Method for marking a ground surface using a robot unit and a local base station, the system therefore and use thereof

Abstract

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 said two flag point positions and wherein the local base station position is a system reference point of the system. The disclosed relates furthermore to a system for marking a ground surface according to a predefined marking pattern and the use thereof or parts thereof.

1 . A method for marking a ground surface) according to a predefined marking pattern using a system comprising a robot unit and a local base station comprising 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;   establishing a local base station position using the received global positioning data of the local base station;   establishing flag point position for each flag point;   moving the robot unit according to a driving route for the robot unit comprising the predefined marking pattern;   calculating a current position of the robot unit using the received global positioning data of the robot unit, and   correcting moving direction of the robot unit according to the driving route using the calculated current position of the robot unit,   
       wherein
 the predefined marking pattern is arranged relative to said two flag point positions; 
 the local base station position is a system reference point of the system relative to which system reference point the flag point positions and the driving route for the robot unit are established; 
 the current position of the robot unit is calculated using the received global positioning data of the robot unit and position correction data from the local base station, and 
 the local base station communicates with the robot unit using a radio signal or a cellular data signal. 
 
     
     
         2 . The method according to  claim 1 , wherein the position correction data from the local base station are transmitted to the robot unit, which position correction data comprises global position data corrections and wherein the act of calculating the current position of the robot unit is performed by the robot unit. 
     
     
         3 . The method according to  claim 1 , comprising a further act of receiving global positioning data of the local base station from a network of one or more external reference base stations. 
     
     
         4 . The method according to  claim 3 , wherein the act of establishing the local base station position using RTK positioning and the act of receiving global positioning data of the local base station is performed using a base RTK GNSS receiver. 
     
     
         5 . The method according to  claim 1 , wherein the flag point and the driving route of the robot unit is located within a distance of the local base station of 20 km. 
     
     
         6 . The method according to  claim 1 , wherein the act of establishing the local base station position is performed using a fixed global reference point. 
     
     
         7 . A system comprising—a local base station comprising a base communication unit and a base GNSS receiver configured for receiving global positioning data from multiple satellites, and
 a robot unit configured for marking a ground surface according to a predefined marking pattern comprising a controller, a robot communication unit and a robot GNSS receiver configured for receiving global positioning data from multiple satellites, 
 which base communication unit and robot communication unit are configured for communicating from the base communication unit to the robot communication unit using at least one signal type chosen amongst the group of: radio signal and cellular data signal. 
 
     
     
         8 . The system according to  claim 7 , wherein the local base station comprises a base RTK GNSS receiver configured for receiving global positioning data from multiple satellites and from a network of one or more external reference base stations. 
     
     
         9 . A use of a system according to  claim 7 , for marking a ground surface according to a predefined marking pattern arranged relative to two flag points. 
     
     
         10 . The use according to  claim 9 , wherein the flag point and the marking of the predefined marking pattern to be performed is located within a distance of the local base station of 20 km. 
     
     
         11 . The use of the local base station or the robot unit according to  claim 7 , for establishing two flag point positions relative to which a predefined marking pattern is to be arranged.