• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a robot unit for stripping sports track (10) which operates by depositing strips (11) of paint (12) according to a predefined plan (13) via a spray nozzle (1) on a flat playing surface (14) such as grass. -, gravel, ice, artificial grass or plastic web, a robot unit (2) moving along the stripes (11) according to the predefined plane (13) and carrying a reservoir (3) of paint (12) where the unit (2) receives signals from a plurality of GPS transmitters (15), thereby continuously calculating its current position on the sports field (10), the unit utilizing the current position on the sports field (10) to calculate a set of control signals for two or more moving elements (16) ) for propelling the unit (2) and for controlling the delivery of paint (12). The stripes (11) are formed during the movement of the unit by pumping paint (12) from the reservoir (3) to the spray nozzle (1) and discharging to the playing surface (14) according to the control signals and the paint (12) is added to the reservoir (3) in the form of portions. (5) of interchangeable rear in-box type connected to pump (4). The production also relates to the use of a robotic unit for stripping webs.
    公开号:DK201800032U1
    申请号:DK201800032U
    申请日:2018-04-11
    公开日:2018-05-25
    发明作者:Anders Ulrik Sørensen；Andreas Ydesen
    申请人:Intelligent Marking Aps；
    IPC主号:
    专利说明:

    < 1 θ> DENMARK < 1 °> DK 2018 00032 U1
    < 12 > USE MODEL APPLICATION
    Patent and
    Commonly available
    Trademark Office (51) ID: A 63 C 19/06 (2006.01) (21) Application number: BA 2018 00032 (22) Filing date: 2018-04-11 (24) Running day: 2015-03-19 (41) Aim . available: 2018-04-11 (67) Reg. is a branch of European Pat. no .: 15718135.5 (71) Applicant: Intelligent Marking ApS, Fanøvej 2, 9800 Hjørring, Denmark (72) Producer: Anders Ulrik Sørensen, Christiansgade 46, 9800 Hjørring, Denmark Andreas Ydesen, Kildebjergvej 3, 9800 Hjørring, Denmark (74) Plenipotentiary : Patrade A / S, Ceresbyen 75, 8000 Aarhus C, Denmark (54) Name: Robot unit for painting stripes and their use (56) Relevant publications:
    (57) Summary:
    The invention relates to a robot unit for stripping sports track (10) which operates by depositing strips (11) of paint (12) according to a predefined plan (13) via a spray nozzle (1) on a flat playing surface (14) such as grass. -, gravel, ice, artificial grass or plastic web, moving a robot unit (2) along the stripes (11) according to the predefined plane (13) and carrying a reservoir (3) of paint (12), the unit (2) receives signals from a plurality of GPS transmitters (15), thereby continuously calculating its current position on the sports track (10), using the current position on the sports track (10) to calculate a set of control signals for two or more moving elements ( 16) for propulsion of the unit (2) and for controlling the delivery of paint (12). The stripes (11) are formed during movement of the unit by pumping paint (12) from the reservoir (3) to the spray nozzle (1) and discharging to the playing surface (14) according to the control signals and the paint (12) is added to the reservoir (3) in the form of portions. (5) of replaceable rear in-box type that is connected to the pump (4).
    The production also relates to the use of a robotic unit for stripping webs.
    To be continued ...
    DK 2018 00032 U1

    Fig. I
    DK 2018 00032 U1 i
    Robot unit for painting stripes, and their use
    The present invention relates to a robotic unit particularly suitable for marking grassland, artificial grass and other types of paving, including football, baseball, cricket courts and other facilities where pitch marking is used, equipped with paint containers and plants for forming strips of paint on playing surfaces.
    In addition, the production relates to the use of the self-propelled marking robot for marking grassland, artificial grass and other types of paving, including football, baseball, cricket courts and other facilities where course marking is used, marking of indoor areas, including ice hockey courts and marking of other outdoor areas, including parking lots, school yards and other paved areas.
    When marking football pitches and other sports pitches, most of the time, manual wagons are required that require staff service throughout the marking. These wagons often consist of 3 or 4 wheels mounted on a frame, one or more chalk solution containers attached to the frame and a handlebar to control the amount of chalk. Carriages with 3 wheels in most cases use front wheels as bearings, whereas wagons with 4 wheels usually have attached bearings. In most cases, rerouting is possible in most cases after the previous marking, but for longer periods without marking or after periods of heavy rain, it may be necessary to put the guide rope to ensure regular marking.
