Mobile printing robot based on Mecanum wheels

Abstract

The invention provides a mobile printing robot based on Mecanum wheels. The mobile printing robot aims at solving the problems that an existing automatic printing device is limited in printing breadth, poor in moving flexibility and low in complex path printing precision. The robot comprises a robot body, Mecanum wheels, an ink-jet printing assembly, a position sensor, an AI trajectory planning module and a linkage control module. The four Mecanum wheels at the bottom of the robot body are arranged in a four-wheel rectangle mode and are connected with independent driving motors correspondingly, and omnidirectional movement is achieved. And the ink jet head is vertically aligned with the center of motion of the Mecanum wheel. The AI trajectory planning module disassembles a path based on target pattern vector data, plans movement parameters by combining with equipment parameters and performs real-time correction according to feedback of a position sensor; and the linkage control module realizes linkage of the AI algorithm, the driving motor and the ink jet head. The method breaks through the limitation of the printing breadth, effectively reduces the printing error of a complex path, greatly improves the printing efficiency, and is suitable for automatic printing of scenes such as large-area paper surfaces, grounds and wall surfaces.

Description

Technical Field

[0001] This invention relates to the intersection of mobile robots and digital printing technology, and is particularly applicable to automatic printing scenarios on non-planar or large-sized flat surfaces such as large-area paper, ground, and walls. Specifically, it relates to a mobile printing robot based on Mecanum wheels. Background Technology

[0002] Currently, automatic printing equipment is mainly divided into two categories: fixed printhead type and robotic arm driven printhead type.

[0003] Fixed printhead equipment is limited by the printing area and cannot print on very large or irregular areas. It requires frequent manual movement of equipment and splicing of patterns, which is inefficient and prone to splicing errors.

[0004] While robotic arms can extend the printing range of printhead-driven equipment, their limited radius of motion and poor mobility make them prone to inaccurate printhead positioning due to inertia when dealing with complex paths (such as curves or continuous diagonal printing), thus affecting printing accuracy.

[0005] Furthermore, existing equipment lacks omnidirectional movement mechanisms and intelligent path planning, making it difficult to adapt to the efficiency and accuracy requirements of diverse printing scenarios. Therefore, there is an urgent need for an automated printing device that can overcome printing size limitations, improve movement flexibility, and enhance printing accuracy for complex paths. Summary of the Invention

[0006] This invention provides a mobile printing robot based on Mecanum wheels, which effectively solves the problems existing in the prior art mentioned above.

[0007] Specifically, this invention provides a mobile printing robot based on Mecanum wheels. The robot includes a robot body, multiple Mecanum wheels, an inkjet printing assembly, a position sensor, an AI trajectory planning module, and a linkage control module. The Mecanum wheels are located at the bottom of the robot body, and each Mecanum wheel is independently equipped with a servo drive motor. The inkjet printing assembly is integrated at the top of the robot body. The linkage control module controls the AI ​​trajectory planning module, servo drive motors, and inkjet printing assembly via a real-time communication bus. When the AI ​​trajectory planning module outputs a movement command, the linkage control module sends the movement command to the servo drive motors and inkjet printing assembly via the bus. After receiving the command, the servo drive motors drive the Mecanum wheels to achieve the specified movement. The AI ​​trajectory planning module analyzes the vector data of the target printing pattern, automatically identifies the contour features and geometric attributes of the target printing pattern, and thus decomposes the target printing pattern into multiple printing path segments, thereby planning the motion trajectory of the mobile printing robot. The AI ​​trajectory planning module calls a built-in dynamic path optimization model, which calculates movement parameters based on multi-dimensional constraints. Based on the planned motion trajectory and the calculated movement parameters, the AI ​​trajectory planning module outputs the movement command. The trajectory planning module establishes a high-frequency communication link with the position sensor. The position sensor collects the robot's actual position coordinates and attitude information at a specific frequency and feeds back the feedback data to the AI ​​trajectory planning module in real time. The AI ​​trajectory planning module compares the feedback data with the planned motion trajectory in real time and analyzes the motion deviation of the mobile printing robot. When the motion deviation exceeds a preset threshold, the AI ​​trajectory planning module dynamically corrects the movement parameters of each Mecanum wheel to offset the motion deviation in real time.

[0008] Preferably, when a position sensor reports a fault, the AI ​​trajectory planning module instructs the inkjet printing component to pause inkjet printing and stop the servo drive motor via a bus command, while simultaneously issuing an alarm signal.

