Surface printer and line quality

Abstract

In an example, a surface marking robot may print lines to a surface. An image of the printed line may be captured. The captured image may be analyzed to calculate parameters of the printed line. In response to determining that the parameter of the print line is not within the limits, the print settings may be modified. In one example, the captured images may be analyzed to assess the health of the surface marking robot.

Description

Background Technology

[0001] Surface printers (including surface marking robots) can be used to draw or print lines on a surface by depositing printing material while moving. Attached Figure Description

[0002] Various non-limiting examples will be described with reference to the following figures, in which: Figure 1 It is a block diagram based on the example surface marking printer; Figures 2A to 2F This is a view illustrating a robot with surface markings based on an example; Figure 3 The illustration shows a conceptual diagram of the printed lines based on the example; Figures 4A to 4B The illustration shows a conceptual diagram of the printed lines based on the example; Figure 5 This is a flowchart illustrating the calibration of a surface marking printer for line analysis, based on an example. Figure 6 The calibration pattern is illustrated according to the example; Figure 7 The illustration shows a conceptual diagram of a captured image based on an example calibration pattern; Figure 8 The illustration shows the printed test lines based on the example; Figure 9 It is a flowchart illustrating the process of analyzing and modifying printed lines based on an example; Figure 10 The illustration shows a concept diagram of a captured image of a printed line based on an example; Figure 11 The illustration shows a concept diagram captured from multiple images of printed lines based on an example; Figure 12 The illustration shows a conceptual diagram of the analysis of an image capture of printed lines based on an example; Figure 13 The illustration shows a concept diagram captured from multiple images of printed lines based on an example; Figure 14 It is a flowchart illustrating the process of analyzing and modifying printed lines based on an example; Figure 15 It is a block diagram illustrating a computer program product based on an example; Figure 16 It is a block diagram illustrating an example fluid transport device according to an example; and Figure 17 This is a block diagram illustrating a hardware device including a semiconductor package, based on an example. Detailed Implementation

[0003] Surface marking printers can include, for example, autonomous vehicles that can be used in applications such as construction and street marking to print images, such as lines, on surfaces (i.e., substrates). For instance, an autonomous vehicle could be called a surface marking robot and could receive a floor plan and print a layout for building construction on the ground. For example, a surface marking robot can print elements such as lines, text, dashed lines, curves, and circles, corresponding to layouts of interior walls, mechanical, electrical, plumbing, fire protection, HVAC systems, etc. In typical applications, it can be useful to utilize different line types during printing. For example, for interior wall layouts, it might be useful to print relatively wide lines with a specific color; for electrical layouts, it might be more useful to print relatively narrow lines with another specific color. Furthermore, users may have specific preferences for line properties, and different types of applications may have different requirements for the precision of line properties.

[0004] Typical flooring materials on which layouts can be printed can include porous surfaces such as polished and rough concrete, tarpaulin, and wood; and non-porous surfaces such as terrazzo, vinyl, and epoxy. Furthermore, the conditions for a particular flooring type may vary based on factors such as surface treatment, floor condition (e.g., wet or dry, shaded or exposed to direct sunlight), and weather conditions (e.g., temperature and relative humidity). Additionally, the printing fluids used for a particular application may also differ. For example, the type of ink available for surface marking robots can be permanent or semi-permanent and can be water-based or solvent-based. Differences in substrate, environmental conditions, and printing fluids can lead to variations in printing fluid absorption (e.g., more / less bleeding, penetration, etc.), resulting in variations in the appearance of the printed lines.

[0005] While users can configure a surface marking robot to print onto a surface with a specified line width, the resulting lines may be wider or narrower than expected due to variability (e.g., the variability described above). Furthermore, the quality and consistency of the resulting lines may also vary. For example, lines may exhibit wavy edges instead of the expected straight edges. That is, while users can manually adjust the line width using the provided predefined settings, in typical cases, to ensure the printed lines meet the user's requirements, the user needs to manually adjust the predefined settings using a trial-and-error approach until the printed lines appear acceptable. Furthermore, since conditions (e.g., weather conditions) can be highly variable, the user may need to repeat the manual adjustment process multiple times during printing. The techniques described in this disclosure help surface marking robots print lines with a specified width and quality while reducing the need for manual adjustments when conditions change during the current job. Line width and line quality are examples of line properties that can be determined according to the techniques described herein.

[0006] Figure 1 This is a block diagram of an example surface printer. A surface printer may include a surface marking robot that can propel itself and apply printing material to a surface. In some examples, the surface marking robot may be propelled with user assistance. In some examples, the surface marking robot includes a motor (e.g., an electric motor) and a power source (e.g., a battery). The surface marking robot may be propelled by friction (e.g., by movement of wheels on the surface) or by aerodynamic levitation. Typical surfaces may include any of the surfaces described in the examples above. For example, the surface may be concrete, asphalt, or a wood or composite material surface. Further, in some examples, the surface may include a field or turf. The surface may include holes or obstacles. The surface marking robot can apply printing fluid (e.g., ink) to the surface while avoiding obstacles.

[0007] In some examples, the surface marking robot is operated by a computer system that includes a processor and memory. Figure 1 In this example, the surface printer 100 includes a processor 102, a memory 104, a motion control system 106, a position detection system 108, a print control system 110, a print system 112, a sensor 114, a user interface 116, a calibration system 118, and a communication system 120. It should be noted that although the example surface printer 100 is illustrated with different functional blocks, this illustration is for descriptive purposes and does not limit the surface printer 100 to any particular hardware or machine-readable instruction architecture. The functionality of the surface printer 100 can be implemented using any combination of hardware and / or machine-readable instruction implementations. In one example, the functionality of the surface printer 100 may include various chipsets connected via a system interface. For example, the system interface may include chipsets supporting PCI and PCIe bus protocols, proprietary bus protocols, Universal Serial Bus (USB) protocols, I2C, or the system interface may include any other logical and physical structures that can be used to interconnect peer devices.

[0008] Processor 102 can implement functions and / or process instructions for execution in surface printer 100. Processor 102 may include processing units(s) capable of acquiring and processing instructions, code, and / or data structures for implementing the techniques described herein. Instructions may be stored on a computer-readable medium, such as memory 104 or internal or external storage devices. Processor 102 may include a digital signal processor (DSP), a general-purpose microprocessor, an application-specific integrated circuit (ASIC), a field-programmable array of logic (FPGA), or other equivalent integrated or discrete logic circuitry. Processor 102 may include a multi-core central processing unit.

