General description of the system
The marking of the stand position is done directly on the floor with a digital printer mounted in an autonomously controlled robot. The layout of the markers is based on the ordinary CAD-files from the planning of the event layout.
The chassis of the robot is made of aluminium and the design is very robust. The robot is battery powered and two drive wheels, one on each side, controls the motion. For support, additional two swivel casters are mounted in the rear end of the robot. In the front the robot is equipped with a bumper for mechanical obstacle detection.
A laser scanner with 360° scanning field is used for positioning and obstacle detection. The laser is connected to an onboard computer. The computer has software for positioning and navigation based on SLAM (Simultaneous Localization and Mapping) technique and software for motion control, obstacle detection and obstacle avoidance.
For the marking the robot carries an inkjet character device, printing markers (symbols, measurements and text) on most hard and flat surfaces. The robot can mark event layouts with any number of booths, with any orientation and with an array of irregular shapes, with a standard accuracy of 30 mm.
The robot is operated by a graphic user interface on a laptop. The laptop is communicating remotely with the robot through a pear-to-pear wifi-network. All the robot functions are available via this user interface. On the robot itself a very rudimentary interface is installed with functions like on/off, battery voltage, operation mode indication and emergency stop. The robot also has a number of USB interfaces for connecting USB-memory sticks. The data-files for hall maps and marking instructions are loaded into the robot by the USB memory stick.