GB2618310A

GB2618310A - An autonomous ground deposition and/or marking robot purging arrangement

Info

Publication number: GB2618310A
Application number: GB2204635.3A
Authority: GB
Inventors: David George Rhoades Anthony; Paul Cornish-Evans Samuel; Dohnalek Jiri; Cassidy Lewis
Original assignee: Micropply Ltd
Current assignee: Micropply Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2023-11-08
Also published as: GB202204635D0

Abstract

An autonomous ground deposition and/or marking robot purging arrangement 10, comprises a first locator member 12 and a second locator member 14 cooperatively arrangeable to provide a purge container locator 16. The purge container locator is operable to locate a purge container (100 figure 8) in a predetermined purging position. The first locator member comprising a first locator surface 36 and a first guide surface (40 figure 3) extending at angle relative to the first locator surface. The second locator member comprises a second locator surface (76 figure 3) and a second guide surface (80 figure 3) extending at angle relative to the second locator surface. The first and second guide surfaces are operable to receive a purge container and guide the said purge container into the purge container locator. Also claimed is a purge container which may have a flat-topped triangular prism shape.

Description

AN AUTONOMOUS GROUND DEPOSITION AND/OR MARKING ROBOT PURGING ARRANGEMENT

TECHNICAL FIELD

[0001] The present invention relates to autonomous ground deposition and/or marking robots of a type equipped to deposit materials such as an ink and paint, but may equally deposit sand, seed, fertiliser, or other ground treatments onto a ground surface, or for injection under pressure into a ground surface, and particularly to autonomous ground deposition and/or marking robot cleaning and purging arrangements, containers and methods.

BACKGROUND

[0002] Autonomous ground marking robots are equipped with a suite of artificial intelligence and machine learning algorithms for optimisation of any ground marking, or deposition processes, whilst adapting in real-time to environmental factors, marking or printing constraints and image, or marking accuracy, feedback.

[0003] Autonomous ground marking robots enable ground marking, or depositing materials on the ground, to be as efficient as printing, or marking, on paper. Resulting in quality, high-definition, and accurate representations to be applied onto the ground.

Because the deposition of the material is of such a high-definition and of high quality and accuracy, it is desirable to regularly clean and/or purge the printing mechanisms. However, cleaning and/or purging can often, and easily, lead to spillage of the material. This may require remedial clean-up action, possibly requiring the use of chemicals which is environmentally undesirable. Moreover, because the deposited material on the ground is of such a high-definition and of high quality and accuracy, any spillage of coloured paint or ink materials is very noticeable and therefore extremely undesirable.

[0004] Purging of autonomous ground marking robots usually involves an operative placing a regular-shaped container, such as a plastic bin or bucket, on the ground under the printing mechanism. This area is often not in the normal line-of-sight of the operative and as such, can be difficult to locate, especially when the autonomous ground marking robots are in operation. It is an inefficient and inaccurate method, which usually involves an operative having to crouch down on their hands and knees, guessing where to locate the regular container.

[0005] It is therefore desirable in the industry for there to be an autonomous ground marking robot purging arrangement, which enables a purging container to be easily, properly, and correctly located and which efficaciously collects purged material on varying types, heights and gradients of surfaces. It is also desirable for there to be a autonomous ground marking robot cleaning/and or purging arrangement which mitigates spillages and thereby improves environmental conditions.

[0006] Autonomous Ground Deposition and/or Marking Vehicles may be completely autonomous (i.e. free from human operation and/or supervision) or may require at least partial human operation and/or supervision depending on the application.

SUMMARY OF INVENTION

[0007] According to a fist aspect of the present invention, there is provided an autonomous ground deposition and/or marking robot purging arrangement, the purging arrangement comprising: a first locator member and a second locator member cooperatively arrangeable to provide a purge container locator, wherein the purge container locator is operable to locate a purge container in a predetermined purging position; the first locator member comprising a first locator surface and a first guide surface extending at angle relative to the first locator surface; the second locator member comprising a second receiver locator surface and a second guide surface extending at angle relative to the second receiver locator surface; wherein the first and second guide surfaces are operable to receive a purge container and guide the said purge container into the purge container locator.

[0008] Advantageously allowing a purging container to be easily, properly and correctly located and which efficaciously collects purged material on varying types, heights and gradients of surfaces.

[0009] The first locator member advantageously comprises a first container stop extending at an angle relative to the first locator surface and operable to stop the container in the predetermined purging position.

[0010] The second locator member advantageously comprises a second container stop extending at an angle relative to the second locator surface and operable to stop the container in the predetermined purging position.

