Location tracking and motion control of automated marking device

  • US 9,221,506 B1
  • Filed: 07/23/2013
  • Issued: 12/29/2015
  • Est. Priority Date: 07/18/2011
  • Status: Active Grant
First Claim
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1. An apparatus comprising a holonomic-motion crawler vehicle, an actuator and a plurality of optical targets mounted to said holonomic-motion crawler vehicle, said optical targets being arranged in a pattern, and a marking device coupled to said actuator,wherein said actuator has a first state in which said marking device moves relative to said holonomic-motion crawler vehicle from a retracted position to an extended position, and a second state in which said marking device moves relative to said holonomic-motion crawler vehicle from said extended position to said retracted position, andwherein said holonomic-motion crawler vehicle comprises:

  • a frame comprising first and second suction;

    a plurality of wheels rotatably mounted to said frame, each wheel comprising a respective plurality of rollers having axes of rotation not parallel to an axis of rotation of said wheel;

    a plurality of motors equal in number to the number of wheels, each motor being operable to drive rotation of a respective one of said wheels; and

    first and second controllable suction devices for producing respective suction forces in said first and second suction zones when said wheels are all in contact with a surface.

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