Multi-dimensional adaptive page matching method and system for large-format wall surface printing robot

Abstract

The invention relates to a multi-dimensional self-adaptive page matching method and system for a large-format wall surface printing robot, and the method comprises the steps: obtaining a to-be-printed image, carrying out the self-adaptive matching according to the image contour of the to-be-printed image and the wall surface area, and obtaining a printing scale; according to the printing scale, angular point matching is carried out on the printing image and the wall surface coordinate system, and a first coordinate conversion relation between the angular point position in the printing image and the angular point position in the wall surface is obtained; setting a printing robot coordinate system, and establishing a second coordinate conversion relation between the wall coordinate system and the printing robot coordinate system; and on the basis of the first coordinate conversion relation and the second coordinate conversion relation, the printing robot is used for printing the wall surface according to the to-be-printed image. According to the invention, automatic and accurate matching of the to-be-printed image and the wall surface is realized.

Description

Technical Field

[0001] The present invention relates to the field of spatial positioning technology, and in particular to a multi-dimensional adaptive page matching method and system for a large-scale wall printing robot. Background Art

[0002] Large-format wall printing technology is increasingly being used in a variety of fields, including architectural decoration, advertising, and cultural and artistic exhibitions. However, existing large-format wall printing technology has many shortcomings and cannot meet the growing demand for high-precision and high-efficiency printing.

[0003] On the one hand, matching the printed image to the wall surface has always been a challenge in the industry. Traditional printing methods often require manual scaling and adjustment of the image to fit the wall surface. This method is not only time-consuming and labor-intensive, but also prone to errors, resulting in a mismatch between the printed image and the actual wall surface, affecting the visual effect. For example, in advertising wall printing, local details of the image may become blurred or distorted due to improper manual scaling, reducing the appeal and effectiveness of the advertisement.

[0004] On the other hand, the positioning and coordinate conversion accuracy between the printing device and the wall surface is insufficient. Existing printing systems often suffer from significant errors when converting images from the printing device coordinate system to the wall coordinate system. This is primarily due to the lack of effective coordinate conversion methods and precise positioning technology. For example, when printing on architectural decorative walls, the printed pattern may exhibit significant offset or deformation, inconsistent with the design drawings, and seriously affecting the decorative effect and construction quality.

[0005] Measuring wall area is also a crucial step before large-scale wall printing, but existing measurement methods present numerous inconveniences. Traditional methods typically require manual measurement using tools such as tape measures and distance meters. This approach is not only inefficient but also susceptible to human error, leading to inaccurate results. For example, in large-scale architectural wall printing projects, manual measurement of wall area can be time-consuming and labor-intensive, and errors can occur during the measurement process, affecting the layout and proportions of the printed image.

[0006] Therefore, there is an urgent need for a method and system that can automatically and accurately achieve large-format wall printing image matching and printing, so as to improve printing efficiency and quality, reduce manual intervention and costs, and promote the development and application of large-format wall printing technology. Summary of the Invention

[0007] In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a multi-dimensional adaptive page matching method and system for a large-format wall printing robot, which realizes automatic and accurate matching of the image to be printed and the wall.

[0008] To achieve the above object, the present invention provides the following solutions:

[0009] A multi-dimensional adaptive page matching method for a large-format wall printing robot, comprising:

[0010] Acquire an image to be printed, and adaptively match the image contour of the image to be printed with the wall area to obtain a printing scale;

[0011] According to the printing scale, performing corner point matching on the printed image and the wall coordinate system respectively to obtain a first coordinate conversion relationship between the corner point position in the printed image and the corner point position on the wall;

[0012] Setting a printing robot coordinate system, and establishing a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system;

[0013] Based on the first coordinate transformation relationship and the second coordinate transformation relationship, a printing robot is used to print the wall according to the image to be printed.

[0014] Optionally, obtaining the wall area includes: using a laser device in the printing robot to emit a laser beam to the wall, receiving a reflected laser signal, and calculating the wall area based on a round-trip time or phase difference principle of the laser.

[0015] Optionally, obtaining the printing scale includes: calculating a printing scale adapted to the wall area according to an image contour of the image to be printed and the wall area.