[0011] The purging arrangement advantageously comprises attachment means operable to attach the first and second locator members to an autonomous ground deposition and/or marking robot, wherein the attachment means are arranged such that when the first and second locator members are attached to said autonomous ground deposition and/or marking robot, the first and second locator surfaces are disposed to correspond with the external surfaces of said purge container.

[0012] When the first and second locator members are attached to an autonomous ground deposition and/or marking robot, the first and second locator surfaces are advantageously disposed at an angle relative to each other.

[0013] At least one of the first and second locator members advantageously comprises a ferromagnetic metal.

[0014] At least one of the first and second locator members advantageously comprises magnetic material.

[0015] According to a second aspect of the present invention there is provided an autonomous ground deposition and/or marking robot purging container comprising a base portion, a side portion and a top portion, the purging container having a length dimension and a width dimension, wherein the width dimension of the base portion is greater than the width dimension of the top portion.

[0016] Thus advantageously mitigating spillages and thereby improving environmental conditions.

[0017] The side portion advantageously comprises a first side wall, a second side wall, a distal end and a proximate end and wherein the first and second side wall are disposed at an angle relative to each other.

[0018] The shape of the purging container is advantageously, at least substantially, of a flat-topped triangular prism.

[0019] The proximate end of the purging container advantageously comprises a handle. The handle is advantageously integrally formed into the proximate end.

[0020] The top portion of the purging container advantageously comprises a purge opening formed to provide a transition fit with a purging nozzle and thereby mitigate escape of purged fluid from the purging container.

[0021] The top portion of the purging container advantageously comprises a lower portion and a raised portion.

[0022] The purge opening advantageously comprises a slot extending longitudinally along the raised portion. The slot may further extend into the lower portion of the top portion.

[0023] Advantageously, the slot is approximate shape of the nozzle array of a ground printer, thus allowing the whole nozzle array to be purged at the same time. The gap should be as tight to the nozzle array size as possible, such that when purging the spray of the purge does not bounce back up from the bottom of the container and splash the underside of the machine.

[0024] The shape and height of the purging container being arranged to make it easier for someone to pick it up and put it down when full However, for it not to topple over, thus spilling the contents.

[0025] The distal end advantageously comprises a locating member. The distal end advantageously comprises a closure.

[0026] At least one of the first side wall and second side wall advantageously comprises magnetic material.

[0027] The magnetic material is advantageously disposed in a region adjacent the distal end.

[0028] The purging container advantageously comprises a plastics material.

[0029] According to a third aspect of the present invention there is provided an autonomous ground marking robot purging arrangement according to the first aspect of the present invention and further comprising a purging container according to the second aspect of the present invention.

[0030] According to a fourth aspect of the present invention there is provided an autonomous ground marking robot comprising a robotic ground printer purging arrangement according to the third aspect of the present invention.

[0031] According to a fifth aspect of the present invention there is provided a method of purging an autonomous ground deposition and/or marking robot according to the fourth aspect of the present invention, comprising: disposing the distal end of the purge container in the guiding receiver between the first and second guide surfaces; guiding the purge container into the purge container locator, whereby guiding of the purge container comprises slidably engaging at least one of the purge container first side wall with the first guide surface and purge container second side wall with the second guide surface continuing to insert the purge container into the purge container locator until the distal wall of the purge container abuts the at least one first and second container stop at which the purge container is located in a predetermined purging position; actuating the autonomous ground marking robot to undertake a purge cycle.

[0032] The purging container magnetic material advantageously provides haptic 5 engagement with at least one of the first locator member and second locator member as the purge container is guided into the purge container locator.

BRIEF DESCRIPTION OF DRAWINGS

[0033] Various embodiments of the invention will be described with reference to the following drawings, in which: [0034] Figure 1 is a perspective drawing of an autonomous ground marking robot purging arrangement, according to the present invention; [0035] Figure 2 is an exploded view drawing of the autonomous ground marking robot purging arrangement of Figure 1; [0036] Figure 3 is an underside view drawing of the autonomous ground marking robot purging arrangement of Figure 1; [0037] Figure 4 is a top view drawing of the autonomous ground marking robot purging arrangement of Figure 1, [0038] Figure 5 is a proximate end view drawing of the autonomous ground marking robot purging arrangement of Figure 1; [0039] Figure 6 is a side view drawing of a first locator member of the autonomous ground marking robot purging arrangement of Figure 1; [0040] Figure 7 is a side view drawing of a second locator member of the autonomous ground marking robot purging arrangement of Figure 1; [0041] Figure 8 is a perspective drawing of a purging container according to the present invention; [0042] Figure 9 is a side view drawing of a purging container of Figure 8; [0043] Figure 10 is a top view drawing of a purging container of Figure 8; [0044] Figure 11 is a proximate end view drawing of a purging container of Figure 8; [0045] Figure 12 is an exploded view drawing of a purging container of Figure 8; [0046] Figure 13 is a schematic drawing of a autonomous ground marking robot according to the present invention; [0047] Figure 14 is a schematic drawing of a primary packaging of ground marking 20 material and purging system of the autonomous ground marking robot of Figure 13; [0048] Figure 15 is an underside view drawing of the autonomous ground marking robot of Figure 13; [0049] Figure 16 is a schematic drawing of a smart communications module of the autonomous ground marking robot of Figure 13.

