Large steel plate intelligent jet printing system based on autonomous mobile robot

Abstract

The invention discloses a large steel plate intelligent jet printing system based on an autonomous mobile robot, which relates to the technical field of industrial manufacturing, and comprises a jet printing robot main body, a projector, a master console and a robot starting area, the jet printing robot main body comprises a chassis assembly, a control and communication system assembly, an ink jet mechanism assembly and an upper layer scanning identification assembly; the limitation of fixed heavy machinery is broken through, the robot which is small in size, light in weight and flexible to move is used for replacing the fixed heavy machinery, and the flexibility and adaptability of the production process are greatly improved. By means of the accurate real-time positioning technology and trunking communication, efficient collaborative operation of multiple robots is achieved, jet printing task distribution and synchronous execution are optimized, and the production efficiency and the product quality are remarkably improved. Meanwhile, the simplified system structure reduces the space requirement, and the maintenance cost and the failure rate are reduced. The reliability and safety of operation are enhanced through centralized management and monitoring of the intelligent console.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial manufacturing, and in particular to a large-scale steel plate intelligent printing system based on an autonomous mobile robot. Background Art

[0002] In the traditional industrial manufacturing field, the printing process of large steel plates relies on fixed heavy machinery. Although these devices can cope with large-scale production tasks, their limitations are becoming increasingly prominent. Due to their large size, these mechanical equipment are extremely inconvenient to install and move, and can usually only be fixed on specific production lines. This fixedness limits the flexibility of the production process and makes it difficult to quickly adjust and optimize the production environment. At the same time, the maintenance cost of these large equipment is extremely high. Once a failure occurs, not only is the repair process complicated and time-consuming, but it may also affect the normal operation of the production process for a long time, thereby affecting the operational efficiency and product delivery capabilities of the entire enterprise.

[0003] In summary, the existing heavy machinery used for printing large steel plates has the disadvantages of being bulky, inconvenient to install and move, difficult to maintain, and low production efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a large steel plate intelligent printing system based on an autonomous mobile robot to solve the problems existing in the above-mentioned prior art, simplify the structure of traditional large steel plate printing, be flexible in use, cost-effective and easy to maintain, while enhancing production efficiency and product quality.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a large steel plate intelligent printing system based on an autonomous mobile robot, comprising a printing robot body, a projector, a main control console and a robot starting area;

[0007] The printing robot body includes a chassis assembly, a control and communication system assembly, an inkjet mechanism assembly and an upper layer scanning and recognition assembly;

[0008] The chassis assembly includes a wheel assembly and a chassis square tube frame; the wheel assembly is installed on the chassis square tube frame to drive the entire printing robot to move;

[0009] The control and communication system assembly is used to receive printing tasks and pattern information and coordinate cluster operations of multiple printing robots to avoid overlapping and conflicting operations;

[0010] The inkjet mechanism assembly is mounted on the chassis square tube frame and is used to print on the steel plate;

[0011] The upper scanning and identifying assembly is arranged on the top of the chassis assembly, and is used to scan and identify the pattern projected onto the steel plate by the projector, and the projector is used to project the pattern to be printed onto the steel plate;

[0012] The main control console is used for designing the pattern to be printed and scheduling the tasks of the printing robot, and monitors the working status of each printing robot in real time through the display screen to ensure the smooth progress of the operation; after each printing robot receives the specific printing pattern and the working area, it quickly moves to the designated working area according to the positioning information provided by the control and communication system assembly, and after the upper scanning and recognition assembly recognizes the projected pattern, the printing robot adjusts to a suitable position, and the inkjet device mechanism assembly starts working to print the pattern on the steel plate;

[0013] The printing robot starting area is used to locate the initial position of the printing robot when it is working. The printing robot is located in the printing robot starting area before and after the work starts. After completing the work, the printing robot returns to the printing robot starting area to wait for the next task instruction.

[0014] Preferably, the wheel assembly includes a Mecanum wheel, a coupling, a wheel motor, a wheel motor mounting seat, a shock absorber and a shock absorber mounting seat, the Mecanum wheel is connected to the coupling by bolts; the coupling is connected to the wheel motor by clamping; the wheel motor is provided with an encoder and is mounted in the wheel motor mounting seat; one end of the wheel motor mounting seat is connected to the chassis square tube through a bearing and a plug bolt, and the other end is connected to the shock absorber mounting seat on the chassis square tube frame through the shock absorber.