[0009] Memory 104 can store information that the surface printer 100 can use during operation. Memory 104 can be described as a non-transitory or tangible computer-readable storage medium. Memory 104 can include any type of memory device or storage medium capable of storing data. The storage medium can include tangible or non-transitory computer-readable media. Computer-readable media can include optical discs, flash memory, magnetic storage, or any other suitable digital storage medium. In some examples, a memory device or a portion thereof can be described as non-volatile memory, and in other examples, a portion of a memory device can be described as volatile memory. Examples of volatile memory can include random access memory (RAM), dynamic random access memory (DRAM), and static random access memory (SRAM). Examples of non-volatile memory can include magnetic hard disks, optical discs, floppy disks, flash memory, or electrically programmable memory (EPROM) or electrically erasable programmable memory (EEPROM). The device can store instructions in a suitable non-transitory computer-readable medium and execute the instructions in hardware using a processor.

[0010] Motion control system 106 can propel surface printer 100. In some examples, motion control system 106 may include wheels driven by a motor (e.g., an electric motor) or any suitable propulsion system. In some examples, motion control system 106 may include control circuitry for controlling the motor-driven wheels to control the direction and speed of surface printer 100. In some examples, motion control system 106 may include a trajectory-following servo microcontroller that communicates with a propulsion system including motor driver electronics for providing force to a set of wheels. In some examples, motion control system 106 may also include a processor for receiving and executing instructions that define the intended path or trajectory to be followed by surface printer 100.

[0011] The position detection system 108 enables the detection of the position of the surface printer 100. For example, the position detection system 108 can receive a guidance system signal that can be used to detect the position of the surface printer 100. For example, a remote guidance system can be used to guide the surface printer 100. The guidance system can allow the surface printer to be guided from a reference point corresponding to the position of the guidance system. The guidance system can transmit guidance system position information to the surface printer using electromagnetic waves or radiation. The guidance system position information can provide the position of the guidance system, allowing the guidance system to be used as a reference point (or beacon) to calculate or estimate the absolute position of the surface printer 100. Example guidance systems may include Wi-Fi access points, ultrasonic beacons, total stations, laser trackers, or interferometers. In some examples, the guidance system may be an optical guidance system. In this case, communication between the guidance system and the surface printer 100 may be, for example, via visible or infrared light. For example, the position detection system 108 may include a reflector to reflect a measurement beam to a source. In some examples, the guidance system may include a Global Navigation Satellite System (GNSS) receiver that provides the absolute position of the guidance system.

[0012] The position detection system 108 may receive information, for example, from sensor 114. Sensor 114 may include sensors for use with the position detection system 108, as well as additional sensors described in detail below. Sensors for use with the position detection system 108 may include any kind of suitable position sensor, such as a rotary encoder located on the wheels of the surface marking robot 100, a camera located on the body of the surface printer 100, a light detection and ranging (LIDAR) system, an inertial mechanical unit for sensing acceleration and direction, a combination including at least some of the aforementioned position sensors, or any other suitable type of position sensor. In some examples, the position detection system 108 may compare the information from sensor 114 with a servo path to detect deviations. For example, acceleration on an axis other than the axis defined by the servo path may indicate that the surface printer 100 is not following the defined servo path. In some examples, determining that the rotary encoder on the wheels is not steadily increasing may indicate that the surface printer 100 has deviated from the defined path.

[0013] In some examples, the position detection system 108 and / or the motion control system 106 can calculate the magnitude and direction of the difference between the current position of the surface printer 100 and the expected path, and can correct the path accordingly. That is, the motion control system 106 and the position detection system 108 can operate together to make the surface printer 100 travel along the expected path. In some examples, the position detection system 108 may include processing circuitry for calculating whether the detected position matches the expected path and causing the motion control system 106 to make adjustments.

[0014] As described above, the surface marking robot can receive a floor plan and print a layout for building construction on the ground. The print control system 110 and print system 112 can enable the surface printer 100 to print a representation of the image. For example, in one example, the print control system 110 can receive a print job command and / or data corresponding to the print job (e.g., image data) and generate print data to enable the execution of the print job. In some examples, the print control system 110 can reproduce the print data from the received data. In some examples, the received data itself may already correspond to print data. In other examples, the print data can be dynamically generated during the printing of a print job. Furthermore, the print data can also be stored in memory from the outset, and the print control system 110 can then dynamically access the print data during the execution of the print job.

[0015] Printing system 112 can deposit printing material. For example, printing system 112 may include a printhead carriage comprising multiple printheads, wherein each printhead includes a die forming multiple nozzles. The nozzles may be aligned in rows along the length of the printhead. For example, the printhead carriage may include multiple inkjet printheads. Printing fluids (including, for example, ink or forming agents) can be ejected through the nozzles of the printheads. In this way, the printheads included in printing system 112 can deposit ink onto a surface, thereby printing an image corresponding to a print job. It should be noted that in other examples, printing system 112 may include thermal printheads or piezoelectric printheads. Further, it should be noted that ink is used as an example herein, and in other examples, other printing fluids, such as pre-printing agents (e.g., cleaning fluids) and post-printing agents (e.g., varnishes, clear coats, primers), may be deposited alternatively. Printing system 112 can deposit printing material according to settings. As described in further detail below, in some examples, the printing system may include the following ejection settings: opening time, ink pressure, and droplet spacing, which may be adjustable. In other examples, injection settings may include energy, voltage, pulse width, etc.

[0016] As described above, in some examples, the print control system 110 can receive data corresponding to a print job. In some examples, the data corresponding to the print job may correspond to a floor plan. The floor plan may include a two-dimensional or three-dimensional representation of a structure, such as a building. In some examples, the floor plan includes floor plan features corresponding to objects or characteristics, such as walls, windows, doors, stairs, elevator shafts, sinks, finish types, construction methods, materials, symbols for electrical, mechanical, plumbing, fire protection, HVAC systems, gas, or water supply features, etc. In some examples, the floor plan includes features corresponding to traffic, parking areas, or pavement markings for pedestrians or vehicles.

