• 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 present invention relates to a sports field marking equipment comprising a) a paint applying means adapted for use in marking a sports field on a surface; b) a position determining device configured for determining the position of the sports field marking equipment; c) a distance sensor configured for detecting a goal and/or corner post and the distance thereto; d) a first processor; and e) a first memory coupled to the first processor. The first memory comprises program instructions executable by the first processor for i) receiving a goal and/or corner post detection signal as well as the measured distance from said distance sensor to said goal and/or corner post; ii) receiving the position and direction of the sports field marking equipment from said position determining device at the time of receiving said detection signal; iii) computing waypoint coordinates of the goal and/or corner post based on said received data; and iv) storing the computed waypoint coordinates of said goal and/or corner post.
    公开号:DK201901144A1
    申请号:DKP201901144
    申请日:2019-10-01
    公开日:2021-06-17
    发明作者:Peder Kvols Kristensen Jens；Hansen Rudi；Mose Christoffer；Jensen Peter；Korsgaard Kristian；Bayer Jørgensen Lars
    申请人:Tinymobilerobots Aps；
    IPC主号:
    专利说明:

    DK 2019 01144 A1 Sports field marking equipment Technical field of the invention The present invention relates to sports field marking equipment.
    Background of the invention Many types of sports fields have fixed posts. Goal posts are probably the most common type and found in sports like European football, American football, rugby and many others. Corner posts are also common in European football in many European countries. When marking sports fields, it is important that the marking takes these fixed posts into account. Sports fields are often a little inaccurate, e.g. a rectangle is not perfectly rectangular, or two goals that should be positioned precisely opposite each other might be off with several cm’s and often not completely parallel as intended. In marking a sports field, it is important to take the precise position of the posts into account and adjust to the imperfection that is found in the field. Registering the position of the posts can be cumbersome. One method requires land surveying equipment, but this requires first that a land surveyor is hired to do the registration and that the data is transferred to the marking equipment. Summary of the invention It is one object of the present invention to provide a solution that solves the above-mentioned problem.
    The inventor of the present invention has built a marking equipment that is able to easily collect the positions of the posts. By incorporating a distance sensor and a position sensor in the marking equipment, the marking equipment may be
    , DK 2019 01144 A1 configured to detect the precise positions of the posts in relation to the position of the marking equipment.
    One aspect relates to a sports field marking equipment comprising: - a paint applying means adapted for use in marking a sports field on a surface; - a position determining device configured for determining the position of the sports field marking equipment; - 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 said distance sensor to said goal and/or corner post; - receiving the position and direction of the sports field marking equipment from said position determining device at the time of receiving said detection signal; - computing waypoint coordinates of the goal and/or corner post based on said received data; and - storing the computed waypoint coordinates of said goal and/or corner post.
    Detailed description of the invention One aspect relates to a sports field marking equipment comprising: - a paint applying means adapted for use in marking a sports field on a surface; - a position determining device configured for determining the position of the sports field marking equipment; - 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:
    2 DK 2019 01144 A1 - receiving a goal and/or corner post detection signal as well as the measured distance from said distance sensor to said goal and/or corner post; - receiving the position and direction of the sports field marking equipment from said position determining device at the time of receiving said detection signal; - computing waypoint coordinates of the goal and/or corner post based on said received data; and - storing the computed waypoint coordinates of said goal and/or corner post. In one or more embodiments, the distance sensor is a one-dimensional sensor.
    In one or more embodiments, the distance sensor is a one-dimensional sensor, and wherein the memory comprises program instructions implementing a graphical user interface for: a) interactively selecting a target location for initiating a goal and/or corner post detection operation; and b) interactively selecting a specific type of goal or corner post from a list of goal and/or corner posts; wherein the first memory comprises program instructions executable by the first processor for: - computing waypoint coordinates of the goal and/or corner post based on said selection and received data. This configuration allows the first processor to use the shape of the post for correcting the sports field marking equipment's position relative to the post and/or for better identifying the post. As an example, the first processor may identify the The term “one-dimensional sensor or 1D sensor” is used to indicate a sensor capable of determining the plane on which its radiating emitter lies. Hence, the 1D sensor cannot, by itself, determine the unique point in space on that plane at which its radiating emitter is located.
