Ground robot for surface mapping
A terrestrial robot with GPS, LIDAR, and IMU systems provides precise mapping in GPS-denied environments, overcoming aerial vehicle limitations for sports field mapping with autonomous, weather-resistant, and permit-free operation.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- CIS ROBOTICS SMART SOLUTIONS SL
- Filing Date
- 2025-01-15
- Publication Date
- 2026-07-23
AI Technical Summary
Existing aerial vehicles, both manned and unmanned, face operational limitations in urban environments due to regulatory requirements and weather dependence, making them unsuitable for precise mapping of sports fields without human intervention and permits.
A fully autonomous terrestrial robot equipped with GPS, LIDAR, IMU, and encoders for GPS-denied environments, combined with motorized wheels and articulated arms for precise navigation and image capture, generating orthomosaics using multispectral and thermal cameras.
Enables accurate, weather-resistant, and permit-free mapping of surfaces with high precision, allowing for autonomous operation and compact design for easy transport and storage.
Smart Images
Figure ES2025070015_23072026_PF_FP_ABST
Abstract
Description
[0001] TERRESTRIAL ROBOT FOR MAPPING A SURFACE
[0002] DESCRIPTION
[0003] Object of the invention
[0004] The present invention relates to a terrestrial robot for generating maps of a surface in an environment.
[0005] The present invention falls within the technical field of terrestrial robots.
[0006] Background of the invention
[0007] In the field of photogrammetry, map generation is typically carried out using aerial vehicles, both manned and unmanned (drones). These vehicles have significant operational limitations depending on the location of the workspace, whether due to regulations or the nature of the environment itself.
[0008] Manned aerial vehicles are very expensive, require permits, favorable weather conditions, and human intervention in all cases. Manned aerial vehicles are not regularly used for surveying sports fields precisely because of the limitations described above, and this is precisely the market our invention is targeting.
[0009] Unmanned aerial vehicles (UAVs) require certified pilots, flight permits in most environments, are highly dependent on weather conditions, and allow for a degree of automation. Sports stadiums are typically located in urban environments and are therefore subject to the regulations governing these types of environments and vehicles.
[0010] There is a demand for a device for obtaining maps of a terrain, where said device does not require the handling of a qualified operator, that is capable of working autonomously and totally safe in 100% of the operations, that does not require permits from any administration to operate and that is resistant to weather conditions.
[0011] The present invention satisfies this demand.
[0012] ion of the invention
[0013] The present invention relates to a terrestrial robot for map generation. The terrestrial robot is a fully autonomous robot that has a mapping system using GPS (outdoors) and a combination of sensors (lidar, IMU, and encoders) for working in GPS-denied environments, allowing it to work autonomously and with a very high degree of accuracy.
[0014] The invention relates to a terrestrial robot with motorized wheels for generating an orthomosaic of a surface. The terrestrial robot comprises mapping means, a first articulated arm, a camera system comprising a multispectral camera with a thermal sensor mounted at the free end of the first articulated arm and directed perpendicularly to the plane defined by the surface, and computing means comprising instructions for obtaining a navigation map of the environment using the mapping means, advancing the terrestrial robot (100) across the surface based on the obtained navigation map, generating a text file comprising the coordinate route taken by the robot, obtaining a set of photographs associated with the coordinate route using the multispectral camera with thermal sensor (130a) during the advancement of the terrestrial robot (100), and combining the set of photographs to generate the orthomosaic of the surface.
[0015] The ground robot comprises a wheel system that allows for highly precise omnidirectional movement. This highly accurate navigation is essential for the subsequent processing of the captured images.
[0016] In one embodiment, the mapping means comprise one or more of the following systems: GPS, LIDAR, IMU inertial sensors, and encoders. In another embodiment, the first articulated arm comprises electromechanical means for being height-adjustable to adapt to different working environments.
