Improved method, robot and system for marking

Abstract

Disclosed are a method, a robot and a system The method comprises receiving marking instruction data. The marking instruction data specify a shape comprising at least one or a plurality of line(s). Each line of the shape is specified by a plurality of waypoints, such as at least two points. Further, the method comprises operating the robot in a marking configuration in response to the robot receiving at least one marking control signal and the robot performing a marking step in in the marking configuration. The method further comprises the robot, in the marking configuration, in response to receiving each of at least one movement control signal, assuming a moving configuration, and in the moving configuration, in response to receiving each of the at least one marking control signal, assuming the marking configuration. The disclosed robot is for generating at least one marking on a surface and comprises a robot communication system and a robot control component. The robot communication system is configured for receiving a marking control signal and a movement control signal. The robot control component is configured for controlling the robot. Further, the disclosed system comprises the robot and a remote-control device and is configured for carrying out the method.

Description

Improved method, robot and system for marking[1] The present invention relates generally to the field of marking surfaces using a robot. More particularly, it relates to a method and system for controlling a robot performing marking work.[2] Marking of marking areas such as parking lots or warehouse compounds is known to be manual and time-consuming work. The layout and the marking are usually individual tasks and depend on the space and conditions available. Typically, marking areas have to be pre-marked, over which final markings are made. The combination of measurement and calculation may be time-consuming and prone to errors. As a consequence, re-marking is frequently resorted to.[3] Further, the marking process is typically performed in environments in which humans or obstacles may be present that may not have been anticipated when planning the marking. When the process is carried out manually, it may be possible to exclude an area around the obstacle or to wait until a human has left the area. When the process is carried out in a completely automated manner, it may be necessary to detect the human or the obstacle and to automatically navigate around the human or obstacle. However, automated evasion of obstacles may lead to suboptimal results of the marking process.[4] W02017 / 109066A1 discloses a computer implemented method for interactively providing waypoints for use in the pre-marking / marking / remarking of a surface structure. The method comprises the steps of i) displaying one or more georeferenced and orthorectified image / video frames of a geographical area to be pre-marked / marked / remarked; ii) upon selection of a control accepting manual selection by a user of one or more target locations for marking, and a geometric figure for being marked, computing the best fit for the geometric figure on the georeferenced and ortho-rectified image / video frame based on the one or more target locations; wherein the manual selection of the one or more target locations for performing a marking is made directly on the georeferenced and orthorectified image / video frame at one or more particular points on said georeferenced and ortho-rectified image / video frame; and iii) computing geographic coordinates of the geometric figure for being marked from x, y display coordinates corresponding to the fitted position of said geometric figure on the georeferenced and ortho-rectified image / video frame.[5] W02018 / 007365A1 relates to a method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface comprising the steps of: i) Selecting a control function accepting manual positioning of a mobile robot at two or more target locations on a ground surface; ii) Positioning the mobile robot in proximity to a first target location to be marked on a surface, and directing a positiondetermining device of the mobile device to said first target location to be marked; iii) Instructing the mobile robot to store the first target location as a first waypoint; iv) Repeating steps ii)-iii) to obtain at least a second waypoint; v) Selecting a control function accepting manual selection of a geometric figure for being marked on said ground surface; vi) Instructing the mobile robot to compute the best fit for the selected geometric figure on the surface based on the two or more waypoints; vii) Instructing the mobile robot to compute waypoint coordinates of the geometric figure for being marked from the fitted position of said geometric figure; and viii.a) Instructing the mobile robot to store the computed waypoint coordinates of the geometric figure; or viii.b) Instructing the mobile robot to mark the geometric figure on the surface.[6] WO2022 / 167228A1 relates to a method combining the use of vector format graphics with robot marking, allowing the end user to design and use his own templates. However, this method does not allow to flexibly react to humans or obstacles in the marking area.[7] While the method comprises using a robot, it requires significant manual work to define a shape to be marked, as the mobile robot needs to be positioned at the disclosed waypoints prior to marking.[8] While the prior art approaches may be satisfactory in some regards, they have certain shortcomings and disadvantages.[9] It is therefore an object of the invention to overcome or at least alleviate the shortcomings and disadvantages of the prior art. More particularly, it is an object of the present invention to provide a method and system for marking surfaces in indoor and / or outdoor areas.

[0010] It is an optional object of the present invention to provide a method and system for marking surfaces in areas where humans and / or obstacles are present.

[0011] It is an optional object of the present invention to provide a method and system for improved control of a marking process.

[0012] In a first embodiment, a method is disclosed. The method comprises receiving marking instruction data. The marking instruction data specify a shape comprising at least one or a plurality of line(s). Each line of the shape is specified by a plurality of waypoints, such as at least two points.

[0013] The plurality of waypoints may for example comprise two endpoints specifying ends of the line. The plurality of waypoints may further comprise one or more points between the endpoints. The waypoints may for example comprise a waypoint at each point where the line intersects with another line.

[0014] The marking instruction data may for example be received by a robot.

[0015] The method further comprises operating the robot in a marking configuration in response to the robot receiving at least one marking control signal. In particular, the method comprises operating the robot in a marking configuration in response to the robot receiving each of the at least one marking control signal. In other words, in some embodiments, the method may comprise the robot assuming the marking configuration in response to the robot receiving of the at least one marking control signal.

[0016] The term "line" is intended to refer to straight and / or curved lines, such as segments of a circle. Further, the line to be marked may comprise a width, particularly a pre-defined width. A line may comprise several segments, e.g., separated by intersections with other lines of the shape.

[0017] The term "waypoint" of a line is intended to refer to a point on the respective line, such as a starting point / end point of the respective line, or a point on the line, such as a point separating segments of the line. The waypoints may be indicated in geo-coordinates.

[0018] The method further comprises the robot performing a marking step in in the marking configuration.

[0019] The method may comprise the robot in the marking configuration, in response to receiving each of at least one movement control signal, assuming a moving configuration, and particularly further halting the marking step, and in the moving configuration, in response to receiving each of the at least one marking control signal, assuming the marking configuration.

[0020] In other words, the method may comprise the movement control signal causing the robot to change from the marking configuration to the moving configuration. Further, the method may comprise the marking control signal causing the robot to change from the moving configuration to the marking configuration.

[0021] The term "marking configuration" is intended to refer to a configuration of the robot, in which the robot is at least partially autonomously generating a marking. In the marking configuration, the robot may for example generate a plurality of markings and move automatically between an end point of a preceding line and a start point of a subsequent line of the shape. Thus, the robot may also move during the marking configuration without generating a marking at every point in time in which the robot is in the marking configuration.

[0022] The term "moving configuration" is intended to refer to a configuration of the robot in which the robot is not generating a marking. In the moving configuration, the robot may be moving based on instructions of a user. In particular, in the moving configuration, the robot may be manually controlled or receive movement instructions from the user, as set out below.

[0023] In response to receiving the movement control signal, the marking step may be halted. For example, the marking step may be paused after a marking is completed to a next waypoint, if the robot is currently generating a marking. However, the marking step may also be paused immediately.

[0024] In response to receiving the marking control signal, the robot may immediately assume the marking configuration, or the robot may finish a movement.

[0025] In other words, the method may further comprise interrupting the marking step in response to receiving at least one of the movement control signal(s) when the robot is in the marking configuration, particularly in response to receiving each of the at least one movement control signal.

[0026] The method may further comprises resuming the marking step in response to receiving at least one of the marking control signal(s) when the robot is in the moving configuration.

[0027] The person skilled in the art will easily understand that resuming the marking step relates to a marking step that has already been started before, and that, if the marking step has not been started yet, the marking control signal may cause a start of the marking step.

[0028] The method may further comprise the robot receiving movement-instruction data. The movement instruction data may comprise movement instructions and / or a target position. The method may comprise moving the robot based on the movement instruction data in the movement configuration.

[0029] The movement instructions may for example comprise movement commands like "drive forward", "rotate left", "rotate right", "drive backward". The movement instructions may also comprise a movement path.

[0030] The target position may for example comprise an indication of a position and / or a pose defined relative to a current position and / or pose of the robot. The target position may also comprise an indication of a position and / or a pose in an absolute coordinate system, such as geographical coordinates or coordinates relative to elements of a surrounding of the robot, e.g., if the robot is operated indoors.

[0031] The robot may be manually controlled in the moving configuration. In other words, the robot may be controlled by user-generated control signals such as the movementinstruction data in the moving configuration.

[0032] In some embodiments, the robot does substantially not generate the at least one marking in the moving configuration. Substantially not generating the at least one marking is intended to however include, e.g., dead-times when transitioning from the marking configuration to the moving configuration due to latencies in a marking system of the robot. Such latencies may for example be caused by compressor and / or valve shutoff-times.

[0033] The method may comprise, in the marking configuration, the robot performing the marking step based on the marking instruction data.

[0034] The marking step may comprise generating at least one marking on a surface, particularly a ground surface. The ground surface may be outdoors, but it may also be an indoor surface in a building. The ground surface may be substantially horizontal or inclined in case of an inclined ground. The ground surface may for example be a parking area.

[0035] The marking step may comprise generating at least one marking on the surface for each line specified by the marking instruction data.

[0036] The marking step may comprise moving the robot based on the marking instruction data.

[0037] The method may comprise the robot moving autonomously while performing the marking step, particularly in the marking configuration.

[0038] The method may comprise receiving the marking instruction data before a start of the marking step. In other words, the marking instruction data may be initially sent to the robot before starting the marking step. Thus, optionally advantageously, during the marking step, an uninterrupted connection to a source of the marking instruction data may not need to be available.

[0039] The marking step may comprise moving a marking component of the robot to a first waypoint of the of a line, starting marking the line on the surface by means of the marking component, and moving the marking component to at least one remaining waypoint of the line.

[0040] Moving the marking component may further comprise moving the robot at least at some point in time during the marking step.

[0041] Each line specified by the marking instruction data may comprise two end points. The plurality of waypoints may comprise the two end points, as set out above.

[0042] Each line specified by the marking instruction data may be a straight line. In other words, the marking instruction data may specify straight lines.

[0043] The lines may however also comprise other lines, such as segments of a circle.

[0044] The marking may be generated by using a liquid, such as a paint or an adhesive on or with which marking particles are applied. The marking may however also used, e.g., applying a tape to the surface.

[0045] The moving configuration and the marking configuration may be substantially mutually exclusive, particularly mutually exclusive. Substantially mutually exclusive may be intended to specify that there may be transitioning times or dead times when assuming the marking configuration and / or the moving configuration.

[0046] The method may further comprise performing a line selecting step in response to the robot receiving at least one of the marking control signal(s). In particular, the method may comprise performing the line selecting step by the robot.

[0047] The line selecting step may comprise selecting at least one line from the marking instruction data, wherein the selected at least one line comprises a closest waypoint with respect to a current position of the robot, optionally, determining on which side of the selected at least one line the robot is located, and initiating generating the at least one marking on the surface for the selected at least one line.

