SE525646C2 - Visual presentation creation method in e.g. sports field, involves propelling robot along trajectory on surface for painting visual representation on surface - Google Patents

Abstract

A mobile robot (22) is propelled along a specific trajectory on the surface for painting the required visual representation on the surface. Independent claims are also included for the following: (1) system for creating visual presentation; (2) computer-readable recorded medium storing program for creating visual presentation; and (3) use of mobile robot as free-roaming marking device for creating the visual presentation.

Description

25 30 35 oaovso nn p. \ S4ss sv = nz ° \ v \ ooz \ sz \ vs4ssoooz_o4cv: o_ana: = d_ansakninganaxætaod ". 525 646 2 iv .I .oo 0 sauce I '. Ecco! I II I sectors / areas. The sectors created form an image or letters for words. These sectors can be compared to pixels of dot matrix images. This has the disadvantage that the images thus created are very coarse and have a low resolution, i.e. they have a very large pixel size. the fact that the sectors or pixels are relatively large rectangular sections with a minimum size that is, for example, around 1 meter x 1 meter, or larger, and thus the created images are very coarse, and all the brushes are oriented in the same direction of movement.

Thus, it is not possible to get different grass bending directions in different sectors / pixels. Finally, the brushes move across the grass surface in parallel adjacent lines, which limits the brushes' freedom of movement and limits the shape of the pixels to rectangular sectors. Consequently, the images are very different from the original images to be reproduced on the lawn.

In addition, the letters of the words are limited to a substantially rectangular shape and it is not possible to accurately reproduce certain logos. This is a significant disadvantage because many logos' logos, such as company names, brands or brand names, are recognizable due to the visual information contained in the visual presentation of specific logos, which refer to these company names or brand names. Thus, it is difficult or impossible to create such messages, which are to be transmitted to the viewers by means of the visual presentation, by means of the method and apparatus according to US-S 540 516.

Another method of designing signs on grass surfaces is described in GB-2361572. This method involves rolling the grass on the grass surface in one direction and rolling selected grass areas in another direction to create a desired image with a character.

A suitably shaped stencil made of a flexible plastic or rubber plate is fastened with 10 10 20 20 25 30 35 mono pins. ° '* ~% 5 suitable positions in the grass surface to prevent certain areas from being rolled. In this way, two surfaces are created, in which the grass is rolled in two different directions. The areas have smooth edges and do not have the reproduction problems described above. However, this method entails long production times because it is complicated to implement. It is also impossible to adjust the size of messages to be created in the grass area on site, as new templates must be manufactured for other message sizes. Furthermore, the size of messages to be created using this method is very limited, as it is impossible to handle the stencils over a certain size as these are made of a 5 mm thick plastic material. It is certainly impossible to create messages with a size of, for example, 20 x 20 meters or larger, even though this is very desirable in some applications.

WO02076562 describes an apparatus for creating markings on the ground. The device travels over a large area and creates markings at predetermined points on the surface to create a mark on the surface. However, the described device is exclusively based on marking point after point.

Between the points, the device is repositioned each time again by means of an iteration procedure where the robot tests itself until the new position. This means long production times when the brand is created on the ground.

In addition, according to the prior art, the image or text on the lawn is arranged exclusively depending on the geometric size and shape of the lawn.

The creation does not take into account where a TV camera is positioned in relation to the visual presentation.

Thus, it may be difficult to recognize the mark when viewed from certain camera angles because the mark is applied to the plane regardless of a desired viewing angle or perspective distortions arising from the TV 10 15 20 25 30 35 °° '. : ° '.: z' g: o-'u o - o o..o E 040730 An m \ 54s9 Bvenzo \ 1 = \ oo2 \ sB \ Ps4s9oooz_o4o13o_andznd_ansokningscex1ådm: _. :: g: hg. _ g g _ ",, g:. g 5 f? 5 6 4 6 4 s" 3 å 'f' u '2' of .Of. ". . ". 'camera position relative to the mark on the lawn.

Furthermore, it may be impossible to distinguish the created visual presentations from the material of the surrounding surface, e.g. due to perspective distortions of the image or text in relation to the camera position and the camera angle, respectively.

Another common problem when creating visual presentations on large surfaces is long production times. The surfaces on which the visual presentations are to be created are often used frequently and are thus not easily accessible for the generation of a message on a large grass surface.

Thus, there is a need for a system that creates visual presentations on grass-covered surfaces with a compact device, extremely short production times, a high degree of reproducibility, an on-site flexibility with respect to adjustments of the visual presentation at the production site, and an optimization of the created the visual presentation with respect to television broadcasts.

Summary of the Invention The present invention overcomes the above-identified disadvantages of the prior art and solves at least the problems described above by providing a method, a system, a use of a mobile robot and a computer-lockable medium for generating presentations on grass-covered surfaces. according to the appended claims.

The general solution according to the invention is to use a free-roaming device, such as a mobile robot, to produce visual presentations on grass-covered surfaces.

According to one aspect of the invention, a method of producing a visual presentation on a substantially flat large gray-covered surface is described by means of at least one free-roaming marking device. The said free-roaming marking device travels along trajectories on the said surface, in such a way that at least one contour line of o about! 10 15 20 25 30 35 o o oooooo p ooo ooo o o oo o oo oo ', 0l. O: o o o o o o I I 'fl 2 .go o o o o 040730 AR P = \ s4s9 svonzo \ 1 = \ oo2 \ ss \ x = s4s9oooz_o4ovaojndradjnsokxungscex: .gp g _' g g g 2: ..., g z z: o g z _ g I O I I I I I I O I .. o o o o o o o oo oo 525 6465 the visual presentation is created on the grass-covered surface.

This is achieved by treating the surface along contour lines of the visual presentation by means of the free-roaming marking device traveling along said trajectories.

The free-roaming marking device is thus moved along trajectories and marks contour lines of a visual presentation to be created on the grass-covered surface. The contour lines are preferably based on vector graphics. Once the contour lines have been created, the surface is treated inside or outside the contour lines, ie. the blades of grass are bent / oriented in a suitable way, so that a light / dark contrast is created between the inside and the outside of the contour lines. Thus, the visual presentation, such as a logo, is generated on the grass surface. The visual presentation is optimized for TV broadcasting, ie. the bending / orientation of grass blades is optimized with regard to an image capture device, such as a TV camera, as well as with regard to the viewing angle and distance of a TV camera from the visual presentation to the TV camera.

The bending of the grass in a surface area towards the TV camera results in a low reflectance and the area appears dark. The bending of the grass away from the TV camera results in a high reflectance and a bright appearance. Because the grass can be bent in 360 ° orientations, a variety of light / dark contrasts are used to optimize the appearance of the visual presentation for TV broadcasts.