[0017] In one example, the digital data file may include digital data associated with the floor plan. For example, the input file or raw input file may include a digital representation of a drawing provided by the user, such as in DXF (Drawing Exchange Format), DWG (DraWinG), or BIM (Building Information Modeling) format. In one example, the input file may be parsed layer by layer by the surface printer 100, for example, to check whether relevant printing information is included in the file. In one example, the input file may be processed by the surface printer 100 to detect obstacles that may affect the trajectory or path that the surface printer 100 should follow. In one example, the input file may be processed by the surface printer 100 to sort and group clusters of graphical representations, such as lines or text. In one example, the input file may be processed by the surface printer 100 for path planning, for example, to sort the order in which graphical representation elements (such as floor plan features) can be printed, while avoiding obstacles and reducing printing time. In one example, the input file may be processed by the surface printer 100 for printing or marking, for example, by the print control system 110.

[0018] The communication system 120 enables the surface printer 100 to communicate with external computing devices via a network. For example, the communication system 120 enables the surface printer 100 to communicate with other computing devices connected to a local area network (LAN) and / or a wide area network (WAN). The communication system 120 may be included as part of a network interface card and may include optical transceivers, radio frequency transceivers, or any other type of device capable of sending and receiving information. The communication system 120 may operate according to communication protocols, including, for example, Global System for Mobile Communications (GSM) standards, Code Division Multiple Access (CDMA) standards, 3rd Generation Partnership Project (3GPP) standards, European Telecommunications Standards Institute (ETSI) standards, Internet Protocol (IP) standards, Wireless Application Protocol (WAP) standards, and IEEE standards, such as the IEEE 802 standard (e.g., wireless LAN, PAN, etc.). In one example, the communication system 120 enables the surface printer 100 to receive input files from an external computing device (e.g., a laptop computer, etc.).

[0019] As described above, in some examples, a remote guidance system can be used to guide the surface printer 100. In some examples, the surface printer 100 can also be controlled using input received from a user via an external computing device communicating with the surface printer 100. For example, input for controlling the surface printer 100 can be generated by an input device, such as a touch-sensitive screen, touchpad, joystick, mouse, or keyboard. The input can include at least, for example, input for controlling the movement of the surface printer 100, input for modifying print settings, input for modifying line properties, and input for modifying additional controllable settings (e.g., maximum speed, minimum speed, etc.). The user interface 116 may include input devices and / or a basic user interface. For example, in one example, the user interface 116 may include basic manual controls (e.g., a power on / off button and / or switch) and basic status indicators (e.g., LEDs indicating power and / or operating status).

[0020] As described above, sensor 114 may include sensors for use with position detection system 108. Sensor 114 may also include collision avoidance sensors and safety sensors. For example, a LiDAR sensor may be used for collision avoidance, and a safety sensor may be used to detect overhanging edges or edges with height differences to prevent the surface printer 100 from falling during operation. As described above, environmental conditions may change during operation. Sensor 114 may also include sensors for measuring environmental conditions, such as temperature sensors, humidity sensors, and optical sensors for measuring the amount of sunlight shining on the surface. Sensor 114 may further include an image capture sensor, such as a digital camera. Calibration system 118 can provide calibration for the printing process. For example, calibration system 118 can enable adjustments to the settings of printing system 112 based on, for example, surface characteristics, printing material characteristics, environmental conditions, etc. As described in further detail below, calibration system 118 can further analyze images captured by the image capture sensor and enable adjustments to the settings of printing system 112.

[0021] As described above, a surface printer may include a surface marking robot that includes a printing system for depositing printing material onto a surface as the surface marking robot travels along a predetermined path. Figures 2A to 2F This is a view illustrating a robot with surface markings based on an example. It should be noted that... Figures 2A to 2F The illustration shows an external view of an example surface marking robot 200, and Figures 2A to 2F The components shown in the diagram can be related to those mentioned above. Figure 1 The described components operate together. For example, in this example, the surface marking robot 200 may include a processor, memory, and... Figure 1 Other systems illustrated in the diagram. For example... Figures 2A to 2F As illustrated, the surface marking robot 200 includes drive wheels 202A-202B, casters 204, a user interface 206, a reflector 208, a printhead 210, an image capture camera 212, LiDAR sensors 214A-214C, safety sensors 216A-216B, and a position sensing camera 218. As described above, the surface printer may include a motion control system for propelling the surface marking robot. The drive wheels 202A-202B are motor-driven wheels, and the rotation of the casters 204 enables the surface marking robot 200 to move in terms of direction and speed. In one example, the surface marking robot may have a maximum navigation speed of 1,440 m / h and a maximum printing speed of 900 m / h. As described above, the surface printer may include basic manual controls and basic status indicators. The user interface 206 provides a basic user interface for the surface marking robot 200. For example, the user interface 206 may include an on / off button.

[0022] As described above, the surface printer may include a position detection system that includes a reflector for reflecting a measurement beam to a source. Reflector 208 can reflect the measurement beam to the source. In one example, reflector 208 includes a 360-degree prism. As described above, the surface printer may include sensors for use with the position detection system. LiDAR sensors 214A-214C and a position sensing camera 218 can be used with the position detection system. As further described above, the surface printer may include sensors for collision avoidance and safety sensors. Safety sensors 216A-216B include sensors for detecting overhanging edges or edges of height difference to prevent the surface marking robot 200 from falling from the edge of height difference during operation. In one example, if safety sensors 216A-216B indicate that the surface marking robot 200 is approaching an edge of height difference, the surface marking robot 200 stops moving.

[0023] As described above, the surface printer may include a printing system comprising a printhead carriage containing a plurality of printheads, wherein each printhead includes a die forming a plurality of nozzles. Printhead 210 represents an example of a printhead having nozzles for depositing printing material onto a surface. As described above, the surface printer can print lines with a specified width. For example, in one example, printhead 210 can print lines with a specified width ranging from 2 mm to 51 mm, with an accuracy tolerance of 3 mm. Further, as described above, the surface marking robot 200 can have a maximum printing speed of 900 m / h.

[0024] like Figure 2BAs illustrated in the diagram, the distance between the print head and the surface can be represented as distance d. Further, distance d corresponds to the distance between the image capture camera 212 and the surface. In one example, d can be approximately 19 mm. It should be noted that d may change during the lifespan of the surface marking robot 200. For example, as the drive wheels 202A-202B wear down due to increased use, d may decrease. As described in further detail below, the image capture camera 212 can capture images of the calibration pattern and print lines to accommodate changes in d. In some examples, the image capture camera 212 may include a relatively low-cost and / or relatively low-resolution digital camera. For example, the image capture camera 212 may include a video graphics array (VGA) camera with a resolution of 640 × 480 pixels. In other examples, the image capture camera 212 may include cameras with 1 million, 1.3 million, 2 million, 3 million, 5 million, etc., pixels. The image capture camera 212 may include lamps for illuminating the surface and for use as a flash during image capture. Furthermore, it should be noted that the image capture camera 212 can be synchronized with the droplet ejection, for example, it can capture images after the droplet ejection or within a predetermined time after the droplet ejection.

