WO2023194733A2

WO2023194733A2 - Ground marking robot, method of ground marking using a guide

Info

Publication number: WO2023194733A2
Application number: PCT/GB2023/050915
Authority: WO
Inventors: Anthony David George Rhoades; Samuel Paul CORNISH-EVANS; Yao GONG
Original assignee: Micropply Limited
Priority date: 2022-04-05
Filing date: 2023-04-05
Publication date: 2023-10-12
Also published as: WO2023194733A3; GB202204971D0

Abstract

An autonomous ground deposition apparatus, the autonomous ground deposition apparatus comprising: at least one receptacle to hold a deposition material; at least one deposition arrangement; a locomotion arrangement; a sensor system, the sensor system operable in use to provide sensor data about the location of a pre-placed guide; and a control unit, the control unit operable to receive at least one deposition instruction and the sensor data; and in operation, control the locomotion arrangement to deposit the deposition material. The use of a guide path meaning that advantageously, no extra navigational aids such as beacons and/or GPS systems are required. Thus, lowering the cost of the machine and simplifying its use operationally.

Description

GROUND MARKING ROBOT, METHOD OF GROUND MARKING USING A GUIDE

The present invention relates to a ground marking Autonomous Deposition Robot (ADR) 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. Specifically, the ADR deposits material for at least a first section of the deposition whilst maintaining a distance (d) between the autonomous deposition apparatus and a guide placed on the ground.

Ground marking is typically carried out manually. It requires significant pre-planning, the manufacture of pre-ordered plastic stencils, and large teams of workers to decipher instructions, prepare, lay out, and complete a site for marking. Where marking is required such as for logos, safety or hazard signs, the complex make-up of these images mean that difficulties persist to print any image, any size, any colour, directly onto any ground surface without significant cost of time, expense and compromise in image attributes, such as resolution.

One approach to automating ground marking is found in US 2005/0055142 Al in which a turf image marker comprises a ground maintenance vehicle adapted to both mow and store grass as well as carry a marking device that includes a delivery system for applying a marking material to the ground. Dispensing devices for putting down marking materials are provided in the form of boxes requiring mechanisms that require to be driven such as a motor, electric, air or other fluid motor.

One approach to scalable autonomous ground marking is found in the Applicant's co pending patent "Ground Printing Machine", Micropply Limited, PCT/GB2021/052671, which discloses an ADR machine capable of ground printing and which uses the tiling of segments to cover an image print area. Navigation is performed using locally positioned beacons. Another approach is found in Pixelrunner's application US2019381529, which disclose using a camera and computer vision to compensate for a degree of adjustment between sequential print segments. Initial navigation and set up is performed using a global navigation system.

Autonomous 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. Autonomous vehicle systems, as known in the art, are able to follow a pre-determined path, path follow another machine, or follow a virtual path (eg SLAM). They use many methods of navigation including sensors, beacons, and/or GPS.

However, where a print or deposition has section of zero marking or no deposition, it can be difficult to follow the edge of an existing print/deposition or follow a virtual path that is accurate enough. Beacons and GPS technologies are also complex and adds cost to machines.

However, in order to make ground marking or depositing materials on the ground as efficient as printing or marking on paper a novel approach is needed in order to seek high resolution of marking combined with development of the machine carrying the marking material towards a reduction in size and increase in portability, whilst trying to keep machine cost and complexity to a minimum.

SUMMARY OF INVENTION

According to a first aspect of the present invention, there is provided an autonomous ground deposition apparatus, the autonomous ground deposition apparatus comprising: at least one receptacle to hold a deposition material; at least one deposition arrangement; a locomotion arrangement; a sensor system, the sensor system operable in use to provide sensor data about the location of a pre-placed guide; and a control unit, the control unit operable to receive at least one deposition instruction and the sensor data; and in operation, control the locomotion arrangement to deposit the deposition material. Preferably wherein the sensor system comprises a computer vision system and/or comprises a camera. The use of a pre-placed guide path meaning that advantageously, no external navigational aids such as beacons and/or GPS systems are required. Thus, lowering the cost of the machine and simplifying its use operationally.

