Multi-Nozzle Surface Marking Robot for Path Deviation Compensation
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Solution Overview
Problem
Surface marking robots experience inaccuracies in line printing due to factors like uneven ground, external impacts, and wheel slippage, causing deviations from the intended path.
Innovation Solution
The robot employs a motion control system and position detection apparatus to detect deviations, switching between a plurality of fixed nozzles to compensate for path deviations, ensuring accurate line printing by activating the nozzle closest to the intended path and seamlessly transitioning between adjacent nozzles as the robot corrects its path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a single fixed nozzle is used for marking, then the device complexity is low, but the manufacturing precision deteriorates due to path deviations caused by uneven ground, external impacts, and wheel slippage
Solution Approach 1:
The marking device is segmented into multiple nozzles (at least three nozzles) arranged in a specific geometric pattern. Each nozzle can be independently activated based on the robot's deviation from the intended path, allowing the system to compensate for positioning errors by selecting the most appropriate nozzle rather than relying on a single fixed nozzle.
Solution Approach 2:
The system dynamically selects which nozzle to activate based on real-time feedback from position detection. The control system continuously monitors the robot's actual position and dynamically switches between nozzles to maintain accurate line marking despite path deviations caused by uneven ground, external impacts, or wheel slippage.
2Manufacturing precision
If multiple nozzles are used to compensate for path deviations, then the manufacturing precision improves, but the ease of operation deteriorates due to the complexity of nozzle switching control
Solution Approach 1:
The system incorporates position detection that continuously monitors the robot's actual position and provides feedback to the control system. This feedback mechanism automatically determines which nozzle should be activated based on the detected deviation from the intended path, eliminating the need for manual intervention and simplifying operation despite the multi-nozzle complexity.
Solution Approach 2:
The control system automatically manages nozzle selection and switching based on position feedback without requiring manual operation. The system serves itself by autonomously determining the optimal nozzle configuration and activating the appropriate nozzles to compensate for path deviations, reducing the operational burden on the user.
3Manufacturing precision
If the robot continuously corrects its path, then the manufacturing precision improves, but the productivity deteriorates due to time spent on corrections
Solution Approach 1:
Instead of physically correcting the robot's path after deviation occurs, the system performs preliminary action by pre-arranging multiple nozzles in specific positions and selectively activating them based on predicted or detected deviations. This allows the system to compensate for path errors without requiring time-consuming physical corrections, maintaining both precision and productivity.
Solution Approach 2:
The system replaces mechanical path correction mechanisms with a computational approach. Rather than using additional mechanical components to physically steer or reposition the robot, the invention uses position detection and selective nozzle activation to achieve accurate marking, substituting mechanical correction with intelligent control and reducing the time required for corrections.
Data Source
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AI summary
In an example, a surface marking robot comprises a body, a print apparatus comprising a plurality of print nozzles mounted on the body, a position detection apparatus to determine a position of the robot, and a motion control system, to cause the robot to travel along the surface with an intended path. The print apparatus may be to deposit print material onto the surface from a first nozzle of the plurality of nozzles to form a line as the robot follows the intended path and upon detection by the position detection apparatus that the position of the robot has deviated from the intended path, the motion control system may be to perform a correction to a direction of travel of the robot such that the robot returns to the intended path; and the print apparatus may be to deactivate the first nozzle and activate a second nozzle of the plurality of nozzles, wherein the second nozzle may be chosen such that a distance between the first and second nozzles is to compensate for a deviation of the robot's position from the intended path.