[0025] As mentioned above, although users can set the surface marking robot to print onto the surface according to a specified line width, the resulting lines may differ from the ideal or fitted lines due to variations. Figure 3 The diagram illustrates the concept of printed lines and fitted lines. (For example...) Figure 3 As shown in the diagram, the appearance of the lines is not ideal. That is to say, as... Figure 3As illustrated in the diagram, while an ideal line could be a uniform line of width W, the actual printed line may deviate from the ideal line and have a variable width along its length. It should be noted that, as described further below, because the line width may vary along its length, the line width can be defined as the line width at points along the length and / or the line width according to a function, such as the average width at points along the line's length. Furthermore, it should be noted that line quality can be evaluated based on attributes such as subjective appearance, or based on attributes that include objectively defined line quality parameters. ISO / IEC 13660:2001, Information technology — Office equipment — Measurement of imagequality attributes for hardcopy output — Monochrome text and graphic images, September 2001 [ISO / IEC 13660:2001, Information technology — Office equipment — Measurement of image quality attributes for hardcopy output — Monochrome text and graphic images, September 2001] provides several defined line quality parameters for evaluating line quality. For example, the line quality parameters described in ISO / IEC 13660:2001 include: line width, which can be defined as the average line width relative to a theoretically defined line width; line roughness, which can be defined as the variability of the line based on the standard deviation of the residuals of the fitted line; and line sharpness, which can be defined as the cross-sectional profile of the line edge describing the transition characteristics from black to white. As described above, line properties, including, for example, the defined line quality parameters and / or additional or alternative line parameters, can be determined according to the techniques described herein. For example, other line properties, such as line sharpness, line contrast, print material density, etc., can be determined and evaluated according to the techniques described herein.

[0026] As described above, the printing system of the surface marking robot can eject ink through the nozzles of the print head. In other words, the printing system can deposit ink droplets onto the surface. Figures 4A to 4B The diagram illustrates the relationship with Figure 3 The ink droplets corresponding to the printed lines shown in the diagram. Figure 4A The illustration shows droplets D0-D6 deposited on the surface at the initial moment. It should be noted that for some applications, relatively uniform droplets forming lines may be considered acceptable. That is, for some applications, rectangular lines with straight edges may be undesirable. Therefore, for some applications, droplets D0-D6 may be considered acceptable. In other words, for some applications, circles with uniform diameters that fit the lines may be acceptable.

[0027] Figure 4B The diagram illustrates the changes (or deviations from the ideal droplet) of droplet D0-D6 over a period of time. That is, as... Figures 4A to 4B As illustrated in the diagram, the absorption of droplets on a surface can change after initial deposition, depending on surface characteristics and corresponding environmental conditions, and these droplets may not be absorbed in a manner that forms acceptable lines. That is, for example, ink penetration can vary depending on the surface and environmental conditions, and diffusion or bleeding may occur. For instance, in the case of a concrete surface, lines may exhibit visible differences for various concrete finishes, which can affect line width and quality. As mentioned above, typically, to ensure printed lines meet user requirements, users manually adjust predefined settings, print lines, evaluate the subjective appearance of the lines, and repeat the process using trial and error until the printed lines appear acceptable. It should be noted that for typical applications, surface marking robots may take many hours to perform a job; therefore, the typical process used to ensure lines meet user requirements may delay job completion by at least several hours.

[0028] The techniques described in this disclosure help surface marking robots print lines with specified properties, including, for example, width and quality, while reducing the need for manual adjustments. That is, according to the techniques described herein, line properties can be adjusted by the surface marking robot during the printing process. In one example, according to the techniques described herein, the surface marking robot can perform closed-loop correction of lines with minimal user intervention. For example, as described further below, an image capture camera and calibration system can capture and analyze images of the lines, enabling adjustments to printer settings. In other words, according to the techniques described herein, the surface marking robot can maintain a selected line width by monitoring the lines in real time and adjusting print settings accordingly when conditions change, in some cases requiring minimal user supervision. Compared to typical processes, the process implemented according to the techniques described herein can be more coherent, less prone to subjective errors, and can reduce latency. Furthermore, it should be noted that unacceptable line properties may be due to operational problems with the printing system. That is, the nozzles may fail to eject correctly. Therefore, the techniques described herein can be used to detect whether the printing system is operating correctly, for example, by monitoring nozzle health.

[0029] The techniques described herein are generally applicable regardless of the printing materials used, the surface to which the application is made, and the weather conditions that may vary during the current operation. Furthermore, the techniques described herein can allow surface marking robots to generate and access a media-property dictionary, which can be used to replicate printing settings under similar detection conditions. Furthermore, surface marking robots can create profiles or modify existing profiles, and these profiles can be transferred to other surface marking robots.

[0030] As described above, the distance between the printhead and image capture sensor and the surface may vary during the lifespan of the surface marking robot. This variation may be due to wear, maintenance, and / or replacement of the drive wheels. Furthermore, the distance may differ between surface marking robots manufactured due to mechanical tolerances. As further described above, the calibration system for the surface printer can analyze the image captured by the image capture sensor. According to the techniques described herein, the calibration process can be performed, for example, by a calibration system to ensure that line properties can be accurately determined based on the captured image.

[0031] In one example, a calibration process can be performed to calculate the pixel-to-distance ratio. For instance, as mentioned above, the distance d could be 19 mm, but d may vary during the lifespan of the surface marking robot (e.g., + / - 2 mm). As further described above, the resolution of the image capture camera could be 1 megapixel, etc. Variations in d may cause the corresponding image capture camera 212 to zoom in / out on the surface and change the area of ​​the surface included in the captured image. Therefore, the calibration process can be used to calculate the pixel / mm ratio of the captured image. Figure 5 This is a flowchart illustrating the calibration of a surface marking printer for line analysis, based on an example. Figure 6 The calibration pattern is illustrated according to the example. Figure 7 The illustration shows a conceptual diagram of a captured image based on an example calibration pattern.

