CN1784685A - Marking of large surfaces with visual presentations - Google Patents
Marking of large surfaces with visual presentations Download PDFInfo
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- CN1784685A CN1784685A CNA2004800122179A CN200480012217A CN1784685A CN 1784685 A CN1784685 A CN 1784685A CN A2004800122179 A CNA2004800122179 A CN A2004800122179A CN 200480012217 A CN200480012217 A CN 200480012217A CN 1784685 A CN1784685 A CN 1784685A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C19/00—Design or layout of playing courts, rinks, bowling greens or areas for water-skiing; Covers therefor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C19/00—Design or layout of playing courts, rinks, bowling greens or areas for water-skiing; Covers therefor
- A63C19/06—Apparatus for setting-out or dividing courts
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C19/00—Design or layout of playing courts, rinks, bowling greens or areas for water-skiing; Covers therefor
- A63C19/06—Apparatus for setting-out or dividing courts
- A63C19/065—Line markings, e.g. tapes; Methods therefor
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
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Abstract
A system, method and computer-readable medium for creating visual presentations on large surfaces such as sports fields or road surfaces both indoors and outdoors by means of a free-roaming marking device such as a mobile robot. The mobile robot is a remotely programmable, self-propelled robot, which autonomously and automatically performs the creation of at least one contour line of a visual presentation on large surfaces by treating the surfaces by travelling along a set of trajectories. The visual presentations are automatically generated by automatic calculation of trajectories to travel by the robot for generating the visual presentation. The visual presentations to be generated are scalable and deliver thus high quality visual presentations independently of the size of the presentation to be created. Fast production time of the visual presentations is ensured in combination with high quality and optimisation of the visual presentation for TV-broadcast.
Description
Technical field
The present invention relates generally to the surface is marked with the field of Visual Display, and be particularly related to marking of large surfaces, and and then be specifically related to that the labelling apparatus by means of free-roaming produces Visual Display on smooth basically huge surface with Visual Display.
Background technology
Huge surface is marked with Visual Display such as image, uses in the occasion of many application.So far, the quite simple or size of this scalar nature is restricted relatively.For example, the various sports races of carrying out on huge surface are delivered to a large amount of spectators TV simultaneously by TV broadcasting.These huge surfaces can be marked with for example Visual Display of commercial message, such as sign.A kind of idea is to make careless rod bending not hinder race so that generate this message in the surface that grass covers.
A kind of method and apparatus that is used for the mark grassland is disclosed in US-5 540 516.By making the blade of grass bending of determining in the zone and making the blade of grass in other zone crooked or upright,, on the sports ground of meadow, show an advertisement to form an image or literal.The difference on direction that blade of grass is caused is visual for the spectators that watch the locational competitive sports of sports ground.By means of the removable but very big i.e. a kind of equipment in grass surface operation of portability not, to the blade of grass orientation.This equipment also has a plurality of brushes and/or additional roller, its rolling so that blade of grass stretch in section/zone of determining.Form image or letter at the section that generates.These sections can be compared with the pixel of bitmap graphics.This discloses such defective, and the figure that generates promptly like this is very coarse and resolution is low, and promptly they have very large pixel size.This is to be caused by such fact, and promptly section or pixel are the relative very big rectangular section of certain minimum dimension, thereby the figure that generates is very coarse.
Brush all points to travel direction in addition.At different section/pixels different careless bending directions just can not be arranged like this.Last brush is parallel to adjacent line motion, the shape that this has limited the movement degree of brush and rectangular section has been limited pixel on careless surface.Thereby figure and the original graphics distinction that will be copied on the grassland are very big.In addition, character is limited to rectangle and the sign of reproducting definition exactly basically.This is a major defect, because the sign of many commercial message such as Business Name, trade mark or personal style and attitude title, is to be identified by the visual information in the Visual Display that is included in the specific identifier relevant with these exabytes or personal style and attitude title.Thereby to send to these message of spectators by means of Visual Display, be difficult to maybe can not generate by the method and apparatus of US-5 540 516.
In GB-2361572, be disclosed in the other method that the grass surface forms mark.This method is included in the grass on a direction roll extrusion grass surface, and in the grass zone that different direction roll extrusion is selected, to generate the image of required sign.The Template nail of the suitable shaping of being made by the plastics or the rubber tree leaf of softness fixes on the suitable position of careless face, to prevent that the zone is by roll extrusion.Be created on two different directions by these two kinds of zones of roll extrusion.There is level and smooth edge in these zones and does not have above-mentioned problem of duplicating.Yet this method relates to the very long production time, because its realization is complicated.And the size of the message of looking unfamiliar at grass is adapted on the position, because template that must be new to different message size manufacturings.The size of the message that generates by this method is very limited in addition, can not handle owing to surpass the template of certain size, because they are to be made by the thick plastic material of 5mm.Be for example impossible generate 20 * 20 meters or larger sized message, though this is sought after in certain application.
Other method is by producing Visual Display with the huge surface of coating mark.US-5 453931 discloses a kind of mobile robot, is used at building and process industry mark datum line on huge surface.Mobile robot is the navigating robot that has the datum line plotter.Mobile robot produces physical layout and datum line in the plane or carries out work.Mobile robot has a spraying system, is used for huge surface is marked with datum line.Robot uses jetting system, such as the ink jet type Mk system that is positioned at the robot below, locatees and handle required coordinate.When robot pass a path that is programmed or when its fixedly the time, apply mark.In addition, the operator can be by coming image training robot along required path pilot steering robot.The robot of US-5 453 931 can be by generating the huge surface of wire tag of one group of different colours.Mention, can launch design or can on sports ground, draw the mascot image the boundary line.Yet the defective of this robot and method is to produce the image that spreads all within the outline line.This is a main defective, can not replace full-scale high-definition picture because draw one group of line.
In addition, be used to write down or produce the setting-out system of path of advancing, perhaps by the pilot steering robot or by artificial input coordinate, manually-operated places one's entire reliance upon.This is a kind of consuming time and spend high process.
In addition, mobile robot is merely able to along straightaway.When changing direction, must interrupt flag.By making robot in place again and promote the chassis and readjust the chassis to new direction on container (pod), robot is by in place again.Like this, the defective of this robot is that it can not be advanced on the line of bending, and when carrying out the task line that needs a large amount of direction Change Examples such as circle, it is heavy and slow.Thereby disclosed robot can not produce high-quality Visual Display among the use US-5 453 931.