[0015] Preferably, the chassis square tube frame is provided with guide wheels around its periphery. Battery mounting seat, battery and housing.

[0016] Preferably, a battery mounting seat is also provided on the chassis square tube frame for mounting batteries; and the outer shell is installed on the top of the chassis square tube frame for protecting the internal structure.

[0017] Preferably, the control and communication system assembly includes a Jetson TX2 computer, a WiFi module, a UWB module and a data cable. The Jetson TX2 computer is arranged on the top of the chassis square tube frame to control the movement of the robot; the WiFi module is used for the Jetson TX2 computer to communicate with the main control console; the UWB module can use its positioning function to guide the robot, and coordinate the operation of multiple robots through fast cluster communication to achieve synchronous and optimized printing operations; there are 2 data cables, and the data cable model is Type-C, one of the data cables is connected to the Type-C port of the inkjet mechanism assembly, and the other data cable is connected to the Type-C of the upper scanning and recognition assembly.

[0018] Preferably, the inkjet mechanism assembly includes an inkjet mechanism frame, an inkjet device, an inkjet port, an ink cartridge, a bull's eye universal wheel, a bull's eye universal wheel fixing seat and a Type-C port; the inkjet mechanism frame is made of ABS and has two ink cartridge slots, which can hold up to two ink cartridges; the pigment in the ink cartridge is connected to the inkjet device, and the pattern to be printed is set by the main control console and printed onto the steel plate through the inkjet port; the inkjet mechanism frame is surrounded by bull's eye universal wheel fixing seats; a bull's eye universal wheel is installed in the bull's eye universal wheel fixing seat; the bull's eye universal wheel is used to ensure the distance and parallelism between the inkjet port and the ground; the inkjet mechanism frame is provided with a Type-C interface on the top, which is used to connect the data cable to obtain the printing information from the main control console.

[0019] Preferably, the upper scanning and recognition assembly includes an aluminum square tube frame, an aluminum square tube connecting plate, a Yaw axis motor mounting plate, a Yaw axis motor, a star-shaped fixing piece, a dual-axis servo fixed square tube, a dual-axis servo, a camera bracket and a RealSense camera; the aluminum square tube frame is connected to the top of the chassis square tube frame through the aluminum square tube connecting plate, and the aluminum square tubes constituting the aluminum square tube frame are also connected through the aluminum square tube connecting plate, the Yaw axis motor mounting plate is installed on the top of the aluminum square tube frame, and the top of the Yaw axis motor mounting plate is installed with a Yaw axis motor; the Yaw axis motor is connected to one end of the dual-axis servo fixed square tube through a star-shaped fixing piece, the dual-axis servo is installed at the other end of the dual-axis servo fixed square tube and is connected to the camera bracket, the RealSense camera is installed on the camera bracket, and the movement of the RealSense camera Pitch axis can be realized by the servo, and the RealSense camera is used to scan the pattern projected on the steel plate and identify it, thereby guiding the printing robot to move in the direction of the pattern and print.

[0020] Preferably, the projector is installed just above the entire robot workspace, and is used to project the pattern to be printed that is set on the main console.

[0021] Preferably, the robot starting area is arranged on one side of the working space.

[0022] Compared with the prior art, the present invention has achieved the following technical effects:

[0023] The present invention realizes the automation and intelligence of the large-scale steel plate printing process by introducing autonomous mobile robot technology, and significantly improves the flexibility and production efficiency of the operation. The modules in the system provide accurate real-time positioning for the robot, ensuring the accuracy of the printing. At the same time, it realizes the collaborative operation of multiple robots through cluster communication technology, and optimizes the allocation and synchronous execution of printing tasks. This multi-robot collaborative printing mechanism effectively improves the printing area and quality per unit time, while reducing the errors introduced by manual operation. The simplified system structure reduces the space occupied by the equipment, reduces maintenance costs and failure rates, and the centralized management and monitoring of the intelligent control console further improves the reliability and safety of the operation. The implementation of the present invention provides a large-scale steel plate intelligent printing system that is cost-effective, easy to maintain, simple to operate, and has strong environmental adaptability for the industrial manufacturing field. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a structural schematic diagram of a large steel plate intelligent printing system based on an autonomous mobile robot in the present invention;

