Intelligent printing system for large steel plate based on autonomous mobile robot

Abstract

The application discloses a large steel plate intelligent spraying system based on an autonomous mobile robot, and relates to the technical field of industrial manufacturing. The spraying robot main body comprises a chassis assembly, a control and communication system assembly, an inkjet mechanism assembly and an upper scanning and identifying assembly. The application breaks through the limitations of fixed heavy machinery, replaces it with a small, light and flexible robot, greatly improves the flexibility and adaptability of the production process. Using precise real-time positioning technology and cluster communication, the application realizes efficient collaborative work of multiple robots, optimizes spraying task allocation and synchronous execution, significantly improves production efficiency and product quality. At the same time, the simplified system structure reduces space requirements, reduces maintenance costs and failure rates. The centralized management and monitoring of the intelligent console enhance the reliability and safety of the work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial manufacturing, in particular to a large steel plate intelligent spraying system based on an autonomous mobile robot. BACKGROUND

[0002] In the traditional industrial manufacturing field, the spraying process of large steel plates relies on fixed heavy machinery. Although these devices can handle large-scale production tasks, their limitations are increasingly evident. These mechanical equipment is bulky, making it extremely inconvenient to install and move, and can usually only be fixed on a specific production line. This fixation limits the flexibility of the production process, making it difficult to quickly adjust and optimize the production environment. At the same time, the maintenance cost of these large equipment is very high, once it breaks down, not only the repair process is complex and time-consuming, but also it may affect the normal operation of the production process for a long time, and further affect the operation efficiency and product delivery capability of the whole enterprise.

[0003] In summary, the existing heavy machinery for spraying large steel plates has the defects of large volume, inconvenient installation and movement, difficult maintenance and low production efficiency. SUMMARY

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

[0005] To achieve the above purpose, the present application provides the following scheme:

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

[0007] The spraying robot main body comprises a chassis assembly, a control and communication system assembly, an inkjet mechanism assembly and an upper scanning and identification assembly;

[0008] The chassis assembly comprises a wheel set assembly and a chassis square tube frame; the wheel set assembly is installed on the chassis square tube frame for driving the movement of the whole spraying robot;

[0009] The control and communication system assembly is used for receiving spraying tasks and pattern information and coordinating the cluster operation of multiple spraying robots to avoid overlapping and conflict of tasks;

[0010] The inkjet mechanism assembly is installed on the chassis square tube frame for spraying on the steel plate;

[0011] The upper layer scanning and identifying assembly is arranged on the top of the chassis assembly, and is used for scanning and identifying a pattern projected on the steel plate by a projector used for projecting a required printing pattern on the steel plate;

[0012] The general control console is used for design of the required printing pattern and task scheduling of the inkjet robot, and monitors working states of each inkjet robot in real time through a display screen, so as to ensure smooth operation; after each inkjet robot receives a specific inkjet pattern and a working area, the inkjet robot quickly moves to the designated working area according to positioning information provided by the control and communication system assembly; after the upper layer scanning and identifying assembly identifies the projected pattern, the inkjet robot is adjusted to a suitable position, and the inkjet device mechanism assembly starts to work to inkjet the pattern on the steel plate.

[0013] The inkjet robot starting area is used for positioning an initial position of the inkjet robot during work, and the inkjet robot is located in the inkjet robot starting area before starting work and after ending work, and returns to the inkjet robot starting area after completing work, and waits for the next task instruction.

[0014] Preferably, the wheel set assembly comprises a Mecanum wheel, a shaft coupling, a wheel set motor, a wheel set motor mounting seat, a shock absorber and a shock absorber mounting seat, the Mecanum wheel is connected with the shaft coupling through bolts; the shaft coupling is connected with the wheel set motor through clamping; the wheel set motor is provided with an encoder and is mounted in the wheel set motor mounting seat; one end of the wheel set motor mounting seat is connected with the chassis square tube through a bearing and a jam nut, and the other end is connected with 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 the chassis square tube frame. A battery mounting seat, a battery and a shell.

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

[0017] Preferably, the control and communication system assembly comprises a Jetson TX2 computer, a WiFi module, a UWB module and data lines, the Jetson TX2 computer is arranged on the top of the chassis square tube frame and is used for controlling movement of the robot; the WiFi module is used for communication between the Jetson TX2 computer and the general control console; the UWB module can guide the robot by using the positioning function, and can coordinate multi-robot operation through fast cluster communication to realize synchronous and optimized inkjet operation; two data lines are provided, the data lines are Type-C, one data line is connected with a Type-C port of the inkjet mechanism assembly, and the other data line is connected with a Type-C port of the upper layer scanning and identifying assembly.