[0050] The present techniques will be described more fully hereinafter with reference to the accompanying drawings. Like numbers refer to like elements throughout. Parts 30 of the autonomous ground marking robots are not necessarily to scale and may just be representative of components of the autonomous ground marking robots, or other described entities.

DESCRIPTION OF EMBODIMENTS

[0051] Referring to Figures 1 to 7, according to a preferred embodiment of the present invention, an autonomous ground marking robot purging arrangement 10 comprises a first locator member 12 and a second locator member 14. The first and second locator members, 12 and 14, are cooperatively arrangeable to provide a purge container locator 16. The purge container locator 16 is operable to locate a purging container in a predetermined purging position.

[0052] Each of the first and second locator members, 12 and 14, is formed from a sheet of metal, such as, for example, sheet steel. In alternative embodiments, the first and second locator members, 12 and 14, may be formed from other metals or materials, such as, for example, plastics materials.

[0053] Referring particularly to Figures 1 to 6, in a preferred embodiment, the first locator member 12 is preferably formed from a single sheet of material and comprises a first locator plate 18, a first guide plate 20, a first stop 22; a pair of first attachment tabs, 24A and 24B, and a container detector mounting tab 26.

[0054] In particular, referring to Figure 6, the first locator plate 18 comprises an upper region 28, a lower region 30, a front region 32, a rear region 34, a first locator surface 36 and an external surface 38. The first guide plate 20 comprises a first guide surface 40 and an external surface 42.

[0055] The first guide plate 20 extends from the front region 32, of the first locator plate 18, and is formed at an angle relative to the first locator plate 18, such that the first guide surface 40 is disposed at an angle relative to the first locator surface 36. In a preferred embodiment, this is achieved by bending the sheet metal of the first locater member 12 to form the first locator plate 18, at an angle relative to the first guide plate 20.

[0056] The first stop 22 is operable to stop a purge container (as described with reference to Figures 8-12) being inserted into the purge container locator 16 in a predetermined purging position. The first stop 22 is integrally formed with, and extends from, the rear region 34 of the first locator plate 18, at an angle relative to the first locator plate 18, such that the first stop 22 is disposed at an angle relative to the first locator surface 36.

[0057] The first attachment tabs, 24A and 24B, are operable to attach the first locator member 12 to a autonomous ground marking robot, such as that described in Figures 13-16. The first attachment tabs, 24A and 24B, are formed at a predefined angle relative to the first locator plate 18, such that the first attachment tabs, 24A and 24B, are disposed at an angle relative to the first locator surface 36. Each of the first attachment tabs, 24A and 24B, comprise a through hole, 44A and 44B, and corresponding threaded bolts, 46A and 46B, and nuts, 48A and 48B, for attaching the first locator member 12 to an autonomous ground marking robot, such as described in relation to Figures 13-16.

[0058] The container detector mounting tab 26 is integrally formed with, and extending at an angle from, the first locator member 12. The container detector mount tab 26 comprises a through hole, which is preferably in the form of an elongate slot 50 and a threaded bolt 52 having a diameter to pass through the slot 50, and a nut 54.

[0059] A container detector 56 is mounted on mount tab 26 and secured thereto using the threaded bolt 52 and nut 54. The position of the container detector 56 can be altered relative to the position of the first locator surface 36 by sliding the bolt 52 along the slot 50 until the desired position is achieved and then tightening the nut 54 onto the bolt 52 to secure it in that position. The container detector 56 is operable to detect the presence of a purge container (as described with reference to Figures 8-12) disposed in the predetermined purging position and to preferably provide an indication, such as, for example, an audio or visual signal to an operator that the purge container is positioned in the predetermined purging position. When a purge container is located into the predetermined purging position, it contacts and actuates the contact switch on the container detector 56 to cause an audio or visual signal to an operative that a purge container is positioned in the predetermined purging position.

