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

1 . A method of initializing a system for marking a ground surface according to a predefined marking pattern, comprising:

providing a system reference point, wherein providing the system reference point includes receiving, by a local base station, global positioning data of the local base station using a base GNSS receiver, wherein the global positioning data is received from a subset of satellites,

providing global positioning data of a robot unit using a robot GNSS receiver, wherein the base GNSS receiver and robot GNSS receiver use a common subset of satellites from which they receive the global positioning data, and

providing, relative to the system reference point, at least one flag point position and a driving route for the robot unit,

wherein the predefined marking pattern to be marked on the ground surface is arranged relative to the at least one flag point position.

2 . The method according to claim 1 , wherein the system reference point is marked in the ground for reuse of the established system reference point.

3 . The method according to claim 1 , wherein the at least one flag point is derived from a single point in combination with a direction or a vector.

4 . The method according to 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.

5 . The method according to claim 4 , wherein the act of establishing a system reference point is performed using RTK positioning and the act of receiving global positioning data of the local base station is performed using a base RTK GNSS receiver.

6 . A method for marking a ground surface according to a predefined marking pattern comprising:

providing a system reference point, wherein the system reference point is established by a local base station;

providing at least one flag point configured as physical points and/or as positioning data;

receiving global positioning data of a robot unit using a robot GNSS receiver;

receiving global positioning data of the local base station using a base GNSS receiver;

providing a flag point position for the at least one flag point;

providing instructions to move 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

providing a corrected 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 the at least one flag point position;

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.

7 . The method according to claim 6 wherein the at least one flag point is derived from a single point in combination with a direction or a vector.

8 . The method according to claim 6 , 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.

9 . The method according to claim 6 , wherein the at least one flag point and the driving route of the robot unit is located within a distance of the local base station of 20 km, 5 km, or 2 km.

10 . The method according to claim 6 , wherein the act of establishing the system reference point is performed using a fixed global reference point.

11 . The method according to claim 10 , wherein a connector is provided at the fixed global reference point, the connector being adapted for cooperating with a matching connector of the local base station with the base GNSS receiver.

12 . The method according to claim 6 , wherein the system reference point is saved for reuse for remarking the ground surface.

13 . A computer program product, comprising a computer readable hardware storage device having computer readable program code stored therein, said program code executable by a processor of a computer system to implement the method according to claim 6 .

14 . A non-transitory computer-readable medium having stored thereon the computer program product of claim 13 .

15 . A method of initializing a system for marking a ground surface according to a predefined marking pattern, comprising:

providing a system reference point, wherein providing the system reference point includes receiving, by a fixed local base station, global positioning data of the fixed local base station using a base GNSS receiver, wherein the global positioning data is received from a subset of satellites,

providing global positioning data of a robot unit using a robot GNSS receiver, wherein the base GNSS receiver and robot GNSS receiver use a common subset of satellites from which they receive the global positioning data, and

providing, relative to the system reference point, at least one flag point position and a driving route for the robot unit,

wherein the predefined marking pattern to be marked on the ground surface is arranged relative to the at least one flag point position.

16 . The method according to claim 15 , wherein the fixed local base station is the system reference point.

17 . The method according to claim 15 , wherein the at least one flag point is derived from a single point in combination with a direction or a vector.