In addition, according to prior art, huge lip-deep image or text are to depend on surperficial physical dimension and form special arrangements.Generate and do not consider where the TV-video camera is positioned at respect to Visual Display.Like this, when when certain camera angle is watched, mark may be impalpable because on mark be not consider required viewing angle, or owing to the TV-video camera with respect to the position of the mark on the angled surface perspective distortion extremely apply.In addition, for example respectively since image or text with respect to the perspective distortion of camera position or camera angle, the Visual Display of generation may not be distinguished mutually with the circumferential surface material.
Another common problem when generating Visual Display on huge surface is that the time that produces is long.The surface that will generate Visual Display on it is usually frequently used, thereby can not be used to produce huge lip-deep message.Typical example is the runway on the airport.
WO02076562 discloses a kind of automatic place marking arrangement, can pass through huge surperficial place and in the predetermined point labeled surface, mark predetermined sign with ground on the scene.Yet this equipment is purely based on the pointwise mark, and makes equipment in place again between point.This relates to long generation time for ground on the scene produces sign.
Thereby with regard to the prior art that can get, need on huge surface, generate a kind of system of Visual Display, it has the duplicating of compact device, very short generation time, high level, relates to the on-the-spot dirigibility in the adjusting that produces locational Visual Display, and relates to the optimization by the Visual Display that is generated of TV broadcasting.
Summary of the invention
According to appended Patent right requirement, the present invention is by providing a kind of method, system, the use of mobile robot, and be used to generate the computer-readable medium of huge lip-deep demonstration, overcome the defective in the above-mentioned technology, and solved the problem of above-mentioned identification at least.
General solution is to use a kind of device of free-roaming according to the present invention, such as mobile robot, with generating huge lip-deep Visual Display.
According to a kind of mode of the present invention, a kind of method is disclosed, it generates Visual Display by means of at least a free-roaming labelling apparatus on smooth basically huge surface.Described free-roaming labelling apparatus is advanced along the path on the described plane, make the outline line of at least one Visual Display on huge surface, preferably even curface passes through on floor that the buildings of arranging such as pitch, cement or grass covering, substantial horizontal is huge or the smooth roof.In addition, can generate Visual Display, more for good and all be attached to huge surface this its from surface removal and the basic material that can be sent to target surface.This material for example is a fabric fibre.Image robot based on vectorization passes through path, and to the surface with the pinpoint accuracy coating material, such as color.This is to realize by the outline line treatment surface along Visual Display by means of the free-roaming labelling apparatus.
The free-roaming labelling apparatus is advanced like this along the path of the outline line of the Visual Display of the generation of mark on huge surface.Outline line is preferably based on vector graphics.When outline line generates, within the treatment wheel profile or outside the surface.Like this, on huge surface, generate such as the Visual Display that identifies.Can optimize Visual Display to TV-broadcasting, promptly about image capture apparatus such as TV-video camera and about the TV camera position, promptly visual angle and the distance from Visual Display to the TV-video camera are optimized.
According to a preferred embodiment of the present invention, grass is bent so that produce contrast on the surface that grass covers in different directions.For example, be high reflectance to the careless result who is bent away from the TV-video camera, and bright performance is arranged.Because grass can be bent 360 ° of directions, the variation of bright/dark contrast is used for optimizing the performance of Visual Display to TV broadcasting.
According to another way of the present invention, a kind of system that is used for producing on huge surface Visual Display is provided, wherein this system comprises a kind of free-roaming labelling apparatus, is suitable for generating described Visual Display by handling described surface.This free-roaming labelling apparatus is in use advanced along the path on surface, and when along path by the time handle this surface along the outline line of Visual Display.For this purpose, the free-roaming device comprises a treating apparatus, is used for when treatment surface when path is advanced.In addition, this system comprises a calculation element, be used for calculating path automatically from the source data of expression Visual Display, and portable computing preferably, be used for carrying out radio communication, and be used for the free-roaming labelling apparatus being programmed and control at the scene that Visual Display generates with the free-roaming labelling apparatus.
According to another way of the present invention, provide a kind of mobile robot to be used as the free-roaming labelling apparatus, be used for producing Visual Display, the outline line of the huge lip-deep Visual Display of wherein said free-roaming labelling apparatus mark on huge surface.
Further a kind of mode provides a kind of computer-readable medium according to the present invention, has realized being used for the computer program by Computer Processing on it.This computer program comprises code segment, is used for producing Visual Display on huge surface.The first code section is calculated the free-roaming labelling apparatus and is advanced to generate the path of described Visual Display along it, wherein calculates described path automatically from the source data of representing described Visual Display.What a second code section instruction free-roaming labelling apparatus is advanced along described lip-deep path, make to use described free-roaming labelling apparatus when described path is advanced, on described huge surface,, generate at least one outline line of described Visual Display by handling described surface along the profile of described Visual Display.
The present invention has the following advantage that is better than prior art except that other:
● provide a kind of remote control self-driven robot able to programme, it independently also automatically carries out the generation of Visual Display outline line on huge surface,
● can carry out the full-automatic generation of whole Visual Display,
● for on huge surface, producing the path of advancing that Visual Display generates described free-roaming labelling apparatus, do not need manually-operated,
● the path (path) of advancing by the robot that produces described Visual Display outline line by automatic calculating and produce Visual Display automatically,
● within such outline line that produces or outside the surface by full automatic treatment so that the result obtains whole processed inside of Visual Display or perimeter,
● but Visual Display is a scale, and the irrelevant Visual Display of display size that provides high-quality like this and generated, the size that is Visual Display adapts to the zones of different size automatically, and do not lose the perceptibility that is included in the Visual Display that generates on the huge surface, scale or further visual information
● generation and such Visual Display can adapt to camera position automatically, and promptly visual angle and distance are used for broadcasting is optimized for specific T V-Visual Display perceptibility and perspective correctness,
● because the surface nature on Visual Display of duplicating naturally and huge surface is irrelevant, and the high precision and the surface treatment of navigating, the Visual Display of Sheng Chenging has high resolving power and high-quality like this,
● produce high-quality Visual Display by means of vector plot;
● Visual Display has the reproducibility of height, and
● guaranteed the time that time showing produces fast.