[0060] In a preferred embodiment, a plurality of magnetic pads 58 are disposed in a spaced apart arrangement on the first locator surface 36 and extend, at least in part, between the front region 32 and rear region 34. The plurality of magnetic pads 58 each have a magnetic pole and thereby provide haptic feedback to an operator when inserting a purging container into the purge container locator 16.

[0061] In an alternative embodiment, the first locator member 12 may have a single magnetic pad 58 disposed on the first locator surface 36 and extending, at least in part, between the front region 32 and rear region 34. The single magnetic pad 58 provides haptic feedback to an operator that a purging container is being properly inserted into the purging container by following the first locator surface 36.

[0062] In an alternative embodiment, any one or more of the first locator plate 18, the first guide plate 20, the first stop 22, the pair of first attachment tabs, 24A and 24B, and the container detector mounting tab 26 may be separate elements which are attached to each other through, for example, a weld joint.

[0063] In a further embodiment in which the first locator member 12 is formed from a plastics material the first guide plate 20, the first stop 22, the pair of first attachment tabs, 24A and 24B, and the container detector mounting tab 26 may be formed separately, or in one piece, from a plastics moulding process.

[0064] Similarly, referring particularly to Figures 1 to 5 and 7, in a preferred embodiment, the second locator member 14 is preferably formed from a single sheet of material and comprises a second locator plate 60, a second guide plate 62, a 15 second stop 64, and a pair of second attachment tabs, 66A and 66B.

[0065] In particular, referring to Figure 7, the second locator plate 60 comprises an upper region 68, a lower region 70, a front region 72, a rear region 74, a second locator surface 76 and an external surface 78. The second guide plate 62 comprises a second 20 guide surface 80 and an external surface 82.

[0066] The second guide plate 62 extends from the front region 72, of the second locator plate 60, and is formed at an angle relative to the second locator plate 60, such that the second guide surface 80 is disposed at an angle relative to the second locator surface 76. In a preferred embodiment, this is achieved by bending the sheet metal of the second locater member 14 to form the second locator plate 60 at an angle relative to the second guide plate 62.

[0067] The second stop 64 is operable to stop a purge container being inserted into the purge container locator 16 in a predetermined purging position. The second stop 64 is integrally formed with, and extends from, the rear region 74 of the second locator plate 60, at an angle relative to the second locator plate 60, such that the second stop 64 is disposed at an angle relative to the second locator surface 76.

[0068] The second attachment tabs, 66A and 66B, are operable to attach the second locator member 14 to an autonomous ground marking robot. The second attachment tabs, 66A and 66B, are formed at a predefined angle relative to the second locator plate 60, such that the second attachment tabs, 66A and 66B, are disposed at an angle relative to the second locator surface 76. Each of the second attachment tabs, 66A and 66B, comprise a through hole, 84A and 84B, and corresponding threaded bolts, 86A and 86B, and nuts, 88A and 88B, for attaching the second locator member 12 to an autonomous ground marking robot.

[0069] In an alternative embodiment, not shown on the drawings, the second locator member 14 may further comprise a second container detector mounting tab integrally formed with, and extending at an angle from, the second locator member 14, as described with reference to the first locator member 12. As described with reference to the first locator member 12, a second container detector may be mounted on the second mounting tab and secured thereto using a threaded bolt and nut. The position of the second container detector can be altered relative to the position of the second locator surface 76 by sliding the bolt along a slot until the desired position is achieved and then tightening the nut onto the bolt to secure it in that position The second container detector is operable to detect the presence of a purge container disposed in the predetermined purging position and to preferably provide an indication, such as, for example, an audio or visual signal to an operative that a purge container is positioned in the predetermined purging position.

[0070] In an alternative embodiment, not shown in the drawings, as described with reference to the first locator member 12, a plurality of magnetic pads may be disposed in a spaced apart arrangement on the second locator surface 76 and extend, at least in part, between the front region 72 and rear region 74. The plurality of magnetic pads each have a magnetic pole and thereby provide haptic feedback to an operator when inserting a purging container into the purge container locator 16.

[0071] In a further alternative embodiment, not shown in the drawings, the second locator member 14 may have a single magnetic pad disposed on the second locator surface 76 and extending, at least in part, between the front region 72 and rear region 74. The single magnetic pad provides haptic feedback to an operator that a purging container is being properly inserted into the purging container by following the first locator surface 76.

[0072] In an alternative embodiment, any one or more of the second locator plate 60, the second guide plate 62, the second stop 64, and the pair of second attachment 20 tabs, 66A and 66B may be separate elements which are attached to each other through, for example, a weld joint.

[0073] In a further embodiment in which the second locator member 14 is formed from a plastics material the second locator plate 60, the second guide plate 62, the second 25 stop 64, and the pair of second attachment tabs, 66A and 66B, may be formed separately or in one piece from a plastics moulding process.