[0048] In some embodiments, the closest waypoint may be a point selected from at least of the waypoints of lines of the shape and points of intersection of lines of the shape, the selected point comprising a lowest distance to the robot. In other words, the line selecting step may comprise

[0049] Thus, optionally advantageously, a more precise control of the robot by a user is possible.

[0050] The line selecting step may comprise, if the at least one line comprising the closest waypoint is a plurality of lines, selecting a line from the plurality of lines that intersects with several lines of the shape. In other words, the line selecting step may comprise a central line, axis and / or divider line of the shape as the next line.

[0051] The shape may comprise lines intersecting with a plurality of lines and lines intersecting with at most one line.

[0052] The marking step may comprise, for the selected line, moving the robot, while generating the marking corresponding to the selected line, so that the robot is consistently located on a side of the selected line where the robot was located at the beginning of the line selecting step.

[0053] The marking component may comprise a lateral distance from a middle axis of a body of the robot while marking.

[0054] The marking component may be moveable in a lateral direction with respect to the body of the robot, particularly by means of a guide rail.

[0055] The method may comprise controlling the robot so as to move the marking component to comprise the lateral distance from the middle axis of a body of the robot on a first side of the robot while marking, and to further move the marking component so as to move the marking component to comprise the lateral distance from the middle axis of a body of the robot on a second side of the robot while marking, wherein the second side is opposite to the first side.

[0056] For example, the first side may be a left side of the robot with respect to a forward direction of the robot, and the second side may be a right side of the robot with respect to the forward direction of the robot.

[0057] The line selecting step may further comprise controlling the robot so as to start generating the marking corresponding to the selected line from the closest waypoint and / or from a closest intersection of the selected line and any other line of the shape.

[0058] The marking step may comprise the line selecting step.

[0059] The marking step may comprise performing the line selecting step when the marking step is resumed.

[0060] The marking instruction data may comprise the plurality of line(s). In other words, the at least one or the plurality of line(s) of the marking instruction data may be the plurality of line(s). The plurality of line(s) may be ordered. After the line selecting step, the marking step may comprise continuing marking one or more remaining line(s) in the order of the marking instruction data. Thus, optionally advantageously, the robot can be controlled easily and optionally without modifying the marking instruction data to skip a line and / or a section of a line.

[0061] As an example, the marking instruction data may be stored as .csv-file, each line specifying waypoints of a line. However, the marking instruction data may also be stored in another format, e.g., further specifying one or more geometric properties of the at least one line.

[0062] The method may comprise sending the at least one marking control signal and / or the at least one movement control signal by means of a remote-control device to the robot.

[0063] The method may comprise receiving user input by means of the remote-control device, and sending the at least one marking control signal and / or the at least one movement to the robot based on the user input.

[0064] The remote-control device may be a handheld remote-control device.

[0065] The method may comprise a marking instruction data generating step. The marking data generating step may comprise receiving shape data indicative of a shape to be generated at a geographical location, particularly wherein the shape comprises a plurality of lines, and determining geographical coordinates of waypoints for each line.

[0066] The marking instruction data generating step may comprise dividing the marking into single lines.

[0067] The marking instruction data generating step may further comprise receiving map data relating to the geographical location.

[0068] The marking instruction data generation step may further comprise- outputting the map data, receiving user input relating to the outputted map data, and- generating the shape data based on user input relating to the outputted map data.

[0069] Receiving the user input relating to the outputted map data may for example comprise lines that are drawn by the user on a touchscreen, placed by a user via drag and drop on an outputted map, or the like.

[0070] The method may comprise sending marking confirmation data from the robot. The marking confirmation data may correspond to at least a portion of a marking generated in the marking step.

[0071] Sending the marking confirmation data from the robot may comprise sending marking confirmation data after each completed line.

[0072] The method may further comprise storing the marking confirmation data in a database.

[0073] The method may comprise using a server. The server may send the marking instruction data to the robot.

[0074] The server may process the marking instruction data. In particularly, the server may perform the marking instruction data generating step.

[0075] The server may receive the marking confirmation data from the robot. In particular, the server may store the marking confirmation data in the database.

[0076] The robot may perform the line selecting step.

[0077] Thus, optionally advantageously, the robot may be able to operate even without a permanent data connection to the server, while the marking instruction data may be generated efficiently by the server.

[0078] The server may further perform the line selecting step.

[0079] The method further comprises the robot sending position data indicative of a position of the robot to the server, particularly in response to receiving a marking control signal.

[0080] The server may send data indicative of the selected line and / or waypoints of the selected line to the robot and the robot performing the marking step for the selected line.

[0081] Thus, obviously advantageously, the robot may be controlled centrally by the server, which may allow access to additional data sources and allow for use of greater computing power.

[0082] The remote-control device may process the marking instruction data. For example, the remote-control device may receive the marking instruction data from the server, store the marking instruction data, and forward the marking instruction data to the server.

[0083] The remote-control device may perform the marking instruction data generating step.

[0084] The remote-control device may further perform the line selecting step.

[0085] The method may further comprise- the robot sending position data indicative of a position of the robot to the remotecontrol device,- the remote-control device sending data indicative of the selected line and / or waypoints of the selected line to the robot, and- the robot performing the marking step for the selected line.

[0086] Thus, optionally advantageously, control of the robot may be performed by a device controlling the robot and allow for additional control by a user, while a permanent, reliable connection to the server may optionally not be necessary.

[0087] The remote-control device may receive the marking confirmation data from the robot. In particular, the remote-control device may forward the marking confirmation data to the server. Thus, optionally advantageously, the marking confirmation data may be available to a user using the remote-control device, even if the connection to the server is temporarily not available.

[0088] The method may comprise using an end-user computer device.

[0089] The method may comprise a marking selection step. The marking selection step may comprise selecting marking instruction data from a set of marking instruction data by means of a user input to the end-user computer device.

[0090] The marking selection step may comprise at least one of sending an indication of the selected marking instruction data to the robot and sending the selected marking instruction data to the robot.

[0091] The marking instruction data generation step may comprise- outputting the map data by means of the end-user computer device, and receiving the user input relating to the outputted map data by means of the enduser computer device.

[0092] The method may comprise transmitting the marking confirmation data to the enduser computer device, and periodically outputting the marking confirmation data by the end-user computer device.

[0093] The method may further comprise generating quality data relating to the outputted marking confirmation data.

[0094] The quality data may for example be generated based on sensor data, such as data generated by a camera of the robot, the end-user computer device and / or user input

[0095] The marking confirmation data may comprise progress data. The progress data may relate to a progress of the marking step, such as a share of a marked surface compared to the surface to mark or a number of completed markings, e.g., compared to a number of markings to complete.

[0096] The method may comprise transmitting the progress data from the robot to the enduser computer device during the marking step, and outputting a progress of the marking step by means of the end-user computer device.

[0097] The end-user computer device may comprise the remote-control device.

[0098] The marking instruction data may relate to a marking area, particularly to a marking area to which the shape is to be marked.

[0099] The marking instruction data may comprise map information data of the marking area.

[0100] The marking instruction data may comprise geo-coded two-dimensional images of the marking area.

[0101] The geo-code may comprise geographical co-ordinates.

[0102] The data relates to the shape to be marked on the marking area. The shape may also be referred to as layout of the markings and / or lines to be marked to the marking area.

[0103] The marking instruction data may comprise a two-dimensional image corresponding to the shape.

[0104] The two-dimensional image may comprise a plurality of pixels. The marking information data element may comprise geo-codes for each of the plurality of pixels.

[0105] The marking instruction data may comprise a plurality of sets of waypoints, each set relating to a line.

[0106] Each set of points may comprise the two end points.

[0107] The method may comprise a quality monitoring step. The quality monitoring step may comprise generating the quality data relating to the generated marking(s).

[0108] The marking confirmation data may comprise the quality data. In particular, the quality data may relate to at least a portion of a marking generated in the marking step.

[0109] The quality monitoring step may comprise- generating sensor data relating to the generated marking(s) by means of at least one sensor of the robot, and processing the sensor data.[HO] More specifically, the quality monitoring step may for example comprise generating the sensor data relating to the generated marking(s) by means of the at least one sensor of the robot, wherein the at least one sensor comprises a camera and the sensor data comprise image data relating to the generated marking(s), and processing the image data relating to the generated marking(s).[Ill] In other words, it may be understood that the robot may be configured to capture images of the markings made using the camera as described above. These images may be used to improve the marking process, or to detect worn-out or incompletely-made markings. These may be detected by means of any suitable image processing or artificialintelligence algorithm based on the image data. For example, such an algorithm might detect a plurality of markings in the image and assign a quality score to each of these markings. Based on a predefined threshold of the quality score, the robot may be configured to re-mark some of the markings. The quality score may be stored and later used for assessing the marking process and / or for making improvements to the marking process. Alternatively, the robot may be further configured to send the image data to the remote-control device, and receive quality data from the remote-control device corresponding to the image data.

[0112] The method may comprise repeating at least a part of the marking step based on the quality data.

[0113] Repeating at least the part of the marking step may comprise re-marking a marking comprising a quality defect.

[0114] Also disclosed are a robot and a system. Advantages and details discussed in the context of the method may respectively apply also in the context of the robot as well as the system.

[0115] In a second embodiment, a robot is disclosed for generating at least one marking on a surface is disclosed. The robot comprises a robot communication system and a robot control component. The robot communication system is configured for receiving a marking control signal and a movement control signal. The robot control component is configured for controlling the robot.

[0116] The robot may be configured for performing the method.

[0117] The robot communication system may be configured for receiving the marking instruction data.

[0118] The robot may further comprise a marking component.

[0119] The marking component may be releasably coupled to a remainder of the robot. For example, the remainder of the robot may be a body and / or a chassis of the robot.

[0120] The marking component may be movable with respect to other parts of the robot, such as the remainder of the robot.

[0121] The robot may be configured for adjusting a vertical height of the marking component with respect to a surface, particularly a ground surface.

[0122] The robot may be configured for moving the marking component in a horizontal plane.

[0123] The robot may comprise a guide rail configured for guiding the marking component.

[0124] The marking component may be coupled to the guide rail.

[0125] The robot may comprise a plurality of guide rails.

[0126] The guide rail may be a first guide rail. The first guide rail may be substantially parallel to a line in the horizontal plane and configured to enable motion of the marking component along the line in the horizontal plane.

[0127] The robot may comprise a second guide rail configured to enable motion of the marking component in a vertical direction.

[0128] The first guide rail may be configured to move over the second guide rail.

[0129] The second guide rail may be configured to move over the first guide rail.

[0130] The marking component may further be configured to rotate, at least partially, around the guide rail.

[0131] A maximum extension of the first guide rail may be such that the marking component can mark a region on the side of the robot.

[0132] The guide rail may be releasably coupled to the robot.

[0133] The marking component may be configured to receive a marking material dispenser. The marking component may comprise the marking material dispenser.

[0134] The marking material dispenser may comprise a marking nozzle.

[0135] The marking nozzle may be configured to receive a fluid by means of a nozzle inlet.