Description of drawings
With reference to the explanation of accompanying drawing to the embodiment of the invention, further aim of the present invention, feature and advantage will be significantly, wherein from following
Fig. 1 is used on huge surface applying the skeleton view of two free-roaming labelling apparatus that color is come the outline line of mark Visual Display, two different nozzle locations shown in it according to the present invention;
Fig. 2 is that expression is according to the system that is used for generating on huge surface the embodiment of the invention of Visual Display, the synoptic diagram of communicating by letter with mobile robot;
Fig. 3 is about the process flow diagram according to the method for the embodiment of the invention;
Fig. 4 is the synoptic diagram of an embodiment of expression system of the present invention;
Fig. 5 A is the synoptic diagram by the Visual Display of system and method generation of the present invention;
Fig. 5 B is the synoptic diagram that generates with the Visual Display that is designated example by means of the method according to the embodiment of the invention to 5C, and it has two mobile robots of two different embodiment according to the present invention;
Fig. 6 is the Visual Display front elevation adaptive with respect to camera position on the huge surface of expression; And
Fig. 7 A is the synoptic diagram of the exemplary types of the mark that generates of the embodiment of expression the method according to this invention and system to 7F.
The definition of term
Providing some terms and expression with the lower part so that to the application's understanding.
Outline line is the zone of the Visual Display of mark from the teeth outwards.Outline line is the part of Visual Display.Outline line not necessarily is limited to the profile boundaries of Visual Display.In addition, Visual Display can be included in the several outline lines in the surface.
Figure based on vector is described by family curve by means of vector.The lines of Visual Display are also referred to as outline line.Outline line is described on mathematics, and irrelevant with the resolution of figure.But vector graphics is a scale, like this can high-quality be adjusted to different duplicate size and do not lose details.Can adjust the vector graphics size and make its stretching, extension and do not lose quality.For example object for example can 1cm be drawn and adjusts to 50 meters and do not have the loss of any details, unlike the raster graphic based on pixel.This is based on such fact, and promptly vector graphics is a series of vectorial statements, and wherein vector is defined as the expression of while on amount and direction.
Path is the path that the free-roaming labelling apparatus is advanced.
Sign is the graphics combine of letter or other character and pictorial element characteristic.Sign for example is used for the usefulness of mark, so that increase company and company's product are by the possibility of nature (spontaneously) identification.Famous example for example is as at the Coca-Cola as shown in the exemplary drawings
Sign, Nike
Sign or Carlsberg
Sign.Image sign (imagotype) is such as Nike
Hook is a graphical symbol.In fact they comprise association to exabyte, trade mark, products ﹠ services with their graphic form, and for example under the situation of Nike hook, this association is exactly " Nike " and sweat shirt for example.
Embodiment
Vector graphics generally by means of for example from computer-aided design (CAD) (CAD) program or suitable graphic package for example based on the program of vector such as Adobe Illustrator
Generate, and comprise diagram or the figure that for example comprises sign or figure.In order to shift these to outdoor and indoor huge surface, such as the surface that covers to pitch, grass, concrete, cement, stone, natural stone, fabric fibre or complex, road surface, roof surface, the sports ground surface, outdoor carpet, complex surface, glass blocks, vessel surface, rubber surface, artificial surfaces or artificial glass shift, and do not have proper device and method to shift this Visual Display.
According to one embodiment of present invention, a kind of mobile robot is used as the free-roaming labelling apparatus, be used for preferably generating Visual Display on the level levelling surface substantially on huge surface, such as pitch, cement, concrete, stone, natural stone, the surface that fabric fibre or complex cover, road surface, roof surface, sports ground, the sports ground surface, outdoor carpet, complex surface, artificial surfaces, such as artificial glass, glass blocks, vessel surface, rubber surface, or glass-faced surface, the huge floor of buildings or the smooth roof of substantial horizontal configuration.In addition, generate Visual Display on base material, it can be from surface removal and can be sent to the target location, this its can be more enduringly attached to huge surface on.Device materials for example is a fabric fibre.Based on the profile of the vectorization of Visual Display, robot passes based on the path of vector graphics and treatment surface, for example by with the material of pinpoint accuracy to surface-coated such as pigmented finiss.This robot is suitable for to the image that is approximately 1 * 1 square metre and larger sized zone-transfer vector plot.Full-size is hard-core in theory, and in fact only is subjected to such as the time that produces and the restriction of surface size.In addition, the time showing that generate, such as sign, figure, picture or image can have the arbitrary form in this zone, shape or profile.This is the Visual Display that generates by outline line and by the labeled surface visual contrast between inside or outside respectively, such as the color distinction delineation.
Generate Visual Display
In the method according to the invention, following step is carried out by the system that comprises a free-roaming labelling apparatus, is used for generating Visual Display on huge surface, wherein followingly will illustrate in greater detail the free-roaming labelling apparatus.
1. by means of suitable graphic package, for example based on the program of vector such as AdobeIllustrator
, produce master data file from the digitized original image of for example sign.Referring to Fig. 2, this is preferably on the computing machine 20 of system and carries out.
2. master data file is transferred to portable computer 21.Another way is that master data file produces on portable computing 21.
3. make data adapting in the master data file/optimize certain camera position in the place that will generate Visual Display.This is preferably in the place and carries out.If so for example the short notice camera position is shifted to a different position B or a C from a position A, optimization can be carried out very effective and neatly.Fig. 6 illustrates the step of this method.
4. be under the situation of bitmap images at former figure, by means of graphic package the figure master image carried out vignetting, wherein " vignetting " outline line of being defined as graph image is labeled as the lines based on vector.
5. the outline line based on vector of expression original image outline line is converted into a file that defines the mobile robot operation.These operations comprise such as job order and direction, speed, path track, and the stop position of removable marking device, and parameters such as color and/or mark on/off.The operation order defines in the operation data file.Job order is about the processed order of the different parts of Visual Display, referring to Fig. 5 B lines 59a and 59b.
