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US 12,743,104 B2Granted
Method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface
AssigneeTinyMobileRobots ApS
InventorsPeter Jensen, Palle Flydtkjær, Jens Peder Kvols Kristensen, Kristian Korsgaard
Life of this patent
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Abstract
Use of vector format graphics with robot marking, allowing the end user to design and use his own templates. By using vector graphics formats as a tool to let the user make his own templates, the user will have the flexibility of the CAD files in being able to draw any type of drawing, and at the same time having the flexibility of the templates by being able to move, scale and rotate the template freely.
Claims14
A method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface, said method comprising the steps of:
- i) providing a geometric figure saved in a digital vector format;
- ii) providing a mobile robot with a control unit comprising:
- a) a database configured for storing data corresponding to a geometric figure and saved in a digital vector format,
- b) a database configured for storing data corresponding to a georeferenced map, and
- c) a display unit;
- wherein said control unit is configured to:
- process a georeferenced map stored in said database configured for storing data corresponding to a georeferenced map and to send a display signal for displaying said stored georeferenced map to said display unit as a first graphical layer on the display unit;
- process a geometric figure saved in a digital vector format stored in said database configured for storing data corresponding to a geometric figure and saved in a digital vector format and to send a display signal for displaying said stored geometric figure to said display unit as a second graphical layer on the display unit;
- wherein said display unit is configured to:
- display said stored georeferenced map as a first layer in response to said display signals;
- display said stored geometric figure to said display unit as a second layer in response to said display signals;
- allow manipulation of the second graphical layer relative to the first layer, the manipulation comprising at least one of:
- translation, rotation, and scaling;
- iii) storing a georeferenced map in said database configured for storing data corresponding to a georeferenced map;
- iv) storing said geometric figure saved in a digital vector format in said database configured for storing data corresponding to a geometric figure and saved in a digital vector format;
- v) selecting a control function on said control unit accepting manual selection of a georeferenced map in said database configured for storing data corresponding to a georeferenced map to be displayed on said display unit;
- said georeferenced map either being the one stored in step iii) or an already stored georeferenced map;
- vi.a) selecting a control function on said control unit accepting manual selection of a geometric figure in said database configured for storing data corresponding to a geometric figure and saved in a digital vector format to be displayed on said display unit;
- said geometric figure either being the one stored in step iv) or an already stored geometric figure;
- wherein said display unit is configured to overlay said selection of a georeferenced map in said first graphical layer and said selection of a geometric figure in said second graphical layer on said display unit, respectively;
- vii) selecting a control function on said control unit instructing said control unit to compute waypoint coordinates of said geometric figure, wherein said control unit is configured to compute said waypoint by:
- establishing a spatial relationship between said geometric figure and said georeferenced map;
- transforming coordinate data of said geometric figure from a vector coordinate space into geographic coordinates of said georeferenced map based on said spatial relationship;
- converting said geographic coordinates into a coordinate reference system used by said mobile robot;
- and
- computing said waypoint coordinates from the converted coordinates;
- and
- viii.a) instructing said mobile robot via said control unit to store said computed waypoint coordinates of said geometric figure in a database configured for storing data corresponding to a geometric figure and saved in a digital vector format;
- or
- viii.b) instructing said mobile robot via said control unit to mark said geometric figure onto said surface.
27 more elements
A mobile robot for use in the marking of a geometric figure on a ground surface comprising:
- a paint spraying means;
- and
- a control unit comprising:
- a) a database configured for storing data corresponding to a geometric figure and saved in a digital vector format;
- b) a database configured for storing data corresponding to a georeferenced map;
- and
- c) a display unit;
- wherein said control unit is configured for being in communication with said mobile robot;
- wherein said control unit is configured to:
- process a georeferenced map stored in said database configured for storing data corresponding to a georeferenced map and to send a display signal for displaying said stored georeferenced map to said display unit as a first graphical layer;
- process a geometric figure saved in a digital vector format stored in said database configured for storing data corresponding to a geometric figure and saved in a digital vector format and to send a display signal for displaying said stored geometric figure to said display unit as a second graphical layer;
- wherein said display unit is configured to:
- display said stored georeferenced map as a first layer in response to said display signals;
- display said stored geometric figure to said display unit as a second layer in response to said display signals;
- allow manipulation of the second graphical layer relative to the first graphical layer, the manipulation comprising at least one of:
- translation, rotation, and scaling wherein said control unit further comprises:
- d) a first processor;
- and
- e) a first memory coupled to said first processor, wherein said first memory comprises program instructions configured for:
- selecting a control function on said control unit accepting manual selection of a georeferenced map in said database configured for storing data corresponding to a georeferenced map to be displayed on said display unit;
- selecting a control function on said control unit accepting manual selection of a geometric figure in said database configured for storing data corresponding to a geometric figure and saved in a digital vector format to be displayed on said display unit;
- wherein said display unit is configured to overlay said selection of a georeferenced map in said first layer and said selection of a geometric figure in said second layer on said display unit, respectively;
- selecting a control function on said control unit instructing said control unit to compute waypoint coordinates of said geometric figure, wherein said program instructions are further configured to cause said processor to:
- establish a spatial relationship between said geometric figure and said georeferenced map;
- transform coordinate data of said geometric figure from a vector coordinate space into geographic coordinates of said georeferenced map based on said spatial relationship;
- convert said geographic coordinates into a coordinate reference system used by said mobile robot;
- and
- compute said waypoint coordinates from the converted coordinates;
- and
- selecting a control function on said control unit instructing said mobile robot to store said computed waypoint coordinates of said geometric figure in a database configured for storing data corresponding to a geometric figure and saved in a digital vector format;
- or
- selecting a control function on said control unit instructing said mobile robot to mark said geometric figure onto said surface.
29 more elements
Dependencies are inferred from the claim text.