[0009] Preferably, the movement parameters include the wheel speed distribution of multiple Mecanum wheels, the direction of movement, and the dwell time at the path junction.

[0010] Preferably, in terms of wheel speed distribution, the AI ​​trajectory planning module calculates the independent rotational speed and steering of the multiple Mecanum wheels according to the path type, the difference in inner and outer wheel speeds required to achieve curved motion when passing through the arc segment, and the diagonal wheel speed co-translation angle required when passing through the oblique segment.

[0011] Preferably, in the direction of movement, with the world coordinate system as the reference, the AI ​​trajectory planning module calculates the optimal direction angle of movement based on the robot's current position and the coordinates of the starting point of the path segment, ensuring that the robot connects each path segment with the shortest path.

[0012] Preferably, regarding dwell time, the AI ​​trajectory planning module plans the dwell time of the mobile printing robot at the junction of path segments, while reserving buffer time for the inkjet printing components to switch spraying states.

[0013] Preferably, the motion deviation includes position deviation, angle deviation, and velocity deviation.

[0014] In summary, this invention provides a mobile printing robot based on Mecanum wheels, aiming to solve the problems of limited printing area, poor mobility, and low printing accuracy on complex paths in existing automatic printing equipment. The robot includes a robot body, Mecanum wheels, inkjet printing components, position sensors, an AI trajectory planning module, and a linkage control module. The four Mecanum wheels at the bottom of the robot body are arranged in a "four-wheel rectangle" layout and each is connected to an independent drive motor, enabling omnidirectional movement; the inkjet head is vertically aligned with the motion center of the Mecanum wheels. The AI ​​trajectory planning module decomposes the path based on the target pattern vector data, plans the movement parameters in conjunction with equipment parameters, and corrects them in real time based on feedback from the position sensors; the linkage control module realizes the linkage between the AI ​​algorithm, the drive motors, and the inkjet head. This invention overcomes the limitations of printing area, effectively reduces printing errors on complex paths, significantly improves printing efficiency, and is suitable for automatic printing on large areas of paper, floors, walls, and other surfaces. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be discussed below. Obviously, the technical solutions described in conjunction with the accompanying drawings are only some embodiments of the present invention. For those skilled in the art, other embodiments and their accompanying drawings can be obtained based on the embodiments shown in these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating the operation of a mobile printing robot based on Mecanum wheels according to the present invention is shown.

[0017] Figure 2 A three-dimensional schematic diagram of the Mecanum wheel used in this invention is shown.

[0018] Figure 3 A bottom view of a mobile printing robot based on Mecanum wheels according to the present invention is shown. Detailed Implementation

[0019] The technical solutions of various embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments described in the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In summary, this invention provides a mobile printing robot based on Mecanum wheels, which aims to solve the problems of limited printing area, poor mobility, and low printing accuracy in complex paths of existing automatic printing equipment, and to achieve efficient and accurate automatic printing in large areas and complex paths. Figure 1 A flowchart illustrating the operation of a mobile printing robot based on Mecanum wheels according to the present invention is shown.

[0021] The main body of the aforementioned mobile printing robot, serving as the core installation carrier, can be made of high-strength, lightweight alloy material. This ensures the overall structural stability of the equipment while effectively reducing its own weight, providing a foundation for flexible movement.

[0022] Four high-performance Mecanum wheels are set at the bottom of the main body, with a neat "four-wheel rectangle" layout. The four wheels correspond to the four corners of the robot body, and the wheel axles are perpendicular to the bottom surface of the main body and at the same horizontal height to ensure uniform force distribution.

[0023] Figure 2 A three-dimensional schematic diagram of the Mecanum wheel used in this invention is shown. The Mecanum wheel provides amazing omnidirectional mobility, and through AI-assisted trajectory planning and boundary detection systems, it can complete printing jobs without boundary restrictions, making design drafting, mobile office work, and creative drawing simpler and easier.

[0024] Figure 3 This shows a bottom view of a mobile printing robot based on Mecanum wheels according to the present invention. From Figure 3 It can be seen that the four Mecanum wheels can be used as the "wheels" of the mobile printing robot.