[0136] The marking nozzle may be configured to emit a fluid by means of a nozzle outlet.

[0137] The marking nozzle may be releasably coupled to the marking component.

[0138] The marking component may further comprise a valve configured to control fluid flow out of the marking nozzle.

[0139] The valve may be located upstream of the outlet.

[0140] The marking component may comprise a plurality of marking nozzles.

[0141] The robot may comprise a marking material reservoir.

[0142] The marking material reservoir may comprise a fluid reservoir.

[0143] The fluid reservoir may comprise a reservoir outlet.

[0144] The robot may further comprise a conduit.

[0145] The robot may comprise a pressure pump comprising a pump outlet. The pressure pump may be configured to at least pump fluid.

[0146] The pressure pump may further comprise a pump inlet and a pump reservoir. The pressure pump may be configured to draw fluid into the pump reservoir via the inlet.

[0147] The pressure pump may further be configured, after drawing fluid into the pump reservoir, to pressurize the fluid to a pumping pressure.

[0148] The pumping pressure may be less than 4500 PSI, preferably less than 4000 PSI, further preferably less than 3500 PSI.

[0149] The robot may comprise a first conduit between the reservoir outlet and the pump inlet.

[0150] The robot may comprise a second conduit between the pump outlet and the nozzle inlet.

[0151] The robot may comprise a plurality of fluid reservoirs.

[0152] The robot may further be configured to deliver a mixture of fluids to the marking nozzle.

[0153] The marking component may be configured to receive a signal from the controlling component.

[0154] The robot control component may be configured for controlling the robot to move the marking component with respect to other parts of the robot, such as the remainder of the robot.

[0155] A result of the motion of the marking component may be a positioning of the marking nozzle over a defined region of the marking area.

[0156] The control component may be configured for controlling a displacement of the marking component, particularly a vertical displacement of the marking component and / or a horizontal displacement of the marking component.

[0157] The robot may comprise at least one or a plurality of sensor(s).

[0158] The at least one sensor may comprise a camera.

[0159] The camera may comprise a stereo camera that may be supported by any of a structured laser light projector, ambient light, infrared light, or visible light.

[0160] The at least one sensor may comprise a radar assembly configured to aid in the navigation of the robot.

[0161] The at least one sensor may comprise a lidar assembly configured to aid in the navigation of the robot.

[0162] The at least one sensor may comprise a wireless navigation sensor configured to determine a location of the robot.

[0163] The navigation sensor may be configured to determine a location of the robot based on communication with a ground-based network.

[0164] The navigation sensor may be configured to determine a location of the robot based on communication with a satellite.

[0165] The at least one sensor may comprise an inertial measurement unit configured to sense an orientation of the robot.

[0166] The at least one sensor may comprise a speed sensor configured to measure a speed of the robot.

[0167] The at least one sensor may comprise any of an ultrasonic device, an infrasonic device, a beacon, a magnetic anomaly detector, a MEMS device, or a ground tracking device.

[0168] The at least one sensor may comprise a weight sensor configured to measure a weight of the fluid reservoir.

[0169] The at least one sensor may comprise a humidity sensor.

[0170] The at least one sensor may comprise a temperature sensor.

[0171] The at least one sensor may be configured to measure a temperature of a surface of the marking area to be marked.

[0172] The at least one sensor may be configured to monitor an ambient brightness.

[0173] The robot control component may comprise a data processing unit.

[0174] The data processing unit may be configured to communicate with the at least one sensor(s).

[0175] The robot control component may further be configured to control the pumping pressure.

[0176] The data processing unit may be configured for determining a setpoint of the pumping pressure based on a current location of the robot.

[0177] The robot control component may be configured for determining a setpoint of the pumping pressure based on the marking instruction data.

[0178] The robot control component may further be configured to generate a notification based on the measured weight of the fluid reservoir.

[0179] The robot control component may further be configured to track the weight of the fluid reservoir over the course of operation of the robot.

[0180] The robot communication system may be configured for sending and receiving data from a server and / or a server system by means of a wireless network.

[0181] The robot may be configured to access the wireless network by means of a subscriber identity module (SIM) card.

[0182] Communication between the robot communication system and the server may be mediated by electromagnetic waves ranging in frequency between 1.5 GHz and 3.5 GHz, preferably between 2 GHz and 3 GHz, further preferably between 2.4 GHz and 2.8 GHz.

[0183] The robot may comprise a body. The body may comprise a chassis.

[0184] The body may further comprise a housing comprising a plurality of walls.

[0185] The plurality of walls may be configured to define an interior space of the robot.

[0186] The marking material reservoir may be located inside the interior space.

[0187] The robot may comprise a plurality of wheels. Each of the plurality of wheels may further be configured to rotate about an axis of rotation.

[0188] The radius of each of the plurality of wheels may be between 15 cm and 80 cm, preferably between 20 cm and 70 cm, further preferably between 30 cm and 60 cm.

[0189] The plurality of wheels may comprise 3 wheels.

[0190] The plurality of wheels may comprise a first set of wheels comprising a plurality of wheels such that a direction of the axis of rotation of each of the wheels in the first set of wheels is fixed.

[0191] The first set of wheels may comprise 2 wheels.

[0192] The 2 wheels of the first set may be arranged such that the axis of rotation of one wheel is substantially parallel to the axis of rotation of the other wheel.

[0193] The 2 wheels in the first set of wheels may be arranged such that the axis of rotation of one wheel coincides with the axis of rotation of the other wheel of the first set.

[0194] The 2 wheels may be attached to the chassis of the robot.

[0195] The plurality of wheels may comprise a caster wheel.

[0196] A direction of the axis of rotation of the caster wheel may be variable.

[0197] The caster wheel may be a swivel caster wheel.

[0198] The caster wheel may be attached close to a rear side of the robot.

[0199] The first set of wheels may be attached close to a front end of the robot.

[0200] The robot body may comprise a front surface section configured to abut the front end of the robot.

[0201] The guide rail may be attached to the front surface section.

[0202] The robot may further comprise a battery configured to supply energy to the robot.

[0203] The robot may further comprise a solar panel configured to charge the battery.

[0204] The robot may further be configured to monitor a quality of the markings made on the marking area.

[0205] The robot may be configured to monitor the quality of markings based, at least in part, on a measurement from the at least one sensor.

[0206] The robot control component, particularly the data processing unit, may be configured for monitoring a quality of the marking(s) generated by means of the robot.

[0207] The robot control component may be configured for receiving data indicative of the quality of the marking(s) generated by means of the robot. In particular, the robot control component may be configured receiving the data indicative of the quality by means of the robot communication system.

[0208] The camera may be configured to capture images of the generated markings. The robot may be configured to monitor the quality of the markings based on the images captured by the camera.

[0209] The robot may further be configured to re-mark a marking based on the monitored quality of the generated marking.

[0210] The robot may be configured to detect an existing worn-out marking.

[0211] The robot may further be configured to re-mark the existing marking.

[0212] The robot may be configured for marking an outdoor area.

[0213] The outdoor area may comprise a parking space.

[0214] The robot may be configured for marking an indoor area.

[0215] The indoor area may comprise a parking space.

[0216] The indoor area may comprise a warehouse.

[0217] The robot may be configured for carrying out the method according to any of the method embodiments.

[0218] The method may further comprise using the robot according to any of the robot embodiments.

[0219] In a third embodiment, a system for generating at least one marking on a surface is disclosed. The system comprises the robot and is configured for carrying out the method.

[0220] The system may further comprise the remote-control device.

[0221] The system may further be configured for carrying out the method according to optional embodiments in which the method comprises sending the at least one marking control signal and / or the at least one movement control signal by means of a remotecontrol device to the robot.

[0222] The system may further comprise the server. The server may also be a server system, or a server system emulating the functionality of a server, such as a cloud computing system.

[0223] The system may further comprise the end-user computer device.

[0224] The end-user computer device may comprise the remote-control device.

[0225] The method may further comprise using the system according to any of the system embodiments.

[0226] The following embodiments also form part of the invention.Method embodiments