According to another aspect of the invention, there is provided a system for generating visual presentations on large surfaces, the system comprising a free-roaming marking device which is adapted to create the visual presentations by treating said surface. The free-roaming marking device travels in use along trajectories on the surface and treats the surface along 10 15 20 25 30 35 OO 0 Ouløbo 0 I 0 00 00 I u 040730 AR P = \ s459 zvenzo \ P \ 002 \ S1i \ Ps459o002_o4ovzoJndzadJnsólcr6ing 6 ' 0000 0 n I 000! ole 0 0 Icon 0000 Q 0000 O I 0000 0 0 1 0 0000 00 I I 0 I 0 0 I co O 0 Qloø Q 0 g 0 coon 0 I 0 00 00 000000 0 contour lines of the visual presentation as it passes along the trajectories. To this end, the free-roaming device comprises a treatment means for treating the surface as it travels along the trajectories. Furthermore, the system includes a computing means for automatically calculating the trajectories from the source data representing the visual presentation, and preferably a portable computer device for wireless communication with the free-roaming marker and for programming and controlling the free-roaming marker at the location where the visual presentation is to be created.

According to yet another aspect of the invention, there is provided a use of a mobile robot as a free-roaming marking device for creating visual presentations on large grass-covered areas, said free-roaming marking device marking contour lines of visual presentations on the grass surfaces.

According to a further aspect of the invention there is provided a computer readable medium on which a computer program is stored for processing with a computer.

The computer program includes code segments for creating visual presentations on gray areas. A first code segment calculates trajectories along which a free-roaming marking device travels to create said visual presentation, said trajectories being automatically calculated from source data representing said visual presentation. Preferably, a second code segment instructs the free-roaming marker to travel along trajectories on said surface, such that at least one contour line of said visual presentation is created on said grass-covered surface by treating the surface along the contours of said visual presentation by means of the said free-roaming marking device when traveling along said trajectories. 0 000000 10 15 20 25 30 re. 90 .: z .nozš. : '°: .zz-: ": I: aqxš oaovso u: P = \ s4ss svenzo \ v \ ooz \ sx \ vs4ssoooz ouma annmagnnølmingscaàßnß.' The present invention has, inter alia, the following advantages over the present invention. prior art: A remotely programmable self-propelled robot is provided, which autonomously and automatically performs the generation of visual presentation contour lines on gray areas, the fully automatic generation of a comprehensive visual presentation can be performed, no manual operation is required for the generation of travel paths for the said free-roaming marking order. to generate visual presentations on grass-covered surfaces, visual presentations are generated automatically by means of an automatic calculation of travel paths (trajectories) for the robot to create the contour lines of the said visual presentation, surfaces inside or outside thus created contour lines are processed fully automatically to result in comprehensively treated internal or external areas of visual presentations, visual presentations ions are scalable and thus deliver high quality visual presentations, regardless of the size of the presentation to be created, ie. the size of the visual presentation is adapted to the sizes of different areas without any loss of perceptibility, scale, coloration or other visual information included in the visual presentation created on the grass-covered surface, the automatic generation and thus the visual presentation can be adapted to viewing angles, t .ex. camera positions for an optimized perceptibility and perspective 10 15 20 25 30 acc c 0§0730 AR Px \ 5459 DIEDZO \ P \ OOZ \ SE \ PSÅ590D02_04ß7l0_lndrld_anßöknibgibexl.mno 525 646 8 accuracy of the visual presentation, especially in relation to TVs the visual presentation thus created has a high resolution and high quality, thanks to faithfully reproduced colors regardless of the surface properties, as well as a high precision of navigation and surface treatment, and 0 fast production times are ensured for the visual presentations.

Brief Description of the Drawings Further objects, features and advantages of the invention will become apparent from the following description and embodiments of the present invention, taken in conjunction with the accompanying drawings, in which Figs. 1A to 1B are plan views of visual presentations illustrating some of a company logo created using pixel-based graphics; Fig. 1C is a visual presentation of the logo shown in Figs. 1A and 1B, however, which is created using vector graphics; Fig. 2 is a perspective view of a free-roaming mobile robot according to an embodiment of the invention; Fig. 3 is a schematic diagram illustrating the communication with the mobile robot in the system according to the invention; Fig. 4 is a flow chart of a method according to an embodiment of the invention; Fig. 5 is a schematic diagram illustrating an embodiment of the system according to the invention; Figs. 6A to 6D are schematic illustrations of the generation of a visual presentation by means of a method according to an embodiment of the invention; 10 15 20 25 30: n-: oo .: o. 00 .: _00- one. : O:: ß än 'Q O. o-xovao An: Asass xvanza \ v \ ooz \ ss \ rs4ssoooz_o4ov: o_anana_annokningsc «§: .8c§.: S. _! § äå-šu - § g. g. z O: _ 0: -: co 0 e II Ü '' '' 525 646 9 Fig. 7 is a sectional view through a lawn illustrating the bending of grass in relation to a camera, as well as different reflections in grass resulting from different bending - degrees of gray hairs in relation to a camera; Fig. 8 is a plan view illustrating the influence of the gray bend in different directions on the creation of contrasts in a visual grass presentation; Fig. 9 is a plan view illustrating a visual presentation created by means of a free-roaming marking device following trajectories; Fig. 10 is a plan view illustrating the continuous change of the grass orientation along a path of the free-roaming marking device which treats the grass.

Fig. 11 is a plan view illustrating the influence of the grass bend in one direction to create contrasts of a visual grass presentation; Fig. 12 is an elevational view illustrating the adaptation of a visual presentation on a large surface relative to a camera position; Fig. 13 is a perspective view of a free-roaming marking device for depositing color on the grass surface to mark contour lines and directions of a visual presentation; and Fig. 14 is a plan view illustrating a manual adaptation of a visual presentation on a large surface with adapted directions.

Definition of terms The following section defines a number of terms and expressions to facilitate understanding of the present application.

A contour line is the area of a visual presentation that is marked on a large area. Contour lines are part of the visual presentation. 10 15 20 25 30 35 000 os: o o on I .Û ° '.' °. '_ oaovao An »Asass: vmw \ 1 = \ ou2 \ sz \ 1 = s459000234ovaojnnradgnsømingsrext.doc z: g g: g _ g; ,, L ... _: ÜÜÜ Û 'S o 5 6 4 r 10. = °: -' '- 1. f .. 1- O A trajectory is a travel path of a free-roaming marking device.

A pixel-based graphic is created by a set of pixels, also called pixels. The pixels have different shapes, such as square, rectangular, elliptical or round.

A vector-based graphic is described with the aid of characteristically curved lines with the aid of vectors. The lines are also called contour lines. The contour lines are described mathematically and are not dependent on the resolution of the graphics.

Vector graphics are scalable and thus adaptable to different reproduction sizes without losing details.

A logo is a peculiar graphic combination of alphabetic or other letters and pixels. Logos are used e.g. for marketing purposes, to increase the chances that a company and a company's products will spontaneously be recognized. Well-known examples are e.g. The Coca-Co1a® logo or the Nike® logo which includes a hook shown in the examples in the drawings. The hook itself, without the letters "Nike", is called an image type. Like the Nike® hook, they are graphic symbols. with the Nike® hook, the association is “Nike” and, for example, sportswear.

The phenomenon of step at the edges of pixel-based graphics is called thorny (English aliasing). Depending on the resolution of the graphic, the distortion of the graphic caused by the sharpness can be so severe that the graphic cannot be identified because too many features of pixels are lost.

