Self-Propelled Printer Navigation for Accurate Indoor Layout Printing
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Solution Overview
Problem
Existing robotic printing systems face challenges in achieving precise movement and accurate indoor navigation, particularly in construction settings where manual layouts can be labor-intensive and prone to human error, and GPS navigation is ineffective indoors.
Innovation Solution
A self-propelled printer equipped with a drive mechanism controlled by processing circuitry, sensors, and communication technology that allows it to autonomously navigate and print on various surfaces based on received data, using a combination of wheel encoders, optical sensors, LiDaR, IMU, and beacons for precise locomotion and image formation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual layout processes are used in construction, then flexibility and adaptability are maintained, but labor intensity increases and human error occurs
Solution Approach 1:
The robotic printing system performs layout work autonomously without continuous human intervention. The robot navigates independently using sensors and processors, executes printing tasks automatically based on digital models, and corrects its own positioning errors through feedback mechanisms, thereby reducing labor intensity while maintaining high accuracy
Solution Approach 2:
The patent replaces manual mechanical layout operations with an automated robotic system equipped with precision printing mechanisms. The robotic arm with controlled movement replaces human hands holding measuring tools, and the printing mechanism replaces manual marking tools, eliminating human error while increasing productivity
2Measurement precision
If GPS navigation is used for robotic devices, then outdoor navigation accuracy is achieved, but indoor navigation effectiveness deteriorates
Solution Approach 1:
The robotic system incorporates multiple navigation systems that work together - combining GPS for outdoor environments with alternative indoor navigation methods such as visual markers, RFID tags, or sensor-based localization. This multi-functional approach allows the robot to operate accurately in both indoor and outdoor settings, achieving universal navigation capability across different environments
Solution Approach 2:
The patent introduces intermediary elements for indoor navigation, such as visual markers, reflective tags, or wireless communication beacons placed in the environment. These intermediaries serve as reference points for the robot's sensors, enabling accurate indoor positioning without GPS by providing detectable signals that the robot can use for localization and navigation
3Adaptability or versatility
If robotic self-locomotion is added to printers, then delivery capability to user locations is improved, but navigation accuracy indoors deteriorates
Solution Approach 1:
The robotic printer incorporates feedback mechanisms including sensors, encoders, and processors that continuously monitor its position, orientation, and movement. The system compares actual position with target position and makes real-time corrections, ensuring accurate indoor navigation and positioning despite the added complexity of mobile locomotion
Solution Approach 2:
The navigation system is divided into independent functional modules - localization module, path planning module, obstacle detection module, and control module. Each module handles specific aspects of navigation independently, allowing the robot to achieve accurate indoor positioning while maintaining mobile delivery capability across various locations
4Manufacturing precision
If traditional fixed printer mechanisms are used, then printing precision is maintained, but adaptability to different print surfaces and locations deteriorates
Solution Approach 1:
The patent transforms the traditional fixed printer into a dynamic mobile robotic system. The printer maintains precision through active control systems that continuously adjust the robotic arm's position and orientation based on real-time feedback. The mobile platform can adapt to different locations and surfaces while the controlled printing mechanism ensures consistent printing precision across diverse substrates
Data Source
AI summary
A self-propelled printer is provided having communication circuitry to receive print data for an image to be formed. A drive mechanism of the printer to provides locomotion of the entire self-propelled printer and a print head is arranged to transfer a print material onto a print medium. Processing circuitry to generates an image formation path to be traversed by the print head via locomotion of the self-propelled printer. The image formation path is based at least in part on the received print data. The processing circuitry controls the drive mechanism to autonomously drive the self-propelled printer along the image formation path. A corresponding method and computer program for generating a 2D image using a self-propelled printer are provided.