[0018] Preferably, the inkjet mechanism assembly comprises an inkjet mechanism frame, an inkjet device, an inkjet port, an ink cartridge, a bullseye caster, a bullseye caster fixing seat and a Type-C port; the inkjet mechanism frame is made of ABS and has two ink cartridge grooves, which can accommodate two ink cartridges at most; the pigment in the ink cartridge is connected with the inkjet device, and the pattern to be printed is set by the general control console and printed on the steel plate through the inkjet port; the inkjet mechanism frame is provided with a bullseye caster fixing seat around; the bullseye caster fixing seat is provided with a bullseye caster; the bullseye caster is used to ensure the spacing and parallelism between the inkjet port and the ground; the inkjet mechanism frame is provided with a Type-C interface above, which is used to connect a data line to obtain the printing information from the general control console.

[0019] Preferably, the upper scanning and identifying assembly comprises an aluminum square tube frame, an aluminum square tube connecting plate, a Yaw shaft motor mounting plate, a Yaw shaft motor, a star-shaped fixing piece, a double-shaft rudder machine fixing square tube, a double-shaft rudder machine, a camera support 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 plates; the Yaw shaft motor mounting plate is mounted on the top of the aluminum square tube frame, and the Yaw shaft motor is mounted on the top of the Yaw shaft motor mounting plate; the Yaw shaft motor is connected with one end of the double-shaft rudder machine fixing square tube through the star-shaped fixing piece, the double-shaft rudder machine is mounted on the other end of the double-shaft rudder machine fixing square tube and connected with the camera support, and the RealSense camera is mounted on the camera support and can move along the Pitch axis through the rudder machine; the RealSense camera is used to scan and identify the pattern projected on the steel plate, so as to guide the inkjet robot to move towards the pattern direction and perform inkjet printing.

[0020] Preferably, the projector is installed directly above the entire robot working space and is used to project the pattern to be printed set by the general control console.

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

[0022] The present application has the following technical effects compared with the prior art:

[0023] The present application realizes the automation and intelligentization of the large steel plate printing process by introducing autonomous mobile robot technology, significantly improving 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, and through the cluster communication technology, it realizes the collaborative operation of multiple robots, optimizing the allocation and synchronous execution of the printing task. 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 equipment space, reduces the maintenance cost and failure rate, and the centralized management and monitoring of the intelligent console further improves the reliability and safety of the operation. The implementation of the present application provides an intelligent printing system for large steel plates in the industrial manufacturing field, which is cost-effective, easy to maintain, easy to operate and has strong environmental adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 The structure diagram of the large steel plate intelligent printing system based on autonomous mobile robots in the present application;

[0026] Figure 2 The three-dimensional structure diagram of the printing robot in the present application;

[0027] Figure 3 The three-dimensional structure diagram of the internal structure of the printing robot in the present application;

[0028] Figure 4 The three-dimensional structure diagram of the wheel assembly in the present application;

[0029] Figure 5 The three-dimensional structure diagram of the ink jet mechanism assembly in the present application;

[0030] Figure 6 The structure diagram of the bottom of the ink jet mechanism assembly in the present application;

[0031] In the figure: 1, a Mecanum wheel; 2, a shaft coupling; 3, a wheel group motor; 4, a wheel group motor mounting seat; 5, a shock absorber; 6, a shock absorber mounting seat; 7, a Jetson TX2 computer; 8, a WiFi module; 9, a UWB module; 10, a data line; 11, a chassis square tube frame; 12, a guide wheel; 13, a battery; 14, a battery mounting seat; 15, a shell; 16, an inkjet mechanism frame; 17, an ink cartridge; 18, an inkjet device; 19, an inkjet port; 20, a bullseye omnidirectional wheel; 21, a bullseye omnidirectional wheel fixing seat; 22, a Type-C interface; 23, an aluminum square tube; 24, an aluminum square tube connecting plate; 25, a Yaw shaft motor mounting plate; 26, a Yaw shaft motor; 27, a star-shaped fixing piece; 28, a double-shaft rudder machine fixing square tube; 29, a double-shaft rudder machine; 30, a camera support; 31, a RealSense camera; 32, a projector; 33, a general control console; 34, a robot starting area; 35, a printing robot. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] The purpose of the present application 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 purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0035] The large steel plate intelligent printing system based on an autonomous mobile robot in the present embodiment, as shown in the figure, comprises a printing robot 35 main body, a projector 32, a general control console 33 and a robot starting area 34. Figures 1-6

[0036] The printing robot 35 main body comprises a chassis assembly, a control and communication system assembly, an inkjet mechanism assembly and an upper layer scanning and identification assembly.