DESCRIPTION OF EMBODIMENTS Figs. 1A, 1B and 1C illustrate the difference between pixel-based graphics and vector-based graphics.

Fig. 1C shows the shape of the Nike® imagotype 12. Nike® is provided as a non-limiting example for a g u Oona 9 0 0 0 0 I: O oo 0900! . Q Oooøno 10 15 20 25 30 35 o: nu o I nu I nu cc OI. 040730 AR P = \ s459 Bvenzo \ 1> \ oo2 \ ss \ P54590002340vsojndzmgnaøkningstext.doc 2 ": 2 2 2 i: E Lz. 'E i: NI, å: E .. š.: ..O'. O. The mold 12 has a high resolution with smooth edges and the total inner surface of the mold 12 forms a contrast with the surrounding surface (in the figure: The shape 12 is immediately recognizable by a viewer and includes the maximum information associated with the shape 12, as described in the previous section.

Figs. 1A and 1B are plan views of visual presentations 10 and 11 and show part of the Nike ”company logo, ie. The Nike® image type, which has been created using pixel-based graphics. The visual presentation is created 15, has different resolutions. The resolution of the pixels 14 of it, for example, on a grass surface and consists of pixels 14, which visual representation 10 illustrated in Fig. 1A is relatively low, but it produces the resolution that can be achieved with ordinary grass bending devices, as described in the above-mentioned patent specification US -5 540 516.

As shown in Fig. 1A, there is hardly any resemblance to the original form of the Nike @ image type 12. . the size of the pixels 14. The shape of the visual presentation 11, comes closer to the shape 12, however, it is still difficult to perceive the shape of the Nike® image type 12. Due to the stepping effect of pixel-based graphics, the edges will never be smooth. Although the steps at the edges of the visual presentation appear to be satisfactory from a distance, they will be unsatisfactory in a camera's perspective. When the camera zooms in on the edges when, for example, a golf ball is zoomed in when it has landed near an edge, the unsatisfactory roughness is displayed. Fig. 1C is a plan view of a visual presentation 16 of the Nike® image type 12. 525 64612 Qeeouo 0 0 0 n oo 000000 e QQ en nu enn. 0 0 0 been out 0 eele Olen e neee I 0 someone e 0 QI enat ei I 0 0 0 0 0 0 00 0 I nice g 0 QO elee visual presentation 16 is created using vector graphics and reproduces the Nike® image type unaffected by the negative effects of pixel-based graphics.

Vector graphics are created using a computer and are based on input data, such as computer-aided construction (CAD) drawings or images, and include logos or pattern drawings / works of art (artwork). For a transfer of these to grass-covered surfaces, such as a lawn, there is a lack of suitable devices and methods for transferring such artwork.

According to one embodiment, a mobile robot is used as a free-roaming marking device for generating visual presentations on large areas, preferably a substantially horizontal flat surface such as a sports floor.

Based on vectorized contours, the robot travels along lines based on vector graphics and treats the surface.

Such a robot is suitable for transferring vector graphics material to areas with a size of about 1 x 1 meter upwards. The largest size is unlimited. Furthermore, the visual presentation to be created, such as a logo or image type, can have an arbitrary shape, shape or contour within this area. It is characterized by a visual contrast between an exterior and an interior of the visual presentation in relation to a contour line, thanks to different bends / orientations of the grass blades in the surface inside or outside said contour line.

The creation of the visual presentation In a method according to an embodiment of the invention, the following steps are performed by a free-roaming marking device system for creating the visual presentation on a large grass surface. The free-roaming marking device will be described in more detail below. 500000 I 000000 10 15 20 25 30 1.. '°' '°' 'ß ..q: a..0 o'.0 o-'o 040735 ÄR P: \ 54S9 ÉVEIIZO \ P \ OOZ \ SÉ \ PSÅSQÛGOÉJHß7 flfl_ l fl d.fåd_åhlök fl ll1gltlxß.ÜOC = 2 z g n z 0.:. . 0: .II-. : z o 0 I E n [__ 0:00 E o: I .... ..: x-'o ø..ø I-'o oro 646 B A master data file is created from a digitized original image with e.g. a logo, using appropriate graphic software, such as a vector-based application, such as Adobe Illustrator®. This is preferably performed on the system computer 62, see Fig. 3.

The master data file is transferred to the portable computer device 61. Alternatively, the data file is generated on the portable computer device 61.

The data in the master data file is adapted / optimized for a certain viewing angle or camera position.

This is preferably done on site.

The optimization is thus very effective and is performed flexibly if e.g. a camera position is moved from one position A to another position B at short notice. Fig. 12 illustrates this method step.

Vignetting is performed on the graphic master image using the graphic program if the original is a dot matrix image (English: bitmap), whereby "vignetting" is defined as marking the contour lines of the graphic image as vector-based lines.

The vector-based contour lines that represent the contour lines of the original image are converted to a file that defines the work operations of the mobile robot.

These work operations include the order of work, as well as the direction, speed, trajectory path and stop positions of the mobile marking device, as well as color and marking on / off, etc. A sequence of these work operations is defined in a work operation data file. The rules of procedure refer to 10 15 20 25 30 35 ,,, ,,, g z no .: .on. .øo- .oo- omno m: Ascss svan = a \ 1 = \ no2 \ sx \ 1> s4ssooo2 oumo andra anaomingsnuudoc I 2 Z H. :: LL _. 3 _ ”. _; g _ _ _ O 14 Eco E o: o.). ..: f ... o-'n o.'o 525 646 the sequence with which the different parts are treated in a visual presentation.

The work operation data file is transferred to the mobile robot. This is preferably performed by means of a wireless system, either directly or first to the portable computer device, e.g. wirelessly via to the mobile robot, Ethernet or mobile phone transmission or via a data carrier, and then on to the mobile robot. 7. The mobile robot calibrates itself. 10. ll.

The mobile robot is instructed to start processing the work operations from the work operation data file that has been uploaded.

.If desired, the mobile robot pretreates the surface to provide a specific initial condition of the surface. This starting nature can, for example, be a common bending direction for all grass blades within the surface to be treated.

The mobile robot follows the defined trajectory paths and treats the surface with the aid of a surface treatment device in the correct places to create the contour lines for the visual presentation. The positioning of the robot is performed using a locating / navigating system (laser / beacon), which will be described in more detail below.

The grass area outside or inside the contour lines is treated by bending / orienting the grass blades to create the complete visual presentation that represents the original image with e.g. a logo. The bending / orientation is performed as described below to optimize the visual presentation for TV productions / 10 15 20 25 30 35 35 n. 525 646 15 shipments. This step can be performed by the robot or manually. For manual treatment, it is preferred that the contour lines be created by depositing a removable visible paint, preferably a powder, such as chalk, which can be easily removed from the grass surface, for example by manually brushing over a chalk line. An embodiment of a robot for depositing the powder is given below with reference to Fig. 13.

Surface marking for creating visual presentations Figs. 6A to 6D are schematic illustrations of the generation of a visual presentation by means of a method according to an embodiment of the invention, the embodiment being characterized by high quality and a fast production time.