6. the operation data file is sent to mobile robot 22.This is preferably by Radio Link 23,24 and 25 carry out, perhaps directly be sent to mobile robot 22 (link 25), perhaps at first be sent to portable computing 21 (link 23), for example pass through Ethernet or cellular phone or pass through the wireless transmission of data carrier, and further be sent to mobile robot 22 then.
7. mobile robot 22 self calibrations.
8. mobile robot 22 is begun to handle the operation of the operation data file of being uploaded from quilt by instruction.
9. mobile robot 22 is done pre-service to the surface alternatively, to have the starting condition on the surface that is defined, promptly generates above-mentioned basis.Under many situations, the basis that importantly has definition is to generate Visual Display thereon.For example, the sign of company generally has the shade of color of accurate definition, and for example Coca-Cola identifies the red tone with feature.To as far as possible strictly duplicating this color strict requirement is arranged.By means of formation base color on huge surface, these require to satisfy by the different aspect of the present invention.This basis for example can be the processed interior common base color in surface.This also can be used for follow-uply staying untreated zone, so that make the subregion of demonstration be the color identical with base color.
10. mobile robot is followed the path track of definition, and surperficial in the right position reason by means of surface processing device, so that generate the outline line of Visual Display.Surface processing device for example is the nozzle system shown in, so that correct position applies the color of aequum along outline line on huge surface, to generate the outline line of the Visual Display that will be generated.Carry out by means of location/navigational system (laser/navigation signal) location of robot, and it will be described in more detail following.
11. next, beyond the outline line with inner region for example by being labeled, to produce for example complete Visual Display of the original image of sign of expression to surface-coated coating.Surface indicia is carried out as described below, so that Visual Display is optimized in TV generation/broadcasting.This step is for example as described below, can be undertaken by robot is automatic or manual.
Surface indicia is to generate Visual Display
Fig. 5 B and 5C are the detailed maps that generates Fig. 5 A example shown Visual Display process.The Exemplary Visual of Fig. 5 A shows that 50 illustrate the net result of the exemplary identification that generates by means of method and system of the present invention.Fig. 5 B and 5C illustrate two different embodiment of the method according to this invention, wherein these two embodiment all with high-quality and fast generation time be feature.
As described, Fig. 5 A illustrates one exemplary original or main 50 be that target visual shows that this is " Carlsberg "
Sign.As the type mobile robot 53 of mobile robot 11 shown in Figure 1, follow path pattern 55 as Fig. 5 outline line that B is shown in 54 directions.
Fig. 5 B illustrates from former Figure 50, and promptly " ar " of " Carlsberg " generates the process of the sequence of two outline line 59A and 59B, and it is defined as the preferred job order of the part of Visual Display.Fig. 5 B-5C illustrates by means of following path and handling the free-roaming device on surface as defined above, the full-automatic generation of Visual Display.The Visual Display 52 that produces illustrates the zone 58 of having been handled by free-roaming labelling apparatus 53.
Fig. 5 B illustrates Visual Display 51 and how to be made up of the outline line 54 that generates by means of free-roaming labelling apparatus 53 such as mobile robot.Mobile robot 53 is followed the path as thin setting-out 55 indications, to generate outline line 54.Can see that the edge of outline line 54 is level and smooth, and have the advantage of vector graphics.Fig. 5 C has described the situation of free-roaming device, and it has the color mark device 57 at the center that is attached to free-roaming labelling apparatus 53, and the mark outline line of Visual Display, has the interior interior zone of treatment wheel profile subsequently.Interior zone can use outline line 54 to handle as demarcating of processed zone is artificial by the operator.Under this situation, the operator is used for treatment wheel profile interior surface or outside suitable labelling apparatus.In addition, the free-roaming device is handled the inside or the perimeter of the Visual Display shown in Fig. 5 C.Fig. 5 C is illustrated in sign 50 the exemplary part, and the huge surf zone that has an outline line 54 by processing generates effector 50 Visual Display, with the process of the inside 58 of treatment wheel profile 54.Robot 53 is at first treatment wheel profile intra-zone or outside also, and generates outline line subsequently to finish the generation of Visual Display.Outline line is integrated in sign.Exemplary process shown in aforesaid Fig. 5 C is carried out continuously, promptly interior zone by mark continuously so that the zone of mark outline line 54 inside or opposite, to generate the original effector's of intact as far as possible expression Visual Display.In addition, interior zone is labeled with mark outline line 54 in advance, to generate the original effector's of intact as far as possible expression Visual Display.
Fig. 7 further illustrates the non-limitative example of the Visual Display that the embodiment of the method according to this invention and system generates.Can see, the generation that the invention is not restricted to identify, but can be used to generate the Visual Display that other comprises more complicated figure, drawing or image.
Importantly as mentioned above, the outline line that uses mobile robot to generate generates with pinpoint accuracy.Under the situation of outline line, can also or manually apply marker material on outline line outside and inter-process surface by robot drawing.Owing to the pinpoint accuracy of outline line with to flow characteristic, accuracy and time efficiency are better than other generation method.
As mentioned above, the huge surface that will generate Visual Display on it can use based process or format to handle alternatively.Here, whole surface is processed with identical processing parameter, to generate defined ground.This means that the surface is adjusted to common optical parametric before the shape of Visual Display generates.Doing like this is in order to set up identical state on processed whole surface, and the comparison of can making zero with the optics on surface.Huge surf zone is being coated with under the situation of color material, this is included in the color mark of zone to define that generates Visual Display.In addition, surface treatment parameter that this zone can be identical is handled, and for example generates on the base area on huge surface of Visual Display at all, and grass is bent with identical flexibility in identical direction.With the lower part, with an embodiment who describes in detail as the mobile robot of free-roaming labelling apparatus according to the present invention.