[0032] like Figure 6 As illustrated in the diagram, the calibration pattern may include multiple lines, each with a specified width (e.g., 1.0 mm, 1.5 mm, and 2.0 mm). Figure 7 As illustrated in the diagram, the captured image of the calibration pattern comprises multiple lines captured within an image resolution of, for example, 720 × 720 pixels. It should be noted that the captured image may include an image-processed captured image. For example, Figure 7The image illustrated in the diagram may correspond to a cropped 1-megapixel image. Further, image processing may include reducing or eliminating any noise in the captured image. Additionally, the image captured by the image capture camera may be in color, and image processing may be used to convert the actually captured image to a black and white image. Based on the calibration process, the ratio of pixels to distance of lines in the captured image (e.g., pixels / mm ratio) can be determined.

[0033] refer to Figure 5 At point 502 in calibration process 500, the calibration pattern (e.g., Figure 6 The calibration pattern (illustrated in the diagram) is aligned at a position within the field of view of the surface marking robot's image capture camera (e.g., image capture camera 212). For example, the calibration pattern can be printed onto paper, and the paper can be placed appropriately below the surface marking robot 200. For example, in addition to the calibration pattern, reference marks for alignment (e.g., marks corresponding to wheel positions) can be printed onto the paper. At 504, an image of the calibration pattern is captured. For example, the surface marking robot 200 can have the image capture camera 212 illuminate and capture an image of the calibration pattern, i.e., take a photograph of the calibration pattern. At 506, the captured image can be analyzed, for example, by a calibration system. As described above, the captured image can undergo image processing. Image processing can be included as part of image analysis. For example, pixels at line edges may appear gray instead of obvious black or white pixels. In this case, the image can be processed to classify each pixel as black or white.

[0034] Refer again Figure 7 For each of the three lines, a number of pixels corresponding to the width of that line is provided: 78 pixels for the 1.0 mm line, 117 pixels for the 1.5 mm line, and 152 pixels for the 2.0 mm line. That is, image analysis at position 506 can calculate the number of pixels corresponding to the width of each line. For example, image analysis may include: converting the image to black and white, such that each pixel is stored as a black or white intensity value; selecting a position along the x-axis of the captured image (e.g., position 360); determining the intensity value of each pixel along the y-axis at position x (e.g., (360, 0) to (360, 719)); and counting the number of consecutive pixels for each intensity. In some examples, the process may include creating a pixel array and finding peaks within that array.

[0035] refer to Figure 5 At position 508, calculate the ratio of pixels to distance. Regarding... Figure 7Table 1 provides the actual width of each line in the calibration pattern and the measured pixel width determined based on image analysis. Furthermore, in Table 1, the ratio is provided as the actual width divided by the measured pixel width.

[0036]

[0037] Table 1 The values ​​in Table 1 can be used to calculate the pixel-to-mm ratio. For example, the average of the ratio values ​​in Table 1 is 0.0129 mm / px. In one example, this can be used as the calculated pixel-to-mm ratio. In other examples, the calculated pixel-to-mm ratio can be set to a minimum (i.e., 0.0128), a maximum (i.e., 0.0132), or it can be set to a function-based value. For example, depending on the application and / or precision, the pixel-to-mm ratio can be calculated using the average of the minimum and maximum pixel-to-mm ratios. It should be noted that the position along the x-axis can be selected during the image analysis process described above. For uniform lines in a calibration pattern, selecting a single position along the x-axis may be acceptable. However, in some examples, multiple positions along the x-axis can be sampled to calculate the pixel-to-distance ratio. For example, the captured image can be sampled at every N (e.g., 10) positions, and the number of counted pixels at each of the N positions can be averaged. Furthermore, it should be noted that the values ​​provided in Table 1 are example values ​​for illustrative purposes. In other words, for a given implementation, the field of view and therefore the pixel-to-distance ratio will depend on the forward speed (e.g., jet frequency), camera resolution, and focus (e.g., distance). The techniques described herein are generally applicable to a variety of surface printer and image capture sensor implementations.

[0038] Finally, as Figure 5 As illustrated in the diagram, at position 510, the calculated pixel-to-distance ratio is stored. For example, the calculated pixel ratio in mm can be stored in the memory of the surface marking robot 200 and / or the memory of an external computing device. It should be noted that in other examples, the calibration process may include determining and storing additional information. For example, in one example, the calibration process may determine whether the variation in the ratio of each line exceeds a threshold and provide a confidence level indication regarding the calculated pixel-to-distance ratio. For example, if the image capture camera and printhead are damaged and / or misaligned, a low-confidence indication can be stored and further used to diagnose operational problems with the surface printing robot.

[0039] As described above, a calibration process can be performed to ensure that line attributes can be accurately determined based on the captured image. As further described above, the input to the surface marking robot can include user-specified line attributes. For example, the surface marking robot 200 can receive a user-selected line width from an external computing device communicating with it. For instance, the user can select a line width from a set of selectable line widths (e.g., line widths in 1 mm increments from 2 mm to 51 mm) using a graphical user interface displayed on a portable computing device, and the selected width can be transmitted to the surface marking robot 200. In response to receiving the selected line width, the settings of the printing system can be set to values ​​corresponding to the selected line width. For example, the printing system can include the following jetting settings: opening time, ink pressure, and droplet spacing, which can be set according to the selected line width.

[0040] In one example, the surface marking robot 200 can print a set of sample lines onto a surface. For example, for a selected line width, multiple lines can be printed with various combinations of printing and / or jetting settings corresponding to the selected line width. For example, each line in a set can have the same opening time, droplet spacing, and printing speed settings, but the ink pressure for each line can be different. Figure 8 The illustration shows the printed test lines corresponding to the example. Figure 8 In the example illustrated, lines 0 through 4 appear to have similar widths; that is, each line could correspond to a selected width. However, as shown, these printed lines do not appear identical. In one example, according to the technique described further below, a captured image of the printed test lines can be analyzed, and one test line and its corresponding print settings can be selected. That is, one of lines 0 through 4 can be selected as the line matching the selected line width to choose the initial print settings. In one example, the surface marking robot 200 can print a set of test lines onto a surface, and the user can select a line from this set of printed lines. For example, see reference... Figure 8 Users can enter one of 0 to 4 to indicate an acceptable line appearance, which is then transmitted to the surface marking robot 200.