Fig. 6A shows an original or a master 80, i.e. a visual target presentation, which is a “NIKE” logo 80 and includes an image type 85 which has been discussed above in connection with Fig. 1C. The mobile robot follows a trajectory pattern in the direction of a contour line, as shown in Fig. 9 by means of the arrow 161. This method will describe in more detail in connection with Fig. 9.

Fig. 6B illustrates the method of creating the visual presentation from the original 80. Fig. 6B illustrates the fully automatic generation of a visual presentation by means of the free-roaming device which follows trajectories and which treats the surface as defined above along the contour lines of the visual presentation. A visual presentation 81 which is being developed is shown with an area 88 which has already been treated by means of the free-roaming marking device.

Fig. 6C shows how a visual presentation 82 is created which consists of contour lines 87, which are created by means of ICQ OO 040730 AR Px \ 5459 mrenzo \ P \ O02 \ SB \ P54S90002__040730_ándrad_nns6kningstext.doc ß S i IDO -: 0 525 646 “the free-roaming marking device, such as a mobile robot. The mobile robot follows trajectories, as indicated by the arrows 89 around the contour lines 87, to create the contour lines. As can be seen, the edges of the contour line 87 are smooth and exhibit the advantages of vector graphics, which have been described above. Figs. 6C and 6D describe the case that the free-roaming device marks contour lines of a visual presentation with a subsequent treatment of areas within the contour lines. The inner or outer areas can be treated manually or with the help of an operator using contour lines 87 as boundary lines for the area to be treated.

The operator uses a grass bending device to treat the grass inside or outside the contour lines, as will be described in more detail in connection with Fig. 14. Guides (shown in Fig. 14) are drawn inside the contour lines 87 to guide the operator. The operator thus follows the instructions defined with the help of lines on the grass surface to create a visual presentation with a minimal production time. Fig. 6D illustrates both the progress of the generation of the visual presentation 83 from the master 80 by treating the area within the contour lines 87 and the removal or integration of the contour lines 87 within the logo. The contour lines are either integrated within the framework of the logo (if the contour lines are marked by bending grass) or alternatively, if the contour lines are marked with the help of chalk, for example, the lines are brushed away from the grass blades when the grass surface is treated. The treatment shown in Figs. 6C and 6D is performed sequentially, i.e. first the contour lines 87 are created and in connection therewith the area inside the contour lines 87 is treated to create a visual presentation which represents the original master as perfectly as possible.

It is important that the contour line created using the mobile robot is created with the above-described high 10 15 20 25 30 35 oo 040730 AR P: \ 54S9 BVGhZ0 \ P \ 002 \ SB \ P54590002_040730_àndrnd_lnIÖkh1ngECCX! .Docë. , 525 646 ”* precision. If the contour line is drawn with the robot, it is also possible to apply the marking material manually, both outside and inside the contour line. Due to the high precision and the vector property of the contour line, the accuracy and time efficiency are superior to other generation methods.

For further details regarding the bending of grass by means of the mobile robot system to create the visual presentation on a large surface, reference is made to Figs. 8 to 11. Grass is bent in different directions to create contrasts in a visual grass presentation. The various parameters refer to how much the grass blades 146 are bent and in which direction the grass blades are bent in relation to a spectator / camera 141. Fig. 7 is a sectional view through a grass plane 142 which illustrates the bending of grass in relation to a camera 141. When the grass blades are not bent, they grow straight upwards (section 143) and form a horizontal surface 142. Four sections 143, 144, 146, 147 with increasing bending angles of the grass blades are shown in Fig. 7. The degree of bending increases from section 143 via 144 to 145 in one direction and from section 143 via 146 to 147 in the opposite direction. Thus, the incident light 150 is more or less reflected, as indicated by the arrows 151, 152, 153, 154, from the blades of grass until a camera 152, 153, 154 has different thicknesses to illustrate the 141 viewing position. Arrows 151, reflected the direction and amount of light. In this way, contrasts are formed between sections 143, 144, 143, 146, 148.

Another parameter that affects the reflected 145 and between the amount of light is shown in Fig. 8, whereby a “NIKE” logo is created on a formatted grass-covered surface 250. This parameter is the orientation of the grass blades within the gray-covered surface relative to the camera position. Different sections 251 with different orientations 252 are illustrated in Fig. 8. With the aid of the grass treatment device 57 (see Fig. 2) both 10x 15s 525 646 18 note Q 0 I c cl Quøora I va the degree of bending and the bending angle. As shown in Fig. 9, as the device moves along a trajectory 161, a groove 160 bends and the grass is appropriately adjusted to form a visual presentation for the camera 141 from different viewing angles. The system software automatically calculates the adjustment of the degree of bending and the bending angle. Fig. 8 explains this principle by generating a maximum contrast. The surface 250 is formatted by bending the blades of grass in the direction of the arrows 253. The grass is then bent inside the contour lines 251 in the opposite direction to create a maximum contrast. The direction is optimized in relation to the position of a TV camera 141. In this way, a large visual presentation is further optimized for TV broadcasting, as it is ensured that a TV camera 141 always captures parts of a visual presentation or a complete visual presentation with a correct reflectance / image brightness to reproduce an original or a master. on a grass surface as perfect as possible for TV broadcasts.

Fig. 10 illustrates that the free-roaming marking device 60 can travel both longitudinally curved and longitudinally straight trajectories 161. At the same time, the device 57 orients the grass bending direction towards a desired point, as indicated by the arrows 162. The arrows 162 illustrate the direction of the grass bending orientation at a certain position towards a fixed point.

Optionally, the large surface on which the visual presentation is to be created can be treated with a substrate treatment or formatting, as described above with reference to Fig. 8. The entire surface 250 is treated with the same treatment parameters 253 to create a defined substrate. This means that the surface is set to a common optical parameter before the shape of the visual presentation is created. This is done to provide the same conditions on the entire surface to be treated and can 10 15 20 25 30 35 2 ". 2". 2 2 "fl: °" '' "'2.42 u? 224 0401: 40 u vmsess svenzouuoo fl ssufsassooozJw-: auranarartmßoknlngausx: .acc: u-g j; 2 2 2 2.2. .2 2 2 "- u, g _ g; g. Z: 'o'. O. Z .ooo .QQO OI U 'V' U 646 19 52? Compared with an optical zeroing of the surface. In practice, all blades of grass are oriented within an area, which includes the area in which the visual presentation is created with a desired orientation and degree of bending.To achieve a common primer shade, the grass blades can be directed straight at the camera or straight away from the camera.

Fig. 14 illustrates how a template is created on a formatted grass-covered surface 190. The template includes contour lines defining areas 191 in which the grass is to be treated, as described with reference to Fig. 8. Furthermore, the template includes guides, which are shown as arrows. 193, which are similar to the contour lines 192, deposited on the grass-covered surface 190 by means of the robot 2 which is equipped with a paint nozzle (see Fig. 13). The guides 193 define the direction and position along which a grass treatment tool is manually guided by an operator to treat a grass-covered surface within the contour lines 192, so that a visual presentation of, for example, a logo is created by means of contrasts in the surface. The number of lines 193 is depends on the width of the tool to be used and the direction depends on the desired contrast. Guides 193 are deposited on the surface 190 by means of a robot 2 which moves along trajectories and marks the surface in a corresponding manner to create the guides.