[0026] Figure 2 It is a schematic diagram of the three-dimensional structure of the printing robot in the present invention;

[0027] Figure 3 It is a three-dimensional structural diagram of the internal structure of the printing robot in the present invention;

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the wheel assembly in the present invention;

[0029] Figure 5 It is a three-dimensional structural schematic diagram of the inkjet mechanism assembly of the present invention;

[0030] Figure 6 It is a structural schematic diagram of the bottom of the inkjet mechanism assembly in the present invention;

[0031] In the figure: 1. Mecanum wheel; 2. Coupling; 3. Wheel motor; 4. Wheel motor mounting bracket; 5. Shock absorber; 6. Shock absorber mounting bracket; 7. Jetson TX2 computer; 8. WiFi module; 9. UWB module; 10. Data cable; 11. Chassis square tube frame; 12. Guide wheel; 13. Battery; 14. Battery mount; 15. Shell; 16. Inkjet mechanism frame; 17. Ink cartridge; 18. Inkjet device; 19. Inkjet port; 20. Bull's eye universal wheel; 21. Bull's eye universal wheel fixing seat; 22. Type-C interface; 23. Aluminum square tube; 24. Aluminum square tube connecting plate; 25. Yaw axis motor mounting plate; 26. Yaw axis motor; 27. Star-shaped fixing piece; 28. Dual-axis servo fixing square tube; 29. ​​Dual-axis servo; 30. Camera bracket; 31. RealSense camera; 32. Projector; 33. Main control console; 34. Robot starting area; 35. Printing robot. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide a large steel plate intelligent printing system based on an autonomous mobile robot to solve the problems existing in the prior art.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] The large steel plate intelligent printing system based on the autonomous mobile robot in this embodiment is as follows: Figure 1-Figure 6 As shown, it includes a printing robot 35 body, a projector 32, a main control console 33 and a robot starting area 34;

[0036] The main body of the printing robot 35 includes a chassis assembly, a control and communication system assembly, an inkjet mechanism assembly and an upper layer scanning and recognition assembly;

[0037] The chassis assembly includes a wheel assembly and a chassis square tube frame 11; the wheel assembly is mounted on the chassis square tube frame 11 to drive the entire printing robot 35 to move;

[0038] The control and communication system assembly is used to receive printing tasks and pattern information and coordinate cluster operations of multiple printing robots 35 to avoid overlapping and conflicting operations;

[0039] The inkjet mechanism assembly is mounted on the chassis square tube frame 11 and is used to print on the steel plate;

[0040] The upper scanning and identifying assembly is arranged on the top of the chassis assembly, and is used to scan and identify the pattern projected onto the steel plate by the projector 32, and the projector 32 is used to project the pattern to be printed onto the steel plate;

[0041] The main control console 33 is used for designing the pattern to be printed and scheduling the tasks of the printing robots 35, and monitors the working status of each printing robot 35 in real time through the display screen to ensure the smooth progress of the operation; after each printing robot 35 receives the specific printing pattern and working area, it quickly moves to the designated working area according to the positioning information provided by the control and communication system assembly. After the upper scanning and recognition assembly recognizes the projected pattern, the printing robot 35 is adjusted to a suitable position, and the inkjet device 18 mechanism assembly starts working to print the pattern on the steel plate;

[0042] The starting area 34 of the printing robot 35 is used to locate the initial position of the printing robot 35 when it is working. The printing robot 35 is located in the starting area 34 of the printing robot 35 before and after the work starts. After the printing robot 35 completes the work, it returns to the starting area 34 of the printing robot 35 and waits for the next task instruction.