The free-roaming labelling apparatus
Free-roaming Mk system of the present invention, according to one embodiment of present invention, based on mobile robot platform PIONEER on sale on the market
Mobile robot 2-DX8 type.Fig. 1 illustrates the different embodiment based on this mobile robot type.Yet the robot of this type is nonrestrictive, and any suitable mobile robot can be modified according to the present invention, is used for generating Visual Display on huge surface.Mobile robot 11,12nd, quick multiduty intelligent mobile robot, and can carry load durablely, such as navigational system or surface processing device.Based on the client-server core, mobile robot has an embedded computer.Such as the communication based on wireless ethernet, the exemplary functions of laser navigation and GPS navigation makes it possible to carry out autonomic function by mobile robot.Like this, follow certain path in case be programmed, mobile robot just independently carries out like this.But mobile robot can use internal combustion engine in addition with the battery operation of chargeable heat interchange.For fear of with processed lip-deep object collision, mobile robot has the ring of band the place ahead sonar sensor, and the back to the sonar ring of sonar is housed alternatively.Mobile robot has powerful motor and wheel.Can obtain the speed of maximum 1.6 metre per second (m/s)s like this.In order to keep accurate boat position tentative data in these speed, mobile robot uses suitable scrambler.It detects motion and depends on the real needs that generate Visual Display, considerably beyond common for example based on the navigation selection of laser, GPS, beam, vision, stereoscopic rangefinder, compass, or the combination in any of these pick-up units.Mobile robot 11,12 comprises a body, has the battery access door of hinge, preferably rechargeable battery power supply, 2 wheels preferably have scrambler, and a caster, have the motor of scrambler, preceding sonar ring, microcontroller, the sonar plate, motor power supply board, microcontroller server software, be integrated into user I/O bus and robot software in the hardware, and location and gradient guider.In addition, mobile robot is programmable.Can use the PC client computer to set up communication by the wireless video modulator-demodular unit, as Fig. 2 with reference to shown in the mobile robot 22.
According to this structure, strong mobile robot 11,12,22 has the aluminum body 113 of firm 44cm * 38cm * 22cm.Two motor of mobile robot use 19.5: 1 speed ratio and comprise 500-point (tick) scrambler.This differential driving platform is highly complete, and can rotate at suitable local two wheels 116 that move, or circle that can the 32cm radius is around not driving wheel swing.Back caster (not shown) balanced robot.Can intactly move and be meant that mobile robot can move in processed surperficial any direction, controls rotating speed simultaneously.That is to say that robot can drive in any direction, rotate, or even when path moves, rotate in suitable place.In addition, mobile robot can be climbed about 25% slope and the threshold of 2.5cm.At even curface, mobile robot moves with the speed that mostly is most per second 1.6 meters (mps).Mobile robot for effective operation by balance suitably.
The battery door that mobile robot is hinged makes the heat interchange battery simple, though unloaded mobile robot can move 18-24 hour with three batteries that are full of electricity.Use the charger of high power capacity, again Chong Dian time very short, be approximately 2 hours.Can guarantee to generate the huge Visual Display of above-mentioned virtually any size like this.
Mobile robot is equipped with and is easy to detachable nose, and this allows to pass in and out any optional embedded computer fast so that additional the most nearly 3 PC104+ cards.Mobile robot comprises one based on Siemens C166 microcontroller.About microcontroller, can use 8 digital inputs and 8 numerals to export the A/D ports that add a special use, wherein 4 numerals are imported the reconfigurable A/D of being output, and 4 numerals are exported the reconfigurable PWM of being output.This user I/O is integrated into can be by the pack arrangement of system software visit.A/D port and digital channel are used for the control surface treating apparatus, and are used for other task, for example with other system integrated or that be connected, such as additional guider communication.
Be used to be to and from the wireless ethernet that multiple arrangement transmits data and video transmission, can make between for example a plurality of robots (in order to reach the production time more apace) or mobile robot and the PC client computer and coordinate.
Mobile robot is with the client-server architecture operation, and wherein preferred client computer is vehicle-mounted embedded type PC.EBX shape coefficient (Form-Factor) embedded computer that has the expansion of PC104+ and pci bus characteristic, comprise low-power consumption, in light weight, have the built-in PC 104+ of the IDE data switching that PCI-strengthens, quickflashing SSD, 4 serial ports, 2 USB port, parallel port, 3.5 inches damping hard disk drives of 6.2GB, 128MBRAM, 2Mb DRAM and ethernet port.Current system speed is 800MHz.(SuSE) Linux OS has been installed, and all softwares are stored on the damping hard disk drive.The control of plug and play side plate is convenient to monitor, keyboard, and mouse and other modularization are inserted access hardware.
Like this, mobile robot provides autonomous operation, and vehicle-mounted processing is used for laser, inertia, vision, GPS and other real-time analysis.
As shown in Figure 1, clamp device a such as arm 124 is fixing with respect to mobile robot body 113, is used to grip replaceable attachment.Among Fig. 1, the nozzle 118 that a spray paint is shown is clamped on the arm 124.Yet other is applicable to that the instrument that carries out huge surface indicia can be clamped on the arm 124 equally.
This removable instrument is to be used for the instrument that treatment surface is used for generating by means of robot Visual Display.The type of instrument is not limited to specific set of tools, and can be the instrument of any kind treatment surface, so that revise the optical property that generates the surface of Visual Display on it.Optical property is meant such as contrast, character such as reflectivity.Being used for treatment surface has brush with the example of the instrument of revising above-mentioned optical property, careless bending apparatus, and instrument that is used to mow and color mark device are such as color coater nozzle device or the like.Example (not shown in the accompanying drawing) is the instrument that is used for crooked grass more specifically, and wherein by for example just careless bending direction of the processing of instrument, the degree that grass forces down (the degree of pressure result who is applied to blade of grass is crooked degree) etc. is adjustable.This instrument is applicable to crooked careless with required degree of crook by required sensing.Make grass point to different directions like this and along the vicissitudinous degree of crook of the path of mobile robot, thereby generate the zone that different contrast is arranged along the mobile robot path.Can regulate crooked direction with respect to the direction of path by adjustment means, and regulate crooked degree by regulating pressure, this pressure is applied to blade of grass by means of exemplary tool.In order to form the clearly more demarcated demonstration of figure, the label of similar elements is only represented once.
At least one nozzle arrangement is on described nozzle bracket 125 as shown.Nozzle bracket is configured in a side of free-roaming labelling apparatus 11.Nozzle bracket for example is positioned at side or center 119, shown in Fig. 1 and Fig. 5 C of free-roaming labelling apparatus 12, or behind/the place ahead of free-roaming labelling apparatus.When path was advanced, coating was coated to the surface in robot according to the present invention, the outline line of mark Visual Display like this, the outline line of for example expression sign.The number that is used for the nozzle of mark is variable.
