US 12,296,459 B2
Mobile printing robot and related methods
Philipp Josef Herget, Sunnyvale, CA (US); Tessa Ann Lau, Sunnyvale, CA (US); and Shih-Chieh Hsiung, Santa Clara, CA (US)
Assigned to DUSTY ROBOTICS, INC., Mountain View, CA (US)
Filed by Dusty Robotics, Inc., Mountain View, CA (US)
Filed on Dec. 29, 2023, as Appl. No. 18/401,114.
Application 18/401,114 is a continuation of application No. 16/691,413, filed on Nov. 21, 2019.
Claims priority of provisional application 62/900,278, filed on Sep. 13, 2019.
Claims priority of provisional application 62/885,681, filed on Aug. 12, 2019.
Claims priority of provisional application 62/885,679, filed on Aug. 12, 2019.
Claims priority of provisional application 62/837,273, filed on Apr. 23, 2019.
Claims priority of provisional application 62/770,271, filed on Nov. 21, 2018.
Prior Publication US 2024/0131721 A1, Apr. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 11/00 (2006.01); B25J 5/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 11/0075 (2013.01) [B25J 5/007 (2013.01); B25J 9/1684 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A mobile printing robot, comprising:
a mobile base having a drive section;
at least one local sensor to generate relative data for the mobile printing robot, wherein the relative data includes at least one of local position data generated by the mobile printing robot, robot velocity data generated by the mobile printing robot, and robot acceleration data generated by the mobile printing robot;
a wireless communication system configured to support a communication link with a total station for receiving time-sensitive position data from the total station;
a controller;
a reflector disposed on the mobile printing robot for the total station to determine an absolute position of the mobile printing robot with respect to the total station and provide absolute position information to the mobile printing robot via the communication link;
a printing system disposed in the robot body including an image buffer and at least one inkjet print head for the mobile printing robot to print images associated with a construction layout, the inkjet print head having an array of nozzles;
wherein the mobile printing robot generates an estimated most likely position based on the absolute position measurement data and the relative data;
wherein the controller during a printing pass selects a firing pattern and firing frequency for the array of nozzles based on at least in part on the estimated most likely position of the mobile printing robot to control a position location of features of the layout printed on a construction surface;
wherein the mobile printing robot prints images on the construction surface with an image position accuracy of at least ¼ inch; and
wherein the controller selects a firing pattern for the array of nozzles to shift pixels of the images to compensate for a transverse shift in the estimated most likely position of the mobile printing robot to control the position location of features of the construction layout printed on the construction surface.