[0016] Optionally, obtaining a first coordinate transformation relationship between a corner point position in the printed image and a corner point position on the wall surface includes:

[0017] Step 1: randomly selecting a first corner point and a second corner point in the printed image, and selecting a third corner point and a fourth corner point in the wall surface corresponding to the first corner point and the second corner point according to the printing scale;

[0018] Step 2: Select a fifth corner point from the remaining corner points of the printed image, which has the smallest sum of distances from the first corner point and the second corner point, and select a fifth corner point from the remaining corner points of the wall, which has the smallest sum of distances from the third corner point and the fourth corner point, and obtain a matching result between the fourth corner point and the fifth corner point.

[0019] Step 3: Use the fourth corner point and the fifth corner point as the new first corner point and the new third corner point, repeat step 2 until all corner points are matched, and obtain the first coordinate transformation relationship between the corner point position in the printed image and the corner point position in the wall.

[0020] Optionally, setting the printing robot coordinate system includes:

[0021] The printing robot coordinate system is established by taking the endpoint of the printing robot nozzle as the origin, the ink discharge direction of the nozzle as the X-axis, and the nozzle arrangement direction as the Y-axis.

[0022] Optionally, establishing a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system includes:

[0023] Establishing a laser device coordinate system, calculating the Euclidean distance between each two random coordinate points of the laser device coordinate system in the wall coordinate system, and calculating the corresponding position of the laser device coordinate system in the wall coordinate system when the laser beam is emitted each time based on the Euclidean distance and the height of the laser device from the printing plane;

[0024] Obtaining a posture transformation matrix from the laser device posture to the printing robot posture according to the Euler angles and offsets between the laser device coordinate system and the printing robot coordinate system;

[0025] Based on the corresponding positions and the posture transformation matrix, a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system is obtained.

[0026] Optionally, calculating the Euclidean distance between every two random coordinate points in the position of the laser device coordinate system in the wall coordinate system includes:

[0027]

[0028] Among them, (x2-x1) and (y2-y1) are the coordinates of two points.

[0029] To achieve the above objectives, the present invention also provides a large-format wall printing robot multi-dimensional adaptive page matching system, comprising:

[0030] A scale setting module is used to obtain an image to be printed, and adaptively match the image contour of the image to be printed with the wall area to obtain a printing scale;

[0031] a first coordinate conversion module, configured to perform corner point matching on the printed image and the wall coordinate system according to the printing scale, and obtain a first coordinate conversion relationship between the corner point positions in the printed image and the corner point positions on the wall;

[0032] A second coordinate conversion module is used to set the printing robot coordinate system and establish a second coordinate conversion relationship between the wall coordinate system and the printing robot coordinate system;

[0033] The wall printing module is used to print the wall according to the image to be printed by using a printing robot based on the first coordinate transformation relationship and the second coordinate transformation relationship.

[0034] The beneficial effects of the present invention are:

[0035] Automatic and precise matching of the image to be printed and the wall is achieved: the present invention obtains the image contour of the image to be printed and adaptively matches it with the wall area, which can quickly and accurately obtain the printing scale, thereby ensuring that the printed image can perfectly adapt to the wall size without the need for complex manual adjustments, greatly improving printing efficiency and convenience.

[0036] Improved printing accuracy and quality: The present invention adopts the method of corner point matching to obtain the first coordinate transformation relationship between the printed image and the wall, and combines the second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system, so that the printing robot can print accurately according to the image to be printed, avoiding deformation and dislocation of the printed pattern, and ensuring high quality and aesthetics of the printing.

[0037] The present invention uses the laser device in the printing robot to measure the wall area. The measurement process is simple, fast and accurate, and does not require additional measuring tools and complicated operations. It reduces the amount of preparation work and cost before printing and improves the intelligence and automation level of the entire printing system.

[0038] The systematized design of this invention makes the entire printing process more stable and reliable. By setting the printing robot's coordinate system and establishing various coordinate transformation relationships, it provides a basis for precise positioning and motion control for the printing robot, ensuring the stability and repeatability of the printing process, and maintaining good printing results even under different wall surface and printing image conditions.

[0039] The present invention not only meets the high-precision requirements of large-format wall printing, but also has wide applicability and promotion value. It can be applied to multiple fields such as architectural decoration, advertising, culture and art, bringing opportunities for technological innovation and industrial upgrading to the wall printing industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0041] Figure 1 This invention provides a multi-dimensional adaptive page matching method for a large-format wall printing robot. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0043] 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.