[0043] In this specific embodiment, the wheel assembly includes a Mecanum wheel 1, a coupling 2, a wheel motor 3, a wheel motor mounting seat 4, a shock absorber 5 and a shock absorber mounting seat 5. The Mecanum wheel 1 is connected to the coupling 2 by bolts; the coupling 2 is connected to the wheel motor 3 by clamping; the wheel motor 3 is provided with an encoder, which is installed in the wheel motor mounting seat 4; one end of the wheel motor mounting seat 4 is connected to the chassis square tube through a bearing and a plug bolt, and the other end is connected to the shock absorber mounting seat 5 on the chassis square tube frame 11 through the shock absorber 5.

[0044] In this specific embodiment, the chassis square tube frame 11 is provided with guide wheels 12 around it, a battery mounting seat 14, a battery 13 and a housing 15.

[0045] In this specific embodiment, a battery mounting seat 14 is further provided on the chassis square tube frame 11 for mounting the battery 13 ; a housing 15 is installed on the top of the chassis square tube frame 11 for protecting the internal structure.

[0046] In this specific embodiment, the control and communication system assembly includes a Jetson TX2 computer 7, a WiFi module 8, a UWB module 9 and a data cable 10. The Jetson TX2 computer 7 is arranged on the top of the chassis square tube frame 11 to control the movement of the robot; the WiFi module 8 is used for the Jetson TX2 computer 7 to communicate with the main control console 33; the UWB module 9 can use its positioning function to guide the robot, and coordinate the operation of multiple robots through fast cluster communication to achieve synchronous and optimized printing operations; there are 2 data cables 10, and the data cable 10 model is Type-C, one data cable 10 is connected to the Type-C port of the inkjet mechanism assembly, and the other data cable 10 is connected to the Type-C port of the upper scanning and recognition assembly.

[0047] In this specific embodiment, the inkjet mechanism assembly includes an inkjet mechanism frame 16, an inkjet device 18, an inkjet port 19, an ink cartridge 17, a bull's eye universal wheel 20, a bull's eye universal wheel fixing seat 21 and a Type-C port; the inkjet mechanism frame 16 is made of ABS and has two ink cartridge 17 slots, which can hold up to two ink cartridges 17; the pigment in the ink cartridge 17 is connected to the inkjet device 18, and the pattern to be printed is set by the main control console 33 and is printed onto the steel plate through the inkjet port 19; the inkjet mechanism frame 16 is surrounded by a bull's eye universal wheel fixing seat 21; the bull's eye universal wheel 20 is installed in the bull's eye universal wheel fixing seat 21; the bull's eye universal wheel 20 is used to ensure the distance and parallelism between the inkjet port 19 and the ground; the inkjet mechanism frame 16 is provided with a Type-C interface 22 on the top, which is used to connect the data cable 10 to obtain the printing information from the main control console 33.

[0048] In this specific embodiment, the upper scanning and recognition assembly includes an aluminum square tube 23 frame, an aluminum square tube connecting plate 24, a Yaw axis motor mounting plate 25, a Yaw axis motor 26, a star-shaped fixing member 27, a dual-axis servo fixing square tube 28, a dual-axis servo 29, a camera bracket 30 and a RealSense camera 31; the aluminum square tube 23 frame is connected to the top of the chassis square tube frame 11 through the aluminum square tube connecting plate 24, and the aluminum square tubes 23 constituting the aluminum square tube 23 frame are also connected through the aluminum square tube connecting plate 24, the Yaw axis motor mounting plate 25 is installed on the top of the aluminum square tube 23 frame, and the Yaw axis motor mounting plate 2 5 is installed with a Yaw axis motor 26 on the top; the Yaw axis motor 26 is connected to one end of a double-axis steering gear fixed square tube 28 through a star-shaped fixing piece 27; a double-axis steering gear 29 is installed at the other end of the double-axis steering gear fixed square tube 28 and is connected to a camera bracket 30; a RealSense camera 31 is installed on the camera bracket 30; the RealSense camera 31 pitch axis can be moved by the steering gear; the RealSense camera 31 is used to scan the pattern projected on the steel plate and identify it, thereby guiding the printing robot 35 to move toward the pattern direction and print.

[0049] In this specific embodiment, the projector 32 is installed directly above the entire robot workspace and is used to project the pattern to be printed that is set on the main console 33.

[0050] In this specific embodiment, the robot starting area 34 is disposed at one side of the workspace, and the number of the robot starting areas 34 depends on the number of robots.

