Sports field marking equipment

A sports field marking equipment, wherein the sports field marking equipment is a mobile robot, the mobile robot comprising:

• a paint applying means adapted for use in marking a sports field on a surface;
• and
• a position determining device configured for determining the position of the mobile robot;
• characterized in that the mobile robot further comprises:
• a distance sensor configured for detecting a goal and/or corner post and the distance thereto;
• a first processor;
• a first memory coupled to the first processor, wherein the first memory comprises program instructions executable by the first processor for:
• receiving a goal and/or corner post detection signal as well as the measured distance from the distance sensor to the goal and/or corner post;
• receiving the position and direction of the mobile robot from the position determining device at the time of receiving the detection signal;
• computing waypoint coordinates of the goal and/or corner post based on the received data;
• and
• storing the computed waypoint coordinates of the goal and/or corner post.