[0025] In fact, the INKSI-BOT engine used in this invention possesses a "super brain," interacting with cloud-based AI in real time via a nervous system (WiFi). It can coordinate through its eyes (camera), ears (microphone), mouth (speaker), and limbs (drive wheels), allowing users to control it independently and freely without a mobile app. Leveraging precise microfluidic inkjet technology and high-precision positioning, the INKSI-BOT engine enables the robot to be placed and started at any point, quickly moving to the starting point through path planning, ultimately achieving high-precision robotic printing.

[0026] Each Mecanum wheel is independently equipped with a high-precision servo drive motor. The motor is rigidly connected to the wheel body of the Mecanum wheel through a high-strength coupling, which enables independent and precise control of the wheel body's speed and direction.

[0027] Through the control commands output by the AI ​​trajectory planning module, the four drive motors work together to flexibly switch motion modes, ultimately achieving omnidirectional movement of the robot, including straight movement in the forward and backward direction, lateral movement in the left and right direction, diagonal movement at any angle, and rotation in place with the Mecanum wheel motion center as the origin. This completely breaks the motion limitations of traditional mobile devices and adapts to the path requirements of complex printing scenarios.

[0028] A high-performance inkjet printing component is integrated in the central area at the top of the robot body. This component is preferably fixed to the body through a shock-absorbing bracket, which can reduce the impact of vibration on printing accuracy during movement.

[0029] The inkjet printing assembly mainly consists of three parts: the printhead, the ink tank, and the pressure control module.

[0030] The inkjet head can be an industrial-grade high-precision piezoelectric printhead with a printing resolution of 1200 DPI, which can precisely control the droplet size and ejection frequency.

[0031] The ink tank features a large-capacity sealed design with a volume of up to 500mL. It is equipped with an ink level monitoring sensor that can provide real-time feedback on the remaining ink level. It also has anti-leakage and anti-drying functions and is compatible with different types of printing inks (such as solvent-based and water-based inks).

[0032] The pressure control module incorporates a high-precision pressure sensor and an electromagnetic regulating valve, which can adjust the inkjet pressure in real time according to printing needs, ensuring stable and uniform ink ejection. Notably, the inkjet head's mounting position is precisely calibrated, with its ejection center point maintaining a strict vertical alignment with the motion center formed by the four Mecanum wheels, with a deviation not exceeding ±0.1mm. This coaxial alignment design counteracts potential lateral offsets and rotational swaying during robot movement, ensuring that the inkjet head always remains directly above the planned printing path, regardless of whether the robot is moving straight, diagonally, or rotating. This hardware-based design guarantees printhead positioning stability during mobile printing, laying the foundation for high-precision printing.

[0033] Based on the aforementioned robot hardware, the robot's trajectory can be achieved through AI trajectory planning. AI trajectory planning is the core of achieving accurate printing on complex paths. It takes the vector data of the target printing pattern as input and ensures that the inkjet head's movement trajectory perfectly matches the printing pattern through a three-step closed-loop process of "data decomposition - parameter planning - real-time correction".

[0034] AI trajectory planning first parses the input vector data (e.g., supporting mainstream formats such as SVG and DXF) to automatically identify the contour features and geometric attributes of the pattern to be printed. Through contour extraction, breakpoint connection, and path smoothing, complex patterns are decomposed into continuous and conflict-free "printing path segments," and the granularity of the decomposition can be dynamically adjusted according to printing accuracy requirements.

[0035] Common path segment types include straight line segments and circular arc segments. For irregular curved patterns, trajectory planning uses multiple small-radius circular arcs or polylines to approximate the path, transforming it into continuous approximate path segments. This ensures smooth transitions at path connections and eliminates printed abrupt changes. During the decomposition process, trajectory planning automatically marks key parameters for each path segment, such as the start / end coordinates and length of straight line segments, and the center coordinates, radius, and rotation angle of circular arc segments, providing data support for subsequent parameter planning.

[0036] After the path is broken down, the trajectory planning will call the built-in "dynamic path optimization model" and calculate the movement parameters in combination with multi-dimensional constraints. The constraints include the robot's real-time current position coordinates (initial positioning by the position sensor), the Mecanum wheel's movement speed threshold (maximum 0.2m / s, which can be customized according to the scenario), the preset printing accuracy requirements (minimum ±0.3mm), and also take into account printing process parameters such as ink drying speed and printhead ejection frequency.