[0041] According to the techniques described in this article, in order to ensure that printed lines meet the user's specified line attributes and / or acceptable line appearance, the image of the printed lines can be analyzed. Figure 9This is a flowchart illustrating a process for analyzing and modifying settings for printing lines, based on an example. It should be noted that process 900 can be used during print job preparation and / or during print job completion. For example, the lines analyzed using process 900 may include test lines, and process 900 can be used to select a set of initial print settings. Furthermore, the lines analyzed using process 900 may include lines printed during a print job, and process 900 can be used to adjust the print settings accordingly to ensure satisfactory printed lines. That is, process 900 can be used as a closed-loop process during printing to ensure consistent line quality throughout the job.

[0042] refer to Figure 9 At 902, the line width is received. For example, as described above, the surface marking robot 200 can receive a line width selected by the user. Additionally, as described above, in some examples, the surface marking robot 200 can receive a user selection corresponding to a printed test line. For the purposes of process 900, the user selection corresponding to the printed test line (i.e., the user-selected line preference) can be considered as one aspect of the received line width. As described above, the surface marking robot can include printing settings. As further described above, the surface marking robot can include sensors for measuring environmental conditions, such as temperature sensors, humidity sensors, and optical sensors for measuring the amount of sunlight hitting the surface. At 904, the printing settings and environmental conditions corresponding to the selected line width can be determined. For example, the opening time, droplet spacing, and ink pressure, as well as temperature and relative humidity, can be determined.

[0043] As described above, the surface marking robot can generate and access a media-property dictionary, which can be used to replicate print settings under similar detection conditions. In one example, based on the selected line width, detected temperature, relative humidity, and / or other detected or received conditions, the surface marking robot 200 (or an external computing device) can access the media-property dictionary to look up print settings, such as aperture time, droplet spacing, and ink pressure, to generate the selected line width. Further, in some examples, similar to the line width selection described above, the user may be able to select a surface type from a set of selectable types and / or input conditions. The media-property dictionary can be updated, as described in further detail below.

[0044] refer to Figure 9At 906, the lines are printed. As described above, the printed lines can be test lines or lines printed during the job. At 908, the surface marking robot 200 captures (multiple) images of the printed lines. The process of capturing the printed lines is similar to the process of capturing calibration images as described above. That is, for example, the surface marking robot 200 can use an image capture camera 212 to illuminate and capture images of the printed lines. At 910, the captured images of the lines are analyzed and the line width is calculated.

[0045] Figure 10 The illustration shows a conceptual diagram of a captured image of a printed line according to an example. As described above, during the calibration process, the calculated pixel-to-distance ratio is stored. This calculated pixel-to-distance ratio can be used to calculate the line width. For example, as described above, image analysis of the calibration pattern may include: converting the image to a black and white image; selecting a position along the x-axis of the captured image; determining the intensity value of each pixel along the y-axis at position x; and counting the number of consecutive pixels for each intensity. During calibration, the number of pixels and the known line width to be calibrated can be used to calculate the pixel-to-distance ratio. Reference Figure 10 Similar to image analysis of calibration patterns, the position along the x-axis can be selected, and the number of consecutive pixels for each intensity can be counted. For the intensity corresponding to the deposited printing material, the counted number of pixels can be multiplied by the ratio of stored pixels to distance to calculate the width of the printed line. For example, if the ratio of stored pixels to mm is 0.0129 mm / px and the counted number of pixels is 216, the width of the printed line can be calculated as 2.79 mm.

[0046] like Figure 10 As illustrated in the diagram, because the printed lines are depicted as discrete droplets, the width of the lines varies along their length. (See the above regarding...) Figures 4A to 4B As described, for some applications, relatively uniform droplets forming lines can be considered acceptable. Therefore, droplets D0 to D5 can form acceptable lines with a width equal to the diameter of droplets D0 to D5. During the image analysis process described above, the position along the x-axis can be selected, or the captured image can be sampled along the x-axis. Regarding... Figure 10 This allows sampling at multiple locations along the x-axis to calculate the line width. For example, in one example, the y-axis pixels can be counted for each x-location to determine the full shape of the line. In another example, the line width can be calculated as the average of a set of widths at N sampled locations. For example, the width can be determined at every 10 horizontal samples, and these determined widths can be averaged to calculate the width of the printed line.

[0047] As described above, the image capture camera 212 can be synchronized with the droplet ejection, enabling image capture to occur either after the droplet ejection or within a predetermined time period following the ejection. (As mentioned above regarding...) Figures 4A to 4B Furthermore, the absorption of droplets on the surface may change after the initial deposition, and these droplets may not be absorbed in a manner that forms acceptable lines. Therefore, Figure 10 The appearance of droplets D0 to D5 in the image may change after the image is captured. In one example, according to the techniques described herein, the width of the line can be calculated based on multiple captured images. For example, the width of the line can be calculated based on multiple overlapping captured images. Figure 11 The illustration shows a conceptual diagram captured from multiple images based on an example of printed lines. Figure 11 In the example shown in the diagram, image 0 corresponds to Figure 10 The captured image in the image refers to the image captured at the initial time, and image 1 corresponds to the additional captured image with an overlapping region at the second time. Figure 12 Image 0 and Image 1 are further illustrated.

[0048] like Figure 12 As illustrated in the diagram, both images 0 and 1 include droplets D4; however, the appearance of D4 differs between the images. That is, as stated above, diffusion or bleeding may occur after the deposition of the printing material. Figure 12 In the examples illustrated, in image 0, D4 was captured after the initial deposition, while in image 1, D4 was captured slightly later after diffusion had occurred. Therefore, sample 1 in image 0 is located at the x-position that can be used to evaluate the initial diameter of D4, while sample 2 in image 1 is located at the x-position that can be used to evaluate the diameter of D4 after absorption has occurred.

[0049] like Figure 12 As illustrated in the diagram, image 0 includes samples 0 and 1, and image 1 includes samples 2 and 3, wherein samples 0 and 2 are depicted at the same x-position (i.e., at the left offset in the image), and samples 1 and 3 are depicted at the same x-position (i.e., at the right offset in the image). Each of samples 0 through 3 can be used to evaluate line width and / or line quality. Each of samples 0 and 2 can represent a droplet after the initial absorption period, and the width at these positions can be used to determine the line width. In one example, the line width can be calculated as the width of one of samples 0 and 2. In another example, the line width can be calculated as the average of samples 0 and 2.