Further preferably wherein a support arm may be provided for the mounting of the sensor system and at a first end, the support arm may be fixed to the chassis of the autonomous ground deposition apparatus, and the sensor system may be fixed at a second end and may be arrangeable in use to form a distance (d) between the autonomous ground deposition apparatus and a guide path. Preferably wherein the support arm is fixed in length and/or wherein the support arm is adjustable in length between a min and max length, such that distance (d) is adjustable accordingly. Preferably further comprising a second support arm, one end of the second support arm may be fixed to the autonomous ground deposition apparatus and the other end may be fixed to the support arm.

Advantageously, an adjustable support arm providing the ability to print at different distances (d) from a fixed position guide path, such as a touch line. Further preferably where the field of view of the camera is wide enough that it can be mounted flush to the autonomous ground deposition apparatus and still detect the guide path. Further preferably wherein a coupling cable is provided between the sensor system and the apparatus, such that data and electrical power can be transmitted between the sensor system and the apparatus.

Further preferably wherein the locomotion arrangement is a ground wheel arrangement and/or further comprising a chassis with a nozzle array on a traverse guide, the traverse guide permitting movement of the nozzle array beyond the width of the ground wheel arrangement. Wherein the traverse guide is preferably fixed in relation to the ground wheel arrangement or is movable relative to the ground wheel arrangement in the direction of travel, so that an area can be printed while the ground wheel arrangement is stationary.

In a second aspect of the present invention there is provided a method of depositing material using apparatus of the first aspect, comprising receiving deposition instructions from a user; and the autonomous deposition apparatus using a sensor system operable to detect a guide path at a distance (d) from the autonomous deposition apparatus; and the autonomous deposition apparatus then depositing material according to the deposition instructions whilst maintaining said distance (d) between the autonomous deposition apparatus and the guide path for at least a first section of the deposition.

Preferably further comprising using a path following method to maintain said distance (d) between the autonomous deposition apparatus and the guide path for at least a first section of the deposition.

Further preferably comprising dynamically determining an offset with regard to the guide path and operating one or more locomotion arrangements to minimize said offset, wherein the offset may be an angular offset.

Further wherein the deposition instructions are a command to print an image in a certain size and the control unit calculates the required sections of the print and wherein a user ends deposition instructions to the autonomous deposition apparatus via a cloud server or device, or an edge server or device. The user may also preferably enter a variable (d) which dynamically adjusts the distance between the autonomous ground deposition apparatus and the guide path.

Preferably the pre-placed guide is a pitch marking, such as a football pitch boundary line and wherein method further comprises using a different navigational method to path following, for a subsequent section of the deposition. Thus, advantageously allowing for multi-section or large-scale tiled prints and/or wherein the material for deposition is a herbicide, pesticide, insecticide, plant growth aid, water or marking material, optionally wherein the marking material is a paint, ink, coloured material, powder.

Preferably, the robot is connected to a cloud system. Connection to a cloud system allows the user to achieve functionality anywhere, for example over the air fault diagnostics, real-time print management, vast secure storage and the means to operate robots anywhere in the operator's network. Use of a cloud system allows the collection of data which can aid in machine learning functionality, improve robot diagnostics, data aggregation and secure communication links between the edge, the cloud and all data processing devices as required. Use of a cloud-based system is built around the user to achieve functionality anywhere, over the air fault diagnostics, real-time print management, vast secure storage and the means to operate robotic printers anywhere in the operator's network.

Accordingly, there is provided a ground marking autonomous robot that in addition to high accuracy and throughput marking provides for robot diagnostics, data aggregation and secure communication links between the edge, the cloud and all data processing devices as required.

The ground marking autonomous robot is combined with artificial intelligence, machine learning, and an end-to-end Cloud SAAS (Software as a Service) platform that work together to create ground-printed images approaching the accuracy of a blade of grass, all underpinned with an advanced user-interface.