[0074] Referring to Figures 8 to 12, an autonomous ground marking robot purging container 100, according to the present invention, comprises a base portion 102, a side portion 104 and a top portion 106. The side portion 104 comprises a first side wall 108, a second side wall 110, a distal end 112, and a proximate end 114. The purging 5 container 100 comprises a length dimension L and a width dimension W. The base portion width dimension Wg is greater than the top portion width dimension WT, such that the first and second side walls, 108 and 110, are formed at an angle equal to, or at least operable to correspond with, the angle of the first and second locator surfaces, 36 and 76, of the first and second, locator members, 12 and 14, respectively, when 10 the purging arrangement 10 (and as described with reference to Figures 1 to 7) is attached to an autonomous ground marking robot.

[0075] The shape of the purging container 100 is substantially of a flat-topped triangular prism.

[0076] The proximate end 114 comprises a handle 116 which is preferably integrally formed into the proximate end 114.

[0077] The top portion 106 comprises a lower portion 118 and a raised portion 120. A purge opening in the form of a purge slot 122 is operable to receive purged material, such as cleaning chemicals, flushed water and/or excess paints from an autonomous ground marking robot. In a preferred embodiment, the purge slot 122 extends longitudinally along length of the raised portion 120 and into the lower portion 118. The purge slot 122 is disposed relative to the distal end 112 such that insertion of the purging container 100 into the predetermined purging position, locates the purge slot 122 to underlie and, preferably, provide a transition fit with the purging nozzles of an autonomous ground marking robot. A transition fit between the purge slot 122 and the purging nozzles mitigates spillages and thereby improves environmental conditions.

[0078] The distal end 112 comprises a locating member 124 suitably located to abut the first and second stops, 22 and 64, when the purge container 100 is disposed in the predetermined purging position in the purge container locator 16.

[0079] Referring particularly to Figures 9, 10 and 12, the distal end 112 further comprises a closure 126 which provides a sealed closure of an emptying opening (not shown). The emptying opening is smaller than the purge slot 120 and suitably positioned through the distal end to enable the collected purge material to be accurately emptied from the purge container 100, without spillage. The closure 126 is preferably screw threaded and formed to provide a finger grip 128 for opening the closure 124 and for carrying the purge container 100, when screwed into the opening.

[0080] The first side wall 108 comprises a magnetic material in the form of, for example, a magnetic pad 130 disposed adjacent the distal end 112 and operable to interact with plurality of magnetic pads 58 disposed on the first locator surface 36 of the first locator member 12.

[0081] Referring to Figure 13 an autonomous ground marking robot 200, according to the present invention, comprises an outer case 202 cut away to reveal an array of primary packaging 204, 206, 208 and 210. The primary packaging 204, 206, 208 and 210 comprises ink held within a bag (not shown), with the primary packaging comprising a red ink R, a green ink G, a blue ink B and a white ink W. Each primary packaging 204, 206, 208 and 210 is supported on a weight measuring plate 204A, 206A, 208A and 210A connected to a smart communications module 212 described more fully in Figure 16, which may also serve as or be connected to an on-board control system (not shown). The smart communications module 212 comprises a transceiver 212A for communication with remote resources (not shown).

[0082] Each weight measuring plate 204A, 206A, 208A and 210A is an integral part of a frame 214 capable of holding the primary packaging 204, 206, 208 and 210 firmly in place and comprises a load sensor 216 for registering the presence of the primary packaging 204, 206, 208 and 210 when firmly in place in the frame 214. Load sensor 216 may be a photodiode or a RFID tag that communicates with an ID tag 218 of the primary packaging 204, 206, 208 and 210. ID tag 218 may also comprise a barcode or other smart label, which is used for identification of the primary packaging 204, 206, 208 and 210.

[0083] More than one load sensor 216 can be used for load balancing. For example, two, three, four or more load sensors can be positioned as part of or under a platform or frame (which may, for example, be the weight measuring plate 204A) supporting the ink bag and primary packaging. In operation, when the platform is flat then all the load sensors should measure the same normal force to each load sensor 216 i.e. the force in line with their mounting and perpendicular to the flat surface or platform supporting the ink bag and primary packaging. When the robot is on an incline then the platform is on an incline and so the load of the ink in the ink bag is not distributed evenly across the platform and the load sensors will show different readings. As gravity acts perpendicular to a 0° incline any deviation from this horizontal must be accounted for in any measurements. The robot determines it is at an angle or incline from an onboard accelerometer and can report any incline in 3-axes. To account for the incline, trigonometry can be used to convert the normal force the scale measures into the weight. This calculation can be done with the 3-axis vector (incline in 3-axes) extracted from the accelerometer. Therefore, the method includes reading an output of load sensors and applying a corrective formula and adjusting weight measurement to take into account the incline and determine an accurate weight and/or volume.

