Robotic livery printing system
The present disclosure provides a robotic printing system for printing images on the surface of an object. One exemplary system includes a printing module carried by a motion platform to directly eject printing materials on a surface. One aspect of this disclosure provides methods for accurately controlling the motion of the motion platform, generating accurate triggering signals for printing heads, and properly aligning adjacent swaths of an image.
1. A system for applying a livery image to the surface of an object, comprising:
a printing module mounted on a motion platform and configured to apply a plurality of adjacent swaths of a print material to form an image on a surface, the printing module including one or more tanks for storing the print material and a plurality of printing heads for applying the print material;
a local sensing suite configured to acquire one or more images of the surface and to measure the motion of the printing module relative to the surface;
one or more global motion tracking devices configured for measuring the pose of the printing module, the motion platform, and the surface of the object;
a real-time processor being connected to the printing module, the motion platform, the local sensing suite, and the global motion tracking devices, said real-time processor is programmed with instructions for generating a plurality of triggering signals for controlling the timing of applying printing material from the printing module to form a plurality of swaths of a livery image by the steps of:
receiving one or more travel distance measurements from the one or more relative motion sensors in the local sensing suite;
fusing said travel distance measurements from the one or more relative motion sensors into a fused travel distance and fusing said fused travel distance with pose measurements of the printing module from one or more global motion tracking devices;
generating a triggering pulse when said fused travel distance is equal to or greater than a predetermined travel distance; and
sending the triggering pulse to the printing module wherein the triggering signals prompts the printing heads to apply a printing material; and
an executive computer interfaced with the real-time processor.
2. The system according to claim 1 , wherein the local sensing suite comprises any one or combination of:
one or more range sensors for measuring a distance to the surface; and
one or more relative motion sensors for measuring a relative motion of the printing module with respect to the surface.
3. The system according to claim 1 , wherein the local sensing suite comprises:
one or more optical sensors for acquiring one of more images of the surface.
4. The system according to claim 1 , wherein the printing module further comprises one or more material curing devices including UV lamps for curing the plurality of adjacent swaths of the print material.
5. The system according to claim 1 , wherein the motion platform comprises any one of a guiding frame, a multi-axis translation stage, a mobile vehicle, a multi-axis robotic manipulator, an actuating device, or a combination thereof.
6. The system according to claim 5 , wherein the motion platform comprises a translation stage, the multi-axis robotic manipulator carried by said translation stage, and the actuating device mounted on an end effector of said multi-axis robotic manipulator.
7. The system according to claim 6 , wherein said actuating device is decoupled from said translation stage and said multi-axis robotic manipulator carried by said translation stage, and said actuating device is controlled by a separate motion controller.
8. The system according to claim 1 , wherein the real-time processor is a computer programmed with instructions to fuse a plurality of measurements from the local sensing suite and the global motion tracking devices to estimate the motion of the printing module relative to the surface.
9. The system according to claim 1 , wherein the real-time processor is programmed with instructions to control the motion of the motion platform by receiving a pre-defined path and commanding the motion platform to follow the pre-defined path.
10. The system according to claim 1 , wherein the executive computer is programmed with instructions to provide system management capabilities and a plurality of user interfaces.
11. The system according to claim 1 , wherein the executive computer further comprises:
a data logger configured to log acquired data;
a safety monitor configured to generate an emergency stop alarm;
a human machine interface; and
a print controller programmed to execute one or more printing programs.
12. A system for applying a livery image to the surface of an object, comprising:
a printing module mounted on a motion platform and configured to apply a plurality of adjacent swaths of a print material to form an image on a surface, the printing module including one or more tanks for storing the print material and a plurality of printing heads for applying the print material;
a local sensing suite configured to acquire one or more images of the surface and to measure the motion of the printing module relative to the surface;
one or more global motion tracking devices configured for measuring the pose of the printing module, the motion platform, and the surface of the object;
a real-time processor being connected to the printing module, the motion platform, the local sensing suite, and the global motion tracking devices, wherein the real-time processor is programmed with instructions for computing a plurality of motion correcting commands for the motion platform to maintain a desired position, orientation, and velocity of the printing module relative to the surface by the steps of:
acquiring data from one or more range sensors which measure a distance to said surface;
generating a 3D representation of said surface from the acquired data;
computing a position, orientation, and velocity of said printing module relative to said 3D representation of the surface;
fusing the pose measurements of the printing module from one or more global motion tracking devices and said position, orientation, and velocity estimation from said range data and computing a filtered position, orientation, and velocity of said printing module relative to said surface;
computing an error between the filtered values and the desired values of the position, orientation, and velocity of said printing module relative to said surface; and
applying a plurality of motion correcting commands to the motion platform to correct said error in the position, orientation, and velocity of the printing module relative to said surface; and
an executive computer interfaced with the real-time processor.