FIGURES

Embodiments of the invention will now be described by way of example only and with reference to the accompanying drawings, in which:

Figure 1 is a schematic diagram of a robot comprising an array of primary packaging comprising bags filled with a ground marking material, detailing the guide line following solution of the present invention;

Figure 2 is a schematic diagram of primary packaging comprising a flexible ink bag with a hose connected to a nozzle array;

Figure s is a top view of a ground marking robot, detailing the guide line following solution of the present invention;

Figure 4 is a side elevation of a ground marking robot, detailing the guide line following solution of the present invention;

Figure s is a plan view of a ground marking operation in progress, in this embodiment tiled printing of a logo;

Figure 6 is a schematic diagram of a smart communications module as used in the robot; and Figure 7 is a schematic diagram of a secure communications network between the robot, the edge, the cloud and a data processing device.

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

DETAILED DESCRIPTION

Referring to Figure 1 a schematic diagram of an autonomous ground deposition robot 10, comprises an outer case 12 cut away to reveal an array of primary packaging 14, 16, 18 and 20. The primary packaging 14, 16, 18 and 20 shown here comprises ink held within a bag (not shown in Figure 1), with primary packaging 14 comprising a red ink R, a green ink G, a blue ink B and a white ink W. Each primary packaging 14, 16, 18 and 20 is supported on a weight measuring plate 14a, 16a, 18a and 20a connected to a smart communications module 22 described more fully in Figure 6, which may also serve as or be connected to an on-board control system (not shown in Figure 1). The smart communications module 22 comprises a transceiver 22a for communication with remote resources (not shown in Figure 1).

There is also shown a line following camera 100 supported by an elongated support arm 95, which is fixed to the frame of the autonomous ground deposition robot 10. The elongated support arm 95 may be extendible between a position where the camera is seated flush against the outer case of the autonomous ground deposition robot 10 and a maximum usable distance (m). A second sub-support arm 90 may also be used to provide extra support, in which case the elongated support arm 95 may only be extendible between the end of the second sub-support arm 90 and a maximum usable distance (m). The max useable distance (m) being dependent on the strength of the support arm 95, the size of the autonomous ground deposition robot 10, the materials used for the construction of the support arm 95 and the weight of the camera 100 or sensor unit used. It should be clear to someone skilled in the art how to calculate the maximum length of the support arm 95 and whether a second support 90 is required. Any known telescopic means can be used to form an adjustable length support arm 95. It should be also clear to a person skilled in the art that if needed a coupling cable (not shown) is needed between the camera 100 and the autonomous ground deposition robot 10, such that data and electrical power can be transmitted between the sensor system and the apparatus. Alternatively a wireless connection such as a Bluetooth or BLE connection can be used, as known the art.

The line following camera 100 must be capable of following the white painted line (see Figure 5) on the side of a grass pitch, or in use, can be capable of following a line of placed down tape, for example, placed on the grass, or ground, at a calculated distance (d) from where the print is to be started. If the line following camera 100 and/or sensor system used to follow the guide is seated flush to the side of the autonomous ground deposition robot 10, then the field of view of the camera 100 must be wide enough to give a good distance (d) between the side of the autonomous ground deposition robot 10 and the guide path. If the camera or sensor system used has a limited field of view, then the elongated support arm 95 can then be adjusted to enable a suitable distance (d).

If the camera is seated flush to the side of the autonomous ground deposition robot 10 and has a good field of view, then in a further embodiment (not shown), a user can input a distance (d) between the side of the autonomous ground deposition robot 10 and the guide path. The distance (d) corresponding to the distance required between the guide path and the start of the print. The white painted line (see Figure 5) on the side of a grass pitch, or the line of tape, for example, placed on the grass, or ground, is then used as a 'guidance line' for the first run of the print. As shall be described in further detail with reference to Figure 5 following.