[0050] Refer again Figure 9 At position 912, it is determined whether the width difference of the samples exceeds a threshold. That is, for example, referring to... Figure 12The difference between Sample 1 and Sample 2 can indicate the diffusion of D4 after the initial deposition. Therefore, if the difference between Sample 1 and Sample 2 is greater than a threshold, it may indicate excessive diffusion of the printed material, which could indicate unacceptable line quality. Furthermore, each of Sample 1 and Sample 3 represents the diameter of the droplet after the initial deposition, and in some cases can be expected to be the same. Therefore, if the difference in width between Sample 1 and Sample 3 is greater than a threshold, it may additionally indicate unacceptable line quality. It should be noted that the difference in width between Sample 1 and Sample 3 may indicate a degradation in nozzle performance.

[0051] like Figure 9 As illustrated in the diagram, at point 914, after determining that the difference exceeds a threshold (which may indicate unacceptable line quality), the printing process stops and a warning is issued to the user. In other words, for example, the surface marking robot stops the printing process and provides an instruction to the user. For instance, if the surface marking robot has not printed, the instruction could alert the user and warn them of the severity of the operational problem, allowing the user to make decisions such as stopping the job and repairing the surface marking robot.

[0052] At point 916, based on the condition in 912 not being met, it is determined whether the line width is within acceptable limits. That is, for example, the specified line width could be 10 mm, and the acceptable limits could range from + / - 2 mm. Therefore, in this example, if the line width calculated at 910 is between 8 mm and 12 mm, then the line width can be considered within the limits. Figure 9 As illustrated in the diagram, at point 918, after determining that the line width is considered to be within the limits, the settings and conditions are stored. For example, as described above, a surface marking robot can generate and access a media-attribute dictionary. Storing the settings and conditions allows for updating the media-attribute dictionary.

[0053] At 920, based on the condition in 916 not being met, it is determined whether the line is wider than the target. That is, for example, in the example above, the limit range is between 8 mm and 12 mm, then lines outside these limits are either less than 8 mm or greater than 12 mm. In this example, the determination at 920 will evaluate whether the line width is greater than 12 mm, and in this example, if the line is greater than 12 mm, then at 922 the settings are adjusted to produce smaller droplets. That is, for example, for surface marking that includes at least the opening time, ink pressure, and droplet spacing spray settings, the opening time and / or the ink pressure can be reduced. If the determination at 920 is not met, this will indicate that the droplet is smaller than the lower limit of the limit range (e.g., less than 8 mm), then in this case, as illustrated at 924, the settings are adjusted to produce larger droplets. For example, the surface marking robot 200 can increase the opening time.

[0054] It should be noted that each of steps 908 through 924 can occur while the surface printer is printing continuously, or the printing process can be paused. For example, if it is determined at step 916 that the line width is not within the limit, printing can be paused (i.e., the surface marking robot stops moving and stops depositing material) until step 922 or 924 is completed. For example, if a change in the line is detected due to weather conditions, variations on the surface, or any other reason, the surface printer can stop or slow down printing and change the jetting settings, depending on the change, to minimize the duration of the affected job. Once it is determined that the line has returned to acceptable levels, the surface printer can resume printing at its normal speed.

[0055] like Figure 9 As illustrated in the diagram, each of steps 906 to 924 can be completed as part of a closed loop. That is, the image can be analyzed and adjustments can be made continuously as needed. It should be noted that process 900 can be initiated multiple times during a printing job. For example, the process can be repeated at regular intervals after step 918. As mentioned above, the maximum printing speed of the surface marking robot can be 900 m / h. Therefore, the printed line can extend at least several meters. In some examples, process 900 can be repeated at regular time or distance intervals. For example, the process can be repeated once per minute, which would correspond to repeating every 15 m at the maximum printing speed of 900 m / h. (As mentioned above...) Figure 11 and Figure 12 As described, in some examples, process 900 may include capturing overlapping images. Figure 13 The illustration depicts a conceptual diagram of a line, in which multiple overlapping images are captured along the distance of the line. Figure 13 Each of the overlapping images in the image can correspond to a process 900 repeated at regular intervals.

[0056] As described above, in addition to line width, other line properties or parameters can be determined and evaluated according to the techniques described herein. Figure 14 This is a flowchart illustrating the process of analyzing and modifying settings for printing lines, based on an example. (Reference) Figure 14 At 1402, line parameters are received, such as those selected by the user. At 1404, print settings and conditions corresponding to the line parameters can be determined. At 1406, the line is printed. At 1408, multiple images of the printed line are captured. At 1410, the captured images of the line are analyzed and the line parameters are calculated. At 1412, it is determined whether a printing error has been detected, for example, based on the sample width difference exceeding a threshold. At 1414, after determining that a printing error has been detected, the printing process is stopped and a warning is provided to the user. At 1416, based on the absence of a detected printing error, it is determined whether the line parameters are within acceptable limits. At 1418, after determining that the line parameters are within the limits, the settings and conditions are stored. At 1420, after determining that the line parameters are not within the limits, the settings are adjusted to produce lines with line parameters within the limits, and step 1406 can be repeated.

[0057] As mentioned above, when the surface is concrete, the lines can exhibit visible differences for various concrete finishes, which can affect line width and quality. Furthermore, areas of the concrete surface may be directly exposed to sunlight or not (exhibiting temperature differences), or may have varying humidity levels. It should be noted that tests on different concrete mixes under varying environmental conditions have shown that droplet size can vary by up to 65% to form acceptable lines, and the relationship between environmental condition variations and droplet size variations is not linear or easily predictable. Furthermore, some interior floors are made of various decorative materials (such as plywood, PVC panels or sheets, tiles, etc.). These materials can also significantly affect droplet shape and size based on conditions. The methods described above can be used to adjust droplet size under various conditions while taking into account production requirements and environmental conditions.

[0058] As mentioned above, users may be able to input environmental conditions and / or select surface type as input conditions. In one example, the user interface may include controls that allow users to input a set of predefined conditions (e.g., ink / surface / weather). This can allow surface marking robots to operate in a more flexible and adaptive manner by expanding applications to include more printing modes, materials, and environments. These controls can further enhance the user-friendly experience by reducing the complexity of starting the surface printing robot workflow.