[0227] Below, embodiments of a method will be discussed. The method embodiments are abbreviated by the letter "M" followed by a number. Whenever reference is herein made to the "method embodiments", these embodiments are meant.Ml. A method, comprising receiving marking instruction data, particularly by a robot, wherein the marking instruction data specify a shape comprising at least one or a plurality of line(s), wherein each line of the shape is specified by a plurality of waypoints, such as at least two points, operating the robot in a marking configuration in response to the robot receiving at least one marking control signal, particularly in response to the robot receiving each of the at least one marking control signal,- the robot performing a marking step in in the marking configuration.M2. The method according to the preceding embodiment, wherein the method comprises the robot in the marking configuration, in response to receiving each of at least one movement control signal, assuming a moving configuration, and particularly further halting the marking step, and in the moving configuration, in response to receiving each of the at least one marking control signal, assuming the marking configuration.M3. The method according to the preceding embodiment, wherein the method further comprises interrupting the marking step in response to receiving at least one of the movement control signal(s) when the robot is in the marking configuration, particularly in response to receiving each of the at least one movement control signal.M4. The method according to the preceding embodiment, wherein the method further comprises resuming the marking step in response to receiving at least one of the marking control signal(s) when the robot is in the moving configuration.M5. The method according to any of the preceding embodiments, wherein, in the moving configuration, the method further comprises the robot receiving movement-instruction data, wherein the movement instruction data comprise movement instructions and / or a target position, wherein the method comprises moving the robot based on the movement instruction data in the movement configuration.M6. The method according to any of the preceding embodiments with the features of M2, wherein the robot is manually controlled in the moving configuration.M7. The method according to any of the preceding embodiments with the features of M9, wherein the robot does substantially not generate the at least one marking in the moving configuration.M8. The method according to any of the preceding embodiments, wherein the method comprises, in the marking configuration, the robot performing the marking step based on the marking instruction data.M9. The method according to any of the preceding embodiments, wherein the marking step comprises generating at least one marking on a surface, particularly a ground surface.MIO. The method according to the preceding embodiment, wherein the marking step comprises generating at least one marking on the surface for each line specified by the marking instruction data.Mil. The method according to any of the preceding embodiments, wherein the marking step comprises moving the robot based on the marking instruction data.M12. The method according to any of the preceding embodiments, wherein the method comprises the robot moving autonomously while performing the marking step, particularly in the marking configuration.M13. The method according to any of the preceding embodiments, wherein the method comprises receiving the marking instruction data before a start of the marking step.M14. The method according to any of the preceding embodiments, wherein the marking step comprises moving a marking component of the robot to a first waypoint of the of a line, starting marking the line on the surface by means of the marking component, and moving the marking component to at least one remaining waypoint of the line.M15. The method according to any of the preceding embodiments with the features of M14 and Mil, wherein moving the marking component comprises moving the robot at least at some point in time during the marking step.M16. The method according to any of the preceding embodiments, wherein each line specified by the marking instruction data comprises two end points, wherein the plurality of waypoints comprises the two end points.M17. The method according to the preceding embodiment, wherein each line specified by the marking instruction data is a straight line.M18. The method according to any of the preceding embodiments with the features of M2, wherein the moving configuration and the marking configuration are substantially mutually exclusive, particularly mutually exclusive.M19. The method according to any of the preceding embodiments, wherein the method further comprises performing a line selecting step, particularly by the robot, in response to the robot receiving at least one of the marking control signal(s), the line selecting step comprising selecting at least one line from the marking instruction data, wherein the selected at least one line comprises a closest waypoint and / or a closest point of intersection of the lines of the shape with respect to a current position of the robot, optionally, determining on which side of the selected at least one line the robot is located, and initiating generating the at least one marking on the surface for the selected at least one line.M20. The method according to the preceding embodiment, wherein the line selecting step comprises, if the at least one line comprising the closest waypoint is a plurality of lines, selecting a line from the plurality of lines that intersects with several lines of the shape.M21. The method according to the preceding embodiment, wherein the shape comprises lines intersecting with a plurality of lines and lines intersecting with at most one line.M22. The method according to any of the preceding embodiments with the features of M19, wherein the marking step comprises, for the selected line, moving the robot, while generating the marking corresponding to the selected line, so that the robot is consistently located on a side of the selected line where the robot was located at the beginning of the line selecting step.M23. The method according to any of the preceding embodiments and with the features of M22 and M8, wherein the marking component comprises a lateral distance from a middle axis of a body of the robot while marking.M24. The method according to the preceding embodiment, wherein the marking component is moveable in a lateral direction with respect to the body of the robot, particularly by means of a guide rail.M25. The method according to any of the preceding embodiments with the features of M22 and M8, wherein the method comprises controlling the robot so as to move the marking component to comprise the lateral distance from the middle axis of a body of the robot on a first side of the robot while marking, and to further move the marking component so as to move the marking component to comprise the lateral distance from the middle axis of a body of the robot on a second side of the robot while marking, wherein the second side is opposite to the first side.M26. The method according to any of the preceding embodiments with the features of M19, wherein the line selecting step further comprises controlling the robot so as to startgenerating the marking corresponding to the selected line from the closest waypoint and / or from a closest intersection of the selected line and any other line of the shape.M27. The method according to any of the preceding embodiments with the features of M19, wherein the marking step comprises the line selecting step.M28. The method according to any of the preceding embodiments with the features of M19 and M4, wherein the marking step comprises performing the line selecting step when the marking step is resumed.M29. The method according to any of the preceding embodiments and with the features of M19, wherein the marking instruction data comprise the plurality of line(s), wherein the plurality of line(s) are ordered, and wherein, after the line selecting step, the marking step comprises continuing marking one or more remaining line(s) in the order of the marking instruction data.M30. The method according to any of the preceding embodiments with the features of M2, wherein the method comprises sending the at least one marking control signal and / or the at least one movement control signal by means of a remote-control device to the robot.M31. The method according to the preceding embodiment, wherein the method comprises receiving user input by means of the remote-control device, and sending the at least one marking control signal and / or the at least one movement to the robot based on the user input.M32. The method according to the preceding embodiment, wherein the remote-control device is a handheld remote-control device.M33. The method according to any of the preceding embodiments, wherein the method comprises a marking instruction data generating step, wherein the marking data generating step comprises receiving shape data indicative of a shape to be generated at a geographical location, particularly wherein the shape comprises a plurality of lines, and determining geographical coordinates of waypoints for each line.M34. The method according to the preceding embodiment, wherein the marking instruction data generating step comprises dividing the marking into single lines.M35. The method according to any of the preceding embodiments with the features of M33, wherein the marking instruction data generating step further comprises receiving map data relating to the geographical location.M36. The method according to any of the preceding embodiments, wherein the marking instruction data generation step further comprises- outputting the map data, receiving user input relating to the outputted map data, and- generating the shape data based on user input relating to the outputted map data.M37. The method according to any of the preceding embodiments, wherein the method comprises sending marking confirmation data from the robot, wherein the marking confirmation data correspond to at least a portion of a marking generated in the marking step.M38. The method according to the preceding embodiment, wherein sending the marking confirmation data from the robot comprises sending marking confirmation data after each completed line.M39. The method according to any of the preceding embodiments with the features of M37, wherein the method further comprises storing the marking confirmation data in a database.M40. The method according to any of the preceding embodiments, wherein the method comprises using a server, wherein the server sends the marking instruction data to the robot.M41. The method according to the preceding embodiment and with the features of M33, wherein the server processes the marking instruction data, particularly wherein the server performs the marking instruction data generating step.M42. The method according to any of the preceding embodiments with the features of M37, particularly with the features of M39, wherein the server receives the marking confirmation data from the robot, particularly wherein the server stores the marking confirmation data in the database.M43. The method according to any of the preceding embodiments with the features of M40, wherein the robot performs the line selecting step.M44. The method according to any of the preceding embodiments with the features of M40 but embodiment M43, wherein the server further performs the line selecting step.M45. The method according to the preceding embodiment, wherein the method further comprises the robot sending position data indicative of a position of the robot to the server, particularly in response to receiving a marking control signal.M46. The method according to the preceding embodiment, wherein the server sends data indicative of the selected line and / or waypoints of the selected line to the robot and the robot performing the marking step for the selected line.M47. The method according to any of the preceding embodiments with the features of M30, wherein the remote-control device processes the marking instruction data.M48. The method according to any of the preceding embodiments with the features of M33 but embodiment M41, wherein the remote-control device performs the marking instruction data generating step.M49. The method according to any of the preceding embodiments with the features of M47 but embodiments M41-M46, wherein the remote-control device further performs the line selecting step.M50. The method according to the preceding embodiment, wherein the method further comprises- the robot sending position data indicative of a position of the robot to the remotecontrol device,- the remote-control device sending data indicative of the selected line and / or waypoints of the selected line to the robot, and- the robot performing the marking step for the selected line.M51. The method according to any of the preceding embodiments with the features of M30 and M37, particularly with the features of M40, wherein the remote-control device receives the marking confirmation data from the robot, particularly wherein the remotecontrol device forwards the marking confirmation data to the server.M52. The method according to any of the preceding embodiments, wherein the method comprises using an end-user computer device.M53. The method according to the preceding embodiment, wherein the method comprises a marking selection step, the marking selection step comprising selecting marking instruction data from a set of marking instruction data by means of a user input to the end-user computer device.M54. The method according to the preceding embodiment, wherein the marking selection step comprises at least one of sending an indication of the selected marking instruction data to the robot and sending the selected marking instruction data to the robot.M55. The method according to any of the preceding embodiments with the features of M52 and M36, wherein the marking instruction data generation step comprises outputting the map data by means of the end-user computer device, and receiving the user input relating to the outputted map data by means of the enduser computer device.M56. The method according to any of the preceding embodiments with the features of M52 and M37, wherein the method comprises transmitting the marking confirmation data to the end-user computer device, and periodically outputting the marking confirmation data by the end-user computer device.M57. The method according to the preceding embodiment, wherein the method further comprises generating quality data relating to the outputted marking confirmation data.M58. The method according to any of the preceding embodiments, wherein the marking confirmation data comprise progress data, wherein the progress data relate to a progress of the marking step, and wherein the method comprises transmitting the progress data from the robot to the end-user computer device during the marking step, and outputting a progress of the marking step by means of the end-user computer device.M59. The method according to any of the preceding embodiments with the features of M52 and M30, wherein the end-user computer device comprises the remote-control device.M60. The method according to any of the preceding embodiments, particularly with the features of M8, wherein the marking instruction data relate to a marking area, particularly to a marking area to which the shape is to be marked.M61. The method according to any of the preceding embodiments, wherein the marking instruction data comprise map information data of the marking area.M62. The method according to any of the preceding embodiments, wherein the marking instruction data comprises geo-coded two-dimensional images of the marking area.M63. The method according to the preceding embodiment, wherein the geo-code comprises geographical co-ordinates.M64. The method according to any of the preceding embodiments, wherein the data relates to the shape to be marked on the marking area.M65. The method according to the preceding embodiment, wherein the marking instruction data comprise a two-dimensional image corresponding to the shape.M66. The method according to the preceding embodiment and with the features of M63 wherein the two-dimensional image comprises a plurality of pixels, and wherein the marking information data element comprises geo-codes for each of the plurality of pixels.M67 The method according to any of the preceding embodiments, particularly with the features of M16, wherein the marking instruction data comprise a plurality of sets of waypoints, each set relating to a line.M68. The method according to the preceding embodiment, wherein each set of points comprises the two end points.M69. The method according to any of the preceding embodiments, wherein the method comprises a quality monitoring step, wherein the quality monitoring step comprises generating the quality data relating to the generated marking(s).M70. The method according to the preceding embodiment, particularly with the features of M37, wherein the marking confirmation data comprise the quality data, particularly wherein the quality data relate to at least a portion of a marking generated in the marking step.M71. The method according to the preceding embodiment, particularly with the features of M69, wherein the quality monitoring step comprises- generating sensor data relating to the generated marking(s) by means of at least one sensor of the robot, and processing the sensor data.M72. The method according to the preceding embodiment, wherein the quality monitoring step comprises generating the sensor data relating to the generated marking(s) by means of the at least one sensor of the robot, wherein the at least one sensor comprises a camera and the sensor data comprise image data relating to the generated marking(s), and processing the image data relating to the generated marking(s).M73. The method according to any of the preceding embodiments with the features of M69, wherein the method comprises repeating at least a part of the marking step based on the quality data.M74. The method according to the preceding embodiment, wherein repeating at least the part of the marking step comprises re-marking a marking comprising a quality defect.Robot embodiments