[0017] In another preferred embodiment, the ground robot comprises a second articulated arm, wherein the camera system comprises a second camera established at the free end of the second articulated arm and directed perpendicularly to the plane defined by the surface, wherein the computing means comprise instructions for obtaining a second set of photographs with the second camera during the advance of the ground robot and combining the first set of photographs and the second set of photographs to generate the orthomosaic of the surface.
[0018] The robot features an innovative camera positioning system comprising one or two articulated arms that allow at least one camera to be raised above the work surface for optimal image capture. Raising the camera(s) using the articulated arms optimizes image capture and workflow.
[0019] The articulated arms are automatically raised at the start of image capture and retracted at the end. This system allows for optimal positioning of the camera(s) while keeping the overall size of the ground robot compact, thus improving usability, transport, storage, and other aspects. The lifting arm system is designed so that the height of the camera(s) relative to the ground can be adjusted quickly and precisely.
[0020] In another preferred embodiment, the second articulated arm comprises electromechanical means to be height adjustable to adapt to different working environments.
[0021] In preferred examples, the ground robot comprises a touch control console for inputting robot configuration parameters and task settings. Additionally, the ground robot comprises wireless communication means where the robot configuration parameters can be provided to the computer via a wireless terminal.
[0022] In preferred embodiments, the ground robot comprises material with IP54 water and dust resistance.
[0023] In preferred embodiments, the motorized wheel assembly comprises a traction motor and a steering motor.
[0024] Description of the drawings
[0025] To complement the description being made and in order to help a better understanding of the characteristics of the terrestrial robot for generating maps according to the present invention, schematics are included as an integral part of said description, where, for illustrative and non-limiting purposes, the following has been represented:
[0026] Figure 1A shows a view of a first example of the terrestrial robot for map generation according to the present invention.
[0027] Figure 1B shows a side view of the first example of the map-generating robot.
[0028] Figure 2A shows a view of a second example of the ground robot in standby mode. Figure 2B shows a side view of the second example of the ground robot for map generation.
[0029] Figure 3 shows a front view of the second example of the ground robot in working mode.
[0030] Figure 4 shows a detailed view of the motorized wheels.
[0031] Figure 5 shows the touch control console for entering robot configuration parameters. Detailed embodiment of the invention
[0032] Figure 1A shows a front view of a first example of the ground robot (100) for map generation.
[0033] The ground robot (100) comprises a set of motorized wheels (110). The ground robot (100) consists of a chassis (105) mounted on four independent motors. The motorized wheels (110) independently include a steering motor (110b) that allows omnidirectional movement of the ground robot (100), facilitating precise navigation. As shown in the figure, the set of motorized wheels (110) also includes a traction motor (110a).
[0034] The first example of the terrestrial robot (100) comprises mapping means comprising GPS, and a LIDAR device (170), an industrial measuring unit or IMU and an encoder sensor for indoor surfaces.
[0035] The ground robot (100) comprises a first articulated arm (120a) and a camera system comprising a multispectral camera with a thermal sensor (130a) mounted at the free end of the first articulated arm (120a) and directed perpendicularly to the plane defined by the surface. The photos are therefore vertical with respect to the ground (zenithal focus).
[0036] In this view, the first articulated arm (120a) is folded or in the resting position.
[0037] The first articulated arm (120a) is automatically raised at the start of the ground robot's (100) work and retracted at the end. This arm allows for optimal positioning of the multispectral camera with thermal sensor (130a). The first articulated arm (120a) is elevating and designed so that the height of the multispectral camera with thermal sensor (130a) relative to the ground can be quickly and precisely adjusted.
[0038] The ground robot (100) comprises computational means (140) that include instructions for creating a surface navigation map using mapping equipment. Specifically, the process begins with the robot (100) advancing based on mapping equipment comprising Lidar laser, GPS, IMU, and encoders. This computational means (140) enables initial navigation, the generation of the navigation map, and subsequent generation of routes with coordinates based on this generated navigation map.