[0037] The chassis assembly comprises a wheel group assembly and a chassis square tube frame 11; the wheel group assembly is installed on the chassis square tube frame 11 for driving the whole printing robot 35 to move;

[0038] The control and communication system assembly is used for receiving printing tasks and pattern information and coordinating the cluster operation of multiple printing robots 35 to avoid operation overlap and conflict;

[0039] ​The ink jet mechanism assembly is installed on the chassis square tube frame 11, and is used for ink jet printing on the steel plate;

[0040] The upper layer scanning and identifying assembly is arranged on the top of the chassis assembly, and is used for scanning and identifying the pattern projected on the steel plate by the projector 32, which is used for projecting the required printing pattern on the steel plate;

[0041] The general control console 33 is used for the design of the required printing pattern and the task scheduling of the ink jet robot 35, and monitors the working state of each ink jet robot 35 in real time through the display screen, so as to ensure the smooth operation; after each ink jet robot 35 receives the specific ink jet printing pattern and the working area, the ink jet robot 35 quickly moves to the specified working area according to the positioning information provided by the control and communication system assembly, the ink jet robot 35 adjusts to the appropriate position after the upper layer scanning and identifying assembly identifies the projection pattern, and the ink jet device 18 mechanism assembly starts to work to ink jet print the pattern on the steel plate;

[0042] The ink jet robot 35 starting area 34 is used for positioning the initial position of the ink jet robot 35 during work, and the ink jet robot 35 is located in the ink jet robot 35 starting area 34 before starting work and after ending work, and returns to the ink jet robot 35 starting area 34 after completing the work, and waits for the next task instruction.

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

[0044] In the embodiment, the chassis square tube frame 11 is provided with guide wheels 12 around the chassis square tube frame 11. A battery mounting seat 14, a battery 13 and a shell 15 are arranged.

[0045] In the embodiment, the chassis square tube frame 11 is further provided with the battery mounting seat 14, which is used for installing the battery 13; and the shell 15 is installed on the top of the chassis square tube frame 11, and is used for protecting the internal structure.

[0046] In the embodiment, the control and communication system assembly includes a Jetson TX2 computer 7, a WiFi module 8, a UWB module 9, and two data lines 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 communication between the Jetson TX2 computer 7 and the master console 33. The UWB module 9 can guide the robot by using its positioning function, coordinate multi-robot operation through fast cluster communication, and realize synchronized and optimized spraying operation. The two data lines 10 are both Type-C, one of which is connected to the Type-C port of the inkjet mechanism assembly, and the other is connected to the Type-C port of the upper scanning and identifying assembly.

[0047] In the embodiment, the inkjet mechanism assembly includes an inkjet mechanism frame 16, an inkjet device 18, an inkjet port 19, an ink cartridge 17, a bullseye universal wheel 20, a bullseye 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 accommodate two ink cartridges 17 at most. The pigment in the ink cartridge 17 is connected to the inkjet device 18, and the pattern to be sprayed is set by the master console 33 and sprayed onto the steel plate through the inkjet port 19. The inkjet mechanism frame 16 is surrounded by the bullseye universal wheel fixing seat 21. The bullseye universal wheel 20 is installed in the bullseye universal wheel fixing seat 21. The bullseye 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 above it, which is used to connect the data line 10 to obtain the spraying information from the master console 33.