    There are several disadvantages to manual marking.
    • The marking is time-consuming, especially if a string must be inserted before marking.
    • It is expensive in labor wages in case no volunteers can be found.
    • There is a risk of uneven marking, especially with circular markings.
    • Robot devices, for example, controlled by GPS signals, have been proposed, but they have been difficult to operate, not least because paint and or chalk containers require monitoring and filling, and there is a risk that paint or chalk residues in uncooked containers cure and in doing so creates needs
    GB 2018 00032 U1 for comprehensive service of the unit.
    From US 2009/0114738 a robotic unit is known for marking playing fields, but this unit has no guarantee that the paint used is exposed to oxygenation as its surface is available for this.
    From DE9301759U1 there is known a manually operated track marker and comprises replaceable containers. But there is no explanation of how the paint in the container is protected from oxygenation. Thereby, there is a risk that a container that is not completely emptied, if left in the path marker, can lead to the formation of solidified paint, which in turn can clog pump and hose systems.
    It is therefore an object of the invention to provide a robot unit which is quick and easy to operate and where filling of the paint can take place quickly and easily and where the paint is secured against oxygenation before it is applied to the substrate.
    The robot according to the invention works by forming the stripes on the substrate during the movement of the unit by pumping paint from a reservoir to a spray nozzle and delivering it to the playing surface according to control signals, the paint being supplied to the reservoir in the form of portions of interchangeable behind the box type which the pump is connected. This ensures that the paint does not come into contact with oxygen before leaving the nozzle, and at the same time the supply of extra paint to the reservoir is easy, as the interchangeable rear in-box units are easily connected and disconnected from the pump connection without spilling paint. Behind the in-box units include an outer fixed frame or an inner flexible bag. The outer fixed frame may consist of a cardboard or plastic container which is part of the interchangeable container or fixed part of the robot unit.
    According to a further embodiment, the robot according to the invention operates by passing the paint via a connecting pipe to the pump, pressurizing the pump and passing from the pump under pump pressure in a nozzle tube to the spray nozzle where the paint is delivered during spreading. Hereby, the advantage is obtained that the pump can be placed freely in a suitable location on the robot unit. The pump can be designed as a plunger pump or the alternative as a peristaltic pump, which has the added advantage that the moving parts of the pump do not come into contact with the paint.
    DK 2018 00032 U1
    According to a further embodiment, the robot according to the invention operates by the paint being supplied to the pump via a manifold, where paint from several different behind in box containers is collected into a stream. In this way, the entire paint reservoir will always consist of all the rear in box units connected to the manifold, and there is no need to switch between the various connected behind in box portions.
    According to a further embodiment, the robot according to the invention operates by limiting the spread of the paint from the spray nozzle by a shield on either side of the spray nozzle. This ensures that the stroke width does not vary during operation.
    According to a further embodiment, the robot according to the invention operates by adjusting the stroke width manually from the start of a stripping. Alternatively, the adjustment can be made while laying stripes on the playing surface. The sleeve enables the robot unit to lay out stripes of variable width which can be advantageous in relation to certain sports. At the same time, it is possible to adjust the spray pressure from the pump and possibly. while regulating the geometry of the spray nozzle. In this way, it can be ensured that optimum delivery of paint from the nozzle always occurs according to the desired stroke width.
    The production also relates to a robotic unit for painting stripes on a playing surface such as grass, gravel, ice or plastic tracks, where the robot unit is controlled by GPS signals via a control box. According to claim 1, the robot unit is provided with at least one replaceable container containing paint and comprising an outer rigid framing element and an inner flexible bag, whereby a connecting stud outside of the framing element is in fluid communication with the paint in the flexible bag, the robot unit further being provided with at least one spray nozzle and pump connected to the interchangeable container and spray nozzle for dispensing paint under the control of signals from the control box. The outer fixed frame may consist of a cardboard or plastic container which is part of the interchangeable container or fixed part of the robot unit.
    With such a robot unit, refilling of paint is accomplished by replacing an emptied interchangeable container with a filled container. The paint then does not come into contact with the atmosphere until it leaves the spray nozzle and evaporation of water or hardening of the paint prior to streaking is effectively prevented.
    DK 2018 00032 U1
    The outer framing element can here be a well-known carton or plastic container which is part of the interchangeable container, or the framing element can be a fixed part of the robot unit, so that it is merely the inner bag which is replaced when it is empty or a other type or color of the paint.
