WO2015151101A1

WO2015151101A1 - System and method of robotic printing

Info

Publication number: WO2015151101A1
Application number: PCT/IL2015/050352
Authority: WO
Inventors: Tuvia Elbaum; Gilad SCHNURMACHER; Leon ROSENGARTEN; Ophir Shlomo CHERNIN
Original assignee: Zuta Labs Ltd.
Priority date: 2014-04-01
Filing date: 2015-04-01
Publication date: 2015-10-08

Abstract

A system and method for printing. A system and method may include transmitting to a printing unit a coordinate on a substrate and content to be printed at the coordinate. Wheels included in the printing unit may move the printing unit to the coordinate. A printing head included in the printing unit may be positioned at the coordinate and may print the content at the coordinate.

Description

SYSTEM AND METHOD OF ROBOTIC PRINTING

FIELD OF THE INVENTION

[0001] The present invention relates generally to system and method for printing. More specifically, the present invention relates to a system and method for producing printouts of any size.

BACKGROUND

[0002] Printers are known in the art. Generally, the size of a printout that may be produced by known printers is determined, or constrained by, the physical dimensions of the printer's components. For example, the width of a printout that can be produced by known printers is determined by a mechanism known as carriage, which feeds paper to the printer. For example, a printer with a wide-carriage can accept, and print on, a wide paper, and a narrow-carriage printer can only accept standard-sized paper. In other cases, a printing table may limit the width or size of printed matter produced by a printer.

SUMMARY

[0003] A system and method for printing on a substrate may include transmitting to a printing unit a coordinate on a substrate to be printed; rotating a wheel of the printing unit, said wheel in contact with a substrate to be printed, to move said printing unit to said coordinate; positioning a printing head of said printing unit at said coordinate; and printing content at coordinate using a print head included in said printing unit. A printing unit may transmit location information related to its location to remote processor.

[0004] A sensor included in a printing unit may be used to verify that printing at a coordinated has been performed in accordance with a print instruction. An autonomous printing unit may comprise a housing, said housing including a print head, a wireless receiver, a processor, a power source, and a plurality of wheels.

[0005] A wireless receiver in an autonomous printing unit may receive a print instruction from a remote source. An instruction from the remote source may include an indication of a coordinate or location on a substrate. Wheels in an autonomous printing unit may locomote a housing including the autonomous printing unit to a coordinate on a substrate to be printed. A power source in an autonomous printing unit may supply power to components in an autonomous printing unit. A processor may issue a signal to a print head in an autonomous printing unit to print at a coordinate. [0006] A sensor in a printing unit may be used to determine whether or not content specified in a print instruction has been printed in accordance with the print instruction. A plurality of autonomous printing units controlled by a remote source may be adapted to concurrently move and print on a substrate. A print head in a printing unit may deposit material on a substrate while the printing unit is maneuvered by wheels attached to the printing unit.

BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The subject matter regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanied drawings. Embodiments of the invention are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like reference numerals indicate corresponding, analogous or similar elements, and in which:

[0008] Fig. 1 shows high level block diagram of an exemplary computing device according to embodiments of the present invention;

[0009] Fig. 2 is an overview of a system according to embodiments of the present invention;

[0010] Fig. 3 shows a flowchart of a method according to an embodiment of the present invention;

[0011] Fig. 4 shows a flowchart of a method according to an embodiment of the present invention;

[0012] Fig. 5 shows a flowchart of a method according to an embodiment of the present invention;

[0013] Fig. 6 shows a flowchart of a method according to an embodiment of the present invention;

[0014] Fig. 7 shows a flowchart of a method according to an embodiment of the present invention; and

[0015] Fig. 8 shows a flowchart of a method according to an embodiment of the present invention.

[0016] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn accurately or to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity, or several physical components may be included in one functional block or element. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

[0017] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, and components, modules, units and/or circuits have not been described in detail so as not to obscure the invention. Some features or elements described with respect to one embodiment may be combined with features or elements described with respect to other embodiments. For the sake of clarity, discussion of same or similar features or elements may not be repeated.