[0228] Below, robot embodiments will be discussed. These embodiments are abbreviated by the letter "R" followed by a number. Whenever reference is herein made to "robot embodiments", these embodiments are meant.Rl. A robot for generating at least one marking on a surface, the robot comprising: a robot communication system, wherein the robot communication system is configured for receiving a marking control signal and a movement control signal, anda robot control component, wherein the robot control component is configured for controlling the robot.R2. The robot according to the preceding embodiment, wherein the robot is configured for performing the method according to any of the method embodiments.R3. The robot according to the preceding embodiment, wherein the robot communication system is configured for receiving the marking instruction data.R4. The robot according to any of the preceding robot embodiments, wherein the robot further comprises a marking component.R5. The robot according to the preceding embodiment, wherein the marking component is releasably coupled to a remainder of the robot.R6. The robot according to any of the two preceding embodiments, wherein the marking component is movable with respect to other parts of the robot, such as the remainder of the robot.R7. The robot according to any of the preceding embodiments with the features of R4, wherein the robot is configured for adjusting a vertical height of the marking component with respect to a surface, particularly a ground surface.R8. The robot according to any of the preceding embodiments with the features of R4, wherein the robot is configured for moving the marking component in a horizontal plane.R9. The robot according to any of the preceding robot embodiments and with the features of R4, wherein the robot comprises a guide rail configured for guiding the marking component.RIO. The robot according to the preceding embodiment, wherein the marking component is coupled to the guide rail.Rll. The robot according to any of the two preceding embodiments, wherein the robot comprises a plurality of guide rails.R12. The robot according to the preceding embodiment and with the features of embodiment R9, wherein the guide rail is a first guide rail, wherein the first guide rail is substantially parallel to a line in the horizontal plane and configured to enable motion of the marking component along the line in the horizontal plane.R13. The robot according to the preceding embodiment, wherein the robot comprises a second guide rail configured to enable motion of the marking component in a vertical direction.R14. The robot according to the preceding embodiment, wherein the first guide rail is configured to move over the second guide rail.R15. The robot according to the penultimate embodiment, wherein the second guide rail is configured to move over the first guide rail.R16. The robot according to any of the preceding robot embodiments and with the features of embodiment R9, wherein the marking component is further configured to rotate, at least partially, around the guide rail.R17. The robot according to any of the preceding robot embodiments and with the features of embodiment R9, particularly with the features of R12, wherein a maximum extension of the first guide rail is such that the marking component can mark a region on the side of the robot.R18. The robot according to any of the preceding robot embodiments and with the features of embodiment R9, wherein the guide rail is releasably coupled to the robot.R19. The robot according to any of the preceding robot embodiments and with the features of embodiment R4, wherein the marking component is configured to receive a marking material dispenser, particularly wherein the marking component comprises the marking material dispenser.R20. The robot according to the preceding embodiment, wherein the marking material dispenser comprises a marking nozzle.R21. The robot according to the preceding embodiment, wherein the marking nozzle is configured to receive a fluid by means of a nozzle inlet.R22. The robot according to any of the 2 preceding embodiments, wherein the marking nozzle is configured to emit a fluid by means of a nozzle outlet.R23. The robot according to any of the 3 preceding embodiments, wherein the marking nozzle is releasably coupled to the marking component.R24. The robot according to any of the 4 preceding embodiments and with the features of embodiment R22, wherein the marking component further comprises a valve configured to control fluid flow out of the marking nozzle.R25. The robot according to the preceding embodiment, wherein the valve is located upstream of the outlet.R26. The robot according to any of the preceding robot embodiments and with the features of embodiment R4, wherein the marking component comprises a plurality of marking nozzles.R27. The robot according to the preceding embodiment, wherein any of the plurality of marking nozzles comprises the features according to any of the embodiments R21 to R25.R28. The robot according to any of the preceding robot embodiments, wherein the robot comprises a marking material reservoir.R29. The robot according to the preceding embodiment, wherein the marking material reservoir comprises a fluid reservoir.R30. The robot according to the preceding embodiment, wherein the fluid reservoir comprises a reservoir outlet.R31. The robot according to any of the preceding robot embodiments, wherein the robot further comprises a conduit.R32. The robot according to any of the preceding robot embodiments, wherein the robot comprises a pressure pump comprising a pump outlet, and wherein the pressure pump is configured to at least pump fluid.R33. The robot according to the preceding embodiment, wherein the pressure pump further comprises a pump inlet and a pump reservoir, and wherein the pressure pump is configured to draw fluid into the pump reservoir via the inlet.R34. The robot according to the preceding embodiment, wherein the pressure pump is further configured, after drawing fluid into the pump reservoir, to pressurize the fluid to a pumping pressure.R35. The robot according to the preceding embodiment, wherein the pumping pressure is less than 4500 PSI, preferably less than 4000 PSI, further preferably less than 3500 PSI.R36. The robot according to any of the 3 preceding embodiments and with the features of embodiments R30 and R31, wherein the robot comprises a first conduit between the reservoir outlet and the pump inlet.R37. The robot according to any of the preceding robot embodiments and with the features of embodiments R21, R31 and R32, wherein the robot comprises a second conduit between the pump outlet and the nozzle inlet.R38. The robot according to any of the preceding robot embodiments and with the features of embodiment R33, wherein the robot comprises a plurality of fluid reservoirs.R39. The robot according to the preceding embodiment and with the features of embodiment R21, wherein the robot is further configured to deliver a mixture of fluids to the marking nozzle.R40. The robot according to any of the preceding robot embodiments and with the features of embodiment R4, wherein the marking component is configured to receive a signal from the controlling component.R41. The robot according to the preceding embodiment and with the features of embodiment R6, wherein the robot control component is configured for controlling the robot to move the marking component with respect to other parts of the robot, such as the remainder of the robot.R42. The robot according to the preceding embodiment and with the features of embodiment R4, wherein a result of the motion of the marking component is a positioning of the marking nozzle over a defined region of the marking area.R43. The robot according to any of the preceding embodiments, wherein the control component is configured for controlling a displacement of the marking component, particularly a vertical displacement of the marking component and / or a horizontal displacement of the marking component.R44. The robot according to any of the preceding robot embodiments, wherein the robot comprises at least one or a plurality of sensor(s).R45. The robot according to the preceding embodiment, wherein the at least one sensor comprises a camera.The camera may comprise a stereo camera that may be supported by any of a structured laser light projector, ambient light, infrared light, or visible light.R46. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises a radar assembly configured to aid in the navigation of the robot.R47. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises a lidar assembly configured to aid in the navigation of the robot.R48. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises a wireless navigation sensor configured to determine a location of the robot.R49. The robot according to the preceding embodiment, wherein the navigation sensor is configured to determine a location of the robot based on communication with a ground- based network.R50. The robot according to any of the two preceding robot embodiments, wherein the navigation sensor is configured to determine a location of the robot based on communication with a satellite.R51. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises an inertial measurement unit configured to sense an orientation of the robot.R52. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises a speed sensor configured to measure a speed of the robot.R53. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises any of an ultrasonic device, an infrasonic device, a beacon, a magnetic anomaly detector, a MEMS device, or a ground tracking device.R54. The robot according to any of the preceding robot embodiments and with the features of embodiments R29 and R44, wherein the at least one sensor comprises a weight sensor configured to measure a weight of the fluid reservoir.R55. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises a humidity sensor.R56. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor comprises a temperature sensor.R57. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor is configured to measure a temperature of a surface of the marking area to be marked.R58. The robot according to any of the preceding robot embodiments and with the features of embodiment R44, wherein the at least one sensor is configured to monitor an ambient brightness.R59. The robot according to any of the preceding embodiments, wherein the robot control component comprises a data processing unit.R60. The robot according to the preceding embodiment and with the features of embodiment R44, wherein the data processing unit is configured to communicate with the at least one sensor(s).R61. The robot according to any of the preceding robot embodiments and with the features of embodiments R34, wherein the robot control component is further configured to control the pumping pressure.R62. The robot according to the preceding embodiment, wherein the data processing unit is configured for determining a setpoint of the pumping pressure based on a current location of the robot.R63. The robot according to any of the 2 preceding embodiments and with the features of embodiment R3, wherein the robot control component is configured for determining a setpoint of the pumping pressure based on the marking instruction data.R64. The robot according to any of the preceding robot embodiments and with the features of embodiments R54, wherein the robot control component is further configured to generate a notification based on the measured weight of the fluid reservoir.R65. The robot according to the preceding embodiment, wherein the robot control component is further configured to track the weight of the fluid reservoir over the course of operation of the robot.R66. The robot according to any of the preceding robot embodiments, wherein the robot communication system is configured for sending and receiving data from a server and / or a server system by means of a wireless network.R67. The robot according to the preceding embodiment, wherein the robot is configured to access the wireless network by means of a subscriber identity module (SIM) card.R68. The robot according to any of the 2 preceding embodiments, wherein communication between the robot communication system and the server is mediated by electromagnetic waves ranging in frequency between 1.5 GHz and 3.5 GHz, preferably between 2 GHz and 3 GHz, further preferably between 2.4 GHz and 2.8 GHz.R69. The robot according to any of the preceding robot embodiments, wherein the robot comprises a body, wherein the body comprises a chassis.R70. The robot according to the preceding embodiment, wherein the body further comprises a housing comprising a plurality of walls.R71. The robot according to the preceding embodiment, wherein the plurality of walls is configured to define an interior space of the robot.R72. The robot according to the preceding embodiment and with the features of embodiment R28, wherein the marking material reservoir is located inside the interior space.R73. The robot according to any of the preceding robot embodiments, wherein the robot comprises a plurality of wheels, and wherein each of the plurality of wheels is further configured to rotate about an axis of rotation.R74. The robot according to the preceding embodiment, wherein the radius of each of the plurality of wheels is between 15 cm and 80 cm, preferably between 20 cm and 70 cm, further preferably between 30 cm and 60 cm.R75. The robot according to any of the 2 preceding embodiments, wherein the plurality of wheels comprises 3 wheels.R76. The robot according to any of the preceding embodiments with the feature of R73, wherein the plurality of wheels comprises a first set of wheels comprising a plurality of wheels such that a direction of the axis of rotation of each of the wheels in the first set of wheels is fixed.R77. The robot according to the preceding embodiment, wherein the first set of wheels comprises 2 wheels.R78. The robot according to the preceding embodiment, wherein the 2 wheels of the first set are arranged such that the axis of rotation of one wheel is substantially parallel to the axis of rotation of the other wheel.R79. The robot according to any of the 3 preceding embodiments, wherein the 2 wheels in the first set of wheels are arranged such that the axis of rotation of one wheel coincides with the axis of rotation of the other wheel of the first set.R80. The robot according to any of the 3 preceding embodiments and with the features of embodiment R69, wherein the 2 wheels are attached to the chassis of the robot.R81. The robot according to any of the preceding robot embodiments and with the features of embodiment R73, particularly with the features of R76, wherein the plurality of wheels comprises a caster wheel.R82. The robot according to the preceding embodiment, wherein a direction of the axis of rotation of the caster wheel is variable.R83. The robot according to any of the 2 preceding embodiments, wherein caster wheel is a swivel caster wheel.R84. The robot according to any of the preceding robot embodiments and with the features of embodiment R81, wherein the caster wheel is attached close to a rear side of the robot.R85. The robot according to any of the preceding robot embodiments and with the features of embodiment R73, particularly with the features of R76, wherein the first set of wheels is attached close to a front end of the robot.R86. The robot according to the preceding embodiment and with the features of embodiment R69, wherein the robot body comprises a front surface section configured to abut the front end of the robot.R87. The robot according to the preceding embodiment and with the features of embodiment R9, wherein the guide rail is attached to the front surface section.R88. The robot according to any of the preceding robot embodiments, wherein the robot further comprises a battery configured to supply energy to the robot.R89. The robot according to the preceding embodiment, wherein the robot further comprises a solar panel configured to charge the battery.R90. The robot according to any of the preceding robot embodiments, wherein the robot is further configured to monitor a quality of the markings made on the marking area.R91. The robot according to the preceding embodiment and with the features of embodiment R44, wherein the robot is configured to monitor the quality of markings based, at least in part, on a measurement from the at least one sensor.R92. The robot according to any of the 2 preceding embodiments and with the features of R59, wherein the robot control component, particularly the data processing unit, is configured for monitoring a quality of the marking(s) generated by means of the robot.R93. The robot according to any of the preceding embodiments with the features of R90, wherein the robot control component is configured for receiving data indicative of the quality of the marking(s) generated by means of the robot, particularly wherein the robot control component is configured receiving the data indicative of the quality by means of the robot communication system.R94. The robot according to any of the preceding embodiments with the features of embodiment R90 and R45, wherein the camera is configured to capture images of the generated markings, and wherein the robot is configured to monitor the quality of the markings based on the images captured by the camera.R95. The robot according to any of the preceding embodiments with the features of embodiment R90, wherein the robot is further configured to re-mark a marking based on the monitored quality of the generated marking.R96. The robot according to any of the preceding robot embodiments with the features of embodiment R44, particularly with the features of R45, wherein the robot is configured to detect an existing worn-out marking.R97. The robot according to the preceding embodiment, wherein the robot is further configured to re-mark the existing marking.R98. The robot according to any of the preceding robot embodiments, wherein the robot is configured for marking an outdoor area.R99. The robot according to the preceding embodiment, wherein the outdoor area comprises a parking space.R100. The robot according to the any of the preceding robot embodiments, wherein the robot is configured for marking an indoor area.R101. The robot according to the preceding embodiment, wherein the indoor area comprises a parking space.R102. The robot according to any of the 2 preceding embodiments, wherein the indoor area comprises a warehouse.R103. The robot according to any of the preceding robot embodiments, wherein the robot is configured for carrying out the method according to any of the method embodiments.M75. The method according to any of the preceding embodiments, wherein the method further comprises using the robot according to any of the robot embodiments.System embodiments