[0044] like Figure 1 As shown, this embodiment discloses a multi-dimensional adaptive page matching method for a large-format wall printing robot, including: obtaining an image to be printed, adaptively matching the image contour of the image to be printed with the wall area, and obtaining a printing scale; according to the printing scale, performing corner point matching on the printed image and the wall coordinate system respectively, and obtaining a first coordinate transformation relationship between the corner point position in the printed image and the corner point position in the wall; setting a printing robot coordinate system, and establishing a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system; based on the first coordinate transformation relationship and the second coordinate transformation relationship, using the printing robot to print the wall according to the image to be printed.

[0045] Furthermore, obtaining the wall area includes: using a laser device in the printing robot to emit a laser beam to the wall, receiving a reflected laser signal, and calculating the wall area based on the round-trip time or phase difference principle of the laser.

[0046] Specifically, a laser rangefinder is used for measurement: the laser rangefinder transmits a laser beam to the wall, receives the reflected laser signal, and calculates the distance to the wall based on the round-trip time or phase difference of the laser.

[0047] Procedure: Measure wall length: Place the laser rangefinder in a corner or other suitable location, perpendicular to the wall. Shoot the laser to the other end of the wall and record the measured distance, which is the wall length. Measure wall height: Similarly, place the laser rangefinder in a suitable location and shoot the laser to the top of the wall. Record the measured distance, which is the wall height. Calculate area: Multiply the measured length and height of the wall to determine the area of ​​the wall. For multiple walls, measure the length and height of each wall separately, calculate the area of ​​each wall, and add them together to determine the total wall area:

[0048] Equipment Selection and Calibration: Choose a high-precision laser rangefinder with millimeter-level accuracy. Before measuring, calibrate the laser rangefinder to ensure that the emitted laser beam is perpendicular to the wall and that the receiver accurately receives the reflected signal. The calibration process involves placing the laser rangefinder in front of a standard object at a known distance, taking multiple measurements, and adjusting the device until the measurement results are consistent with the standard distance. Measuring Wall Length: Place the laser rangefinder in a corner or other suitable location, perpendicular to the wall. Turn on the device and shoot a laser beam toward the other end of the wall. The laser rangefinder automatically calculates the round-trip time or phase difference of the laser beam and uses a built-in formula to calculate the wall length. Record the measured distance. To ensure accuracy, perform multiple measurements and average them. Measuring Wall Height: Similarly, place the laser rangefinder in a suitable location and shoot the laser beam toward the top of the wall. Record the measured distance, which will be the wall height. For walls with decorative features or protrusions, ensure that the laser beam directly strikes the top of the wall to avoid measurement errors. If there are obstacles on top of the wall, you can use an auxiliary tool such as a reflective prism to accurately reflect the laser back. Calculating the area: Multiply the measured length and height of the wall to determine the area of ​​that wall. For multiple walls, measure the length and height of each wall separately, calculate the area of ​​each wall, and then add them together to determine the total wall area. To calculate the wall area, you can use professional drawing software or calculation tools to input the measured data and automatically generate the wall area calculation result.

[0049] Measurement using a laser scanner: The laser scanner emits a laser beam to scan the wall. The laser beam forms a series of reflection points on the wall. By measuring the position and distance information of these reflection points, a three-dimensional point cloud model of the wall is generated.

[0050] Operation steps: Equipment setup: Place the laser scanner in a suitable position to ensure that it can scan the entire wall. Scan the wall: Start the laser scanner and perform a comprehensive scan of the wall. During the scanning process, the laser scanner will automatically record the coordinates and distance information of each point on the wall. Data processing: Import the scanned point cloud data into professional software, which will automatically calculate the outline and area of ​​the wall based on this data:

[0051] Equipment Setup and Commissioning: Place the laser scanner in a suitable location to ensure it can scan the entire wall. The laser scanner's scanning range should cover the entire wall surface, and the scanning angle and resolution should be adjusted according to the wall size. Commission the equipment to ensure the laser beam evenly illuminates the wall surface, generating clear point cloud data. Scan the wall: Start the laser scanner and perform a comprehensive scan of the wall. During the scanning process, the laser scanner automatically records the coordinates and distance information of each point on the wall. The laser scanner scans the wall point by point along a pre-set scanning path, generating a large amount of point cloud data. This point cloud data contains information such as the wall's shape, texture, and dimensions. Data Processing: Import the scanned point cloud data into professional software such as AutoCAD or 3ds Max. The software automatically calculates the wall's outline and area based on this data. During data processing, the point cloud data requires filtering, denoising, and fitting to improve data accuracy and reliability. The software's analysis functions allow you to intuitively view the 3D model of the wall and obtain detailed dimensions and area information.

[0052] Measurement is performed using a laser transmitter and receiver: the laser transmitter emits a laser beam to the wall, where it forms a light spot. The laser receiver receives the reflected laser signal and calculates the distance and angle of the wall based on the positional relationship between the laser transmitter and receiver and the propagation characteristics of the laser, thereby determining the shape and area of ​​the wall.

[0053] Operation steps: Equipment installation: Install the laser transmitter and receiver in appropriate locations, ensuring that their relative position and angle are adjustable. Measuring distance and angle: Adjust the position and angle of the laser transmitter and receiver so that the laser beam can illuminate different locations on the wall, and record the distance and angle data for each measurement. Area calculation: Based on the measured distance and angle data, use the geometric formula to calculate the area of ​​the wall:

[0054] Equipment Installation and Adjustment: Install the laser transmitter and receiver in appropriate locations, ensuring that their relative position and angle are adjustable. The laser transmitter and receiver should be mounted on a stable bracket to prevent equipment shaking from affecting measurement accuracy. Adjust the position and angle of the laser transmitter and receiver so that the laser beam can illuminate different locations on the wall, and ensure that the laser beam is perpendicular to the wall. Measuring Distance and Angle: Adjust the position and angle of the laser transmitter and receiver so that the laser beam can illuminate different locations on the wall. The laser transmitter emits a laser beam at the wall, where it forms a spot. The laser receiver receives the reflected laser signal. Based on the positional relationship between the laser transmitter and receiver and the propagation characteristics of the laser, the distance and angle of the wall are calculated. Record the distance and angle data for each measurement. To ensure accuracy, perform multiple measurements and take the average. Area Calculation: Based on the measured distance and angle data, use geometric formulas to calculate the area of ​​the wall. For example, for a rectangular wall, the area can be calculated based on the measured length and height. For an irregular wall, the wall can be divided into multiple small geometric shapes, the area of ​​each small shape is calculated separately, and then the total wall area is added together. During the calculation process, mathematical software or programming tools can be used to automatically calculate the wall area based on the measured data.

[0055] Furthermore, obtaining the printing scale includes calculating a printing scale adapted to the wall area according to an image contour of the image to be printed and the wall area.

[0056] Specifically, calculating a printing scale suitable for the wall area includes: receiving the settings of the image to be printed; creating a scale field in the attribute table in the printing robot's built-in database; for each record in the attribute table: obtaining the corresponding printing range and calculating the four-dimensional range of the printing range graphic; calculating the forward scale based on the four-dimensional range and the size of the outline, and writing the calculation result to the scale field of the record:

[0057] Image format and parameter checks: When receiving an image to be printed, the system first checks whether the image format meets the requirements, such as common formats like JPEG and PNG. It also checks parameters such as the image resolution and color mode to ensure that the image quality meets printing requirements. If the image resolution is low or the color mode does not meet the requirements, the user will be prompted to adjust or convert it.

[0058] Image Contour Extraction and Analysis: Preprocess the image to extract its contour information. Edge detection algorithms, such as the Canny edge detection algorithm, can be used to extract the image's edges and obtain the image's contour lines. Analyze the shape, size, and feature points of the image contour to provide a basis for subsequent print scale calculations. For example, for a rectangular image, the coordinates of its four corner points are extracted; for an irregular image, the locations of key contour points are extracted.

[0059] Creation of scale field and map direction field:

[0060] Database Structure Design: Design the attribute table structure in the Print Robot's built-in database. Create scale and orientation fields to store print scale and orientation information. The scale field should be a floating-point number, while the orientation field can be a string to store orientation information such as "forward" or "rotated."