[0018] Although embodiments of the invention are not limited in this regard, discussions utilizing terms such as, for example, "processing," "computing," "calculating," "determining," "establishing", "analyzing", "checking", or the like, may refer to operation(s) and/or process(es) of a computer, a computing platform, a computing system, or other electronic computing device, that manipulates and/or transforms data represented as physical (e.g., electronic) quantities within the computer's registers and/or memories into other data similarly represented as physical quantities within the computer's registers and/or memories or other information non-transitory storage medium that may store instructions to perform operations and/or processes. Although embodiments of the invention are not limited in this regard, the terms "plurality" and "a plurality" as used herein may include, for example, "multiple" or "two or more". The terms "plurality" or "a plurality" may be used throughout the specification to describe two or more components, devices, elements, units, parameters, or the like. The term set when used herein may include one or more items. Unless explicitly stated, the method embodiments described herein are not constrained to a particular order or sequence. Additionally, some of the described method embodiments or elements thereof can occur or be performed simultaneously, at the same point in time, or concurrently.

[0019] Reference is made to Fig. 1, a system 100 in accordance with embodiments of the invention. As shown, a system 100 may include a table 106 on supports 102. Table 106 may be suitable to hold in place a printing substrate, such as a paper 104, board, sheet, cloth, canvas or other material upon which a printing is to be executed, such as a printing of an image or content 118 on paper 104. It will be understood that printing as referred to herein may relate to placing, injecting or depositing any material (e.g., ink) on any suitable substrate (e.g., paper, canvas and the like). In some embodiments, system 100 may include one or more sensors 119 that may be located or affixed at known or suitable positions relative to table 106 or paper 104. Sensors 119 may enable a system and method to accurately determine a position, location and/or orientation of a substrate, e.g., sensors 119 may enable a system and method to accurately determine a position, location and/or orientation of paper 104 with respect to table 106. For example, sensors 119 may enable a system and method to determine where, on table 106, paper 104 is placed or what portion of paper 104 is actually placed on table 106.

[0020] System may include one or more fasteners and/or rollers 116 that may hold and move a substrate, e.g., hold and move paper 104. Fasteners and/or rollers 116 may be controlled and operated by a controller or processor. For example, electric motors included in fasteners and/or rollers may be controlled by a controller such that, based on a command from the controller, fasteners and rollers 116 may shift or move paper 104 on table 106, rotate paper 104 and firmly fasten paper 104 to table 106, e.g., in preparation for printing on paper 104 after positioning paper 104 in a desired place and orientation. For example, in some embodiments or cases, paper 104 may be longer or wider than a respective length or width of table 106. As described herein, a system and method according to embodiments of the invention may include moving or shifting paper 104 over table 106, accordingly, a paper (or other substrate) that is larger than table 106 may be used by a system and method according to embodiments of the invention. For example, by shifting or moving paper 104 over table 106, system 100 may print on a paper 104 that may be twice the length and/or three times the width of table 106.

[0021] In some embodiments, system 100 may include a computer 110 that may include a processor 112, a memory 114, a display 113 and an input/output device such as a keyboard or touch screen. For example, computer 110 may be similar to, or include components of, computing device 150 described herein, e.g., with reference to Fig. 2B. As shown, system 100 may include one or more movable printing units 108 that may be moveably placed on paper 104 on table 106. As shown, system 100 may include one or more antennas 117 or receivers and transmitters may be present near table 106.

[0022] In some embodiments, digital data representing content 118 to be printed on paper 104 may be stored in a memory 114 of a computer 110 that may include a processor 112. Processor 112 may be configured to carry out all or part of embodiments of the present invention by, for example, executing code or instructions stored in memory 1 14. Signals to the processor 112 may be input by, for example, a keyboard or a display 113 that has touch control. In some embodiments, a digitized representation of content 118 may be stored in, for example, a bitmap or other format that may include indications of a color, outline or other characteristic of some, each or all of a location or coordinate on paper 104. For example, each pixel or x,y coordinate in a bitmap file representing content 118 may be translated to, or plotted at, for example, an x,y coordinate on paper 104. In some embodiments, data on one, some or each of such coordinates and the characteristics of the pixel of such coordinate may be stored in memory 114 and translated by processor 112 to a coordinate on paper 104. Coordinates, color and other printing information may be communicated using antennas 117 which may transfer data to/from one or more printing units 108. Printing units 108 may use antennas 117 to report or transfer their location data, e.g., their location with respect to paper 104, to computer 110. Processor 112 may calculate a position of paper 104 or various section of paper 104 on table 106 by, for example, triangulation or other location detection methods as known in the art.