[0037] The trajectory planning module described above uses a multi-objective optimization algorithm to plan the optimal movement parameters for each path segment: In terms of wheel speed distribution, the independent rotation speed and steering of the four Mecanum wheels are calculated according to the path type. For example, the four wheels are controlled synchronously at the same speed in straight sections, the curved sections achieve curved motion through the speed difference between the inner and outer wheels (the inner wheel speed is lower than the outer wheel speed), and the diagonal sections achieve translation at a specified angle through the coordination of diagonal wheel speeds.

[0038] In terms of movement direction, using the world coordinate system as a reference, and combining the robot's current position with the coordinates of the starting point of the path segment, the optimal movement direction angle is calculated to ensure that the robot connects each path segment with the shortest path.

[0039] Regarding the dwell time, a short dwell time (adjustable from 0.05 to 0.2 seconds) is planned for key nodes such as the connection of path segments and the corner of the pattern to avoid printhead deviation caused by motion inertia, and to reserve a buffer for the inkjet head to switch spraying states.

[0040] The trajectory planning module also establishes a high-frequency communication link with position sensors (such as laser positioners). The sensors collect the robot's actual position coordinates and attitude information at a specific frequency (e.g., 100ms / time) and feed it back to the trajectory planning module in real time. This module compares the feedback data with the planned path in real time and analyzes the position deviation, angle deviation, and velocity deviation through a deviation calculation model (based on the least squares method and Kalman filtering).

[0041] When a deviation exceeding a preset threshold (e.g., ±0.1mm) is detected, the trajectory planning module immediately activates a parameter adjustment mechanism: by dynamically correcting the rotation speed, steering, or movement direction angle of each Mecanum wheel, it compensates for deviations caused by uneven ground friction, motor speed fluctuations, and other factors during movement. For long-distance path segments, the trajectory planning module employs a segmented correction strategy, performing deviation calibration every 5cm to ensure that the inkjet head always moves strictly along the planned path, ultimately controlling the overall printing error within ±0.5mm.

[0042] The linkage control module acts as a bridge between AI algorithms and actuators. Its core function is to achieve precise synchronization between "motion and inkjet printing," thus completely solving the problems of "missed printing" and "reprinting" that are prone to occur in traditional equipment.

[0043] The module internally incorporates a linkage mechanism based on a real-time communication bus, forming a closed-loop control system between the AI ​​trajectory planning module, the Mecanum wheel drive motor, and the inkjet printing components. When the AI ​​trajectory module outputs a movement command, the command is simultaneously sent to the drive motor controller and the inkjet head control unit via the bus.

[0044] After receiving the instruction, the drive motor controller immediately drives the corresponding servo motor to operate according to the planned parameters, thereby driving the Mecanum wheel to achieve the specified movement.

[0045] The inkjet head control unit receives instructions synchronously and adjusts the inkjet head's ejection frequency (e.g., 1000-3000 drops / second) and droplet size (e.g., 10-50pl) according to the movement speed and printing accuracy requirements of the path segment, ensuring that the ink ejection volume matches the path movement speed and achieving uniform printing.

[0046] When encountering scenarios such as path segment switching, deviation correction requiring a short pause, or printing task completion, the movement stop command output by the AI ​​trajectory planning module will simultaneously trigger two actions: First, the drive motor immediately executes a braking program, achieving rapid stopping through the motor's back electromotive force to avoid inertial coasting; second, the inkjet head control unit immediately cuts off the inkjet signal, stopping ink ejection. The entire synchronous response time does not exceed a specific duration (e.g., 10ms), ensuring precise coordination of "inkjet printing during movement and inkjet stopping upon stopping," thus fundamentally eliminating quality issues such as missed printing (no inkjet printing during movement) and reprinting (inkjet printing continuing after stopping) caused by asynchronous movement and inkjet printing.

[0047] In addition, the linkage control module also has a fault emergency linkage function. When a fault occurs, such as abnormal feedback from the position sensor or insufficient ink, the AI ​​trajectory planning module will immediately trigger the motor to stop and the inkjet to pause, and at the same time issue an alarm signal to ensure equipment safety and print quality.

[0048] The following text uses "printing arrow markings in a 5m×3m rectangular area on the factory floor" as an application scenario to fully present the entire process of operation and execution details of the mobile printing robot based on Mecanum wheels, demonstrating the accurate printing capabilities of the device of this invention in large-area, complex path scenarios.

[0049] In this example, data import and path decomposition are performed first. Specifically, vector graphic preprocessing and import are performed first.