In the section that follows, an embodiment of a mobile robot is described as a free-roaming marking device according to the invention.

The free-roaming marking device The free-roaming marking system according to the invention is based according to an embodiment of the invention on a mobile robot platform of the PIONEERGF mobile robot type 2-DX8, which is commercially available.

Figures 2, 3 and 13 illustrate different embodiments based on this mobile robot type. This type of robot is 10 15 20 25 30 35 o ...: ... g g gg .: .Oo '.øo. .o owvao AR 1> = \ s4s9 Evenzouwoo: \ sz \ vs4ssooogcno-nganazanßnsoxningszaxz.acc 3.3: _. z g g; hg, _ g L ".. g F r 20: :: -: 'x: 2920 - ara 646 however non-limiting and any suitable mobile robot can be modified according to the invention to create visual presentations on large surfaces. the robot is a mobile, versatile intelligent mobile robot and carries loads, such as the navigation system, or surface treatment devices in a robust way.The mobile robot is built on a client / server core and has an embedded computer.Examples of functions, such as wireless Ethernet - based communication, laser navigation and GPS navigation, enables autonomous functions to be performed using the mobile robot. Consequently, when the mobile robot is programmed to follow certain trajectories, the robot performs this task autonomously. replacement batteries, and alternatively internal combustion engines can be used.To avoid a collision with objects on the surface to be treated, the mobile robot has a ring with forward-facing sonar sensors and, if desired, a rear ring fitted with sensors. The mobile robot has powerful motors and wheels. Thus, speeds of up to 1.6 meters per second can be achieved. To achieve an accurate unobtrusive calculation of data at these speeds, the mobile robot uses suitable encoders. Its sensing capabilities go far beyond the ordinary with, for example, laser-based navigation options, GPS, bumpers, eyesight, stereo rangefinders or a compass. The mobile robot comprises a body with a pivotally arranged door for access to the battery, which is preferably a rechargeable battery for the power supply, two wheels, preferably with encoder, and a steering wheel, motors with encoder, a front sonar ring, a microcontroller, a sonar card, a motor drive card, a microcontroller server software, a user I / O bus integrated with hardware and a robotics software, a location and gradient navigation means. Furthermore, the mobile robot is program- g 0 coon I I .In 00 DUO 00 I.

I voitti 10 15 20 25 30 35 ° ...: ".: G ..I: I-'O U..l I .- = 040130 nn m \ s4ss avenzmnoo2 \ ss \ ps4ssooo2_o4o'rsojnnracganaomxngsnaxz.doc 3.: .- ggg 35 :,, gg J ”.. 2. 21 ê '. zz' o. 'I': .II. .FOO. ° '. 525 646 merbar. Communication can be established with a PC client, via a PC client, via a wireless radio modem, as illustrated in Fig. 3.

The robust mobile robot has a solid 44cm x 38cm x 22cm body 20 of aluminum. The two motors use 19.5: 1 gear ratios and include 500-tick encoders. This differential drive platform is highly holonomic and can be rotated in one place by moving both wheels 21, or it can be pivoted around a stationary wheel with a circle with a radius of 32 cm. A rear steering wheel (not shown) balances the robot. The fact that it can be moved holonomically means that the robot can be moved in any direction on the surface to be treated, at the same time as the rotational speed is controlled. This means that the robot can drive in any direction, rotate in one place or even rotate as it moves along a path.

Furthermore, the robot can climb up about 25% climbs and over thresholds of 2.5 cm. On a flat surface, the robot moves at speeds up to 1.6 meters per second (mps). The mobile robot is balanced in a suitable way for an efficient operation.

The mobile robot's pivotally arranged battery door makes it easy to change the batteries in operation, although a bare mobile robot can run 18-24 hours on three fully charged batteries. With the help of a high-capacity charger, the charging time is very short, approximately 2 hours. Thus, a continuous operation is ensured for the production of large visual presentations.

The mobile robot is equipped with a nose that can be easily replaced, which allows quick access to all kinds of optional embedded computers to add up to 3 PC104 + cards. The mobile robot includes a Siemens C166-based microcontroller. The microcontroller has 8 digital inputs and 8 digital outputs plus 1 dedicated A / D connection, whereby 4 digital inputs can II 'OO Il 000000 O OOIOIO 10 15 20 25 30 35 nu uo II' O '“"' _.., . g 0 0 0 g oao-: zo An x> = \ s4ss svenzo \ p \ ooz \ ss \ vsnssoooz_oanvso_axmaa_annonungstuc.dec 2 2 2 _.

O FOF 64§ ä? :: v'v = MWfV reconfigured as A / D-in and 4 digital outputs can be reconfigured to pulse width modulated outputs. This user-input-output (I / O) interface is integrated into the packet structure and is accessible through the system software. The A / D connection and the digital channels are used to control the surface treatment devices, and also for other tasks, such as communication with other integrated or connected systems, such as additional navigation devices.

Wireless Ethernet for connected data and video transmission to and from a number of devices enables coordination between e.g. several robots or a mobile robot and a PC client.

The mobile robot works on a client-server architecture, whereby a preferred client computer is a PC embedded on the circuit board. Characteristics of an extended EBX-embedded computer with PC104 + and PCI buses include low power consumption, lightweight, embedded, PC104 + with PCI-extended IDE data transfer, flash SSD, 4 serial connections, two USB connections, parallel connection, 6.2 Gb 3.5 inch shock-safe mounted hard drive, 128 MB RAM, 2Mb DRAM and an Ethernet connection. The current system speed is 800 MHz. software programs are stored on a shockproof mounted hard drive.

A Linux operating system is installed and all A plug-n-play side panel controls easy access to a monitor, keyboard, mouse and other modular plug-in hardware.

The mobile robot thus offers autonomous operation, onboard treatment for laser, inertia, vision, GPS and other analysis in real time.

A fastening device, such as an arm 31, is attached relative to the body 20 of the mobile robot to hold interchangeable tools and is arranged on the body of the robot.

Interchangeable tools refer to tools for processing the surface to create the visual presentation using g 0 0000 9 0 Q 0 0 I 0 00 00 IOIIIO 0 0 0 000000 10 15 20 25 30 35 O 0 O co nu 0000 0 I 0 .Doo 000 '0 0 I u UO ot OO 000100 040730 AR P: \ S159 Bv: nI0 \ P \ 002 \ SE \ P54590002_040730_ånd! Ad_ana6kn1ngBteXt.dot 525 646 ”nova !! I O 0 o oo onucoo Q 0000 0000 0 Coll I 0 0000 0 0 0 0 fiol \ 0'0.

I 0 Q I oo 0 0 olio g n I I 000! 0 0 robots. The tool is not limited to a particular group of tools, but can be any type that treats the surface to modify the optical properties of the surface on which the visual presentation is to be created. Optical properties refer to properties such as contrast, reflectivity, etc. Examples of tools that process the surface to modify the above-mentioned optical properties are brushes, gray bending devices, lawn mowing tools and color marking devices, such as color depositing nozzle devices, etc.

To make the presentation of the figures clearer, the reference numerals for similar elements are shown only once.