[0061] Field initialization and updating: For each record in the attribute table, initialize the scale and orientation fields. During subsequent calculations, update the values ​​of these fields based on the results. For example, when a new plot scale is calculated, the result is written to the scale field; when the orientation is determined to be "rotated," "rotated" is written to the orientation field.

[0062] Print range calculation and scale calculation:

[0063] Print range positioning and scaling: For each record in the attribute table, the corresponding print range is retrieved and positioned within the print range. The drawing area is scaled according to the scale in the record so that the printed image fits within the print range. The print range can be determined based on user input or a preset print area. For example, the user can specify the coordinates or dimensions of the print range in the printing software, or the printing robot can set it based on the default print area.

[0064] Calculating the forward and rotational scales: Calculate the forward and rotational scales based on the bounding box and outline size of the drawing within the print area. The forward scale refers to the scale of the image in its original orientation without rotation; the rotational scale refers to the scale of the image in its final orientation after being rotated a certain angle. The final print scale is determined by comparing the forward and rotational scales. If the forward scale is greater than or equal to the rotational scale, the forward scale is used, and the drawing direction is "forward"; otherwise, the rotational scale is used, and the drawing direction is "rotated."

[0065] Scale Precision Setting and Rounding: Accepts the scale precision setting and rounds up the calculated scale denominator based on the scale precision. For example, if the scale precision is set to 1:100 and the calculated scale is 1:123.45, it will be rounded up to 1:124. This ensures that the printed scale meets the user's requirements while preventing distortion or distortion of the printed image due to an overly precise scale.

[0066] Detailed operations for printing ranges: Print range acquisition and positioning: For each record in the attribute table, the corresponding print range is acquired and the print range is positioned. Print range acquisition can be accomplished by the user specifying the coordinates or dimensions of the print area in the printing software, or by the printing robot automatically identifying the print area. For example, the user can draw a rectangular box in the printing software to specify the print range, or the printing robot can automatically identify the location of the print image on the wall using image recognition technology.

[0067] Applying a scale and scaling the drawing area: Scale the drawing area according to the recorded scale. The drawing area refers to the actual printable area within the print area, and its size and shape should be adjusted according to the print scale. Scaling can be performed using algorithms built into image processing software or a printing robot. For example, using the scaling tool in image processing software, scale the printed image according to the calculated print scale so that the printed image fits perfectly within the print area.

[0068] Furthermore, obtaining a first coordinate transformation relationship between the corner point positions in the printed image and the corner point positions in the wall includes: step 1, randomly selecting the first corner point and the second corner point in the printed image, and selecting the third corner point and the fourth corner point in the wall corresponding to the first corner point and the second corner point according to the printing scale; step 2, selecting the fifth corner point with the smallest sum of distances from the first corner point and the second corner point from the remaining corner points of the printed image, and selecting the fifth corner point with the smallest sum of distances from the third corner point and the fourth corner point from the remaining corner points of the wall, and obtaining a matching result of the fourth corner point and the fifth corner point; step 3, taking the fourth corner point and the fifth corner point as the new first corner point and the new third corner point, repeating step 2 until all corner points are matched, and obtaining the first coordinate transformation relationship between the corner point positions in the printed image and the corner point positions in the wall.

[0069] Specifically, determining the first coordinate transformation relationship between the corner points of the printed image and the corner points of the wall requires the following process: First, randomly select the first and second corner points from the printed image. Based on the print scale, find the corresponding third and fourth corner points on the wall. Next, among the remaining corner points in the printed image, find the fifth corner point with the shortest sum of distances to the first and second corner points. Simultaneously, among the remaining corner points on the wall, find the fifth corner point with the shortest sum of distances to the third and fourth corner points. This determines the matching between the fourth and fifth corner points. Then, using the fourth and fifth corner points as the new first and third corner points, repeat the second step until all corner points are matched, ultimately determining the first coordinate transformation relationship between the corner points of the printed image and the corner points on the wall.

[0070] Furthermore, setting the printing robot coordinate system includes: taking the endpoint of the printing robot nozzle as the origin, the ink discharge direction of the nozzle as the X-axis, and the nozzle arrangement direction as the Y-axis to establish the printing robot coordinate system.