    A non-limiting example on how to compute waypoint coordinates may be as
    1 DK 2019 01144 A1 follows. If the distance sensor only provides a one-dimensional (1D) distance to the post, the sports field marking equipment needs to be positioned in line with the post as this ensures that the coordinate of the post can be calculated. Referring to Figure 1, the sports field marking equipment 1 has a core position 2 given by center coordinate C (Cx, Cy). The sports field marking equipment 1 has a given direction, and a fixed distance is present between the core position 2 of the sports field marking equipment 1 to the front of the distance sensor 3. A vector D, (Dx, Dy), including these two values may be as shown in Figure 1. The distance measured by the distance sensor 3 to the front of the post 5 may be seen as vector S (Sx, Sy) as shown in Figure 1. The post coordinate (the front face), P (Px, Py), is thereby calculated as P = C+D+S, or Px=Cx+Dx+Sx, and Py=Cy+Dy+Sy. In one or more embodiments, the sports field marking equipment further comprises a laser pointer adapted for pointing on a goal and/or corner post, and wherein said laser pointer is configured to point in the same direction as the distance sensor. The laser pointer may be integrated into the distance sensor. Thereby, the user of the sports field marking equipment may easily position it relative to the front face of a goal and/or corner post.
    In one or more embodiments, the distance sensor is a two-dimensional sensor, and wherein the memory comprises program instructions implementing a graphical user interface for interactively selecting a specific type of goal or corner post from a list of goal and/or corner posts; wherein the first memory comprises program instructions executable by the first processor for: - computing waypoint coordinates of the goal and/or corner post based on said selection and received data. This configuration allows the first processor to use the shape of the post for correcting the sports field marking equipment's position relative to the post and/or for better identifying the post. As an example, the first processor may identify the front of the post, and thereafter instruct the sports
    DK 2019 01144 A1 field marking equipment to reposition to a position directly in front of the post. The term two-dimensional sensor or 2D sensor is used to indicate a sensor capable of providing a signal representing a two-dimensional image, in particular 5 of an image wherein an information regarding the position thereof on a two- dimensional plane corresponds to each pixel. A non-limiting example on how to compute waypoint coordinates may be as follows. If sensor provides a two-dimensional (2D) position of the object, the marking equipment just need to be positioned such that the sensor can detect the post. Referring to Figure 2, the sports field marking equipment 1 has a core position 2 given by center coordinate C (Cx, Cy). The sports field marking equipment 1 has a given direction, and a fixed distance is present between the core position 2 of the sports field marking equipment 1 to the front of the distance sensor 3. A vector D, (Dx, Dy), including these two values may be as shown in Figure 2. The distance measured by the distance sensor 3 to the front of the post 5 may be seen as vector S (Sx, Sy) as shown in Figure 2. The post coordinate (the front face), P (Px, Py), is thereby calculated as P = C+D+S, or Px=Cx+Dx+Sx, and Py=Cy+Dy+Sy.
    In one or more embodiments, the memory comprises program instructions implementing a graphical user interface for: - interactively selecting a specific type of sports field from a list of sports fields; wherein the first memory comprises program instructions executable by the processor for: - marking the selected type of sports field based on the computed waypoint(s) of goal and/or corner posts. In one or more embodiments, the memory comprises program instructions implementing a graphical user interface for: - interactively selecting a specific type of sports field from a list of sports fields;
    A DK 2019 01144 A1 wherein the first memory comprises program instructions executable by the processor for: - automatically marking the selected type of sports field based on the computed waypoint(s) of goal and/or corner posts.
    In one or more embodiments, the sports field marking equipment is a mobile robot, and wherein when the waypoint coordinate of a first goal and/or corner post has been computed and stored, the first memory comprises program instructions executable by the processor for: - automatically moving towards and searching for a second or further goal and/or corner post. In one or more embodiments, the sports field marking equipment is a mobile robot, and wherein when the waypoint coordinate of a first goal and/or corner post has been computed and stored, the first memory comprises program instructions executable by the processor for: - automatically moving towards and searching for a second or further goal and/or corner post based on a) a selected specific type of sports field, b) the position of the sports field marking equipment, c) a selected specific type of goal and/or corner post and/or d) the first computed waypoint coordinate of the first goal and/or corner post. In one or more embodiments, the sports field marking equipment is a mobile robot, and wherein when the waypoint coordinate of a first goal and/or corner post has been computed and stored, the first memory comprises program instructions executable by the processor for: - automatically moving towards and searching for a second or further goal and/or corner post based on a) a selected specific type of sports field, b) the position of the sports field marking equipment, and c) the first computed waypoint coordinate of the first goal and/or corner post.