The mobile robot 2 shown in Fig. 2 comprises a body or housing 20, wheels 21 and a navigation system 22. A grass treatment device 57 is attached to the arm 31.

The grass treatment device 57 is connected to control electronics inside the body 20 by means of a connection box 66, which is shown in Fig. 2. The connection box 66 facilitates replacement of different grass treatment device types 57. Furthermore, a height adjusting means and direction adjusting means 32 are provided on the arm 31. The means 32 actuate the height of the tool 57 above the large surface to be treated, and consequently the pressure and degree of bending of the blades of grass on the surface. The robot 2 can thus create treated lines on a large grass surface by navigating over the surface along trajectories. When the robot is moved along the trajectories, the grass surface is treated, the treatment being adjustable in relation to, for example, the grass bending, the degree of gray depression (the degree of pressure applied to the grass blades and which results in the degree of bending), etc. The tool 57 is adapted to bend grass in desired directions and with a desired degree of bending. The grass is oriented in different directions and with different degrees of bending along the robot's 2 path, and in this way areas with different contrasts are created along I I I I OOOIOO 10 15 20 25 30 35 cl u I! Q Q I Ü Û mono An considered: svenzo \ v \ oonszwscssooø2_o4ovsognaxafganaomingauax: .dec å g _ ",, g 2 [__ an '.oa- ni.

Qr_J '7 "6 4 6 mobile robot trajectories. The bending direction is adjusted by adjusting the direction of the tool 57 and the degree of bending is adjusted by adjusting the pressure, which is applied to the grass blades by means of the tool 57 as shown in Fig. 2, the tool S7 is equipped for this purpose with a height-adjustable mechanism 32, which determines the amount of pressure applied to the grass blades, and which thus determines the degree of bending.A brushing band 33 for treating the grass blades on the grass surface rotates with a direction of rotation 36.

The belt 33 is driven by means of a drive wheel 34, which has the shape of a roller or a cylinder. An electrically driven motor 35 drives the drive wheel 34. To adjust the bending direction of the blades of grass, the tool 57 is rotatably arranged about an axis of rotation 37. Thus, the blades of grass can be bent in a certain direction and with a certain degree of bending as mentioned above.

This creates a visual presentation on a large surface.

Converting Graphics to Mobile Robot Trajectories and Contour Lines A more detailed description of a method 7 for transferring vector graphics to large areas is given below, with reference to Fig. 4. such as AutoCad® or Adobe Illustrator®, creates a drawing. The drawing is a vector-based drawing software, built exclusively of vectorized graphics in the form of splines or straight lines. The input to the mobile robot system is artwork in a standardized vector graphics format, such as the DXF, DWG or SVG format.

When the vector drawing is available, a set of trajectories is calculated in step 720 to enable the robot to cover a specified area. Optionally, a camera angle and a camera distance can be entered in step 710. Using this information, the visual presentation 10 15 20 25 30 35 UC ÜÖII: n- znn: g .ïš. : ° ': .nu g g ü c O o a 0 0 omvso An 1 == \ s4ss sven = o \ P \ oo: \ ss \ 1> sos9oooz_o4ovaoJxux-adgnsomnzgazexc.ddyf i -2: _ _' g _; "A" 'ßu: 3 "- 3,' '.. .. gnou 25 525 646 is modified in terms of its visual properties, such as contrast, size, shape or position. Thus, the visual presentation is adapted and optimized for certain viewing angles and distances, and a better observation of the visual presentation from these angles and / or distances is ensured, Alternatively the position of the visual presentation is adjusted manually, eg on a laptop device 61 (Fig. 3) in place of the visual presentation. A visual presentation 182 is to be created on a large surface 181. A camera 141 is arranged to capture an event and also the visual presentation on the surface 181. The camera 141 has a certain position, i.e. a distance and a viewing angle, In order to adjust the position of the presentation 182, the size and position of the visual presentation can be optimized, as indicated by the arrows. 185 (position), arrows 183, 184 (size) and arrow 186 (rotation) regarding the contour of the visual presentation 182. This is illustrated by the difference between 12, 141 positions are different and the shape of the logo 182 is the upper and the lower half of Fig. In which the camera is adapted in a corresponding manner.

The robot is then moved to a specified position and then travels along the trajectories. An on-board grass treatment device, such as the grass treatment device 57, allows a treatment of the surface as the robot passes along the trajectories. The surface is treated continuously along the line or intermittently. When the marking device has reached a new starting point, it turns and a new path is covered.

According to one embodiment, the blades of grass are mechanically bent to change the reflective properties of the blades of grass, for example by bending the blades of grass in different directions, to press the blades of grass down to different degrees on the ground, until 1 15 = 15 = 25 = 25 > \ oo2 \ ss \ vs4ssoooz_o4ov3o_andrad_annólcningnex: dig.

O 26 '525 646 to completely flat, to cut the grass blades in different lengths, etc.

Thus, it is possible to create a large amount of contrasts.

According to the present invention, the grass is thus treated to create visual presentations on large grass-covered surfaces.

When all paths have been covered, the robot can return to the starting position. Trajectory tracking is achieved with a high accuracy perpendicular to the track by means of a navigation system.

Trajectory tracking is achieved with a high accuracy at right angles to the track with the help of a navigation system.

For location, the robot is equipped with a navigation subsystem, preferably a laser scanner and / or a GPS device. A set of artificial markers 180, also known as landmarks, is placed in the work area and cooperates with the laser scanner to navigate the mobile robot with high accuracy.

Alternatively, the scanning system, several other systems may be used, such as providing information for the direction and inclination / inclination indoors or in combination with laser GPS or orientation sensors, or outdoors for the mobile robot. Furthermore, a compass or a gyro improves track accuracy. With the help of a balanced compass, readings are also available on uneven planes up to about 15% from the horizontal direction.

The Generation of the Visual Presentation A detailed description of how the visual presentation is generated with the robot, according to steps 730 and 740 of the method, is given below.

An original for a visual presentation is created on a e.g. via a link 64 or a computer readable medium, to a portable computer device on computer 62 and transmitted, the location of the visual presentation. 10 15 20 25 30. .

O I mono AR P = \ s4s9 svenzowwu: \ s3 \ Ps4ssooogmovaogndradpanaolmingscexcngn ': O. 525 646 27 z At the beginning of the work, markers (markers 180, see Fig. 12) are placed in the work environment and a calibration task is performed to determine the relative position of the markers in relation to the robot, this corresponding to the calibration unit 870 in Fig. 5. The robot is positioned at the starting point of this task (position 0,0). The calibration is performed in a dialogue with the user over the wireless link 63 (Fig. 3), the calibration comprising, for example, the following steps: 1. Entering the number of landmarks (beacons).

The more markers used, the more accurate the location, positioning and navigation of the mobile robot to create the visual presentation. 2. Positioning of landmarks. 3. Verification of the positions using the laser system. 4. Creating an estimate of the expected accuracy of the location system. 5.Accept / reject (restart) through the operator.