[0229] Below, system embodiments will be discussed. These are abbreviated by the letter 'S' followed by a number. Whenever reference is herein made to system embodiments, these embodiments are meant.51. A system for generating at least one marking on a surface, wherein the system comprises the robot according to any of the robot embodiments, and wherein the system is configured for carrying out the method according to any of the method embodiments.52. The system according to any of the preceding system embodiments, wherein the system further comprises a remote-control device.53. The system according to the preceding embodiment, wherein the system is configured for carrying out the method according to any of the method embodiments with the features of M30.54. The system according to any of the preceding system embodiments, wherein the system further comprises a server.55. The system according to the preceding embodiment, wherein the system is configured for carrying out the method according to any of the method embodiments with the features of M40, M44 and / or M47.56. The system according to any of the preceding system embodiments, wherein the system further comprises an end-user computer device.57. The system according to the preceding embodiment, wherein the system is configured for carrying out the method according to any of the method embodiments with the features of M52.58. The system according to any of the two preceding embodiments, wherein the enduser computer device comprises the remote-control device.59. The system according to any of the preceding system embodiments, wherein the robot is according to any of the robot embodiments with the features of R4, and wherein the method is according to any of the method embodiments with the features of M9.S10. The system according to any of the preceding system embodiments, wherein the robot is according to any of the robot embodiments with the features of R44, wherein further, the method is according to any of the method embodiments with the features of M69.M76. The method according to any of the preceding embodiments, wherein the method further comprises using the system according to any of the system embodiments.

[0230] Exemplary features of the invention are further detailed in the figures and the below description of the figures.Brief description of the figuresFig. 1 shows a system comprising a robot and a server;Fig. 2 shows the robot in a perspective view;Fig. 3 shows an embodiment of a method comprising using a server, the robot and a remote-control deviceFig. 4 shows another embodiment of a method comprising using the server, the robot and the remote-control deviceFig. 5 shows an embodiment of a method comprising using the robot and the remotecontrol deviceFigs. 6a-7b show embodiments of the method including operation of the robot when generating a markingDetailed figure description

[0231] For the sake of clarity, some features may only be shown in some figures, and others may be omitted. However, also the omitted features may be present, and the shown and discussed features do not need to be present in all embodiments.

[0232] Figure 1 depicts a system 1 comprising a robot 2 configured for autonomous marking of a marking area 10 and a server 3. The server 3 may also be a server system.

[0233] The robot 2 and the server 3 may be configured to communicate with each other via exchange of a data element.

[0234] The marking area 10 may comprise an indoor area such as an indoor parking lot, or a warehouse. Alternatively, the marking area 10 may comprise an outdoor area such as an outdoor parking lot, a compound of a factory, or any other similar outdoor area that may be marked. For example, a compound of a factory may comprise markings relating to defined areas for loading / unloading of material.

[0235] In general, the robot 2 may be configured for autonomously generating the markings. The markings may comprise line segments. In the example of Fig. 1, the line segments are straight line segments.

[0236] Reference may be made for the following description to Figs. 1 and 2 that show an exemplary embodiment of the robot 2.

[0237] In the exemplary embodiment of Figs. 1 and 2, the robot 2 comprises a plurality of wheels 11 to enable motion of the robot 2 over the marking area 10. Figure 1 depicts an example where the plurality of wheels 11 comprises three wheels Ila, 11b, 11c. A first setof wheels Ila, 11b comprises two wheels. In the example embodiment shown, these wheels correspond to front wheels of the robot 2. The front wheels Ila, 11b may be configured for differential drive, i.e., a rate of rotation of each of the 2 wheels may be controlled independently of the other. This may be achieved by means of independent torques applied to each wheel, for example. A consequence of the differential drive may be that the robot 2 may turn easily.

[0238] In the example embodiment shown in Figs. 1 and 2, the third wheel 11c is a swivel castor wheel that may further allow for easy maneuvering of the robot 2 and that may be a rear wheel of the robot 2. Further, the swivel castor wheel 11c may be smaller in diameter than the front wheels Ila, 11b. Any of the wheels in the plurality of wheels 11 may have a diameter between 15 cm and 80 cm, preferably between 20 cm and 70 cm, further preferably between 30 cm and 60 cm. As may be appreciated, the number of front or rear wheels may be varied without deviating from the teaching of the present invention.

[0239] The robot 2 shown in Figs. 1 and 2 further comprises a chassis and a casing / housing13 to cover the chassis. The casing 13 comprises a plurality of surface sections 130. The wheels 11 may be attached to the chassis. Components of the robot 2 may be arranged on the chassis and behind / under the casing 13. These components may comprise, for example, a robot control component, a data processing unit, a marking material reservoir, and other components as will be described further below.

[0240] The topmost surface section 130a of the casing 13 may have a maximum height between 60 cm and 180 cm, preferably between 75 cm and 160 cm, further preferably between 85 cm and 140 cm. A length of the robot 2 (corresponding to the direction defined by the front and rear wheels 11 of the robot 2) may be between 0.75 m and 2.0 m, preferably between 1.0 m and 1.8 m, further preferably between 1.2 m and 1.6 m. A breadth of the robot 2 may be between 0.5 m and 1.5 m, preferably between 0.75 m and 1.25 m, further preferably between 0.8 m and 1.1 m.

[0241] The robot 2 further comprises a marking component 14. The marking component14 is configured for marking the marking area 10. The marking component 14 may be comprised in a linear module of the robot 2. The linear module may further comprise a guide rail 15, in this example a plurality of guide rails 15 (15a, 15b), that facilitate motion of the marking component 14 relative to other parts of the robot 2. Guide rail 15a comprises a vertical guide rail that allows the marking component 14 to move in a vertical direction. Guide rail 15b comprises a horizontal guide rail that allows the marking component to move in a horizontal direction. In the depicted example, guide rail 15b is further configured to move over guide rail 15a. Thus, the marking component 14 may move over the guide rail 15b in order to change position in the horizontal direction, whereas vertical motion may be achieved by motion of the guide rail 15b (together with the markingcomponent 14) over the guide rail 15a. Motion in the vertical direction may optionally be of advantage in controlling a width of the marking made by the marking component 14.

[0242] Further, while in the depicted example, guide rail 15b is configured to move over guide rail 15a, in embodiments, any one of the guide rails may be configured to move over any of the other guide rails. Thus, by moving the robot 2 and motion along the guide rails 15 the marking component 14 may be positioned at substantially any point in the three- dimensional cube bounded above and below by the dimensions of the robot 2. A vertical extension of the marking component 14 may be between 5 cm and 50 cm, preferably between 10 cm and 40 cm, further preferably between 15 cm and 30 cm. A horizontal extension of the marking component 14 may be between 100 cm and 300 cm, preferably between 120 cm and 200 cm, further preferably between 140 cm and 160 cm.

[0243] Any of the components of the linear module comprising the marking component 14 and the guide rail(s) 15 may be removably attached to the robot 2. This may be of advantage in allowing a plurality of different functionalities to be associated with the robot 2. For example, the linear module may be removed and a marking material removing module be attached in place of the linear module. Typically, the marking material removing module is much heavier than the marking module (linear module) as described above. Thus, it may have to be placed appropriately so as to not affect the stability of the robot 2. This placement may only be possible by a removal of the linear module.

[0244] The marking component 14 may be configured to receive a marking material dispenser 16. The marking material dispenser 16 may be configured to dispense marking material for marking the marking area 10. The marking material may comprise a fluid such as paint. In Figure 1, the marking material dispenser comprises a fluid dispenser comprising a marking nozzle.

[0245] However, in embodiments, the marking material may comprise a marking tape and an appropriate marking material dispenser 16 may be employed. The marking component 14 may be configured to receive a marking material dispenser 16. The marking component 14 may be further configured to move only in the horizontal direction along the guide rail 15b and motion along the guide rail 15a may be restricted or completely stopped. This may be achieved by means of electronic control of the motion of the marking component 14 or by other mechanical means. The marking material dispenser 16 may comprise a marking tape dispenser, for example. For dispensing of the marking tape, for example, the with the marking material dispenser may comprise a marking tape roll. The marking material dispenser 16 may then comprise a slit through which the marking tape may be dispensed on to the marking area 10. Means for cutting the marking tape, such as a cutter or a blade, may also be provided in the marking material dispenser 16.

[0246] For a fluid marking material, such as paint, the marking material dispenser 16 comprising marking nozzle may be employed. A conduit, one end of which may be connected to the marking nozzle, may also be present on the robot 2. The other end of conduit may be connected to a pressure pump that may be installed on the robot 2. The pressure pump may be configured to pump fluid out of a fluid reservoir, also installed in the robot 2, and into the conduit. The pressure pump may pressurize the fluid to pump it into the conduit and further out of the marking nozzle. The pressure may be less than 4500 PSI, preferably less than 4000 PSI, further preferably less than 3500 PSI. A maximum flow rate out of the marking nozzle 161 may be between 1 L / min and 6 L / min, preferably between 1.25 L / min and 5.5 L / min, such as between 1.5 L / min and 5 L / min. A diameter of the marking nozzle outlet may be less than 0.5 mm, preferably less than 0.4 mm, further preferably less than 0.3 mm.

[0247] In embodiments, the marking robot 2 may be further configured to allow a mixture of fluids to be used for the markings. The mixture of fluids may be contained in the marking material reservoir. In yet further embodiments, the marking material may comprise thermoplastics or cold plastic.