    Conveniently, as stated in claim 2, the coupling spigot comprises a quick coupling and a shut-off valve. This ensures that a quick connection between the pump and the reservoir is possible without wasting paint.
    As stated in claim 3, it is convenient if there are several replaceable containers on the robot unit, where they are separately piped to the pump via a manifold, and the outlet of the pump comprises a single nozzle tube. This results in a very simple and modular system, where it is easy to replace not only the individual containers, but also the different piping can be replaced independently of one another in case of plugging or other disruption of operation.
    The robot unit is driven forward as claimed in claim 4 by moving elements on each side of the spray nozzle. This results in a device that ensures that the moving elements do not come into contact with new paint streaks to the greatest extent possible, while at the same time ensuring a great freedom of maneuvering of the spray nozzle, which can, for example, be rotated about its own axis and brought to motion soon any pre-selected route.
    The moving elements may include wheels, caterpillars, or alternatively pairs of articulated joints, as is now known from both four-legged and two-legged robots. Articulated joints have the advantage of laying out stripes that they can be programmed so that they do not enter newly laid paint. It is expected that the type of robotic leg and its associated steering will fall significantly in price over the coming years as they gain more and more fit not least driven by military technology applications.
    The invention also relates to the use of a robotic unit as indicated for marking grassland, artificial grass and other types of paving, including football, baseball,
    DK 2018 00032 U1 cricket courts and other facilities where track marking is used, marking of indoor areas, including ice hockey courts and marking of other outdoor areas, including parking lots, school yards and other paved areas.
    The invention will now be explained more clearly with reference to the drawing, in which:
    FIG. 1 is a schematic representation of a self-propelled robot unit on a sports track and GPS transmitters,
    FIG. 2 shows an embodiment of the robot unit - viewed from above,
    FIG. 3 shows the robot unit, cf. 2 from below,
    FIG. 4 shows an embodiment of an injection nozzle and the shield, and FIG. 5 shows behind the in box unit partly in section and partly in a 3D line drawing.
    In FIG. 1 shows a sports track 10 on which stripes 11 of paint 12 are to be deposited according to a predefined plan 13. Paint 12 is applied to a playing surface 14 which is the part of the track 10 which is visible to the athlete during the use of the track. The playing surface 14 may be of grass, gravel, ice, artificial grass, parquet or wood, plastic or other, used in sports, and the paint 12 is applied via a spray nozzle 1 which is moved about on the sports track 10 by a robot unit 2 along the stripes 11, controlled by GPS signals from a number of GPS transmitters 15, typically in the form of satellites 15 in orbit around the earth. A GPS receiving antenna 18 is shown in FIG. 1 and 2. The robot unit 2 here continually calculates its position on the track 10, so that it can continuously control two or more moving elements 16, such as wheels, whereby it can follow the predefined plane 13 for upstarting the sports field 10. The plane 13 will typically be embedded in a memory element which forms part of a control box 20 and as is well known, various plans can be loaded from an external device, for example a computer (not shown) if the robot unit 2 is to construct a sports track for which no a plan already exists in the control box 20. Parts of the functionality of the control box, as known from mobile robotic systems, may be embedded in an external device, such as a computer with which the robot unit is in continuous contact, for example, through a radio connection such as via Wi-Fi or BlueTooth or equivalent RF protocol.
    The robot unit will typically be equipped with a number of sensors and safety devices 2018 00032 U1, so as to obtain reasonable security against the robot unit injuring pets, wild animals, children or objects that may be present on the sports field. Such sensors may include, for example, cameras for recording images in visible, UV or infrared spectrum, laser scanners, touch sensors, ultrasonic or radar scanners, and a more or less well-developed signal processing unit for analyzing sensor input. Microphones and associated speech recognition module are also an option, allowing random people in the vicinity of the robot to punch it simply by shouting at it should an unforeseen situation arise. An on-line connection to a human operator via, for example, a telephone connection may also be established, for example, in the case of unusual sensor input, which requires human ability to interpret. The operator may, if necessary. have an overview of a large number of robots, since he is only supposed to intervene relatively rarely, and he does not have to be near the actual playing field, you can sit anywhere, only he is so close to the planet that the time delay as a result of the signal transmission over large distances does not become too large.