[0084] As best seen in Figure 14, a flexible ink bag 220 comprises an airtight valve outlet 222 sealed to the flexible ink bag 220 with the appropriate connection part for secure connection to a hose 224. The hose 224 may also be a tube, piping or any suitable means to transport the material for deposition.

[0085] The robot 200 comprises wheels 226 for movement, a position sensor 228 and laser 230. Position sensor 228 may comprises a Global Positioning Device for navigation or the robot may use triangulation with known positioning reflectors and the laser 230 for positioning. In operation, the robot may be in constant communication with a positioning device and may reposition itself based on communication from a Global Positioning Device.

[0086] Turning to Figure 14, the primary packaging 204 comprising the flexible ink bag 220 with the hose 224 is connected to a nozzle array 232 via an actuator pump 234.

Here the nozzle array 232 acts as the means to deposit the material for deposition.

Any such suitable nozzle, nozzle array or means to deposit the material, depending on the actual material to be deposited, may be used. Each ink bag of the primary packaging 204, 206, 208 and 210 of Figure 13 will have a hose 224 and valve 222 to connect to the nozzle array 232 via the actuator pump 234. The system may have a single actuator pump 234 for all primary packaging/ink bag/hose), or there may be multiple actuator pumps, i.e. one for each primary packaging/ink bags/hose. Each nozzle of the nozzle array 232 may be designated for each primary packaging/ink bag/hose present, so that each nozzle is for deposition of only the material held in each primary packing/ink bag.

[0087] In operation, the bags 220 may contain different colours of marking materials, i.e. inks or paints, which may comprise CYM or, if good black is required, CYMK colours. When depositing ink or paint to print an image, the image may be printed in sweeps to generate small adjacent dots (i.e. each dot comes from a single nozzle of the array 232), and when viewed from above or a suitable distance from afar (e.g. from the stand in a stadium or from a television view) appear to blend into colours, depending on the relative colours of the different inks or colours deposited.

[0088] The flexible ink bag 220 comprises the red ink R suitable for depositing a red colour on a ground yet the flexible ink bag 220 may comprise any material for deposition, for example a marking material or a chemical to deposit on the ground, such as a herbicide, pesticide, insecticide, paint, ink, coloured material, powder, fertilizer, plant growth aid or water, or the like provided that a compatible hose 224 and nozzle arrays 232 are attached.

[0089] The hose 224 is connected to a purging system 236 comprising a manifold 238 connected to a tank 240 containing chemical liquids 242 which serve a variety of purposes, for example, a cleaning or purging liquid. The chemical liquids 242 may be used to clean and/or purge the hose 224 and nozzles 232, and due to their properties, it may not be desirable to allow these liquids to exit via the printing nozzles, so it might be necessary or desirable to send them through to a purging capture tank, such as that described in further detail in Figures 1 to 7.

[0090] During printing or ground marking the weight of the ink bag 220 will decrease as ink is deposited onto the ground. The weight monitoring plate 204A can measure the change in weight and gather data.

[0091] Figure 15 is an underneath view of the autonomous ground marking robot 200. The robot 200 comprises the case 202 held securely by a chassis supporting the ground wheel arrangement 226A, 226B, 226C and 226D with a print head 244 on a traverse guide 246, the traverse guide 246 permitting movement of the print head 244 beyond the width Ww of the ground wheel arrangement, along the length of the print width 248. The nozzle array 232 is attached to the print head 244. The nozzles maybe fixed and the print head 244 moveable. The print head 244, via the print guide 246, may be moveable along the length of a print width 248, which is the area the print head is capable of printing. The print head 244 many also be movable vertically based on the image to be printed, for example the print head 244 can be moved up and down depending on the density of the image to be printed.