Alternatively, if a fixed length elongated support arm 95 is used, then the distance (d) between the guidance line and the start of the print must be measured out by a user or operator to match the length of the elongated support arm 95. Then the autonomous ground deposition robot 10 moved into position to start the print at a distance (d) from the painted or applied, guidance line, as shall be described in further detail with reference to Figure 5 following. The autonomous ground deposition robot 10 further comprises wheels 24 for movement, as well as multiple weight measuring plates 14a, 16a, 18a and 20a is an integral part of a frame 26, capable of holding the primary packaging 14, 16, 18, 20 firmly in place. The autonomous ground deposition robot 10 may also comprise a load sensor 28 for registering the presence of the primary packaging 14, 16, 18, 20 when firmly in place in the frame 26. The load sensor 28 may be a photodiode or a RFID tag that communicates with an ID tag 30 of the primary packaging 14, 16, 18, 20. The ID tag 30 may also comprise a barcode or other smart label, which is used for identification of the primary packaging 14, 16, 18, 20.

More than one load sensor 28 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 14a) supporting the ink bag and primary packaging 14, 16, 18, 20, as has been further described with reference to the Applicant's copending patents.

As best seen in Figure 2, a flexible ink bag 32 comprises an airtight valve outlet 34 sealed to the flexible ink bag 32 with the appropriate connection part for secure connection to a hose 36. The hose 36 may also be a tube, piping, or any suitable means to transport the material for deposition.

Turning to Figure 2, the primary packaging 14 comprising the flexible ink bag 32 with the hose 36 is connected to a nozzle array 42 via an actuator pump 35. Here the nozzle array 42 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 14, 16, 18 and 20 of Figure 1 will have a hose 36 and valve 34 to connect to the nozzle array 42 via the actuator pump 35. The autonomous ground robot 10 may have a single actuator pump 35 for all primary packaging/ink bag/hose (14,16,18,20/32/36), or there may be multiple actuator pumps, i.e. one for each primary packaging/ink bags/hose (14,16,18,20/32/36). Each nozzle of the nozzle array 42 may be designated for each primary packaging/ink bag/hose (14,16,18,20/32/36) present, so that each nozzle is for deposition of only the material held in each primary packing/ink bag (14,16,18,20/32).

In operation, the nozzle array 42 can deposit materials from each primary packing/ink bag (14,16,18,20/32) individually, or multiple nozzles of an array 42 can operate to blend materials together, e.g. colours of inks or paints, to deposit at the same time. The bags 32 may contain different colours of marking materials, i.e. inks or paints, which may comprise CYM or, if good black is required, CYMK colours. Since the substrate or ground to have these deposited upon will not likely be white, a white may be required for any print that has white or a paler shade than the colours contained in the bags 32. 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 42), and when viewed from above or a suitable distance from afar (e.g. from the stand in a stadium or from a television view) appearto blend into colours, depending on the relative colours of the different inks or colours deposited.

The flexible ink bag 32 comprises the red ink R suitable for depositing a red colour on a ground yet the flexible ink bag 32 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 36 and nozzle arrays 42 are attached.

The hose 36 is connected to a manifold 44 connected to a tank 46 containing chemical liquids 48 which serve a variety of purposes. The chemical liquids 48 may be used to flush the hose 36 and nozzles 42.

In operation, a user receives a package containing primary packaging 14 as a lightweight, substantially rigid cardboard box containing therein a flexible bag 32 filled with a ground marking material, for example a red ink R. The user may register the marking material using the ID tag 30 to match marking materials held in a database (not shown) by way of communication with module 22. The database may contain a list of verified marking materials authorised for use and may in return grant permission forthe autonomous ground deposition robot 10 to accept the material and may, depending in the type of material, make mechanical or software adjustments. For example, a nozzle 42 height may be adjusted to spray fertilizer in a different way to that nozzle 42 arrangement for high resolution image printing.