    ; DK 2019 01144 A1 In one or more embodiments, the first memory comprises program instructions executable by the processor for: - automatically moving towards and searching for the goal and/or corner post nearest to the last identified goal and/or corner post.
    The sports field marking equipment, in the form as a mobile robot, may be adapted to move along a series of waypoints, either in a given order or randomly. A waypoint comprises two- or three-dimensional position information and, optionally, two- or three-dimensional orientation information. The mobile robot may be wheeled or tracked. In one or more embodiments, the sports field marking equipment comprises a hand-held operator control unit comprising a display means; wherein the sports field marking equipment is configured to provide display signals for displaying stored waypoints and optionally the current position of the sports field marking equipment relative thereto, and wherein the display means of the hand-held operator control unit is configured to display said stored waypoints in response to said display signals. This configuration aids to the process of collecting waypoints, as the user can see the position of the sports field marking equipment and the position of previously collected waypoints. When driving to a new target location, the distance to the previous waypoint can be seen allowing the user to choose a waypoint on the ground or reject a waypoint on the ground based on the information on the display means. A reason for rejecting a waypoint on the ground may be that the distance does not match with the intended size of an athletic/sports field. In one or more embodiments, the sports field marking equipment is configured to calculate the distance between stored waypoints and provide display signals for displaying the distance between stored waypoints.
    In one or more embodiments, the sports field marking equipment is configured to g DK 2019 01144 A1 calculate a distance between stored waypoints and provide display signals for displaying a distance between stored waypoints; and wherein the display means of the hand-held operator control unit is configured to display a distance between stored waypoints.
    In one or more embodiments, the hand-held operator control unit is configured to provide signals to the sports field marking equipment to delete one or more of said displayed stored waypoints.
    It may be a challenge to precisely navigate the mobile robot in proximity to a target location with a hand-held operator control unit. This process may be alleviated by introducing a slow mode, which allows the user to drive the mobile robot at a lower speed than normally. This configuration lowers the time for collecting the waypoints. The slow mode may be activated and deactivated by the hand-held operator control unit. In one or more embodiments, wherein after selecting a control function accepting manual positioning of a mobile robot, the mobile robot is configured to move at 30-90% speed compared to normal operation mode, such as within the range of 35-85%, e.g. within the range of 40- 80%, such as within the range of 45-80%, e.g. within the range of 50-75%, such as within the range of 55-70%, e.g. within the range of 60-65% speed compared to normal operation mode.
    If the highest possible precision is needed, the mobile robot shall read the position of the point and compensate for the tilting of the mobile robot due to the slope of the ground. Compensation of the tilt is possible with a clinometer (tilt angle measurement device) in the mobile robot. Based on the reading of the clinometer the correct position of the selected point is calculated by the mobile robot.
    In one or more embodiments, the position determining device comprises a positioning system receiver unit configured for receiving a positioning signal.
    o DK 2019 01144 A1 In one or more embodiments, the position determining device comprises a pointing element/device adapted for pointing to a post or location to be measured. The pointing element is preferably suspended in a suspension device adapted for vertically positioning the pointing element/device. In one or more embodiments, the position determining device comprises: - a positioning system receiver unit configured for receiving a positioning signal; and - a pointing element adapted for pointing to a location to be measured.
    In one or more embodiments, the position determining device comprises a pointing device adapted for pointing to a post or location to be measured, and wherein the pointing device is suspended in a suspension device adapted for vertical positioning of the pointing element/device.
    In one or more embodiments, the pointing device comprises a tilt angle measurement device.
    The tilt angle measurement device can comprise an electronic tilt measurement device. The electronic tilt measurement device can comprise a single angle measurement device or a dual angle measurement device.
    In one or more embodiments, the distance of the phase center of the positioning system receiver unit from the pointing element is known.