    FIG. 2 shows a robotic unit 2 in schematic representation. The unit 2 comprises a reservoir 3 for paint 12, wherein the reservoir 3 comprises portions 5 debug in the box type, which are connected to a common pump 4 via a quick coupling 6 and connecting pipe 7.1, the example shown in FIG. 2, two behind in box cartons 5 are placed on the robot unit 2, but several portions of paint may be placed on a robot unit, for example stacked in layers or side by side as shown. The robot unit 2 further comprises a control box 20, a battery 19 and a chassis frame 23.
    Behind the in-box cartons 5 thus constitute interchangeable containers for paint. Either the whole bag in the box 5 is replaced or the bag 27 in the bag in box system itself is replaced. The outer part 26 can here be constituted by a framing element in the form of a grid (not shown) which is fixedly mounted or is part of the chassis frame 23.
    In FIG. 5 can be seen behind the in box unit in section and from the outside. The sectional drawing to the left of the figure illustrates the external framing member 26 as well as the inner flexible pouch 27. A connecting stud 28 is provided externally of the framing member 26 and this stud is in fluid communication with the paint in the bag 27. The connecting stud 28 can be formed as one part of a quick coupling. 6. The pipe 7 will then be formed with the corresponding part, so that the pipe can be connected easily and without waste to the connection socket.
    DK 2018 00032 U1 via the quick coupler 6. Conveniently, there will also be provided a shut-off valve 31, either in connection with the connecting plug 28 or in connection with the pipe 7.
    With such an arrangement, empty and used paint containers can easily be replaced and replaced by new filled containers.
    The two connecting pipes 7 are assembled at the pump 4 into a manifold 8.
    From the pump 4, a single nozzle tube 17 goes to the spray nozzle 1 as shown in FIG. 3. On each side of the spray nozzle 1, a screen 21, 22 is mounted and at least one screen 21 is adjustable in the direction towards or away from the nozzle 1. The width of the applied strip can thus be varied to the extent that the nozzle 1 can now, cf. a maximum spread radius. This will depend, as is known in paint nozzles, on the rheology of the paint and the outlet geometry of the nozzle as well as on the pumping force. The setting of the two or two adjustable screens 21, 22 can be done manually, or it can be done automatically during operation, for example depending on which part of the stripping is performed. In FIG. 4, the arrow a shows the minimum distance and the arrow A the maximum distance between the screens 21, 22. An actuator (not shown) can be provided to actuate one or both screens towards or away from the nozzle via signals from the control box.
    During operation, the screens 21, 22 will be applied to paint 12, and even with a nonstick coating on the inside of the screens, there is a risk that over time, a large number of layers of old dry paint will build up and this may bother the operation. Displays 21, 22 may be interchangeable for this purpose. New screens can thus be supplied with each new batch of paint. Another option is to provide the inside of each screen with a self-adhesive foil, and then similarly supply new self-adhesive foils with each portion of paint. Alternatively, the screens may be made of rubber-elastic material, so that a user of the robotic unit, by slightly bending the screens, may loosen possible coatings of old paint.
    It is also possible to place the screens 21, 22 on a swing arm (not illustrated) so that the user can bring the screens from the relatively inaccessible position under the robot unit to a readily accessible position.
    The movement of the robot unit around the sports court 10 is effected by moving elements 16 shown in the figures as wheels. Other moving elements may be used, such as 2018 201832 U1 pelvis larvae feet or pairs of gaits. Such legs, which mimic the movements of insects or high-standing 4-legged animals or two-legged living beings, have gained inwardness and have the advantage over wheels that they allow movements over uneven surfaces, for example stairs, and in connection with the stripping of in sports fields, they have the particular advantage of allowing the robot unit 2 to move across newly sprayed paint without entering the strip, so that the moving elements do not impart erroneous imprints of paint 12 on the playing surface 14.
    FIG. 3 shows an embodiment in which the robot unit has 2 driven wheels 16 and a non-driven wheel 24, where the non-driven wheel 24 is mounted on the chassis frame 23 so that it can rotate about an axis perpendicular to the axis of rotation of the wheel. Hereby the wheel may be self-erecting, so that the movements of the robot unit are controlled by controlling the 2 driven wheels 16. Preferably the wheels 16 are driven by each electric motor according to control signals from the control box 20. The unit could also be the 4 wheel for better stability and lower wheel pressure against the surface of the playing field.
    Preferably, the nozzle 1 is provided between the two moving elements 16. This means that the robot unit can relatively easily lay out stripes which have a non-linear gradient or which form geometric shapes such as straight or pointed angles.