[0059] Figure 15 The diagram illustrates a block diagram of example computer program product 1500. In some examples, such as... Figure 15 As shown, computer program product 1500 includes a machine-readable storage device 1502, which may further include computer-readable instructions 1504. In some embodiments, the machine-readable storage device 1502 may be implemented as a non-transitory machine-readable storage device. In the example, the computer-readable instructions 1504 may be executed by a processor 1506, and the implementation process 500 ( Figure 5 Process 900 Figure 9 ) and / or process 1400 ( Figure 14 All aspects of ). That is to say, Figure 15 The printing pipeline logic illustrated in the diagram may include process 500 ( Figure 5 Process 900 Figure 9 ) and / or process 1400 ( Figure 14 (All aspects of)

[0060] Figure 16 This is a block diagram illustrating a hardware device including a semiconductor package, based on an example. Figure 16 An illustrative example of a printer 1600 is illustrated. In the illustrated example, printer 1600 may include a processor 1602 and a memory 1604 communicatively coupled to the processor 1602. Memory 1604 may include computer-readable instructions 1606. In this example, computer-readable instructions 1606 may be executed by processor 1602 to perform the process 500 described above. Figure 5 ) and / or process 900 ( Figure 9 All aspects of ). That is to say, Figure 16 The printing pipeline logic illustrated in the diagram may include process 500 ( Figure 5 Process 900 Figure 9 ) and / or process 1400 ( Figure 14 (All aspects of)

[0061] In some implementations, processor 1602 may include a general-purpose controller, a dedicated controller, a storage controller, a storage manager, a memory controller, a microcontroller, a general-purpose processor, a dedicated processor, a central processing unit (CPU), and / or combinations thereof. Further, implementations may include distributed processing, component / object distributed processing, parallel processing, and / or combinations thereof. For example, virtual computer system processing may implement the methods or functions described herein, and processor 1602 described herein may be used to support such virtual processing.

[0062] In some examples, memory 1604 is an example of a computer-readable storage medium. For example, memory 1604 can be any memory accessible to processor 1602, including but not limited to RAM memory, registers and register files, and / or combinations thereof. When referring to “computer memory” or “memory,” it should be interpreted as meaning that multiple memories may exist. Memory can be, for example, multiple memories within the same computer system. Memory can also be multiple memories distributed across multiple computer systems or computing devices.

[0063] Figure 17 An illustrative semiconductor device 1700 (e.g., a chip and / or package) is shown. The illustrated device 1700 includes a substrate 1702 (e.g., silicon, sapphire, or gallium arsenide) and computer-readable instructions 1704 (e.g., configurable computer-readable instructions) and / or fixed-function computer-readable instructions (e.g., hardware) coupled to the substrate(s) 1702. In the example, the computer-readable instructions 1704 implement the process 500 described above (…). Figure 5 Process 900 Figure 9 ) and / or process 1400 ( Figure 14 All aspects of ). That is to say, Figure 16 The printing pipeline logic illustrated in the diagram may include process 500 ( Figure 5 Process 900 Figure 9 ) and / or process 1400 ( Figure 14 (All aspects of)

[0064] In some implementations, the computer-readable instructions 1704 may include transistor arrays and / or other integrated circuit / IC components. For example, configurable logic and / or fixed-function hardware logic implementations of the computer-readable instructions 1704 may include configurable computer-readable instructions (such as programmable logic arrays (PLAs), field-programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs)) or fixed-function computer-readable instructions (e.g., hardware) and / or combinations thereof that use circuit technologies (such as application-specific integrated circuits (ASICs), complementary metal-oxide-semiconductor (CMOS) or transistor-transistor logic (TTL) technologies).

[0065] All definitions defined and used herein should be understood to take precedence over dictionary definitions, definitions in referenced literature, and / or the general meaning of the defined terms.

[0066] Furthermore, for ease of understanding, some functional blocks may have been depicted as separate blocks; however, these separately depicted blocks should not necessarily be interpreted as being in the order discussed herein or otherwise presented. For example, some blocks may be able to execute in an alternative order, execute concurrently, etc.

[0067] While several illustrative examples have been described herein, it should be understood that many other modifications and examples can be devised that fall within the spirit and scope of the principles of the foregoing disclosure. More specifically, reasonable variations and modifications to the components and / or arrangements of the subject matter arrangement are possible without departing from the spirit of the foregoing disclosure, the drawings, and the appended claims. Alternative uses will also be apparent beyond variations and modifications to the components and / or arrangements. Examples can be combined to form further examples.

Claims

1. A method for operating a surface marking robot, the method comprising: Print the lines onto the surface; Capture an image of the printed lines; The properties of the printed lines are determined based on the captured image; as well as In response to the printed line's properties exceeding a threshold, the spraying settings are modified.

2. The method according to claim 1, wherein, Modifying the inkjet settings includes stopping print jobs.

3. The method according to claim 1, wherein, Modifying the jetting settings includes modifying at least one of the following: opening time, ink pressure, and droplet spacing.

4. The method according to claim 1, wherein, Modifying the injection settings includes modifying at least one of the following: energy, voltage, and pulse width.

5. The method according to claim 1, wherein, The attribute includes at least one of the following: the width of the printed line or the line quality of the printed line.

6. The method according to claim 1, wherein, The determined attributes include determining the number of pixels at sampling points along the axis and calculating the width of the printed lines based on the captured image.

7. The method according to claim 1, wherein, Capturing an image of the printed lines includes capturing an overlay image of the printed lines.

8. The method according to claim 1, wherein, Modifying the spraying settings includes reducing the movement speed of the surface marking robot.

9. A surface marking robot, comprising: Controller; A printing system comprising multiple printing nozzles, wherein the printing system is configured to deposit printing material onto a surface according to a jetting setting, while the surface marking robot moves along a predetermined path; and An image capture system, wherein the image capture system is used to capture an image of the printed lines. Wherein, the controller: The parameters of the printed lines formed by the deposited printing material are calculated based on the captured image; and In response to the printed line parameters exceeding a threshold, the print settings are adjusted.

10. The surface marking robot according to claim 9, wherein, Adjusting print settings includes stopping print jobs.

11. The surface marking robot according to claim 9, wherein, Adjusting print settings includes modifying at least one of the following: aperture time, ink pressure, and droplet spacing.

12. The surface marking robot according to claim 9, wherein, Adjusting print settings includes modifying at least one of the following: energy, voltage, and pulse width.

13. The surface marking robot according to claim 9, wherein, The controller reduces the moving speed of the surface marking robot.

14. The surface marking robot according to claim 9, wherein, The parameter includes at least one of the following: the width of the printed line or the line quality parameter of the printed line.

15. A non-transitory machine-readable storage medium comprising instructions stored thereon, wherein, The instructions can be executed by the processor of the controller of the printing device of the surface marking robot, and include instructions for performing the following operations: Print the lines onto the surface; Capture an image of the printed lines; The width of the printed line is calculated based on the captured image; as well as In response to the printed line width exceeding a threshold, the spray settings are modified.

Images