If it is considered that the expected accuracy, which has been calculated in step 4, is sufficient, the calibration is accepted. Otherwise, the operator rejects the calibration and e.g. with increased location accuracy. the calibration procedure is restarted, the number of benchmarks for a User interface is in the form of a JavaScript to be executed on a laptop device, such as a laptop or a handheld device (such as a Compaq Ipaq®>) equipped with a wireless LAN interface.

When the calibration has been performed, the operator initiates the task, which is then performed autonomously by the free-roaming marking device, ie. the mobile robot.

The trajectories are transferred to the robot in step 730 and the visual presentation is created in step 740. 10 15 20 25 30 35 acc non o I "'... O 0'.o u-'I ... g: 5 Ü'. Gz : q:: n I 0 V ', zg .o: mono m »Assa Bvenzouaooz \ ss \ | = s4ssooo: _o4ovzo_andzad_ansokningszexcgpptg .. ._ _- gg °': '' 1: K _! n”. -n- g In OC Û. equipped with a laser scanner 890. The robot is also equipped with a wireless interface, as described above.

In the system, a software package comprises the following code segments according to an embodiment of the invention. Device Interface (Robot Interface 830 and Laser Scanner Interface 880).

The device interface is responsible for accessing the robot platform's control functions. This is achieved through a hardware abstraction layer that ensures that it is easy to transfer the software from one robot to another, in order to be able to change the basic robot platform.

The functionality provided is in the form of a basic movement function, ie. position and speed monitoring, and collision detection, preferably by bumper activation. 2. Locating and tracking modules The locating module 860 uses a function-based method for detecting landmarks. The position of the bearing marks is preferably tracked by using an extended Kalman filter, the position of the bearing marks and the robot position being maintained over time. The Kalman filter uses a road meter feedback, such as a wheel or motor encoder, as well as detected characteristics from the laser scanner 22 to determine the position of the mobile robot. At least three landmarks are always within the visual range of the laser scanner device to ensure a robust location of the mobile robot. This is ensured during the course of the calibration. The detection of the benchmark positions is preferably achieved by using a generalized Hough transformation. Using the position estimate, the tracking function plans the 10 15 20 25 30 35 I: ...:, ..: z oo .:: oo:. ::. too: oo: - ø4 ° v: 0 An P- \ s4ss svenzo \ v \ ooz \ ss \ vs | ssoooz_o4ovao_ana: aa_.n-anningscexrggge; _ * g 5 E E 2.2- -; ; 3 g °: _: .__ 2. o o o I .g co 0 29 - - - - ° '525 646 mobile robot's movement instructions to achieve a smooth ride along a spline trajectory. This includes the use of a standard state-based controller that tracks the position and speed to ensure a smooth ride and includes a one-step prediction to create motion instructions for the robot. The saver passes along individual trajectories. 3. Course Planning and Monitoring Module 810 The course planner is responsible for selecting the order in which to travel along the trajectories. Once a list of trajectories has been created, the individual segments are sent to the saver to be executed. When a segment is completed, the interlocutor requests a new segment from the scheduler.

When all trajectories have been completed, the monitor 810 and the interlock 820 are notified and the scheduler is terminated.

In a practical implementation, the individual segments correspond to a layer of a data structure, namely the above-mentioned work instruction data file. The layers are run one after the other and include information about trajectories, contour lines, and the speed of the free-roaming marking device, marking on / off, etc. The monitoring module 810 is responsible for monitoring the progress of the mission, handling obstacles, planning complete missions and handling minor errors. For serious errors, a diagnostic message is sent to the end user. 4. User interface 800 The user interface 800 is responsible for communication with the user, preferably by means of a graphical user interface (GUI, English) graphical user interface 850 on a remote computer, preferably a laptop device, such as a laptop or a handheld computer device.

The communication between the GUI and the user interface is established by means of a protocol, which is preferably XML-based, to ensure error detection and handling. : oa .: g ouzš -: "u u-.ugz 040730 AR P: \ 5459 Svenz0 \ P \ 0O2 \ SE \ P54S90002_0407lb_lndzad_a.nsülmlng fl text.do = .. I:. ': .ß å:; o: noz: ': ..: o. 0 0 I 0 on 00 30 - - - - - ° 525 646 minor communication problems, such as a temporary loss of communication in the link between the GUI and the user interface. Fig. 5.

A menu-based system is used for system settings and interaction with the system. The functions performed using the menu-based system are, for example: 0 Initialization 0 Calibration settings, 0 Commencement of work, 0Download of a vector image to the robot, non-monitoring of the progress of the work, 0Temporient interruption of the work task, and 0Completion of an ongoing task.

The described software according to the embodiment is stored on a computer-readable medium, e.g. the memory of the mobile robot or laptop device described above, for processing with a computer, which e.g. included in the mobile robot or laptop device described above.

The mobile robot 2 shown in Fig. 13 is adapted to draw a contour line by depositing paint or a colored powder on a large surface. The robot comprises a body or housing 20, wheels 21 and a navigation system 22. An air pumping device 23, e.g. a compressor, applies pressure through a pressure line 34 to a paint container 24, which contains a dye-containing surface treatment medium, such as paint or ink. From container 24, the ink is transferred under pressure through a tube 33 to a nozzle 25. The nozzle 25 is directed downwards towards the surface on which the mobile robot 2 moves and on which the visual presentation is to be created. The nozzle 25 is of the spray paint nozzle type and has a defined blow-out shape 26, e.g. conical as shown in Fig. 13, wherein other shapes are also known to those skilled in the art, such as rectangular shapes, , the shape of a cross, a star shape, etc. The nozzle 25 is arranged on a support arm 31, the position of the arm 31, the height of the arm 31 and the distance to the robot body 20 being adjustable. The nozzle 25 is controlled by means of a guide device 27 which is connected to the nozzle 25 by means of a guide line 28. During the movement along the trajectories, paint is deposited on the surface, and thus contour lines are marked by a visual presentation representing contour lines of a logo. The paint is preferably in powder form, for example of chalk, so that it can be easily removed from the blades of grass, for example by brushing off the powder.

Applications and uses of the above-described generation of large area visual presentations of the present invention are numerous and include area examples, such as the creation of company logos, emblems, useful in both outdoor and indoor environments. These logos, artwork, etc. The system is portable and visual presentations can, for example, be a company logo on a sports field, which is viewed by a large number of spectators during the course of, for example, football matches played on the field. These sports fields can be indoors or outdoors. The surface to be treated is grass in the latter field, whereby the grass is bent to create contrasts in the grass surface which reproduce information to be displayed to the spectators through the visual presentation. The visual presentation may be commercial messages such as company names, trademarks, brand names, product names or logos, or other information, such as the name or emblem of the competing team present, the name of the stadium, the name or emblem of a sports association, etc. Other events can also be included, such as TV commercials or inauguration ceremonies, for example by the Olympic Games. 10 15 20 25 30 35 III O fl lo: = 00 .: -IO. 'It-: Ola OI oem-mc m m \ s4ss wmzouaooz \ ss \ ns4s9ooo2_o4o-zsognazaagnsolmingscex: .do: 2 2 o. g g g 3 :,, g 2. ' . . g 2 _ 32: - 'E .g ..0'. o. 5 'oo. 'O0. 5 '' 525 646 Multiple free-roaming devices can be used simultaneously, for example to reduce the production time of the visual presentation.