[0048] In the embodiment, the upper scanning and identifying assembly includes an aluminum square tube 23 frame, an aluminum square tube connecting plate 24, a Yaw shaft motor mounting plate 25, a Yaw shaft motor 26, a star-shaped fixing part 27, a double-shaft servo motor fixing square tube 28, a double-shaft servo motor 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 shaft motor mounting plate 25 is installed on the top of the aluminum square tube 23 frame, and the Yaw shaft motor 26 is installed on the top of the Yaw shaft motor mounting plate 25. The Yaw shaft motor 26 is connected to one end of the double-shaft servo motor fixing square tube 28 through the star-shaped fixing part 27. The double-shaft servo motor 29 is installed on the other end of the double-shaft servo motor fixing square tube 28 and connected to the camera bracket 30. The RealSense camera 31 is installed on the camera bracket 30 and can move along the Pitch axis through the servo motor. The RealSense camera 31 is used to scan and identify the pattern projected on the steel plate, so as to guide the spraying robot 35 to move towards the pattern direction and perform spraying.

[0049] In the embodiment, the projector 32 is installed above the entire robot workspace to project the pattern to be sprayed on the steel plate set by the general console 33.

[0050] In the embodiment, the robot starting area 34 is set on one side of the workspace, and the number of the robot starting area 34 depends on the number of the robots.

[0051] The working principle of the large steel plate intelligent spraying system based on autonomous mobile robots in the present application is as follows:

[0052] The general console 33 first decomposes the spraying task into multiple sub-tasks according to production requirements, and intelligently allocates different spraying robots according to the working state and position of each spraying robot. The robot starting area 34 is the starting point of the work, and each spraying robot will be positioned here before work to receive task instructions from the general console 33.

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

[0054] The Jetson TX2 computer 7 in the control and communication system assembly serves as the control center, communicates with the general console 33 through the WiFi module 8, receives spraying tasks and pattern information. The UWB module 9 realizes real-time positioning and communication between spraying robots to coordinate the cluster operation of multiple spraying robots, avoid overlapping and conflict of work, and improve work efficiency.

[0055] The spraying 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 sprayed accurately through the inkjet port 19 to the surface of the steel plate according to the instructions of the general console. The bullseye universal wheel 20 and the bullseye universal wheel fixing seat 21 ensure that the inkjet port maintains a constant distance from the steel plate, ensuring the quality of the spraying.

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

[0057] In the collaborative work of multi-jet printing robots, each jet printing robot communicates with the total console 33 through the UWB module 9 to realize task allocation and work synchronization. The total console 33 is responsible for pattern design and task scheduling, and monitors the working state of each jet printing robot in real time through the display screen to ensure the smooth progress of the work. After each jet printing robot receives a specific jet printing pattern and work area, it quickly moves to the designated work area according to the positioning information provided by the UWB module 9. After the RealSense camera 31 recognizes the projection pattern, the jet printing robot adjusts to the appropriate position, and the inkjet device 18 starts to work, accurately jet printing the pattern on the steel plate. After the work is completed, the jet printing robot returns to the starting area 34 and waits for the next task instruction. The working process of the whole system reflects high automation and intelligence, which not only improves the jet printing efficiency and quality, but also reduces the labor cost and operation complexity.

[0058] The principles and implementation manners of the present application are described by applying specific examples in the present application. The above examples are only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In summary, the content of the present application should not be understood as a limitation of the present application.

Claims

1. A large steel plate intelligent printing system based on an autonomous mobile robot, characterized by: Includes the printing robot body, projector, main 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 mounted 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 for printing on the steel plate; The upper scanning and recognition assembly is arranged on the top of the chassis assembly, and is used to scan and recognize 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 central control console is used to design the pattern to be printed and schedule the tasks of the printing robots. It also monitors the working status of each printing robot in real time through a display screen to ensure smooth operation. After each printing robot receives a specific printing pattern and working area, it quickly moves to the designated working area based on 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 adjusts to the appropriate position, and the inkjet device mechanism assembly starts working to print the pattern onto 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 and waits for the next task instruction.

2. The large steel plate intelligent printing system based on an autonomous mobile robot according to claim 1 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 by 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 equipped with guide wheels, a battery mounting seat, batteries and a shell around it.

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 to protect 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 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 two data cables, and the data cable model is Type-C. One data cable 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 that 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 console and printed onto the steel plate through the inkjet port; the inkjet mechanism frame is surrounded by a bull's eye universal wheel fixing seat; 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; a Type-C interface is provided on the top of the inkjet mechanism frame for connecting a data cable to obtain printing information from the main 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 an aluminum square tube connecting plate, and the aluminum square tubes constituting the aluminum square tube frame are also connected through an 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 right above the entire robot workspace and is used to project the pattern that needs 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, characterized in that: The robot starting area is arranged on one side of the working space.

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