    The sports field marking equipment may in one or more embodiments comprise a positioning system configured for receiving a GNSS signal. Global Navigation Satellite Systems (GNSS) is a collective term for a variety of satellite navigation systems, which use orbiting satellites as navigation reference points to determine position fixes on the ground. GNSS includes the Global Positioning System
    0 DK 2019 01144 A1 (GPS), the Global Navigation Satellite System (GLONASS), the Compass system, Galileo, and a number of Satellite based augmentation systems (SBAS). In typical civilian applications, a single GNSS receiver can measure a ground position with a precision of about ten meters. This is, in part, due to various error contributions, which often reduce the precision of determining a position fix. For example, as the GNSS signals pass through the ionosphere and troposphere, propagation delays may occur. Other factors, which may reduce the precision of determining a position fix, may include satellite clock errors, GNSS receiver clock errors, and satellite position errors. One method for improving the precision for determining a position fix is Real-Time Kinematic (RTK) GNSS. Real Time Kinematic (RTK) satellite navigation is a technique using the phase of the signal's carrier wave, rather than the information content of the signal, and relies on a single reference station or interpolated virtual station to provide real-time corrections.
    In one or more embodiments, the sports field marking equipment comprises a retroreflector, and wherein the positioning system receiver unit configured for receiving a positioning (e.g. GNSS) signal receives the position signal from a total station.
    In one or more embodiments, the sports field marking equipment comprises a Real Time Kinematic (RTK) GNSS positioning system.
    In one or more embodiments, the retroreflector and/or the RTK GNSS positioning system are positioned on an elongate member extending upward from a base of the sports field marking equipment. This is an advantage to make the retroreflector more visible for the emitter/receiver unit in the total station. Furthermore, the RTK GNSS positioning system will be more visible for the satellites.
    . DK 2019 01144 A1 In one or more embodiments, the elongate member is height adjustable, e.g. comprising telescoping elongate members. In one or more embodiments, the RTK positioning system is positioned above the retroreflector. This is to avoid shielding by the retroreflector. In one or more embodiments, the measuring element is a sonic-based measuring device or a laser-based measuring device.
    A second aspect relates to the use of a sports field marking equipment for identifying and automatically generating waypoints for fixed goal and/or corner posts of a given sports field; wherein the sports field marking equipment is according to the present invention.
    In one or more embodiments, the use further comprises marking a specific type of sports field based on the generated waypoint(s) of goal and/or corner posts.
    A third aspect relates to a method for interactively providing waypoints to a sports field marking equipment for use in the marking of a sports field comprising the steps of: i) Providing a sports field marking equipment according to the present invention; ii) Positioning the sports field marking equipment in proximity to a first fixed goal and/or corner post of a given sports field; iii) Instructing the sports field marking equipment to store the first fixed goal and/or corner post as a first waypoint; iv) Repeating steps ii)-iii) at the remaining fixed goal and/or corner post of said sports field to obtain their respective waypoints. A fourth aspect relates to a method for interactively providing waypoints to a sports field marking equipment for use in the marking of a sports field comprising the steps of:
    1 DK 2019 01144 A1 i) Providing a sports field marking equipment according to the present invention; ii) Positioning the sports field marking equipment at a given sports field; iii) Instructing the sports field marking equipment to search for a fixed goal and/or corner post positioned on said sports field, and when identified to store said first fixed goal and/or corner post as a first waypoint; iv) Repeating step iii) at the remaining fixed goal and/or corner post of said sports field to obtain their respective waypoints. As used in the specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. Ranges may be expressed herein as from "about" or "approximately" one particular value and/or to "about" or "approximately" another particular value. When such a range is expressed, another embodiment includes from the one particular value and/or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent "about", it will be understood that the particular value forms another embodiment.
    It should be noted that embodiments and features described in the context of one of the aspects of the present invention also apply to the other aspects of the invention.
    References 1 Sports field marking equipment 2 Core position 3 Sensor 4 Sensor field 5 Wall
    权利要求:
    Claims (10)
    [1] 1. A sports field marking equipment comprising: - a paint applying means adapted for use in marking a sports field on a surface; - a position determining device configured for determining the position of the sports field marking equipment; - 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 said distance sensor to said goal and/or corner post; - receiving the position and direction of the sports field marking equipment from said position determining device at the time of receiving said detection signal; - computing waypoint coordinates of the goal and/or corner post based on said received data; and - storing the computed waypoint coordinates of said goal and/or corner post.