[0051] The working principle of the large steel plate intelligent printing system based on the autonomous mobile robot in the present invention is as follows:

[0052] The main control console 33 first decomposes the printing task into multiple subtasks according to production requirements, and intelligently assigns them to different printing robots according to the working status and position of each printing robot. The printing robot start area 34 is the starting point of the operation. Each printing robot will be located here before work to receive task instructions from the main control console 33.

[0053] The mecanum wheel 1 carried by the chassis assembly is connected to the wheel motor 3 through the coupling 2 to achieve flexible movement in multiple directions, while the encoder in the wheel motor provides accurate speed and position feedback for the printing robot. The shock absorber 5 is combined with the shock absorber mounting seat 6 to ensure the stable operation of the printing robot on the steel plate surface.

[0054] The JetsonTX2 computer 7 in the control and communication system assembly serves as the control center, communicating with the main control console 33 through the WiFi module 8 to receive printing tasks and pattern information. The UWB module 9 uses its ultra-wide bandwidth to achieve real-time positioning and communication between printing robots, coordinate the cluster operation of multiple printing robots, avoid overlapping and conflicting operations, and improve operation efficiency.

[0055] The printing process is completed by the inkjet mechanism assembly. The inkjet mechanism frame 16 is made of ABS material and is designed with an ink cartridge slot to accommodate the ink cartridge 17. The inkjet device 18 controls the ink to be accurately printed on the steel plate surface through the inkjet port 19 according to the instructions of the main control console. The bull's eye universal wheel 20 and the bull's eye universal wheel fixing seat 21 ensure that the inkjet port maintains a constant distance from the steel plate to ensure the printing quality.

[0056] The RealSense camera 31 carried by the upper scanning and recognition assembly realizes the movement of the Pitch axis through the dual-axis servo 29, and scans and recognizes the pattern projected onto the steel plate by the projector 32. This process is the navigation basis for the printing robot operation, ensuring that the printing robot can accurately aim at the printing target.

[0057] In the collaborative operation of multiple printing robots, each printing robot communicates with the main control console 33 through the UWB module 9 to achieve task allocation and operation synchronization. The main control console 33 is responsible for pattern design and task scheduling, and monitors the working status of each printing robot in real time through the display screen to ensure the smooth progress of the operation. After each printing robot receives the specific printing pattern and working area, it quickly moves to the designated working area according to the positioning information provided by the UWB module 9. After the RealSense camera 31 recognizes the projected pattern, the printing robot adjusts to the appropriate position, and the inkjet device 18 starts working to accurately print the pattern onto the steel plate. After the operation is completed, the printing robot returns to the starting area 34 and waits for the next task instruction. The working process of the entire system embodies a high degree of automation and intelligence, which not only improves the efficiency and quality of printing, but also reduces labor costs and operational complexity.

[0058] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A large steel plate intelligent printing system based on an autonomous mobile robot, characterized in that: It includes the printing robot body, projector, main control console and robot starting area; The main body of the printing robot includes a chassis assembly, a control and communication system assembly, an inkjet mechanism assembly and an upper layer scanning and recognition assembly; The chassis assembly includes a wheel assembly and a chassis square tube frame; the wheel assembly is installed on the chassis square tube frame to drive the entire printing robot to move; The control and communication system assembly is used to receive printing tasks and pattern information and coordinate cluster operations of multiple printing robots to avoid overlapping and conflicting operations; The inkjet mechanism assembly is mounted on the chassis square tube frame and is used to print on the steel plate; The upper scanning and identifying assembly is arranged on the top of the chassis assembly, and is used to scan and identify the pattern projected onto the steel plate by the projector, and the projector is used to project the pattern to be printed onto the steel plate; The main control console is used for designing the pattern to be printed and scheduling the tasks of the printing robot, and monitors the working status of each printing robot in real time through the display screen to ensure the smooth progress of the operation; after each printing robot receives the specific printing pattern and the working area, it quickly moves to the designated working area according to the positioning information provided by the control and communication system assembly, and after the upper scanning and recognition assembly recognizes the projected pattern, the printing robot adjusts to a suitable position, and the inkjet device mechanism assembly starts working to print the pattern on the steel plate; The printing robot starting area is used to locate the initial position of the printing robot when it is working. The printing robot is located in the printing robot starting area before and after the work starts. After completing the work, the printing robot returns to the printing robot starting area to wait for the next task instruction.