In embodiments, the user may insert the primary packaging 14 into a frame 26 of the autonomous ground deposition robot 10. Alternatively, if the arrangement allows, then the user may remove the ink bag 32 from the primary packaging 14 and place the ink bag into the frame 26. The sensor 28 may register the presence of the primary packaging 14 and further verify that the correct ink bag 32 is located in the correct frame and may further undertake a verified check of the authenticity of the ink bag 32 using RFID technology or measurement from the weight monitoring plate 14a. When printing an image, the flexible ink bags 32 will contain sufficient material to be able to print an entire image without changing during the printing run of the robot. If required, an ink bag can be changed during the deposition cycle.

The hose 36 is attached to the valve 34 and with appropriate setting up of the autonomous ground deposition robot 10 as best described in Figures 3, 4 and 5, printing or marking can commence.

Figure 3 is a top view, Figure 4 is a side elevation and Figure 5 is a plan view of a ground marking operation in progress, using an autonomous ground printing robot with guide line following capabilities, in this embodiment carrying out the tiled printing of a logo.

The autonomous ground deposition robot 10 comprises a case 12 held securely by a chassis supporting the ground wheel arrangement 24 with a print head 60 on a traverse guide 62, the traverse guide 62 permitting movement of the print head 60 beyond the width W of the ground wheel arrangement 24, along the length of the print width 68. The nozzle array 42, as previously, may be attached to the print head 60. The nozzle array 42 maybe fixed and the print head 60 moveable. The print head 60, via the print guide 62, may be moveable along the length of a print width 68, which is the area the print head 60 is capable of printing. The print head 60 many also be movable vertically based on the image to be printed, for example the print head 60 can be moved up and down depending on the density of the image to be printed. The print head 60 can have a means (not shown) to monitor the ground height and adjust the height of the print head 60 accordingly, allowing for more accurate image printing or material deposition.

There is also show the line following camera 100 supported by an elongated support arm 95, which is fixed at one end to the frame of the autonomous ground deposition robot 10. As explained with reference to Figure 1, the line following camera 100 can detect the white painted line 101 on the side of a grass pitch, or in use, can be capable of detecting a line of tape, for example, placed on the grass, or ground, at a calculated distance (d) 102 from where the print is ready to be started (see Figure 5 specifically). The elongated support arm 95 must then be adjusted to match this distance (d) 102. The white painted lines on the side of grass pitches, or the line of tape, for example, placed on the grass, or ground is then used as a guidance line 101 for the first run of the print.

The use of the guide line 101, avoids the need for expensive beacons for navigation means and/or the use of GPS. A simple pitch side image print can then be set up quickly and easily by either using the white line at the edge of a football pitch for example, or a placed down guide line, placed down by a user or Ground's person, for example. A ribbon, tape, such as masking tape, can be used. Any colour of line or tape can be used as a guide line 101. Line, or path following algorithms, as known in the art, are used to maintain the position of the autonomous ground deposition robot 10 at a distance (d) from the guide line 101, for the first section of a multi section print run. Any suitable sensor system may be used to detect the presence of the guide line 101. For example UV paint or strip may be used and a UV sensor system can be used on the elongated support arm 95.

The ground wheel arrangement 24 comprises wheels 24a, 24b, 24c and 24d to steer the robot 10, using the images from the line following camera 100, along a path to affect the printing using the guide line 101 for the first tiled section. Other means as used in the art and/or described in the Applicant's co-pending application can then be used for the following sections of the print run if a multi-section large scale print is required. The colours and/or materials to be deposited, as well as the number of sections required, being underthe control of a 'print file' that can be loaded into the on-board control system, such as may be contained communications module 22.

The traverse guide 62 is fixed in relation to the ground wheel arrangement 24, so that it prints one line of an image along the print width 68. The ground wheel arrangement 24 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 24 in the direction of travel, so that an area may be printed while the ground wheel arrangement 24 is stationary, and then the ground wheel arrangement 24 moves forward by the length of the area printed so as to print an adjacent area of image.

