The Research On Move Print Carrier And Its Control System

Nowadays,there are many drawbacks of cloud print such as large size and limited print format.The move print carrier adopts high precision and high integration gyroscope to realize positioning and free move mode while printing,which greatly reduces the volume of the printer,enhances the print format and has great market in future.The move print carrier belongs to a small-format cloud print equipment.Firstly,this paper introduces what is the move print carrier,the difference between current printers as well as its own advantages.And then point out the key technology and its developments.Secondly,the move print carrier mechanism is designed.According to the mechanism with force and motion,the moment model,foundation rotation model and rotation optimization model based on gyroscope are proposed.In order to expend the development of gyroscope,a position estimation model is given.Then,the hardware as well as software of the move print carrier are designed and a true crawler printer as well as server are built.Finally,many experiments are made to test its characters.The test of 3 axis accelerometer and the 3 axis gyroscope is carried on and the tests verifies the accuracy of gyroscope.The test of Calman filter is made,and the results show that it does improve accuracy of gyroscope.The test of packet loss on server is carried on and the results show sending packets in the max limit of Ethernet can effectively avoid packet loss.The test of whole move print carrier system is made and the results verify the feasibility of the crawler printer based on gyroscope.The move print carrier will change the traditional printing mode with its flexible mobility.However,the move print carrier in this paper moves with three wheels.It can combine the technology on two wheels self-balance car to make two wheels move and furtherly enhance the flexibility of mobility.