[0092] The ground wheel arrangement 226A, 2263, 226C and 226D steer the robot 200 along a path to affect the printing, and this may be under the control of a print file that can be loaded into the on-board control system such as may be contained communications module 212. The traverse guide 246 is fixed in relation to the ground wheel arrangement 226A, 2263, 226C and 226D, so that it prints one line of an image along the print width 248. The ground wheel arrangement 226A, 2263, 226C and 226D then notches forward, moving the whole printer 10 forward for it to print another line. In another arrangement not illustrated the traverse guide 62 can be movable relative to the ground wheel arrangement 226A, 2263, 226C and 226D in the direction of travel, so that an area may be printed while the ground wheel arrangement 226A, 226B, 226C and 226D is stationary, and then the ground wheel arrangement 226A, 226B, 226C and 226D moves forward by the length of the area printed so as to print an adjacent area of image. The print head 244 can, for example, print a line of lOmm width, then the ground wheel arrangement 226A, 226B, 226C and 226D notch forward 5 by 10m m. The robot 200 can therefore print a strip of image wider than the width Ww of the ground wheel arrangement 226A, 226B, 226C and 226D and when an entire strip of image has been printed turn around to print an adjacent strip. In this way, the ground wheel arrangement 226A, 226B, 226C and 226D does not run over any part of the freshly painted ground. The wheel arrangement 226A, 226B, 226C and 226D 10 may have independent drives to manage torque for optimised positioning accuracy on any surface.

[0093] The print head 244 can be height adjustable, whereby to print finer or coarser images or to adapt to ground irregularities. The print head 244 can use any of a variety of printing techniques, including standard ink jet, spray, and 3D printing techniques involving melting plastic and dropping or shooting it at a ground surface.

[0094] Referring also to Figure 16, the smart communications module 212 includes processing circuitry 250 coupled to memory circuitry 252 e.g. volatile memory (V)/non20 volatile memory (NV), such as such as flash and ROM.

[0095] The memory circuitry 252 may store programs executed by the processing circuitry 250, as well as data such as user interface resources, time-series data, credentials (e.g. cryptographic keys) and/or identifiers for the remote resource (which may for convenience be referred to as the cloud or the edge (e.g. URL, IP address).

[0096] The module 212 may also comprise communication circuitry 254 including, for example, near field communicating (NFC), Bluetooth Low Energy (BLE), VViFi, ZigBee or cellular circuitry (e.g. 3G/4G/5G) for communicating with the remote resource(s)/device(s) e.g. over a wired or wireless communication link 256.

[0097] The module 212 may also comprise input/output (I/O) circuitry 258 such as sensing circuitry to sense inputs (e.g. via sensors (not shown)) from the surrounding environment and/or to provide an output to a user e.g. using a buzzer or light emitting diode(s) (not shown). The module 212 may generate operational data based on the sensed inputs, whereby the operational data may be stored in memory 252. The I/O circuitry 258 may also comprise a user interface e.g. buttons (not shown) to allow the user to interact with the module 212.

[0098] The processing circuitry 250 may control various processing operations performed by the module 212 e.g. encryption of data, communication, processing of applications stored in the memory circuitry 252.

[0099] The module 212 may also comprise a display e.g. an organic light emitting diode (OLED) display (not shown) for communicating messages to the user.

[0100] The module 212 may generate operational data based on the sensed inputs. Although, the module 212 may comprise large scale processing devices, often the robot 200 will be constrained to battery power and so power may need to be managed and prioritised for movement of the robot 200 and actuation of the ground marking.

[0101] With the autonomous ground marking robot purging arrangement 10 disposed and attached to the underside of the autonomous robot 200, before a purging cycle takes place, an operator holds the empty purging container 100 using the handle 116.

The distal end 112, of the purging container 100, is disposed between the first and second guide surfaces, 40 and 80, and inserted into the purge container locator 16, guided by the first and second guide surfaces, 40 and 80. As the distal end 112, of the purging container 100 is enters the purge container locator 16, the angle of the first and second side walls, 108 and 110, correspond with the angle of the first and second locating surfaces, 36 and 76, such that the purge container 100 fits within the purge container locator 16 in a slidable relationship therewith.

[0102] Further insertion of the purge container 100 causes the magnetic pad 130, of the purge container 100, to be magnetically attracted to the plurality of magnetic pads 58 disposed on the first locator surface 36 of the first locator member 12 of the autonomous ground marking robot purging arrangement 10.

[0103] The magnetic attraction between the magnetic pad 130 and the plurality of 15 magnetic pads 58 causes haptic feedback to be fed back to the operator to confirm to the operator that the purge container 100 is in the process of being correctly located.

[0104] The purge container 100 is inserted until the locating member 124, disposed on the distal end 112 of the purge container 100, abuts the first and second stops, 22 and 20 64, of the autonomous ground marking robot purging arrangement 10.

[0105] Upon the locating member 124 abutting the first and second stops, 22 and 64, the purging slot 122, of the purging container 100, is correctly located to underlie a nozzle array 232 purging position on the traverse guide 246 (see Figure 15), and the purging container 100 makes contact with and actuates the container detector 56 which provides an indication, such as, for example, an audio or visual signal to an operator that the purge container 100 is correctly positioned in the predetermined purging position.