The print head 60 can, for example, print a line of 10mm width, then the ground wheel arrangement 24 notch forward by 10mm. Oran area, say of A4 or A3 paper size can be printed and only then does the robot 10 move forward. The robot 10 can therefore print a strip 64, Figure 5, of image wider than the width W of the ground wheel arrangement 24 and when an entire strip 64 of image has been printed turn around to print an adjacent strip. In this way, the ground wheel arrangement 24 does not run over any part of the freshly painted ground, the outer tracks 66 of the ground wheel arrangement 24 being seen in Figure 5 to be well within the width of the strips 64. The wheel arrangement 24 may have independent drives to manage torque for optimised positioning accuracy on any surface. The independent drives may be connected to the smart communications module 22 in order to feedback into drive control. The autonomous ground robot 10 may be able to respond in real time to changing terrain needs.

The print head 60 can be height adjustable, whereby to print finer or coarser images or to adapt to ground irregularities. The print head 60 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. Turning to Figure 6, a smart communications module 22 includes processing circuitry 80 coupled to memory circuitry 82 e.g. volatile memory (V)/non-volatile memory (NV), such as such as flash and ROM.

The memory circuitry 82 may store programs executed by the processing circuitry 80, 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 100 or the edge 102(s) (e.g. URL, IP address). The memory circuitry 80 may also comprise access to machine learning algorithms stored in libraries to provide for an artificial intelligence equipped autonomous robot 10.

The module 22 may also comprise communication circuitry 84 including, for example, near field communicating (NFC), Bluetooth Low Energy (BLE), WiFi, 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 86. For example, the module 22 may connect to remote resource(s)/device(s) within a local mesh network over BLE, which in turn may be connected to the internet via an ISP router.

The module 22 may also comprise input/output (I/O) circuitry 88 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 processing circuitry 80 may control various processing operations performed by the module 22 e.g. encryption of data, communication, processing of applications stored in the memory circuitry 82.

For example, the module 22, may, for example, be an embedded device such as an ink registration and ink consumption monitoring device, which generates operational data related to the registration of an input primary packaging 14 comprising an ink bag 32 and the use of the ink R using data generated from the sensor 28 connected to a change in weight detected by the weight monitoring plate 14a. Alternatively, the module 22 may, for example, comprise an embedded temperature sensor, which generates operational data based on the temperature of the surrounding environment, and may, for example be generated as a time series and fed, as best seen in Figure 7, to a remote resource such as the cloud 100, the edge 102 such as a tablet used to control the robot 10 via communications link 86. The cloud 100 or the edge 102 may by return send instructions back to the robot 10 via a communications link 104 for the real-time adjustment of ground marking properties based on the data. In the present example, the cloud 100 and edge 102 may also communicate with each other via a communications link 108 and 110. This could be to update the instructions, send new instructions, initiate or prevent the operation of the robot. The edge 202 may be between the communication between the robot 10 and the cloud 102. The robot laser 40 and position sensor 38 may communicate with the cloud 100 and/or the edge 102 to feedback into the real-time adjustment of ground marking properties based on the data.

Figure 7 schematically shows an example of the autonomous ground deposition robot 10 in communication with the cloud 110, and/or as remote resource, which may be a tablet 108, or smartphone 106, when the present techniques are applied. The tablet 108, or smartphone 106 may be controlled by a user, such as a Groundsman located on site responsible for the upkeep of a pitch within a football or rugby stadium.

In the present example, it will be appreciated that the cloud 110 may comprise any suitable data processing device or embedded system which can be accessed from another platform such as a remote computer, content aggregator or cloud platform which receives data posted by the autonomous ground deposition robot 10. Use of a cloud 110 means that the onboard memory 82 of the autonomous ground deposition robot 10 does not need to store everything, data e.g. machine learning libraries, print instructions and operation instructions, history data can be stored in the cloud 110.