[0050] First, the operator imports a pre-designed arrow marker in SVG format through the robot control system's visual interface. This vector graphic has been proportionally adapted to the target printing area of ​​5m × 3m on the factory floor, with the overall arrow dimensions being "head radius 0.5m, shaft length 3m" and the line width set to 0.2m to ensure the marker is clear and legible.

[0051] The control system has a built-in vector image verification module that automatically detects whether the image is damaged, has broken paths, or other problems. After verification, the vector data is transmitted to the AI ​​trajectory planning module.

[0052] Next, contour recognition and path segment decomposition are performed. The AI ​​trajectory planning module starts the path parsing program, extracts the complete contour of the arrow marker through the edge detection algorithm, removes redundant nodes and repeated paths, and generates a continuous single-line contour path.

[0053] Based on the geometric features of the arrows, the algorithm automatically completes path decomposition.

[0054] For the arrowhead, it is identified as a "1 / 4 arc segment with a radius of 0.5m". The system automatically calculates and marks the key parameters of this arc segment: center coordinates (set to (4.5m, 1.5m) with the lower left corner of the printed area as the origin), starting angle 0°, and ending angle 90°, ensuring the arc contour matches the design. For the arrow shaft, it is identified as a "straight line segment of 3m length". The system marks the starting coordinates (4.5m, 1.5m) (coinciding with the end point of the arc segment) and the ending coordinates (1.5m, 1.5m), with the path extending leftward along the horizontal centerline of the printed area.

[0055] After disassembly, the system displays a visual preview of the two paths on the interactive interface, allowing operators to confirm the completeness and rationality of the paths and support manual fine-tuning of the path node coordinates.

[0056] Next, precise configuration of multi-dimensional parameters is performed. Operators input printing parameters adapted to the specific scenario through the parameter setting panel of the control system, and all parameters are synchronized in real time to the AI ​​trajectory planning module and the linkage control module.

[0057] Specifically, the printing accuracy is set to ±0.3mm. This parameter triggers the algorithm to activate a high-precision path planning mode, simultaneously optimizing the path decomposition granularity and deviation correction threshold. The Mecanum wheel motion parameters are set to a maximum speed limit of 0.2m / s, with motor acceleration and deceleration times set to 0.1s each to prevent positional shifts due to inertia during start-up and shutdown. In the inkjet printing parameters, the inkjet head pressure is set to 0.3MPa, matching the currently used water-based industrial marking ink, ensuring uniform droplet ejection and adequate adhesion. The inkjet frequency is simultaneously set to 2000 drops / second, coordinated with the wheel speed to prevent broken or overlapping lines.

[0058] After the parameters are set, the system automatically generates a parameter configuration report, which clarifies the parameter mapping relationship of each module, making it easier to trace and adjust later.

[0059] The entire AI trajectory planning process is then analyzed. After receiving data and parameters, the AI ​​trajectory planning module initiates phased trajectory planning to ensure optimal adaptation of motion parameters for each segment of the path.

[0060] First, the trajectory planning of the arc segment at the head of the arrow is performed. The algorithm first calculates the robot's motion trajectory center to coincide with its own motion center based on the center coordinates of the arc segment (4.5m, 1.5m), radius 0.5m, and rotation angle of 90°. The arc printing is achieved through a combination of "rotation in place + diagonal movement".

[0061] Next, the motion logic is determined, in which the robot rotates around the center of the circle (4.5m, 1.5m), and while completing the circular trajectory movement, the inkjet head always points to the tangent direction of the arc.

[0062] Then, wheel speed distribution planning is carried out. Through dynamic path optimization model calculation, the rotational speed of the two inner wheels (the two Mecanum wheels on the side closer to the center of the circle) is set to 0.15m / s, and the rotational speed of the two outer wheels is set to 0.2m / s. The rotational torque is generated by the speed difference between the inner and outer wheels to achieve a precise circular arc movement with a radius of 0.5m. At the same time, the wheel rotation is planned to be clockwise to ensure that the circular arc trajectory is consistent with the outline of the arrow head.

[0063] Next, the trajectory of the straight segment of the arrow pole is planned. For a straight segment with a length of 3m, the algorithm plans a motion strategy of "straight movement + real-time fine adjustment".