[0106] The purging cycle can then be commenced wherein the waste purged material is collected by the purge container 100 through the purge slot 122. Upon completion of the purge cycle, the purge container 100 is removed from the autonomous ground marking robot purging arrangement 10. The closure 126 is removed and the waste purged material is emptied from the purge container 100 through the emptying opening.

Claims

CLAIMS1. An autonomous ground deposition and/or marking robot purging arrangement, the purging arrangement comprising: a first locator member and a second locator member cooperatively arrangeable to provide a purge container locator, wherein the purge container locator is operable to locate a purge container in a predetermined purging position; the first locator member comprising a first locator surface and a first guide surface extending at angle relative to the first locator surface; the second locator member comprising a second locator surface and a second guide surface extending at angle relative to the second locator surface; wherein the first and second guide surfaces are operable to receive a purge container and guide the said purge container into the purge container locator.
2 A purging arrangement as claimed in claim 1, wherein the first locator member comprises a first container stop extending at an angle relative to the first locator surface and operable to stop the container in the predetermined purging position.
3. A purging arrangement as claimed in claim 1 or 2, wherein the second locator member comprises a second container stop extending at an angle relative to the second locator surface and operable to stop the container in the predetermined purging position.
4 A purging arrangement as claimed in any of the preceding claims, comprising attachment means operable to attach the first and second locator members to an autonomous ground deposition and/or marking robot, wherein the attachment means are arranged such that when the first and second locator members are attached to said autonomous ground deposition and/or marking robot, the first and second locator surfaces are disposed to correspond with the external surfaces of said purge container.
5. A purging arrangement as claimed in claim 4, wherein the first and second locator surfaces are disposed at an angle relative to each other.
6. A purging arrangement as claimed in any of the preceding claims, wherein at least one of the first and second locator members comprises a ferromagnetic metal.
7. A purging arrangement as claimed in claims 1 to 5, wherein at least one of the first and second locator members comprises magnetic material.
8 An autonomous ground deposition and/or marking robot purging container comprising a base portion, a side portion and a top portion, the purging container having a length dimension and a width dimension, wherein the width dimension of the base portion is greater than the width dimension of the top portion.
9 A purging container as claimed in claim 8, wherein the side portion comprises a first side wall, a second side wall, a distal end, and a proximate end, and wherein the first and second side wall are disposed at an angle relative to each other.
10.A purging container as claimed in claim 8 or 9, wherein the shape of the purging container is, at least substantially, of a flat-topped triangular prism.
11.A purging container as claimed in claim 9 or 10, wherein the proximate end comprises a handle.
12.A purging container as claimed in claim 11, wherein the handle is integrally formed into the proximate end.
13.A purging container as claimed in claims 8 to 12, wherein the top portion comprises a purge opening formed to provide a transition fit with a purging nozzle and thereby mitigate escape of purged fluid from the purging container.
14.A purging container as claimed in claims 8 to 13, wherein the top portion comprises a lower portion and a raised portion.
15.A purging container claimed in claim 14, wherein the purge opening comprises a slot extending longitudinally along the raised portion.
16.A purging container as claimed in claim 15, wherein the slot further extends into the lower portion.
17.A purging container as claimed in claims 9 to 16, wherein the distal end comprises a locating member.
18.A purging container as claimed in claims 9 to 17, wherein the distal end comprises an emptying opening and closure.
19.A purging container as claimed in claims 9 to 18, wherein at least one of the first side wall and second side wall comprises magnetic material.
20.A purging container as claimed in claim 19, wherein the magnetic material is disposed in a region adjacent the distal end.
21.A purging container as claimed in claims 8 to 20, wherein the purging container comprises a plastics material.
22. An autonomous ground deposition and/or marking robot purging arrangement as claimed in claims 1 to 7 and further comprising a purging container as claimed in claims 8 to 21.
23. An autonomous ground deposition and/or marking robot comprising a ground printer purging arrangement as claimed in claim 22.
24.A method of purging an autonomous ground deposition and/or marking robot as claimed in claim 23, comprising: disposing the distal end of the purge container in the guiding receiver between the first and second guide surfaces; guiding the purge container into the purge container locator, whereby guiding of the purge container comprises slidably engaging at least one of the purge container first side wall with the first guide surface and purge container second side wall with the second guide surface; continuing to insert the purge container into the purge container locator until the distal wall of the purge container abuts the at least one first and second container stop at which the purge container is located in a predetermined purging position; actuating the autonomous ground marking robot to undertake a purge cycle
25. A method as claimed in claim 24, wherein the purging container magnetic material provides haptic engagement with at least one of the first locator member and second locator member as the purge container is guided into the purge container locator.