[0039] The ground robot (100) uses a combination of positioning systems to create a navigation map of the work environment, which then serves as a reference for all the robot's missions. The systems integrated into the robot include lidar mapping, an industrial measurement unit (IMU), encoders in the translation motors, and a GPS. The combination of these sensors allows the ground robot (100) to position itself with high accuracy and operate in a wide variety of environments, even those where GPS is unavailable (i.e., GPS-denied environments).
[0040] Using the same positioning systems, the ground robot (100) can traverse the navigation map generated in the first step during its missions, obtaining different routes. In each mission, the ground robot (100) produces a text file that documents the actual route taken in the form of coordinates. This route, by its very nature, differs from the planned theoretical route (i.e., navigation map) and records the exact points where the ground robot (100) was located when each photograph was taken with the multispectral camera with thermal sensor (130a). In this way, the photographs are linked to the precise positions where they were taken.
[0041] The actual paths obtained offer exceptional accuracy, allowing for precise identification of the location of each photograph. This accuracy is essential for generating the final orthomosaic, composed of hundreds or even thousands of images.
[0042] The computational means (140) are associated with a touch control console (150) (shown in Figure 5) as a user interface in which the control software allows defining configuration parameters of the ground robot (100) (e.g., number of photographs per second, overlap between photographs, elevation of the first articulated arm (120a), etc.). These parameters can be adjusted to obtain maps of the surface of the environment.
[0043] The terrestrial robot (100) can traverse the surface of the environment navigating in a 100% autonomous manner, with great precision, based on the navigation map generated by mapping means e.g. GPS, lidar, IMU and encoders.
[0044] The computational means (140) also contain instructions to operate the multispectral camera with thermal sensor (130a) based on the position of the ground robot (100) according to the navigation map and the configuration parameters defined by the user for overlap between photographs obtained with the multispectral camera with thermal sensor (130a).
[0045] The multispectral camera with thermal sensor (130a) takes the picture when it receives the shooting command and stores it in the multispectral camera with thermal sensor (130a) itself, in the computing media (140) or on a server remotely.
[0046] The ground robot (100) is powered by a battery (160) allowing the ground robot (100) to operate autonomously.
[0047] The computational means (140) house instructions to link each photo taken by the multispectral camera with thermal sensor (130a) to the position of the ground robot (100), at the moment the photo is taken.
[0048] The photos obtained by the multispectral camera with thermal sensor (130a) have sufficient quality and positional accuracy (both outdoors and indoors) to be processed by computational means (140) and generate an orthomosaic of the surface.
[0049] Figure 1B is a side view of the first example of the terrestrial robot (100) for map generation. In this view, the first articulated arm (120a) is folded or in the rest position.
[0050] In this view, the computational means (140), the chassis (105), the first articulated arm (120a), as well as the motorized wheels (110) are seen independently and comprising a traction motor (110a) and a steering motor (110b).
[0051] Figure 2A shows a front view of a second example of the ground robot (100) for map generation.
[0052] The ground robot (100) comprises, in addition to the first articulated arm (120a), a second articulated arm (120b). The ground robot (100) has two articulated arms on either side that are raised when work begins.
[0053] The camera system comprises the multispectral camera with thermal sensor (130a) established on the first articulated arm (120a) and directed perpendicularly to the plane defined by the surface, i.e., directed / focused towards the ground (zenith focus).
[0054] The first articulated arm (120a) and the second articulated arm (120b) comprise electromechanical means for height adjustment. These electromechanical means allow the articulated arms (120a, 120b) to adapt to different working environments. For example, the electromechanical means comprise linear electric actuators with potentiometer feedback, which also allows for selecting the positioning height.
[0055] The camera system for the second example of the ground robot (100) comprises a second camera (130b) mounted on the second articulated arm (120b). The first articulated arm (120a) and the second articulated arm (120b) are automatically raised and retracted by electromechanical means.