Figure is to the conversion of mobile robot path and outline line
Followingly provide the more detailed explanation of method of vector graphics being transferred to huge surface with reference to Fig. 3.
Based on the software for drawing of vector such as AutoCad
Or Adobe Illustrator
Generate figure.Drafting is to constitute with the form of batten or the straight line figure by vectorization especially.Input to the mobile robot system is standardized vector graphics format, such as DXF, and DWG or SVG form.
In case it is available that vector is drawn, pair robot calculates a path collection in step 32, to allow to cover the zone of regulation.Alternatively, can be in step 31 input camera position, i.e. visual angle and distance.Use this information, can revise Visual Display with regard to its visual property, such as contrast, size, shape, perspective or position.Like this, Visual Display is done to adapt to modification and optimization, guarantee to experience better Visual Display for certain camera position.In addition, for example the position that (Fig. 2) will produce about Visual Display on portable computing 21 is done artificial the adaptation to the position of Visual Display and is revised.Fig. 6 illustrates the step of this method.On huge surperficial 62, to generate Visual Display 63.Configuration video camera 67 reaches the Visual Display that also has on surface 62 with capturing events.Video camera 67 shows to have certain position, i.e. distance and visual angle with respect to the visual angle.In order to regulate Visual Display 63, the size of Visual Display 63 can be optimised about the contour shape and the position of Visual Display 63, as arrow 66 (position), and arrow 64a, 64b and 65a, 65b (size/shape) and arrow 68 (rotation) are indicated.This is by A shown in Figure 6, B, the difference expression between the C, the position difference of video camera 67 wherein, and identify 63 shape and adapted in view of the above and revise.
The robot motion also passes path subsequently to the position of regulation then.A vehicle-mounted surface processing device in the robot, such as color mark device 13, allow robot along path by the time do the surface and handle.When path is advanced, robot is along the outline line treatment surface of Visual Display.When path is advanced, this surface is by continuously or interstitial treatment, so that generate the outline line of Visual Display.When arriving NEW BEGINNING point, labelling apparatus is turned and is covered new path.For example, " the Carlsberg in the accompanying drawing
" " C " be the path path that separates with path path 55, it is used to generate same Visual Display " Carlsberg
" " ar " part inside or outer wheels profile 59A, 59B.
The tracking of path is to use navigational system, for example based on GPS and/or laser scanning, realizes with the pinpoint accuracy perpendicular to path.
In order to locate, robot is equipped with navigation subsystem, preferably laser scanner or GPS unit.Lineup worker's mark 61 is also referred to as directional beacon, combines with laser scanner and is placed on the workspace, so that with high precision navigation mobile robot.
In addition, or can use a plurality of other systems with laser scanning system combination, such as GPS or directional scanning instrument, it provides the information of indoor or outdoors course and tilt/skew for mobile robot.In addition, compass or gyroscope have improved tracking accuracy.
The generation of Visual Display
Below provide detailed description, how to use robot to produce Visual Display according to the step 33 and 34 of this method.
In computing machine 20, generate the original paper be used for Visual Display or the effector, and for example transfer to portable computing 21 in the place that Visual Display is generated by link 23 or computer-readable medium.
In the work beginning, mark (directional beacon 61 is with reference to Fig. 6) is placed in the working environment, and carries out the demarcation task to determine the relative position of mark for robot, and this is corresponding to the scale unit 408 of Fig. 4.Robot is positioned at the starting point (position 0,0) of task.Demarcate (Fig. 2) in the dialogue by Radio Link 24 and user, wherein demarcation for example may further comprise the steps:
1. the introducing of several property-line posts (directional beacon 61).
The mark that uses is many more, and for generating the location of the mobile robot that Visual Display obtains, set and navigation are accurate more.Yet the location is also with individually boundary mark is relevant.
2. the set of property-line post 61.
3. pass through the calibration of the position of laser system property-line post 61.
4. the generation of the estimation of positioning system anticipate accuracy.
5. by operator's reception/refusal (starting anew).
If see the precision that has satisfied the expection of calculating, then receive this demarcation in step 4.Under other situation, the operator refuses to demarcate and calibration process starts anew, for example the property-line post that increases by the use number for improved bearing accuracy.
The operator interface of embodiment is the Java script form of carrying out on portable computing, such as the laptop that the WLAN interface is housed or hand-held device (such as CompaqIpaq
).
In case reached demarcation, operator's initialization task, this is the autonomous execution of mobile robot by the free-roaming labelling apparatus basically.Be sent to robot at step 33 path, and produce Visual Display in step 34.
Forward Fig. 4 now to, robot platform is equipped with computing machine and laser scanner interface.Computing machine preferably operates on the (SuSE) Linux OS.Robot 405 is equipped with laser scanner 410 in addition.As mentioned above, robot also is equipped with wave point.
For this system, software package comprises following code segment according to embodiments of the invention:
1. Zhuan Zhi interface (robot interface 404 and laser scanner interface 409)
The interface of device is responsible for visiting with the function of control about robot platform.This realizes that by hardware abstraction layer its assurance is easy to software is transferred to another robot from a robot, so that can change bare metal people platform.Providing of function is with the basic exercise functional form, i.e. the control of position and speed, and the detection of collision, and this is the unlatching by impact damper preferably.
2. locate and tracking module
3. via design and monitor module 402
The order that the via design device is responsible for selecting path 55 to be walked.In case produced a tabulation of path 55, each several part just is forwarded to tracker for realizing.When section 55 was finished, tracker was from new section of designer request.When all paths 55 are finished, notice monitor 402, and tracker 403 stops with designer.In the realization of reality, each section be corresponding to the data structure layer, promptly above-mentioned operation data file.Layer one after the other moves and comprises speed about path, outline line and free-roaming labelling apparatus, information such as mark on/off.
4. user interface 401
System based on menu is used for setting up and and system interaction.For example the function of being carried out by the system based on menu has:
● initialization,
● the foundation of demarcation
● task initialization
● download vector-valued image to robot,
● the monitor task process,
● the temporary transient interruption of task, and
● the termination of the task of carrying out.
Be stored in computer-readable medium according to the described software of the embodiment of the invention, the storer of for example above-mentioned mobile robot or portable computing is used for by for example being included in the Computer Processing of above-mentioned mobile robot or portable computing.