Furthermore, the grass surface can be adjacent to the surface of the event itself, for example adjacent to a Formula 1 track or motorsport tracks in general, sports or field sports tracks, equestrian arenas, horse racing tracks, etc., the grass-covered surface being on the side of an event surface. In this way, the visual presentation can still be broadcast, even if it is not directly present on the event field, such as an asphalt-covered plane, a sand-covered racetrack, and so on.

Finally, the grass-covered surface may comprise natural grass, artificial grass or a combination of these.

The present invention has been described above with reference to particular embodiments. However, embodiments other than those preferred above are equally possible within the scope of the appended claims, such as other mobile robots having, for example, a different number of wheels or propulsion systems than those described above or other navigation systems performing the methods described above in hardware or software, etc.

The present invention has been described with reference to various embodiments. However, the scope of the invention should not be limited to the embodiments described above, but defined only by means of the appended claims.

It should be emphasized that the term "includes", when used in this specification, is used to specify the presence of said unit, not the presence or addition of one or more features, steps or components, but excludes signs, units , steps, components or groups thereof.

Furthermore, the terms "one" and "one", when used in this specification, do not exclude a plurality and a single processor U OO OI 00 C000 00. 0 I loose! OI 040730 AF. PASQSS Evenzo \ l> \ 002 \ SB \ P54590002_040'Ilojrxdrawtnneokningstext.dQ: CIO 525 646 "“ or another device may perform the functions of several of these devices or circuits mentioned in the claims.

Claims (27)

10 15 20 25 30 35 oaovm An Pmsass Evenzo \ l> \ ao2 \ sa \ Ps4s9ooo2_o40'r29_ov ““ ““ "'= .1_af'-S6KH1 = 1 ~ 3S === <= _ SE dvc 525 e4e ai PATENTKRAV A method of producing a visual presentation on a substantially flat grass-covered surface by means of at least one free-roaming marking device, characterized by moving along trajectories on said surface with said free-roaming marking device, such that at least one contour line of said visual presentation is created on said grass-covered surface, and to treat said surface along contour lines of said visual presentation by means of said free-roaming marking device as it moves along said trajectories. Method according to claim 1, characterized in that said surface treatment step comprises marking the surface with a replaceable tool, wherein the tool performs at least one of the following tasks: to bend and / or orient and / or cut grass blades on said surface, or to deposit paint on the surface and along said contour lines. Method according to claim 1 or 2, characterized in that finishing at least one inner or an outer area bounded by said contour lines of said visual presentation on said surface. Method according to claim 3, characterized by treating said areas by means of said free-roaming marking device. Method according to claim 3, characterized by manually treating said areas. A method according to claim 5, characterized in generating guides by means of said free-roaming marking device on the inner or outer area bounded by said contour lines, said guides indicating a path and direction for a treatment of the surface, and that manually finish the said surface along 10 15 20 25 30 35 040730 AE P: \ 5- \ S9 E ': ertzo \ P \; 02 \ SE * P54Ešüüülj-lfllwjwersåttnzng_ar: söknzngstext_ $ ê.oer- 525 646 3? said guides in the direction indicated by said guides. A method according to any one of the preceding claims, characterized by calculating said trajectories from source data representing said visual presentation, said source data being a data file representing said visual presentation, and automatically converting said data file into instructions for said free-roaming marker device to move along said trajectories to create said visual presentation. A method according to claim 7, characterized in that said data file is a vector graphics file. A method according to any one of the preceding claims, characterized by scaling said visual presentation, and adapting said visual presentation to an viewing angle and / or a viewing distance relative to a position of an image capture means relative to said visual presentation on said surface. . Method according to claim 9, characterized by adapting the perspectives of said visual presentation created on said surface to said viewing angle and distance, which comprises adapting the visual presentation with regard to size, shape and contrast. Method according to Claim 9 or 10, characterized in that the image capture device is a TV camera. Method according to any one of the preceding claims, characterized in that said visual presentation is a visual whole presentation. Method according to one of the preceding claims, characterized in that the visual presentation is selected from the group which is selected from the group as a group. includes: a logo, an image type and an artwork. Method according to one of the preceding claims, characterized in that the free-roaming marking device determines its position by means of a navigation system. Method according to claim 14, characterized in that said navigation system is a laser scanner and / or a GPS unit. A method according to any one of the preceding claims, wherein said surface is formatted before the visual presentation is created. A system for performing the method of claim 1 for producing visual presentations on grass-covered surfaces, the system comprising a free-roaming marking device adapted to create said visual presentations by treating said grass-covered surface, said free-roaming marking device in use. traveling along trajectories on said grass surface, and said free-roaming device comprises processing means for processing said surface along contour lines of said visual presentation as it moves along said trajectories, and the system further comprises calculating means for automatically calculating trajectories from a source data representing said visual presentation. The system of claim 17, further comprising a portable computer device for wireless communication with the free-roaming marker and for programming and controlling the free-roaming marker at the location where the visual presentation is to be created. The system of claim 18, further comprising a remote computer for creating a master for said visual 10 040729 AR Pf \ 5459 B / enzo \ i ~ \ Do2 \ sE \ P5-xssooo2__040729__0versartn1ng_ans6knmgscex <._ Si-Ld -zc _ 3 "* 525 646 presentation and wherein said master is transferred to said portable computing device for further processing. A system according to claims 17 to 19, wherein said free-roaming marking device automatically creates at least one contour line of said visual presentation on said large surface with said treatment means. The system of claim 17, wherein said treatment means comprises a surface treatment tool having an adjustable treatment direction and an adjustable pressure on said surface. A system according to any one of claims 17 to 21, wherein said free-roaming marking device comprises a navigation system. The system of claim 22, wherein said navigation system is a laser scanner and / or a GPS device. A computer readable medium containing a computer program for processing with a computer to create a visual presentation on a large grassy surface according to the method of claim 1, said computer program comprising a plurality of code segments, characterized by a first code segment for calculating trajectories along which a free-roaming marking device moves to create said visual presentation, said trajectories being automatically calculated from cold data representing said visual presentation. Computer readable medium according to claim 24, characterized by y a second code segment for instructing said free-roaming marking device to travel along trajectories on said surface in such a way that at least one contour line of said visual presentation is created on said grass-covered surface by treating said surface along contour lines of said visual presentation with said free-roaming marking device as it moves along said trajectories. 10 15 040729 YEAR P: \ 5 ~ 159 Blen20 \ P \ 002 \ SE \ P54S90002_040729_ÖVGtf "" '. Ng_0nlOknxngBElXf. _SÉ.E'3C 525 646? * Use of a mobile robot as a free-roaming marking device for performing the method of claim 1, for creating a visual presentation on a large grass-covered surface, said mobile robot being instructed to move along trajectories, and said visual presentation being created on said surface as a sum of said trajectories, wherein at least one contour line of said visual presentation is created on said grass-covered surface by treating said surface along contour lines of said visual presentation with said free-roaming marking device as it moves along said trajectories. Use of a mobile robot according to claim 26, wherein said trajectories are automatically calculated from a data file comprising a graphics file which stores said visual information for said visual presentation.