2. According to claim 1, the large steel plate intelligent printing system based on the autonomous mobile robot is characterized in that: The wheel assembly includes a Mecanum wheel, a coupling, a wheel motor, a wheel motor mounting seat, a shock absorber and a shock absorber mounting seat. The Mecanum wheel is connected to the coupling by bolts; the coupling is connected to the wheel motor by clamping; the wheel motor is provided with an encoder and is mounted in the wheel motor mounting seat; one end of the wheel motor mounting seat is connected to the chassis square tube through a bearing and a plug bolt, and the other end is connected to the shock absorber mounting seat on the chassis square tube frame through the shock absorber.

3. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 1 is characterized in that: The chassis square tube frame is provided with guide wheels around its periphery. A battery mounting seat, a battery and a shell.

4. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 1 is characterized in that: The chassis square tube frame is also provided with a battery mounting seat for mounting batteries; the shell is installed on the top of the chassis square tube frame for protecting the internal structure.

5. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 1 is characterized in that: The control and communication system assembly includes a JetsonTX2 computer, a WiFi module, a UWB module and a data cable. The JetsonTX2 computer is arranged on the top of the chassis square tube frame to control the movement of the robot; the WiFi module is used for the JetsonTX2 computer to communicate with the main control console; the UWB module can use its positioning function to guide the robot, and coordinate the operation of multiple robots through fast cluster communication to achieve synchronous and optimized printing operations; there are 2 data cables, and the data cable model is Type-C, one of the data cables is connected to the Type-C port of the inkjet mechanism assembly, and the other data cable is connected to the Type-C port of the upper scanning and recognition assembly.

6. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 5 is characterized in that: The inkjet mechanism assembly includes an inkjet mechanism frame, an inkjet device, an inkjet port, an ink cartridge, a bull's eye universal wheel, a bull's eye universal wheel fixing seat and a Type-C port; the inkjet mechanism frame is made of ABS and has two ink cartridge slots, which can hold up to two ink cartridges; the pigment in the ink cartridge is connected to the inkjet device, and the pattern to be printed is set by the main control console to be printed onto the steel plate through the inkjet port; the inkjet mechanism frame is surrounded by bull's eye universal wheel fixing seats; a bull's eye universal wheel is installed in the bull's eye universal wheel fixing seat; the bull's eye universal wheel is used to ensure the distance and parallelism between the inkjet port and the ground; the inkjet mechanism frame is provided with a Type-C interface on the top, which is used to connect a data cable to obtain printing information from the main control console.

7. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 1 is characterized in that: The upper scanning and recognition assembly includes an aluminum square tube frame, an aluminum square tube connecting plate, a Yaw axis motor mounting plate, a Yaw axis motor, a star-shaped fixing piece, a dual-axis servo fixed square tube, a dual-axis servo, a camera bracket and a RealSense camera; the aluminum square tube frame is connected to the top of the chassis square tube frame through the aluminum square tube connecting plate, and the aluminum square tubes constituting the aluminum square tube frame are also connected through the aluminum square tube connecting plate, the Yaw axis motor mounting plate is installed on the top of the aluminum square tube frame, and the top of the Yaw axis motor mounting plate is installed with a Yaw axis motor; the Yaw axis motor is connected to one end of the dual-axis servo fixed square tube through a star-shaped fixing piece, the dual-axis servo is installed at the other end of the dual-axis servo fixed square tube and is connected to the camera bracket, the RealSense camera is installed on the camera bracket, and the movement of the RealSense camera Pitch axis can be realized by the servo, and the RealSense camera is used to scan the pattern projected on the steel plate and identify it, thereby guiding the printing robot to move in the direction of the pattern and print.

8. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 1 is characterized in that: The projector is installed just above the entire robot workspace and is used to project the pattern to be printed that is set on the main console.

9. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 1 is characterized in that: The robot starting area is arranged at one side of the working space.

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