    [2] 2. A sports field marking equipment according to claim 1, wherein the distance sensor is a one-dimensional sensor, and wherein the memory comprises program instructions implementing a graphical user interface for: a) interactively selecting a target location for initiating a goal and/or corner post detection operation; and b) interactively selecting a specific type of goal or corner post from a list of goal and/or corner posts; wherein the first memory comprises program instructions executable by the processor for: - computing waypoint coordinates of the goal and/or corner post based on said selection and received data.
    [3] 3. A sports field marking equipment according to claim 2, further comprising a
    1 DK 2019 01144 A1 laser pointer adapted for pointing on a goal and/or corner post, and wherein said laser pointer is configured to point in the same direction as the distance sensor.
    [4] 4. A sports field marking equipment according to claim 1, wherein the distance sensor is a two-dimensional sensor, and wherein the memory comprises program instructions implementing a graphical user interface for interactively selecting a specific type of goal or corner post from a list of goal and/or corner posts; wherein the first memory comprises program instructions executable by the processor for: - computing waypoint coordinates of the goal and/or corner post based on said selection and received data.
    [5] 5. A sports field marking equipment according to any one of the claims 1-4, wherein the memory comprises program instructions implementing a graphical user interface for: - interactively selecting a specific type of sports field from a list of sports fields; wherein the first memory comprises program instructions executable by the processor for: - marking the selected type of sports field based on the computed waypoint(s) of goal and/or corner posts.
    [6] 6. A sports field marking equipment according to claim 5, wherein the sports field marking equipment is a mobile robot, and wherein when the waypoint coordinate of a first goal and/or corner post has been computed and stored, the first memory comprises program instructions executable by the processor for: - automatically moving towards and searching for a second or further goal and/or corner post based on a) a selected specific type of sports field, b) the position of the sports field marking equipment, c) a selected specific type of goal and/or corner post and/or d) the first computed waypoint coordinate of the first goal and/or corner post.
    DK 2019 01144 A1
    [7] 7. A sports field marking equipment according to claim 6, wherein the first memory comprises program instructions executable by the processor for: - automatically moving towards and searching for the goal and/or corner post 5 nearest to the last identified goal and/or corner post.
    [8] 8. Use of a sports field marking equipment for identifying and automatically generating waypoints for fixed goal and/or corner posts of a given sports field; wherein the sports field marking equipment is according to any one of the claims 1-7.
    [9] 9. Use a sports field marking equipment according to claim 8, further comprising marking a specific type of sports field based on the generated waypoint(s) of goal and/or corner posts.
    [10] 10. A method for interactively providing waypoints to a sports field marking equipment for use in the marking of a sports field comprising the steps of: i) Providing a sports field marking equipment according to any one of the claims 1-7; ii) Positioning the sports field marking equipment in proximity to a first fixed goal and/or corner post of a given sports field; iii) Instructing the sports field marking equipment to store the first fixed goal and/or corner post as a first waypoint; iv) Repeating steps ii)-iii) at the remaining fixed goal and/or corner post of said sports field to obtain their respective waypoints.
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    同族专利:
    公开号 | 公开日
    DK180655B1|2021-11-11|
    WO2021063814A1|2021-04-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20070059098A1|2002-03-25|2007-03-15|Ian Mayfield|Automatic ground marking method and apparatus|
    BRPI0410063A|2003-05-07|2006-05-23|Evenzo Ab|method for creating a visual presentation on a large substantially flat surface, system for performing such a method, computer readable, and use of a mobile robot as a free circulation marking device|
    DK178298B1|2014-04-16|2015-11-16|Intelligent Marking I S|Method of stripping, robotic unit for painting streaks, and use thereof.|
    EP3400335A1|2016-01-08|2018-11-14|Swozi Ag|A line marking device, a set with a line marking device and a method for depositing material according to a predetermined pattern|
    法律状态:
    2021-06-17| PAT| Application published|Effective date: 20210402 |
    2021-11-11| PME| Patent granted|Effective date: 20211111 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201901144A|DK180655B1|2019-10-01|2019-10-01|Sports field marking equipment|DKPA201901144A| DK180655B1|2019-10-01|2019-10-01|Sports field marking equipment|
    PCT/EP2020/076856| WO2021063814A1|2019-10-01|2020-09-25|Sports field marking equipment|
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