[0071] Furthermore, establishing a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system includes: establishing a laser device coordinate system, calculating the Euclidean distance between each two random coordinate points in the position of the laser device coordinate system in the wall coordinate system, and calculating the corresponding position of the laser device coordinate system in the wall coordinate system each time the laser beam is emitted based on the Euclidean distance and the height from the laser device to the printing plane; obtaining a posture transformation matrix from the laser device posture to the printing robot posture based on the Euler angle and offset between the laser device coordinate system and the printing robot coordinate system; and obtaining a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system based on the corresponding position and the posture transformation matrix.

[0072] Specifically, the second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system is constructed as follows: First, the laser device coordinate system is established, and the Euclidean distance between any two random coordinate points of the laser device coordinate system in the wall coordinate system is calculated. Combining this Euclidean distance and the height of the laser device from the printing plane, the corresponding position of the laser device coordinate system in the wall coordinate system is calculated for each laser beam emission. Next, based on the Euler angles and offset between the laser device coordinate system and the printing robot coordinate system, the pose transformation matrix from the laser device pose to the printing robot pose is obtained. Finally, based on these corresponding positions and the pose transformation matrix, the second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system is determined.

[0073] Furthermore, calculating the Euclidean distance between every two random coordinate points in the position of the laser device coordinate system in the wall coordinate system includes:

[0074]

[0075] Among them, (x2-x1) and (y2-y1) are the coordinates of two points.

[0076] This embodiment also discloses a multi-dimensional adaptive page matching system for a large-format wall printing robot, including: a scale setting module, used to obtain an image to be printed, adaptively match the image contour of the image to be printed with the wall area, and obtain a printing scale; a first coordinate conversion module, used to match the corner points of the printed image and the wall coordinate system respectively according to the printing scale, and obtain a first coordinate conversion relationship between the corner point positions in the printed image and the corner point positions in the wall; a second coordinate conversion module, used to set the printing robot coordinate system, and establish a second coordinate conversion relationship between the wall coordinate system and the printing robot coordinate system; a wall printing module, used to use the printing robot to print the wall according to the image to be printed based on the first coordinate conversion relationship and the second coordinate conversion relationship.

[0077] The scale setting module includes: a wall area acquisition unit, which uses the laser device in the printing robot to emit a laser beam to the wall, receives the reflected laser signal, and calculates the wall area based on the round-trip time or phase difference principle of the laser; a scale setting unit, which obtains the image to be printed and calculates the printing scale suitable for the wall area based on the image contour of the image to be printed and the wall area.

[0078] The first coordinate conversion module includes: a first coordinate conversion unit, which is used to match corner points of the printed image and the wall coordinate system respectively according to the printing scale: step 1, randomly select the first corner point and the second corner point in the printed image, and select the third corner point and the fourth corner point on the wall corresponding to the first corner point and the second corner point according to the printing scale; step 2, select the fifth corner point with the smallest sum of distances from the first corner point and the second corner point from the remaining corner points of the printed image, and select the fifth corner point with the smallest sum of distances from the third corner point and the fourth corner point from the remaining corner points of the wall, and obtain the matching result of the fourth corner point and the fifth corner point; step 3, use the fourth corner point and the fifth corner point as the new first corner point and the new third corner point, repeat step 2 until all corner points are matched, and obtain the first coordinate conversion relationship between the corner point positions in the printed image and the corner point positions on the wall.

[0079] The second coordinate conversion module includes: a robot coordinate system setting unit, which is used to establish the printing robot coordinate system with the end point of the printing robot nozzle as the origin, the ink discharge direction of the nozzle as the X-axis, and the nozzle arrangement direction as the Y-axis; a second coordinate conversion unit, which is used to establish the laser device coordinate system, calculate the Euclidean distance between each two random coordinate points in the position of the laser device coordinate system in the wall coordinate system, and calculate the corresponding position of the laser device coordinate system in the wall coordinate system each time the laser beam is emitted based on the Euclidean distance and the height from the laser device to the printing plane; obtain the posture transformation matrix from the laser device posture to the printing robot posture based on the Euler angle and offset between the laser device coordinate system and the printing robot coordinate system; and obtain the second coordinate conversion relationship between the wall coordinate system and the printing robot coordinate system based on the corresponding position and the posture transformation matrix.