The checking to small part that can carry out Visual Display before the generation of reality generates.Like this system can be in advance for example at surperficial certain characteristic that will generate Visual Display on it by meticulous adjusting.
When removable instrument is when being used to apply the nozzle of coating/color, the automatic spraying gun type that this is preferably commercially available.The form of the coating of Tu Fuing depends on the pressure of input, the form of nozzle and the angle of sprinkling from the teeth outwards, and nozzle is to the distance on surface, the glutinousness of coating, and the thickness that coating is required or the coating content of coating are so that the saturated surface color etc. that surpasses of color.Nozzle is suitable for the specific Visual Display that generated, and above-mentioned running parameter disposes in view of the above.According to embodiments of the invention, shown in Fig. 1 top, surface processing device 13 is configured in outside the pedestal between the described propulsion plant 116, makes that propulsion plant 116 can not pass treated surf zone when for example being parallel to described treated surf zone when moving.This is important in order to reduce the production time, because under certain situation, do not allow mobile robot to move to the surface of having handled in the short time, particularly when carrying out surface treatment such as the coating that must carry out drying by the coating color material with its any wheel.In addition, wheel will be obtained the color material on the wheel, and in its continuous task this material be spread to the surface.
The application of the above-mentioned generation of Visual Display and use are diversified on huge surface according to the present invention, and comprise representational occasion, such as image, and the generation of picture, such as the sign of company, symbol, figure etc.Further the application scenario is included in the common indicium on the arbitrary surfaces material, fabric fibre for example, and this material is movable to another place when generating Visual Display, for example is hanging on the wall of buildings.Mark also can be such as huge mark on the runway on the airport etc.This system is of portable form, and can be used for outdoor and indoor environment.These Visual Display for example can be the signs of lip-deep company; highway section such as formula (formula) 1 track or Tour de France; or the surface of the sports of during television broadcasting, watching by mass viewer audiences carried out of the surface that is suitable for covering on the meadow; comprise football, golf, baseball; cricket; tennis, rugby, rugby etc.These surfaces can be indoor or outdoors.Visual Display can be a commercial message, such as the title or the sign of company, or out of Memory, such as the title or the sign of current team, the title in sports ground or place, the title of Physical Culture and Sports Association or sign or the like.
Incident also comprises other incident, the commercial or Olympic pik fanfare for example such as TV-.And huge surface can be adjacent with the surface of incident itself.For example in the parking lot circular adjacent with formula 1, or general traffic congestion campaign path, the track and field sports path, the equestrian sport field, horse racing path or the like, promptly huge surface is in the incident face side.Visual Display will still be broadcasted like this, though directly be not presented on the incident place such as the football field, the horse racing path that sandy ground covers is first-class.
Labelling apparatus of the present invention and method also allow the huge arbitrarily surface of mark, all airfield runways if any huge mark, and the example shown in Fig. 7 D, or the road of road sign and other pavement marker is for example arranged, the example shown in Fig. 7 E and 7F.Under this situation, the incident that is generated is presented at the short time and produces with very high precision.The not necessarily TV broadcasting of these marks, but generate such mark with very high accuracy, dirigibility and short generation time, be impossible up to now.The advantage that the present invention that Here it is is main.
The present invention has been described with reference to certain embodiments.Yet, be equally probable with above-mentioned other different embodiment within the scope of the appended claims, such as for example having with wheel or other propulsion system of above-mentioned robot different numbers or carrying out the different mobile robot of other navigational system etc. of said method by hardware or software.
The present invention has been described with regard to different embodiment.Yet scope of the present invention is not limited to the foregoing description, but only by the definition of the claim of appended patent.
What should emphasize is to be to refer in particular to described feature when using term " to comprise/comprise " in this manual, integral body, and the existence of step or assembly, but do not get rid of one or more features, the existence of integral body, step assembly or their group or additional.In addition, the function that can satisfy the plurality of units of quoting from the claim or a plurality of and single processor of circuit do not got rid of in term " " when using in this manual, or other unit.
Claims (35)
1. one kind generates the method for Visual Display by means of at least one free-roaming labelling apparatus on flat basically big surface, it is characterized in that
Pass through along at least one path on the described surface with described free-roaming labelling apparatus, make that at least one outline line of described Visual Display is passed through on described surface, and
When along described at least one path by the time, handle described surface by means of described free-roaming labelling apparatus along described at least one outline line of described Visual Display.
2. according to the method for claim 1, it is characterized in that, the treating step comprises that wherein said instrument is suitable for applying coating to the surface and along described at least one outline line with the described surface of removable toolmark.
3. according to the method for claim 1, it is characterized in that, the treating step comprises with the described surface of removable toolmark, wherein said instrument is suitable for carrying out at least one task of selecting from the blade of grass the described surface is carried out bending and/or orientation and/or cutting.
4. according to the method for above arbitrary claim, it is characterized in that, one after the other handle at least one inside or the perimeter described by the described outline line of described Visual Display from the teeth outwards.
5. according to the method for claim 4, it is characterized in that, handle described zone by means of described free-roaming labelling apparatus.
6. according to the method for claim 4, it is characterized in that the described zone of artificial treatment.
7. according to the method for above arbitrary claim, it is characterized in that, calculate described path from the source data of representing described Visual Display, wherein
Described source data be the described Visual Display of expression computer data file and
Described computer documents is automatically converted to instruction, is used for described free-roaming labelling apparatus and passes through, to generate described Visual Display along described path.
8. according to the method for claim 7, it is characterized in that described computer data file is the vector graphics file.
9. according to the method for claim 7, it is characterized in that wherein said instruction comprises the operation of free-roaming labelling apparatus, it comprises the job order of free-roaming labelling apparatus, direction, speed, path track and beginning/stop position, the on/off of color and mark.
10. according to the method for above arbitrary claim, it is characterized in that
Generate described Visual Display according to scale, and described Visual Display is adjusted to respect to image capture apparatus for visual angle and/or sighting distance in the position of the above Visual Display of described surface.
11. the method according to claim 10 is characterized in that, makes the perspective of the described Visual Display that generates on described surface adjust to described visual angle and distance, comprises the size of adjusting Visual Display, shape or contrast.