In the present example, the autonomous ground deposition robot 10 is configured to connect with the cloud 100 to push data to the tablet 108, or the smartphone 106, whereby, for the example, the autonomous ground deposition robot 10 may be provided with the connectivity data (e.g. a location identifier (e.g. an address URL)) and credential data (e.g. a cryptographic key, certificate, a site secret) of the cloud 110 or the tablet 108, or smartphone 106.

In alternative embodiments, a user may specify to which remote resource the robot 10 should push data. For example, the user may connect the robot 10 directly to a portable device e.g. via universal serial bus (USB), and install code capable of executing on the robot 10, whereby the code may comprise connectivity data and/or credential data relating to the remote resource with which the user wants the robot to communicate. The connectivity data and/or credential data may be provided to the robot 10 using any suitable method e.g. via USB/BLE. The credential data may also comprise credential data relating to a network to which the robot 10 may be required to connect e.g. WPA2 key for pairing with nodes in a WiFi network.

It will be clear to one skilled in the art that many improvements and modifications can be made to the foregoing exemplary embodiments without departing from the scope of the present technique.

The robots, systems, and methods described herein can be adapted for use with different types of surface of substrate, depending on the purpose and surface for it to be used with. For example, the robots, systems, and methods described herein can be used to deposit material on multiple different substrates, surfaces, or the ground. For example, these could be, grass, turf, AstroTurf, artificial turf, synthetic turf, plastic turf, concrete, polished concrete, tarmac or tarmacadam ground surfaces, dirt, gravel, wood chip, carpeting, rubber, roads, asphalt, brick, sand, beaches, mud, clay wood, decking, tiling, stone, rock and rock formations of varying types of rock or stone, snow, ice, ice rinks, artificial snow, polymer surfaces such as polyurethane, plastic, glass and leather.

The robots, systems, and methods described herein can be adapted for use with different surfaces, such as sports (e.g. football, cricket, racing, rugby, hockey, ice hockey, skiing, shooting) pitches, ski slopes, dry ski slopes, race courses, gymnasiums, indoor sports venues and running tracks. In an exemplary embodiments, the robots, systems, and methods described herein may be used for printing or painting on a substrate or on the ground. This can be to print or paint, with inks or paint, logos, information, advertising or messages on the ground. When large images are printed, they are printed with adjacent dots or pixels so that when viewed from above or a suitable distance from afar (e.g. from the stand in a stadium or from a television view) the images are easily determined. Print instructions can be determined so that when an image, e.g. a logo is printed, they can be visible from stadium stand or by a viewer watching an event at home on television. The robots, systems, and methods described herein offer an improvement to printing methods for advertising purposes. Brand logos, slogans, pictures etc. can be printed to advertise a brand, logo or message. These can be printed more efficiently, quickly and with a higher degree of accuracy than the methods and printers of the prior art.

The robot is therefore in some embodiments configured to print an image or logo on a surface, the robot housing two, three, four or more flexible bags containing a material for deposition, the material for deposition contained within each flexible bag being an ink or paint selected from a cyan, magenta, yellow, black, white, green, blue or red colour, the image or logo optionally being an advertising logo, design or safety warning. The method may include ground marking using an autonomous robot housing a flexible bag containing a material for deposition therein, the flexible bag provided with an airtight valve outlet sealed to the flexible bag; the method including opening the valve outlet and depositing the ground marking material.

In examples, the material for deposition is a herbicide, pesticide, insecticide, plant growth aid, water or marking material, optionally wherein the marking material is a paint, ink, coloured material, powder.

In examples, a method of depositing material using a robot includes i) a user sending deposition instructions to the autonomous robot; and ii) the autonomous robot depositing material according to the deposition instructions. In such an example, the user may send deposition instructions to the autonomous robot via a cloud server or device, or an edge server or device. Preferably, the material to be deposited is marking material, paint or ink, and the deposition instructions are printing instructions and the autonomous robot is configured to print an advertising logo, design or safety warning. The method may also include gathering performance diagnostics of the autonomous robot.