[0080] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A multi-dimensional adaptive page matching method for a large-format wall printing robot, characterized in that: include: Acquire an image to be printed, and adaptively match the image contour of the image to be printed with the wall area to obtain a printing scale; According to the printing scale, performing corner point matching on the printed image and the wall coordinate system respectively to obtain a first coordinate conversion relationship between the corner point position in the printed image and the corner point position on the wall; Setting a printing robot coordinate system, and establishing a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system; Based on the first coordinate transformation relationship and the second coordinate transformation relationship, a printing robot is used to print the wall according to the image to be printed.

2. The multi-dimensional adaptive page matching method for large-format wall printing robots according to claim 1 is characterized in that: Obtaining the wall area includes: using a laser device in the printing robot to emit a laser beam to the wall, receiving a reflected laser signal, and calculating the wall area based on the round-trip time or phase difference principle of the laser.

3. The multi-dimensional adaptive page matching method for large-format wall printing robots according to claim 1 is characterized in that: Acquiring the printing scale includes calculating a printing scale adapted to the wall area according to the image contour of the image to be printed and the wall area.

4. The multi-dimensional adaptive page matching method for large-format wall printing robots according to claim 1 is characterized in that: Obtaining a first coordinate transformation relationship between a corner point position in the printed image and a corner point position in the wall surface includes: Step 1: randomly selecting a first corner point and a second corner point in the printed image, and selecting a third corner point and a fourth corner point in the wall surface corresponding to the first corner point and the second corner point according to the printing scale; Step 2: Select a fifth corner point from the remaining corner points of the printed image, which has the smallest sum of distances from the first corner point and the second corner point, and select a fifth corner point from the remaining corner points of the wall, which has the smallest sum of distances from the third corner point and the fourth corner point, and obtain a matching result between the fourth corner point and the fifth corner point. Step 3: Use the fourth corner point and the fifth corner point as the new first corner point and the new third corner point, repeat step 2 until all corner points are matched, and obtain the first coordinate transformation relationship between the corner point position in the printed image and the corner point position in the wall.

5. The multi-dimensional adaptive page matching method for large-format wall printing robots according to claim 1 is characterized in that: Setting the printing robot coordinate system includes: The printing robot coordinate system is established by taking the endpoint of the printing robot nozzle as the origin, the ink discharge direction of the nozzle as the X-axis, and the nozzle arrangement direction as the Y-axis.

6. The multi-dimensional adaptive page matching method for a large-format wall printing robot according to claim 1 is characterized in that: Establishing a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system includes: Establishing a laser device coordinate system, calculating the Euclidean distance between each two random coordinate points of the laser device coordinate system in the wall coordinate system, and calculating the corresponding position of the laser device coordinate system in the wall coordinate system when the laser beam is emitted each time based on the Euclidean distance and the height of the laser device from the printing plane; Obtaining a posture transformation matrix from the laser device posture to the printing robot posture according to the Euler angles and offsets between the laser device coordinate system and the printing robot coordinate system; Based on the corresponding positions and the posture transformation matrix, a second coordinate transformation relationship between the wall coordinate system and the printing robot coordinate system is obtained.

7. The multi-dimensional adaptive page matching method for a large-format wall printing robot according to claim 6 is characterized in that: Calculating the Euclidean distance between every two random coordinate points in the position of the laser device coordinate system in the wall coordinate system includes: Among them, (x2-x1) and (y2-y1) are the coordinates of two points.

8. A large-scale wall printing robot multi-dimensional adaptive page matching system, characterized by: include: A scale setting module is used to obtain an image to be printed, and adaptively match the image contour of the image to be printed with the wall area to obtain a printing scale; a first coordinate conversion module, configured to perform corner point matching on the printed image and the wall coordinate system according to the printing scale, and obtain a first coordinate conversion relationship between the corner point positions in the printed image and the corner point positions on the wall; A second coordinate conversion module is used to set the printing robot coordinate system and establish a second coordinate conversion relationship between the wall coordinate system and the printing robot coordinate system; The wall printing module is used to print the wall according to the image to be printed by using a printing robot based on the first coordinate transformation relationship and the second coordinate transformation relationship.

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