12. the method according to claim 10 or 11 is characterized in that, image capture apparatus is a TV video camera.
13. the method according to above arbitrary claim is characterized in that, described Visual Display is a Visual Display completely.
14. the method according to above arbitrary claim is characterized in that, Visual Display is to select from the group that comprises the following: the picture or the image that comprise sign or figure.
15. the method according to above arbitrary claim is characterized in that, the free-roaming labelling apparatus is determined its position by means of navigational system.
16. the method according to claim 15 is characterized in that, described navigational system is a laser scanner and/or GPS unit.
17. the method according to above arbitrary claim is characterized in that, the treating step comprises by making careless bending and the described outline line of mark at described surface-coated coating and/or along described outline line.
18. the method according to above arbitrary claim is characterized in that, surfacing is to select from the group that comprises the following: pitch, concrete, cement, stone, natural stone, fabric fibre, synthetic material, artificial surfaces material, rubber, metal, glass blocks and grass.
19. according to the method for above arbitrary claim, wherein said surface is to select from the group that comprises the following: airfield runway, road surface, roof surface, stadium of track and field surface, sports ground, outdoor carpet, synthetic surface, artificial surfaces, vessel surface; Wherein these surfaces are outdoor and/or chamber internal surface.
20. according to the method for above arbitrary claim, pre-service is come with the substrate of the layout that is used to arrange described surface in wherein said surface.
21. one kind is used for coming the system of the method for enforcement of rights requirement 1 by produce Visual Display on huge surface, described system comprises:
The free-roaming labelling apparatus is suitable for generating described Visual Display by handling described surface, wherein
Described free-roaming labelling apparatus in use is suitable for passing through along described lip-deep path,
Described free-roaming device comprises treating apparatus, be used for when along described path by the time handle described surface along the outline line of described Visual Display, and
Calculation element is used for calculating described path automatically from the source data of representing described Visual Display.
22., also comprise a portable computing, be used for carrying out radio communication, and be used for programming in the position that will generate Visual Display and controlling described free-roaming labelling apparatus with the free-roaming labelling apparatus according to the system of claim 21.
23., also comprise a remote computer, be used to generate effector, and wherein said effector is sent to described portable computing for further handling to described Visual Display according to the system of claim 22.
24. according to the system of claim 21 to 23, wherein said free-roaming labelling apparatus generates at least one outline line of described Visual Display automatically by described labelling apparatus on described huge surface.
25. according to the system of claim 24, wherein said labelling apparatus is at least one coating coater nozzle.
26. according to the system of claim 25, wherein said at least one nozzle placement is on the nozzle bracket of described free-roaming labelling apparatus.
27. according to the system of claim 26, wherein said nozzle bracket is arranged with respect to heart in the center of rotation of described free-roaming device, or is arranged in a side of described free-roaming device.
28. according to the system of claim 26, wherein said nozzle bracket is arranged in the place ahead or the rear of described free-roaming device.
29. according to the system of claim 21, wherein said free-roaming labelling apparatus comprises a surface treating implement, it has adjustable processing direction and adjustable pressure to described surface.
30. according to the system of any claim 21 to 29, wherein said free-roaming labelling apparatus comprises a navigational system.
31. according to the system of claim 30, wherein said navigational system is laser scanner and/or GPS unit.
32. a computer-readable medium has the computer program of including thereon, this program is used for that the method according to claim 1 produces Visual Display on huge surface by Computer Processing, and described computer program comprises a plurality of code segments, it is characterized in that
The first code section is used to calculate path, and by to generate described Visual Display, wherein said path is calculated from the source data of representing described Visual Display the free-roaming labelling apparatus automatically along this path.
33. according to the computer-readable medium of claim 32, its feature also is
A second code section, be used to instruct described free-roaming labelling apparatus to pass through along described lip-deep path, make on described huge surface, when when described path passes through, by using described free-roaming labelling apparatus to handle described surface, generate at least one outline line of described Visual Display along the outline line of described Visual Display.
34. mobile robot is as the purposes of free-roaming labelling apparatus, described free-roaming device is used for carrying out according to the process of claim 1 wherein that described mobile robot is instructed and passing through along path by produce Visual Display on huge surface, and
Described Visual Display on described surface as the summation of described path and generate, wherein by use described free-roaming labelling apparatus when it along described path by the time handle described surface along the outline line of described Visual Display, on described surface, generate at least one outline line of described Visual Display.
35. according to the purposes of the mobile robot of claim 34, wherein said path is calculated automatically from the computer data file that comprises graphic file, this graphic file is stored the described visual information of described Visual Display.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE03013315 | 2003-05-07 | ||
| SE03013323 | 2003-05-07 | ||
| SE0301332A SE525702C2 (en) | 2003-05-07 | 2003-05-07 | Visual presentation creation method in e.g. sports field, involves propelling robot along trajectory on surface for painting visual representation on surface |
| US60/468,652 | 2003-05-08 | ||
| US60/468,653 | 2003-05-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1784685A true CN1784685A (en) | 2006-06-07 |
Family
ID=20291230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2004800122179A Pending CN1784685A (en) | 2003-05-07 | 2004-05-07 | Marking of large surfaces with visual presentations |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN1784685A (en) |
| SE (1) | SE525702C2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023113799A1 (en) * | 2021-12-16 | 2023-06-22 | Hewlett-Packard Development Company, L.P. | Surface marking robots and obstacles |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4176946A1 (en) * | 2021-11-03 | 2023-05-10 | Swozi Ag | Marking device, trailer unit for a marking device and method for marking a number, letter or symbol |
| GB202215348D0 (en) * | 2022-10-18 | 2022-11-30 | Micropply Ltd | Systems and methods for depositing material on an uneven gound surface |
-
2003
- 2003-05-07 SE SE0301332A patent/SE525702C2/en unknown
-
2004
- 2004-05-07 CN CNA2004800122179A patent/CN1784685A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023113799A1 (en) * | 2021-12-16 | 2023-06-22 | Hewlett-Packard Development Company, L.P. | Surface marking robots and obstacles |
Also Published As
| Publication number | Publication date |
|---|---|
| SE525702C2 (en) | 2005-04-05 |
| SE0301332D0 (en) | 2003-05-07 |
| SE0301332L (en) | 2004-11-08 |
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