[0248] The robot 2 may be equipped with a weight sensor configured to determine a weight of the reservoir. The weight sensor may be used to track the amount of marking material remaining that may be of advantage in ensuring that the robot 2 does not run out of marking material (for example, by ensuring that the robot 2 may approach a refilling station for automatic refilling as described above) as well as in tracking the efficiency of the robot 2 vis-a-vis the amount of marking material used.

[0249] The marking component 14 may be further configured for rotation about the guide rail 15b. This may allow the robot 2 to mark marking areas 10 such as curbs without having to be specially navigated. The robot 2 may also be configured for marking two-dimensional images as described above. For this, the robot 2 may be configured to move in a reverse direction such that the rear wheel 11c is further ahead along the direction of motion than the front wheels Ila, 11b. Thus, in general, the robot 2 may be configured to move both in a forward and in a reverse direction.

[0250] The robot 2 may be further configured to house a source of energy, such as a battery. The capacity of the battery may be between 1 kWh and 5 kWh, preferably between 1.5 kWh and 4.5 kWh, further preferably between 2 kWh and 4 kWh. Larger capacity of the battery may allow the robot 2 to apply markings for a longer duration at the cost of larger weight. In embodiments, the battery may comprise a plurality of batteries, such as 2 batteries. The battery may be charged by means of external energy supply. Or, a solar charging mechanism may be provided in the robot 2 to charge the battery. This may comprise, among other things, a solar panel (or any other solar energy conversion system)located on a top surface section of the housing 13. This may be of advantage when the robot 2 is used to mark outdoor marking areas 10.

[0251] The robot 2 may be configured to carry out autonomous marking of the marking area 10 based on marking instruction data.

[0252] The robot 2 may receive map data and / or image data of the marking area 10. The map data and / or the image data may comprise geo-codes of locations depicted on the map / image. Geo-codes may comprise the geographical coordinates of locations that may comprise, for example, latitudes and longitudes. Alternatively, for indoor areas where latitudes and longitudes may be difficult to obtain, the geo-codes may comprise coordinates with respect to some defined origin. For example, the robot 2 may map out such indoor marking area 10 by using its displacement to track co-ordinates of all the points with respect to, for example, a starting position of the robot 2. In such a scenario, the map of the area may then be sent to the server 3 where the desired layout may be superimposed on the map. Once the layout has been superimposed, the marking data (comprising the map together with the layout) may then be used to generate the marking information data element 20. The marking information data element 20 is then sent back to the robot 2. In particular, the marking information data element 20 may then comprise data relating to the layout that may specify the co-ordinates of points over which a marking has to be made.

[0253] The robot control component may comprise a data processing unit. The robot control component may comprise a micro-controller. The robot control component may also comprise a micro-processor.

[0254] The robot control component may also comprise a portion of a circuit, such as an integrated circuit (IC) or a printed circuit board (PCB). The control component may be a processing unit or a system-on-chip that may be interfaced with the robot.

[0255] The robot control component may also comprise further means of data processing, such as, processor units and / or hardware accelerators. The robot control component may comprise memory components, such as, main memory (e.g. RAM), cache memory (e.g. SRAM) and / or secondary memory (e.g. flash memory, HDD, SDD). The robot control component may comprise busses configured to facilitate data exchange between components of the robot control component, and / or to facilitate data exchange between the robot control component and other components of the robot.

[0256] Figure 3 shows an embodiment of a method. The method comprises operating the robot 2 so as to generate a marking corresponding to marking data, in particular corresponding to marking instruction data.

[0257] In the example of Figs. 3-7b, the marking instruction data are indicative of at least one or a plurality of lines 20a, 20b, 22a, 22b. In the examples of Figs. 6a to 7b, the lines 20a, 20b, 22a, 22b are straight lines. In this example, the lines are indicated by waypoints.

[0258] The lines 20a, 20b, 22a, 22b may comprise line segments, indicated by the waypoints limiting the line segments. Also, the lines or line segments do not need to be straight, but may, e.g., also be sections of a circle indicated by waypoints and additional information, e.g., a radius and a geometric center of the circle.

[0259] The marking instruction data may thus, e.g., comprise a list of coordinate sets, each coordinate set indicating the waypoints of a line.

[0260] Generally, when generating markings in the marking area 10, obstacles may be present, as the markings may for example be generated on parking spaces where, e.g., a vehicle or another obstacle is located or, e.g., in indoor spaces that are under construction.

[0261] If the obstacle coincides with the location of a marking as indicated by the marking instruction data, one option is to generate new marking instruction data, leaving out the lines or line segments that are blocked by the obstacle. However, in this case, the marking instruction data need to be transmitted to the robot 2, in a typical setup from the server 3 to the robot 2. Also, generation of the marking instruction data is often a semi-automated process, involving user review of the marking instruction data. Further, generation of the marking instruction data results in static instruction data, which are not necessarily ideal if navigating real world obstacles that might, e.g., be moved during the process. For example, if a car is first parked on a space to be marked, and only moved later, three versions of marking instruction data might be necessary: An initial version (assuming a free marking area 10), a modified version with the vehicle present (once the user realizes that there is a vehicle parked in the marking area 10), and another modified version (after the vehicle has left). This process is neither optimal in terms of efficiency nor in terms of flexibility.

[0262] In the example of Fig. 3, the marking instruction data 30 are sent from the server 3 to the robot 2.

[0263] In the example of Figs. 3-5, the robot 2 is operated in at least two configurations: A moving configuration and a marking configuration.

[0264] In the moving configuration, the robot 2 receives movement instruction data (not shown) from a remote-control device 5.

[0265] The movement instruction data can be instructions to perform defined movements, such as "drive forwards", "turn left", "turn right", "drive backwards". These instructions can for example be easily generated and transmitted using a radio control sender asremote-control device 5. In such cases, the robot suitably comprises a robot communication system configured for receiving the radio-based instructions.

[0266] Alternatively, the movement instruction data may also comprise a target position or a target direction in which the robot should move. In such implementations, the remotecontrol device 5 may for example comprise a beacon emitting a radio signal to which the robot navigates, or the remote-control device 5 is configured for sending data indicating a target position to the robot 2. The latter may for example be performed by means of a tablet showing a map of the marking area 10, where the user can for example a choose a target position.

[0267] In the example of Figs. 3-5, in the moving configuration, the robot 2 does substantially not generate a marking. The moving configuration may also be referred to as manual-control-mode. In other words, in the moving configuration, movements of the robot may be directly or indirectly controlled by a user by means of the remote-control device 5.

[0268] In the example of Fig. 3, the robot 2 is initially controlled to assume the moving configuration. The robot 2 assumes the moving configuration upon receiving a corresponding control signal from the remote-control device 3, such as a marking control signal. In the example of Fig. 3, the robot is then controlled to move to a position Pos_l, such as a starting position for marking.

[0269] Once the robot 2 has reached the starting position, the user changes the control mode to a marking mode, which may also be referred to as "automatic control" or as the marking configuration. The remote control, upon receiving the user input, e.g., the user flipping a switch, sends a corresponding control signal, particularly a marking control signal 34b, to the robot. In response to receiving the marking control signal 34b, the robot assumes the marking configuration.

[0270] In the example of Fig. 3, in the marking configuration, the robot 2 determines a first waypoint of a first line of the shape to generate and starts marking a line from the first waypoint to a next waypoint. Upon completing one or more lines, the robot generates marking confirmation data 32a, 32b and sends the marking confirmation data to the server. The marking confirmation data 32a, 32b may be buffered and send asynchronously, e.g., depending on an availability of a connection between the robot 2 and the server 3.

[0271] In the example of Fig. 3, while the method is performed, the robot encounters an obstacle on its trajectory. To navigate around the obstacle, the user now controls the remote-control device 5 to send another movement control signal 34a to the robot 2, causing the robot 2 to halt the marking and to assume the moving configuration. The robot 2 now receives further movement-instruction data and moves to another position Pos_x.

[0272] Upon the user switching back to the automatic control, the remote-control device 5 sends another marking control signal 34b to the robot 2. In response to receiving the marking control signal 34b, the robot 2 assumes the marking configuration and determines a next line to mark and the first waypoint n of said next line to mark. The robot 2 then continues the marking operation.

[0273] Selection and / or determining of the next line may depend on a position of the robot2 upon assuming the marking configuration.

[0274] Thus, optionally advantageously, the robot 2 can be controlled in a flexible manner in the field to avoid obstacles without needing a permanent data connection to the server3 and without a need of generating updated marking instruction data.

[0275] Figure 4 shows another embodiment of the method, similar to the embodiment shown in Figure 3. However, in Figure 4, when the robot 2 assumes the marking configuration, the robot 2 sends its position to the server 3. Based on the position of the robot 2 upon assuming the marking configuration, the server 3 determines the next line and the first waypoint of said next line and sends this information to the robot 2. The robot 2 then generates the marking for the next line indicated by the data received from the server 3.

[0276] While reliable data transmission between the server and the robot may be more challenging in the field, determining the next waypoints based on marking data may be more efficiently performed by the server or a server system because of further available data and greater computing power. For example, the server 3 may be able to access further map data, e.g., in comprising a higher resolution, or access further project or rule data clarifying a marking order in unforeseen circumstances (as the presence of the obstacle).

[0277] Figure 5 shows still another example embodiment of the method. In the example embodiment of the method shown in Figure 5, data are transmitted between the remotecontrol device 5 and the robot 2. In the example of Fig. 5, the remote-control device 5 is an end-user computer device 7, which does not only serve to send the marking control signal 34b and the movement control signal 34a, but also allows to update a marking database (not shown), e.g., by transmitting the marking confirmation data to the server 3 (not shown in Fig. 5) via the remote-control device 5. Also, before marking operation, the marking instruction data may be to the robot 2 via the remote-control device 5 as well.

[0278] In the example of Figure 5, advantageously, a connection between the remotecontrol device 5 and the robot 2 may be sufficient to control the robot 2. A connection of the robot to the server during or immediately before the marking operation may not be necessary. Instead, data may be preloaded or generated by the remote-control device 5.

[0279] The robot communication system may be configured for data transmission to the remote-control device 5 and the end-user computer device 7. The robot communication system may also be configured for data transmission to the server 3, e.g., via the enduser computer device 7, by means of a telecommunication network and / or directly.

[0280] The robot communication system may provide external communication interfaces configured to facilitate electronic data exchange between the robot control component and devices or networks external to the robot. For example, the robot communication system may comprise network interface card(s) that may be configured to connect the robot communication system to a network, such as, to the Internet. The robot communication system may be configured to transfer electronic data using a standardized communication protocol. The robot communication system may comprise a transceiver for mobile data transmission, such as a GSM-modern.