    Reference figures used in the drawing:
    spray nozzle robotic unit reservoir pump portions quick connector manifold sports track stripes paint predefined planar
    DK 2018 00032 U1
    GPS transmitters moving elements nozzle tubes
    GPS receiving antenna battery control box adjustable display screen chassis frame additional wheels framing element flexible bag connection socket 31 locking tap
    DK 2018 00032 U1 ίο
    权利要求:
    Claims (9)
    [1]
    UTILITY MODEL REQUIREMENTS
    A robot unit (2) for painting stripes (11) on a playing surface (14) such as grass, gravel, ice or plastic tracks, wherein the robot unit (2) is controlled by a GPS signal via a control box (20), said robot unit (2) includes:
    a reservoir (3) of paint (12),
    - at least one spray nozzle (1) characterized in that the robot unit (2) further comprises:
    - at least one interchangeable container containing paint (12), said interchangeable container being a rear in box type comprising an outer rigid framing member (26) and an inner flexible bag (27),
    - a connecting rod (28) arranged externally on the framing element (26) and in liquid communication with the paint (12) in the flexible bag (27), and
    a pump (4) connected to the exchangeable container and spray nozzle (1) for dispensing paint (12) under the control of signals from the control box (20) and the outer rigid framing element being selected between a cardboard or plastic container which is part of the interchangeable container or fixed part of the robot unit (2).
    [2]
    Robot unit (2) according to claim 1, characterized in that the coupling spigot (28) arranged externally on the framing element (26) comprises a quick coupling (6) and a locking cock (31).
    [3]
    Robot unit (2) according to claim 2, characterized in that a plurality of interchangeable containers are provided on the robot unit (2), each having its connecting plug (28), that each interchangeable container is connected to a pump (4) via its own connecting pipe ( 7) wherein a manifold (8) joins the connection pipes for a single supply to the pump (4) and a single additional nozzle tube (17) is provided between the pump (4) and the spray nozzle (1).
    [4]
    Robot unit (2) according to claim 3, characterized in that the unit (2) comprises at least one moving element (16) in contact with the playing surface (14) on each side of the spray nozzle (1) for controlled propulsion of the unit (2).
    DK 2018 00032 U1 π
    [5]
    Robot unit (2) according to claim 4, characterized in that the movable elements (16) on each side of the spray nozzle (1) are rotatable elements such as wheels (41) or larvae feet.
    5
    [6]
    Robot unit (2) according to claim 5, characterized in that movable elements (16) on each side of the spray nozzle (1) comprise pairs of multi-directional joints.
    [7]
    Robot unit (2) according to claim 1, characterized in that at least one adjustable screen (21) is provided on each side of the spray nozzle (1), so that a predefined strip width can be obtained by adjusting the distance between two screens ( 21, 22).
    [8]
    Robot unit (2) according to claim 7, characterized in that the at least one screen (21) is adjustable by means of an actuator connected to the control box (20) which is controlled by control signals depending on the position of the unit on the playing surface. (14).
    [9]
    Use of a robotic unit according to any one of claims 1-8 for striping of grassland, artificial grass and other types of paving, including football, baseball, cricket courts and other facilities where pitch marking is used, striping of indoor areas, including ice hockey courts and stripping of other outdoor areas. , including parking spaces, school yards and other paved areas.
    DK 2018 00032 U1
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    类似技术:
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    同族专利:
    公开号 | 公开日
    EP3131648B1|2020-05-13|
    WO2015158347A1|2015-10-22|
    DK201800032U4|2018-10-30|
    US20170036351A1|2017-02-09|
    DK201470710A1|2015-11-09|
    PT3131648T|2020-08-24|
    EP3131648A1|2017-02-22|
    DK201800032U8|2020-07-16|
    US10040200B2|2018-08-07|
    DK3131648T3|2020-08-24|
    DK178298B1|2015-11-16|
    DK201800032Y4|2020-07-16|
    HRP20201267T1|2021-04-30|
    ES2811118T3|2021-03-10|
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    法律状态:
    2018-10-30| UME| Utility model registered|Effective date: 20181030 |
    2020-07-16| UME| Utility model registered|Effective date: 20200716 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201400217|2014-04-16|
    DKPA201470710A|DK178298B1|2014-04-16|2014-11-18|Method of stripping, robotic unit for painting streaks, and use thereof.|
    DKBA201800032U|DK201800032Y4|2014-04-16|2018-04-11|Robot unit for painting stripes, and their use|DKBA201800032U| DK201800032Y4|2014-04-16|2018-04-11|Robot unit for painting stripes, and their use|
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