[0064] In this motion strategy, regarding basic motion parameters, four Mecanum wheels are set to rotate synchronously clockwise at a speed of 0.18 m / s (below the maximum speed threshold to ensure straight-line stability), with the direction of movement horizontally to the left (consistent with the direction of the straight-line path). Regarding the deviation correction mechanism, the preset directional deviation threshold is ±0.1 mm. The algorithm receives position feedback from the laser positioner in real time. Once the robot deviates from the straight-line path, the corresponding wheel speed is immediately fine-tuned (e.g., when deviating to the right, the speed of the two left wheels is fine-tuned to 0.182 m / s, while the speed of the two right wheels remains at 0.18 m / s), ensuring that the robot always moves along the precise path from the start to the end of the straight-line segment.

[0065] Subsequently, the path connection parameters were optimized. To avoid printing breaks or overlaps at the junction of the arc segment and the straight segment, the algorithm specifically planned the connection transition parameters: when the robot completes the arc segment movement and is 1cm away from the starting point of the straight segment, the wheel speed smooth switching program is started - the speed of the two inner wheels gradually increases from 0.15m / s to 0.18m / s, and the speed of the two outer wheels gradually decreases from 0.2m / s to 0.18m / s. The switching process lasts for 0.1s, ensuring a smooth transition of the motion state and that the printed lines at the junction are continuous without breaks.

[0066] The next step is the printing execution and real-time quality control process. In this step, after the operator confirms that all settings are correct, the system issues a "start printing" command. The linkage control module responds immediately, triggering two actions simultaneously: first, the Mecanum wheel drive motor starts running according to the planned parameters, moving the robot towards the starting point of the arc segment at the head of the arrow; second, the inkjet head receives the synchronization signal and starts inkjet printing at a pressure of 0.3MPa and a frequency of 2000 drops / second, achieving precise coordination of "motion equals inkjet printing".

[0067] Then, path connection and deviation correction are performed. The robot first prints the arc segment of the arrow head according to the planned trajectory. During the movement, the laser positioner collects the robot's actual position coordinates and attitude angles every 100ms and feeds them back to the AI ​​trajectory planning module. The algorithm compares the actual position with the planned arc trajectory, calculates the deviation value, and if there is a slight offset (such as a deviation of ±0.08mm due to slight unevenness of the ground), it immediately fine-tunes the corresponding wheel speed to ensure the accuracy of the arc contour.

[0068] After printing the arc segment, the robot smoothly switches to the straight segment motion mode according to the transition parameters, and the inkjet head continues to spray ink synchronously. During the straight segment printing process, the laser positioner continuously provides position information, and the algorithm performs directional deviation calibration every 5cm of movement to ultimately ensure that there is no significant offset in the straight segment printing.

[0069] Finally, task completion and result verification are performed. The entire printing process lasts approximately 8 minutes. The robot precisely completes the continuous printing of the arc segment at the arrowhead and the straight segment of the rod, without any breaks or overlaps. After the printing task is completed, the control system automatically triggers the "stop and stop ink" command, driving the motor to brake rapidly, and the inkjet head synchronously stops ejecting ink.

[0070] Operators used a high-precision laser rangefinder to check the errors of the printed arrow markings: the measured radius of the arrowhead arc was 0.5001m, which deviated from the design value by 0.0001m; the measured length of the straight section of the pole was 3.0002m, with a maximum directional deviation of 0.2mm, all of which met the preset printing accuracy requirement of ±0.3mm. The markings had clear lines and neat edges, fully meeting the needs of factory floor markings.

[0071] By utilizing the motion printing robot provided by this invention, the omnidirectional movement of the Mecanum wheels overcomes the printing area limitations of traditional printing equipment. Large-area printing jobs can be completed without frequent manual movement, significantly improving printing efficiency compared to existing equipment (by 30%-50%). The AI ​​trajectory planning algorithm, combined with real-time position feedback, can precisely allocate the motion parameters of the Mecanum wheels, effectively controlling printing errors on complex paths (e.g., within ±0.5mm), resulting in significantly superior printing accuracy compared to existing equipment. Furthermore, the coordinated design of the related hardware structure and algorithms simplifies the printing operation process, enabling automatic and accurate printing of complex patterns without manual intervention, greatly reducing labor costs. Moreover, the device provided by this invention is highly adaptable and can be applied to automatic printing scenarios on large-area paper surfaces, floors, walls, and other non-planar or large-sized flat surfaces, such as large-scale drawing printing, factory floor marking printing, and outdoor wall advertising painting, providing a wide range of applications.

