Robot Ground Marking Using a Reusable Local GNSS Reference
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Solution Overview
Problem
Current line marking systems using GPS and RTK positioning face limitations in accuracy due to ionospheric delays, multipath errors, and sparse reference station networks, especially in areas with limited cellular coverage or where the baseline distance to a reference base station is large, leading to inaccuracies in marking patterns, particularly for circular markings and remarking faded patterns.
Innovation Solution
A method and system utilizing a local base station with a GNSS receiver to establish a system reference point, correlating inaccuracies between the base station and robot unit's GPS data, allowing for accurate marking by using a common subset of satellites and internal correction, and enabling communication via radio or cellular signals to correct for position errors, even in areas with no cellular coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a local base station with GNSS receiver is used to establish system reference point, then marking accuracy is improved, but device complexity increases
Solution Approach 1:
A local base station acts as an intermediary between satellite GNSS signals and the robot unit. The base station receives GNSS signals, processes them to create correction data, and transmits this corrected information to the robot unit, thereby improving positioning accuracy without requiring the robot to directly process complex satellite signal corrections
Solution Approach 2:
The patent replaces manual positioning and marking methods with an automated GNSS-based system. The mechanical/manual alignment process is substituted by electronic position determination using GNSS receivers and automated correction data transmission, reducing human labor while improving precision
2Ease of operation
If external reference networks are used for positioning, then initial setup is simplified, but reliability deteriorates in areas with limited cellular coverage
Solution Approach 1:
The local base station creates a self-contained positioning system that generates its own correction data from GNSS signals. Instead of relying on external reference networks, the system serves itself by establishing local correction benchmarks, enabling autonomous operation in remote areas without cellular coverage
Solution Approach 2:
The positioning system is segmented into independent components: the local base station handles signal reception and correction data generation, while the robot unit applies these corrections locally. This segmentation allows the system to operate independently of external networks by distributing the positioning function across separate, self-sufficient units
3Device complexity
If manual alignment and positioning is used, then equipment complexity is reduced, but manufacturing precision deteriorates
Solution Approach 1:
Manual alignment and positioning operations are replaced by automated electronic systems. GNSS receivers automatically determine positions, and correction data is electronically transmitted to the robot unit, eliminating the need for manual measurement and alignment tools while achieving millimeter-level precision
Solution Approach 2:
The system changes the parameter of position determination from manual estimation to satellite-based coordinate measurement. By transforming how position is measured (from physical alignment to electronic coordinate calculation), the system achieves higher precision without proportionally increasing equipment complexity
Data Source
AI summary
Provided is a method for marking a ground surface according to a predefined marking pattern using a system including a robot unit and a local base station including acts of providing two flag points, receiving global positioning data of the robot unit using a robot GNSS receiver, receiving global positioning data of the local base station using a base GNSS receiver, and establishing a local base station position using the received global positioning data of the local base station. A method wherein the predefined marking pattern is arranged relative to the two flag point positions and wherein the local base station position is a system reference point of the system. Also provided is a system for marking a ground surface according to a predefined marking pattern and the use thereof or parts thereof.