13. The system according to claim 12 , wherein the local sensing suite comprises any one or combination of:
one or more range sensors for measuring a distance to the surface; and
one or more relative motion sensors for measuring a relative motion of the printing module with respect to the surface.
14. The system according to claim 12 , wherein the local sensing suite comprises:
one or more optical sensors for acquiring one of more images of the surface.
15. The system according to claim 12 , wherein the printing module further comprises one or more material curing devices including UV lamps for curing the plurality of adjacent swaths of the print material.
16. The system according to claim 12 , wherein the motion platform comprises any one of a guiding frame, a multi-axis translation stage, a mobile vehicle, a multi-axis robotic manipulator, an actuating device, or a combination thereof.
17. The system according to claim 16 , wherein the motion platform comprises a translation stage, the multi-axis robotic manipulator carried by said translation stage, and the actuating device mounted on an end effector of said multi-axis robotic manipulator.
18. The system according to claim 17 , wherein said actuating device is decoupled from said translation stage and said multi-axis robotic manipulator carried by said translation stage, and said actuating device is controlled by a separate motion controller.
19. The system according to claim 12 , wherein the real-time processor is a computer programmed with instructions to fuse a plurality of measurements from the local sensing suite and the global motion tracking devices to estimate the motion of the printing module relative to the surface.
20. The system according to claim 12 , wherein the real-time processor is programmed with instructions to control the motion of the motion platform by receiving a pre-defined path and commanding the motion platform to follow the pre-defined path.
21. The system according to claim 12 , wherein the executive computer is programmed with instructions to provide system management capabilities and a plurality of user interfaces.
22. The system according to claim 12 , wherein the executive computer further comprises:
a data logger configured to log acquired data;
a safety monitor configured to generate an emergency stop alarm;
a human machine interface; and
a print controller programmed to execute one or more printing programs.
23. A system for applying a livery image to the surface of an object, comprising:
a printing module mounted on a motion platform and configured to apply a plurality of adjacent swaths of a print material to form an image on a surface the printing module including one or more tanks for storing the print material and a plurality of printing heads for applying the print material;
a local sensing suite configured to acquire one or more images of the surface and to measure the motion of the printing module relative to the surface;
one or more global motion tracking devices configured for measuring the pose of the printing module, the motion platform, and the surface of the object;
a real-time processor being connected to the printing module, the motion platform, the local sensing suite, and the global motion tracking devices, wherein the real-time processor is programmed with instructions for controlling the motion of the motion platform to align a plurality of adjacent swaths of a livery image by the steps of:
commanding the motion platform to move the printing module to a region near a first printed swath;
acquiring one or more images of the first printed swath from one or more optical sensors in the local sensing suite;
detecting a plurality of boundaries of the first printed swath from the one or more images of said first printed swath;
computing a shifted path corresponding to a next swath be printed from said detected boundaries;
controlling the motion platform to move the printing module to follow the shifted path to print the next swath; and
an executive computer interfaced with the real-time processor.
24. The system according to claim 23 , wherein the local sensing suite comprises any one or combination of:
one or more range sensors for measuring a distance to the surface; and
one or more relative motion sensors for measuring a relative motion of the printing module with respect to the surface.
25. The system according to claim 23 , wherein the local sensing suite comprises:
one or more optical sensors for acquiring one of more images of the surface.
26. The system according to claim 23 , wherein the printing module further comprises one or more material curing devices including UV lamps for curing the plurality of adjacent swaths of the print material.
27. The system according to claim 23 , wherein the motion platform comprises any one of a guiding frame, a multi-axis translation stage, a mobile vehicle, a multi-axis robotic manipulator, an actuating device, or a combination thereof.
28. The system according to claim 27 , wherein the motion platform comprises a translation stage, the multi-axis robotic manipulator carried by said translation stage, and the actuating device mounted on an end effector of said multi-axis robotic manipulator.
29. The system according to claim 28 , wherein said actuating device is decoupled from said translation stage and said multi-axis robotic manipulator carried by said translation stage, and said actuating device is controlled by a separate motion controller.
30. The system according to claim 23 , wherein the real-time processor is a computer programmed with instructions to fuse a plurality of measurements from the local sensing suite and the global motion tracking devices to estimate the motion of the printing module relative to the surface.
31. The system according to claim 23 , wherein the real-time processor is programmed with instructions to control the motion of the motion platform by receiving a pre-defined path and commanding the motion platform to follow the pre-defined path.
32. The system according to claim 23 , wherein the executive computer is programmed with instructions to provide system management capabilities and a plurality of user interfaces.
33. The system according to claim 23 , wherein the executive computer further comprises:
a data logger configured to log acquired data;
a safety monitor configured to generate an emergency stop alarm;
a human machine interface; and
a print controller programmed to execute one or more printing programs.