27, further comprising the step of returning to a predetermined start position upon completion of marking one or more locations .

29. The method of any of Claims 23 - 28, further comprising causing the vehicle to make a physical mark, such as by deploying a marking fluid such as paint of dye, the fluid being deployed freely, such as in a spray, or being contained in a capsule such as a paintball.

30. The method of any of Claims 23 - 29, further comprising the step of orienting the marker prior to activation.

31. The method of any of Claims 23 - 30, further comprising entering a manual mode to reposition the unmanned aerial vehicle.

32. The method of Claim 31, wherein in manual mode, the unmanned aerial vehicle is controlled by the remotecontrol apparatus.

33. A computer programme product on a computerreadable medium, comprising instructions that, when executed by a computer, cause the computer to perform a method for making a real-world mark in at least one location using an unmanned aerial vehicle, the method comprising the steps of directing the unmanned aerial vehicle to the or each real-world location, causing the vehicle to adopt a position at the location, and deploying a marking device to make the mark.

34. A program for causing a device to perform a method for making a real-world mark in at least one location using an unmanned aerial vehicle, the method comprising the steps of directing the unmanned aerial vehicle to the or each real-world location, causing the vehicle to adopt a position at the location, and deploying a marking device to make the mark.