[0281] The server 3 may comprise one or more processing units configured to carry out computer instructions of a program (i.e. machine readable and executable instructions). The processing unit(s) may be singular or plural. For example, the server 3 may comprise at least one of CPU, GPU, DSP, APU, ASIC, ASIP or FPGA. The server 3 may comprise memory components, such as, main memory (e.g. RAM), cache memory (e.g. SRAM) and / or secondary memory (e.g. HDD, SDD). The server 3 may comprise volatile and / or non-volatile memory such an SDRAM, DRAM, SRAM, Flash Memory, MRAM, F-RAM, or P- RAM. The server 3 may comprise internal communication interfaces (e.g. busses) configured to facilitate electronic data exchange between components of the server 3, such as, the communication between the memory components and the processing components. The server 3 may comprise external communication interfaces configured to facilitate electronic data exchange between the data processing system and devices or networks external to the data processing system. For example, the server 3 may comprise network interface card(s) that may be configured to connect the server 3 to a network, such as, to the Internet. The server 3 may be configured to transfer electronic data using a standardized communication protocol. The server 3 may be a centralized or distributed computing system.

[0282] The server 3 may comprise user interfaces, such as: output user interface, such as: o screens or monitors configured to display visual data (e.g. displaying graphical user interfaces of the questionnaire to the user), o speakers configured to communicate audio data (e.g. playing audio data to the user),input user interface, such as: o camera configured to capture visual data (e.g. capturing images and / or videos of the user), o microphone configured to capture audio data (e.g. recording audio from the user), o keyboard configured to allow the insertion of text and / or other keyboard commands (e.g. allowing the user to enter text data and / or other keyboard commands by having the user type on the keyboard) and / or o trackpad, mouse, touchscreen, joystick - configured to facilitate the navigation through different graphical user interfaces of the questionnaire.

[0283] To put it simply, the server 3 may be a processing unit configured to carry out instructions of a program. The server 3 may be a system-on-chip comprising processing units, memory components and busses. The server 3 may be a server system, a portion of a cloud computing system or a system emulating a server, such as a server system with an appropriate software for running a virtual machine.

[0284] The end-user computer device 5 may comprise user interfaces, such as: output user interface, such as:• screens or monitors configured to display visual data (e.g. displaying graphical user interfaces of the questionnaire to the user),• speakers configured to communicate audio data (e.g. playing audio data to the user),• virtual reality glasses or augmented reality glasses configured to output video data, input user interface, such as:• camera configured to capture visual data (e.g. capturing images and / or videos of the user),• microphone configured to capture audio data (e.g. recording audio from the user),• keyboard configured to allow the insertion of text and / or other keyboard commands (e.g. allowing the user to enter text data and / or other keyboard commands by having the user type on the keyboard) and / or• trackpad, mouse, touchscreen, joystick - configured to facilitate the navigation through different graphical user interfaces of the questionnaire.

[0285] To put it simply, the end-user computer device 5 may be a processing unit configured to carry out instructions of a program. The end-user computer device 5 may be a system-on-chip comprising processing units, memory components and busses. The enduser computer device 5 be a personal computer, a laptop, a pocket computer, a smartphone, a tablet computer, a smart glass such as virtual reality glasses or augmented reality glasses. The end-user computer device 5 may be a processing unit or a system-on- chip that may be interfaced with a personal computer, a laptop, a pocket computer, a smartphone, a tablet computer and / or user interfaces (such as the upper-mentioned user interfaces).

[0286] The remote-control device 7 may comprise a data transmission component to transmit data to the robot 2, such as an antenna. The remote-control device may for example be a radio remote-control device. The remote-control device 7 may also be included in the end-user computer device 5.

[0287] The remote-control device may be configured for direct or indirect communication with the robot 2, such as communication in a WLAN, via a mobile data transmission network, via radio communication, by cable or the like.

[0288] Figs. 6a to 7b show example embodiments of the method. In these Figures, the robot 2 is shown next to a plurality of lines 20a, 20b, 22a, 22b upon assuming the marking configuration. In the example of Figs. 6a to 7b, the robot selects the next line to be marked. However, also the server 3 or the remote-control device 5 may select the next line to be marked, as discussed with respect to Figs. 4 and 5.

[0289] In order to select a next line to be marked, the method comprises a line selecting step. The line selecting step comprises selecting the next line to be marked and initiating marking this selected line.

[0290] To select the next line, a waypoint closest to the robot 2 is determined. In the example of Figs. 6a and 6b, only one line of the shape comprises the closest waypoint. This line is hence selected as next line to be marked.

[0291] Further, in the example of Figs. 6a and 6b, an end of the line at which the robot is located, is determined. With respect to the visualization of these Figs., the robot 2 is located at an upper end of the lines 20a, 20b. In the example of Figs. 6a and 6b, the marking will thus start at the upper end of the lines 20a, 20b.

[0292] As apparent from Figs. 1 and 2, the robot 2 may be configured for marking while the marking component 14 is located at a lateral distance from a middle axis of a body the robot 2, particularly comprise a lateral distance from the body of the robot 2. In this example, the marking component 14 may be moved to a left or a right side of the robot 2.In the example of Figs. 6a and 6b, the line selecting step further comprises determining a side of the line on which the robot 2 is located. The robot 2 is then controlled so as to remain on this side of the line during marking. Thus, optionally advantageously, the line may be marked while avoiding an obstacle on one side of the line.

[0293] Figs. 7a and 7b relate to a situation where the line comprising the closest waypoint is a central line 22a, 22b of the shape. In other words, in Figs. 7a and 7b, the selected line is an axis of the shape. In the example of Figs. 7a and 7b, the central line comprises a plurality of intersections with other lines. The intersections may be waypoints of the central line, but they do not need to be waypoints. In the line selecting step, the closest intersection may be determined, and the line selecting step may comprise starting the marking from this intersection.

[0294] While in the above, a preferred embodiment has been described with reference to the accompanying drawings, the skilled person will understand that this embodiment was provided for illustrative purpose only and should by no means be construed to limit the scope of the present invention, which is defined by the claims.

[0295] Whenever a relative term, such as "about", "substantially" or "approximately" is used in this specification, such a term should also be construed to also include the exact term. That is, e.g., "substantially straight" should be construed to also include "(exactly) straight".

[0296] Whenever steps were recited in the above or also in the appended claims, it should be noted that the order in which the steps are recited in this text may be accidental. That is, unless otherwise specified or unless clear to the skilled person, the order in which steps are recited may be accidental. That is, when the present document states, e.g., that a method comprises steps (A) and (B), this does not necessarily mean that step (A) precedes step (B), but it is also possible that step (A) is performed (at least partly) simultaneously with step (B) or that step (B) precedes step (A). Furthermore, when a step (X) is said to precede another step (Z), this does not imply that there is no step between steps (X) and (Z). That is, step (X) preceding step (Z) encompasses the situation that step (X) is performed directly before step (Z), but also the situation that (X) is performed before one or more steps (Yl), ..., followed by step (Z). Corresponding considerations apply when terms like "after" or "before" are used.

Claims

Claims1. A method, comprising receiving marking instruction data, particularly by a robot, wherein the marking instruction data specify a shape comprising at least one or a plurality of line(s), wherein each line of the shape is specified by a plurality of waypoints, such as at least two points, operating the robot in a marking configuration in response to the robot receiving at least one marking control signal, particularly in response to the robot receiving each of the at least one marking control signal,- the robot performing a marking step in in the marking configuration, wherein the method comprises the robot in the marking configuration, in response to receiving each of at least one movement control signal, assuming a moving configuration, and in the moving configuration, in response to receiving each of the at least one marking control signal, assuming the marking configuration.

2. The method according to the preceding claim, wherein the method further comprises interrupting the marking step in response to receiving in response to receiving each of the at least one movement control signal, and wherein the method further comprises resuming the marking step in response to receiving at least one of the marking control signal(s) when the robot is in the moving configuration, wherein particularly, in the moving configuration, the method further comprises the robot receiving movement-instruction data, wherein the movement instruction data comprise movement instructions and / or a target position, wherein the method comprises moving the robot based on the movement instruction data in the movement configuration.

3. The method according to any of the preceding claims, wherein the method comprises, in the marking configuration, the robot performing the marking step based on the marking instruction data, wherein the marking step comprises generating at least one marking on a surface, particularly a ground surface.

4. The method according to any of the preceding claims, wherein the method further comprises performing a line selecting step, particularly by the robot, in response to the robot receiving at least one of the marking control signal(s), the line selecting step comprisingselecting at least one line from the marking instruction data, wherein the selected at least one line comprises a closest waypoint and / or a closest point of intersection of the lines of the shape with respect to a current position of the robot, optionally, determining on which side of the selected at least one line the robot is located, and initiating generating the at least one marking on the surface for the selected at least one line, wherein particularly, the line selecting step further comprises controlling the robot so as to start generating the marking corresponding to the selected line from the closest waypoint and / or from a closest intersection of the selected line and any other line of the shape.

5. The method according to the preceding claim, wherein the marking step comprises, for the selected line, moving the robot, while generating the marking corresponding to the selected line, so that the robot is consistently located on a side of the selected line where the robot was located at the beginning of the line selecting step.

6. The method according to any of the two preceding claims, wherein the marking instruction data comprise the plurality of line(s), wherein the plurality of line(s) are ordered, and wherein, after the line selecting step, the marking step comprises continuing marking one or more remaining line(s) in the order of the marking instruction data.

7. The method according to any of the preceding claims, wherein the method comprises sending the at least one marking control signal and / or the at least one movement control signal by means of a remote-control device to the robot.

8. The method according to any of the preceding claims, wherein the method comprises sending marking confirmation data from the robot, wherein the marking confirmation data correspond to at least a portion of a marking generated in the marking step.

9. The method according to any of the preceding claims, wherein the method comprises using an end-user computer device, wherein the method comprises a marking selection step, the marking selection step comprising selecting marking instruction data from a set of marking instruction data by means of a user input to the end-user computer device, wherein particularly, the end-user computer device comprises the remote-control device.

10. The method according to any of the preceding claims, wherein the method comprises using a server,wherein the server sends the marking instruction data to the robot, wherein the robot performs the line selecting step.

11. The method according to any of the preceding claims, wherein the method comprises using a server, wherein the server further performs the line selecting step, wherein the server sends data indicative of the selected line and / or waypoints of the selected line to the robot and the robot performing the marking step for the selected line.

12. The method according to any of the five preceding claims and with the features of claim 7, wherein the remote-control device processes the marking instruction data, wherein the remote-control device further performs the line selecting step.

13. The method according to any of the preceding claims, wherein the method comprises a quality monitoring step, wherein the quality monitoring step comprises generating the quality data relating to the generated marking(s).

14. A robot for generating at least one marking on a surface, the robot comprising: a robot communication system, wherein the robot communication system is configured for receiving a marking control signal and a movement control signal, and a robot control component, wherein the robot control component is configured for controlling the robot, wherein the robot is configured for performing the method according to any of the preceding claims.

15. A system for generating at least one marking on a surface, wherein the system comprises the robot according to the preceding claim and a remote-control device, and wherein the system is configured for carrying out the method according to any of claims 1-13.

16. The system according to the preceding claim, wherein the system further comprises a server, wherein the system is configured for carrying out the method according to any of claims 10-12 or any claim dependent thereon.

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