Claims

CLAIMS:

1. An autonomous ground deposition apparatus, the autonomous ground deposition apparatus comprising: a. at least one receptacle to hold a deposition material; b. at least one deposition arrangement; c. a locomotion arrangement; d. a sensor system, the sensor system operable in use to provide sensor data about the location of a pre-placed guide; and e. a control unit, the control unit operable to receive at least one deposition instruction and the sensor data; and in operation, control the locomotion arrangement to deposit the deposition material.

2. Apparatus according to any preceding claim, wherein the sensor system comprises a computer vision system.

3. Apparatus according to claim 2, wherein the computer vision system comprises a camera.

4. Apparatus according to any preceding claim, wherein the sensor system is mounted externally to the autonomous ground deposition apparatus.

5. Apparatus according to any preceding claim, further comprising a support arm operable to support the sensor system.

6. Apparatus according to claim 5, wherein the support arm is at a first end, fixed to the chassis of the autonomous ground deposition apparatus, and the sensor system is fixed at a second end, and is arrangeable in use to form a distance (d) between the autonomous ground deposition apparatus and the pre-placed guide.

7. Apparatus according to claim 5 or 6, wherein the support arm is fixed in length.

8. Apparatus according to either claim 5 or 6, wherein the support arm is adjustable in length between a min and max length, such that distance (d) is adjustable accordingly.

9. Apparatus according to any preceding claim, further comprising a second support arm, one end of the second support arm is fixed to the autonomous ground deposition apparatus and the other end is fixed to the support arm.

10. Apparatus as claimed in any preceding claim, wherein the locomotion arrangement is a ground wheel arrangement.

11. Apparatus as claimed in any preceding claim, further comprising a chassis with a nozzle array on a traverse guide, the traverse guide permitting movement of the nozzle array beyond the width of the ground wheel arrangement.

12. Apparatus according to claim 11, in which the traverse guide is fixed in relation to the ground wheel arrangement.

13. Apparatus according to claim 12, in which the traverse guide is movable relative to the ground wheel arrangement in the direction of travel, so that an area can be printed while the ground wheel arrangement is stationary.

14. Apparatus as claimed in any preceding claim, wherein the onboard control system is configured to transmit data to a remote resource, such as a cloud server, or an edge device optionally a tablet or smartphone.

15. A method of depositing material using apparatus of any one of claims 1 to 14, comprising a. receiving deposition instructions from a user; b. using a sensor system operable to detect a guide path at a distance (d) from the autonomous deposition apparatus; and c. the autonomous deposition apparatus then depositing material according to the deposition instructions, whilst maintaining said distance (d) between the autonomous deposition apparatus and the guide path for at least a first section of the deposition.

16. A method according to claim 15, comprising using a path following algorithm to maintain said distance (d) between the autonomous deposition apparatus and the guide path for at least a first section of the deposition.

17. A method according to claim 15 or 16, further comprising dynamically determining an offset with regards to the guide path and operating one or more locomotion arrangements to minimize said offset.

18. A method according to any of claims 15 to 17, further comprising dynamically determining an angular offset of the rotation angle (b) between the guide path and the apparatus and the control unit controlling one or more locomotion arrangements to minimize said angular offset.

19. A method according to any of claims 15 to 18, further comprising using a different navigational method for a subsequent section of the deposition.

20. A method according to any of claims 15 to 18, further comprising the step of allowing a user to input a distance (d) between the autonomous ground deposition robot and the guide path.

21. A method according to any of claims 15 to 20, wherein the deposition instructions are a command to print an image in a certain size and the control unit calculates the required sections of the print.

22. A method according to any of claims 15 to 21, wherein the user sends deposition instructions to the autonomous deposition apparatus via a cloud server or device, or an edge server or device.

23. An apparatus or method as claimed in any preceding claim, wherein the material for deposition is a herbicide, pesticide, insecticide, plant growth aid, water or marking material, optionally wherein the marking material is a paint, ink, coloured material, powder.