[0072] The basic technical content of this invention has been introduced here. In summary, this invention provides a mobile printing robot based on Mecanum wheels, relating to the intersection of mobile robotics and digital printing technology. It aims to solve the problems of limited printing area, poor mobility, and low printing accuracy on complex paths in existing automatic printing equipment. The robot includes a robot body, Mecanum wheels, inkjet printing components, position sensors, an AI trajectory planning module, and a linkage control module. The four Mecanum wheels at the bottom of the robot body are arranged in a "four-wheel rectangle" layout and each is connected to an independent drive motor, enabling omnidirectional movement; the inkjet head is vertically aligned with the center of motion of the Mecanum wheels. The AI ​​trajectory planning module decomposes the path based on the target pattern vector data, plans the movement parameters in conjunction with equipment parameters, and corrects them in real time based on feedback from the position sensors; the linkage control module realizes the linkage between the AI ​​algorithm, the drive motor, and the inkjet head. This invention breaks through the limitations of printing area, effectively reduces printing errors on complex paths, significantly improves printing efficiency, and is suitable for automatic printing on large areas of paper, floors, walls, and other scenarios.

[0073] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mobile printing robot based on Mecanum wheels, characterized in that, The robot comprises a main body, multiple Mecanum wheels, an inkjet printing assembly, position sensors, an AI trajectory planning module, and a linkage control module. The Mecanum wheels are located at the bottom of the main body, each equipped with an independent servo drive motor. The inkjet printing assembly is integrated at the top of the main body. The linkage control module controls the AI ​​trajectory planning module, servo drive motor, and inkjet printing component via a real-time communication bus. When the AI ​​trajectory planning module outputs a movement command, the linkage control module sends the movement command to the servo drive motor and inkjet printing component via the bus. After receiving a command, the servo drive motor drives the Mecanum wheel to achieve the specified movement. The AI ​​trajectory planning module analyzes the vector data of the target printing pattern, automatically identifies the contour features and geometric attributes of the target printing pattern, and thus decomposes the target printing pattern into multiple printing path segments, thereby planning the motion trajectory of the mobile printing robot. The AI ​​trajectory planning module calls upon a built-in dynamic path optimization model, which calculates movement parameters based on multi-dimensional constraints. The AI ​​trajectory planning module then outputs the movement command based on the planned trajectory and the calculated movement parameters. The AI ​​trajectory planning module establishes a high-frequency communication link with the position sensor. The position sensor collects the robot's actual position coordinates and attitude information at a specific frequency and feeds the feedback data back to the AI ​​trajectory planning module in real time. The AI ​​trajectory planning module compares the feedback data with the planned motion trajectory in real time to analyze the motion deviation of the mobile printing robot. When a motion deviation is detected to exceed a preset threshold, the AI ​​trajectory planning module dynamically adjusts the movement parameters of each Mecanum wheel to offset the motion deviation in real time.

2. The mobile printing robot according to claim 1, characterized in that, When a position sensor reports a fault, the AI ​​trajectory planning module instructs the inkjet printing component to pause inkjet printing and stop the servo drive motor via the bus, while simultaneously issuing an alarm signal.

3. The mobile printing robot according to claim 1, characterized in that, The movement parameters include the wheel speed distribution of multiple Mecanum wheels, the direction of movement, and the dwell time at path junctions.

4. The mobile printing robot according to claim 3, characterized in that, Regarding wheel speed distribution, the AI ​​trajectory planning module calculates the independent rotation speed and steering of the multiple Mecanum wheels based on the path type, the difference in inner and outer wheel speeds required to achieve curved motion when passing through arc segments, and the diagonal wheel speed co-translation angle required when passing through oblique segments.

5. The mobile printing robot according to claim 3, characterized in that, In terms of movement direction, using the world coordinate system as a reference, the AI ​​trajectory planning module calculates the optimal movement direction angle based on the robot's current position and the coordinates of the starting point of the path segment, ensuring that the robot connects each path segment with the shortest path.

6. The mobile printing robot according to claim 3, characterized in that, Regarding dwell time, the AI ​​trajectory planning module plans the dwell time of the mobile printing robot at the junction of path segments, while reserving buffer time for the inkjet printing components to switch spraying states.

7. The mobile printing robot according to claim 1, characterized in that, The motion deviations include positional deviations, angular deviations, and velocity deviations.

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