[0056] The computational means (140) comprise instructions for obtaining a set of photographs (e.g., thermal) with geographic coordinates during the robot's movement and, using the camera system, combining the set of photographs to obtain an orthomosaic that may comprise, for example, a thermal map of the surface based on the configuration parameters of the ground robot (100). These parameters may include, for example, the definition of overlap between photographs and may be entered by a user. The ground robot (100) takes photographs at points generated autonomously by the computational means (140) based on criteria set by the user and linked to the navigation map in a highly precise, replicable, and autonomous manner. The ground robot (100) geolocates these photographs using the mapping means and the navigation map automatically and accurately.
[0057] Figure 2B shows a side view of the second example of the ground robot (100) for map generation. In this view, the first articulated arm (120a) and the second articulated arm (120b) are folded or in the rest position.
[0058] Figure 3 shows a front view of the second example of the ground robot (100) for map generation. In this view, the first articulated arm (120a) and the second articulated arm (120b) are deployed or in the working position.
[0059] In this view, the computational means (140) associated with the touch control console (150) (shown in figure 5), the chassis (105), the first articulated arm (120a), the second articulated arm (120b), the independently motorized wheels (110) comprising a traction motor (110a) and a steering motor (110b), and the camera system with the multispectral camera with thermal sensor (130a) and the second camera (130b) are visible.
[0060] Figure 4 shows a detailed view of the independently motorized wheels (110), which comprise a traction motor (110a) and a steering motor (110b). The steering motor (110b), which is part of the independently motorized wheel system (110), enables omnidirectional movement of the ground robot (100), facilitating precise navigation.
[0061] Figure 5 shows the touch control console (150) for entering robot configuration parameters. The touch control console (150) also allows for receiving real-time mission data and activating the ground robot (100) in case of emergency using an emergency stop button (150b) or safety button, and is configured to communicate via radio signal with the computer system (140). The touch control console (150) is also configured to display the progress and results of the tasks performed.
Claims
CLAIMS 1. Ground robot (100) with motorized wheels (110) for generating an orthomosaic of a surface, the ground robot (100) comprises: mapping methods; a first articulated arm (120a); a camera system comprising a multispectral camera with thermal sensor (130a) established at the free end of the first articulated arm (120a) and directed perpendicularly to the plane defined by the surface, and computational media (140) comprising instructions for: or obtain a navigation map of the environment using mapping methods; or advance the ground robot (100) across the surface based on the navigation map obtained; or generate a text file that includes the route with coordinates taken by the ground robot (100); or obtain a set of photographs associated with the route with coordinates using the multispectral camera with thermal sensor (130a) during the advance of the ground robot (100); and or combine the set of photographs to generate the orthomosaic of the surface.
2. The ground robot (100) according to claim 1, wherein the mapping means comprise one or more of the following systems: GPS, LIDAR (170), IMU inertial sensors and encoders.
3. The ground robot (100) according to the preceding claims, wherein the first articulated arm (120a) comprises electromechanical means that allow the first articulated arm (120a) to be height adjustable.
4. The ground robot according to the preceding claims, comprising: a second articulated arm (120b), wherein the camera system comprises a second camera (130b) established at the free end of the second articulated arm (120b) and directed perpendicularly to the plane defined by the surface, wherein the computational means (140) comprise instructions for obtaining a second set of photographs with the second camera during the advance of the ground robot (100); and combine the first set of photographs and the second set of photographs to generate the orthomosaic of the surface.
5. The ground robot according to the preceding claims comprising a chassis (105).
6. The ground robot (100) according to the preceding claims, wherein the second articulated arm (120b) comprises electromechanical means that allow the second articulated arm (120a) to be height adjustable.
7. The ground robot (100) according to the preceding claims, comprising a touch control console (150) for inputting robot configuration parameters, monitoring work progress, and further comprising an emergency stop button (150b) for the ground robot (100).
8. The terrestrial robot (100) according to the preceding claims comprising wireless communication means and wherein the robot configuration parameters can be provided to the computational means via a wireless terminal.
9. The ground robot (100) according to the preceding claims, comprising material with IP54 water and dust resistance.
10. The terrestrial robot (100) according to the preceding claims, wherein the motorized wheel assembly (110) comprises a traction motor (110a) and a steering motor (110b).