[0023] Reference is made to Fig. 2A, a top cut away view of a printing unit 200 in accordance with an embodiment of the invention. Printing unit 200 may include one or more wheels 204, one or more magnetic heads 214 which may include one or more components or parts at known locations near wheels 204. Magnetic heads 214 may be magnetically polarized or responsive to magnetic or electrical pulses and may be adapted to rotate or otherwise direct wheels 204 such that the direction at which wheels 204 travel is controlled by magnetic heads 214. As shown, printing unit 200 may include a power source 206, a receiver and transmitter unit 208, one or more print heads 210, one or more cartridges or ink storage devices 212, an electronic circuitry 218 and one or more sensors 216.

[0024] As shown, wheels 204 may be proximate to, or surrounded by, one or more magnetic heads 214 that may transmit magnetic or electrical pulses in designated locations around wheels 204 to cause wheels 204 to rotate with or against the magnetic pulses. Such rotation of wheels 204 in response to pulses may move printing unit 200 to designated locations or coordinates on paper 104. Such movements may be coordinated or directed by, for example, signals from processor 112. Wheels 204 may be suitable to move on, roll on, or roll in contact with, paper 104. Printing unit 200 may include a power source 206, such as a rechargeable battery, or other power source to power components of printing unit 200.

[0025] Receiver and transmitter unit 208 may be adapted to receive and transmit signals to one or more receivers associated with antennas 117. Accordingly, components of printing unit 200 may communicate. For example, printing head 210 may send data to, and receive data from, computer 110 using receiver and transmitter unit 208. Sensor 216 may be such as a color sensor, capable of detecting a color on paper 104 or detecting whether a coordinate has been printed in compliance with a particular instruction.

[0026] Print head 210 may be configured to hold and release one or more inks, such as inks of one or more colors. Ink may be stored in one or more cartridges 212 or other ink storage devices. Electronic circuitry 218 may include a memory and other electronic components and may control a flow of signals to and from components of printing unit 200, e.g., signals related to a movement of unit 200, signals related to sensing data of unit 200 and printing instructions of unit 200. In some embodiments, wheels 204 may suspend unit 200 or print head 210 at a known or configured height above paper 104.

[0027] In operation, data (e.g., in the form of a bit map as known in the art) of content 118 to be printed may be stored in memory 114 and processed by processor 112. Such data may include coordinates and printing instructions for locations on paper 104. Location data and movement data may be transmitted to and from antennas 117 to one or more printing units 200. Upon receipt of a signal or movements instructions, wheels 204 may move printing unit 200 to a designated location on paper 104 so that print head 210 is placed at an appropriate coordinate or location. Print head 210 may deposit an ink dot of a designated size, color or other characteristic on the designated coordinate. Senor 216 may capture sensory data related the coordinate or other proximate coordinates and may transmit such data to confirm proper placement of the ink relative to the instruction or to other coordinates. For example, using data captured by sensor 216, computer 110 may verify that content 118 is properly printed on paper 104.

[0028] Data from sensor 216 may be used to confirm a location or a coordinate to be printed relative to other coordinates that may have already been printed. Such data may also be used to confirm a proper printing of one or more coordinates in accordance with an instruction from processor 112. In some embodiments, movement instructions and location data of a printing unit 200 may be transmitted to and from unit 200 via antennas 117 hundreds of time a second or at other rates. To avoid smudging of deposited ink, in some embodiments, a movement of one or more wheels 204 may be directed so that none of such wheels 204 passes over a coordinate upon which ink had been deposited within a particular time. In some embodiments, two or more printing units 200 may travel and print on the same paper 104, e.g., in different areas of paper 104. [0029] In some embodiments, a position of paper 104 on table 106 may be altered by, for example, a movement of one or more rollers 116, so that a part of paper 104 is moved off of table 106 while another part of paper 104 is moved onto a top of table 106. Coordinates of the parts of paper 104 that are on or are off of table 106 at a particular time may be stored by processor 112 and memory 114, and transmitted to, for example, units 200 so that units 200 are moved on paper 104 so that they stay on top of table 106 at all times, and so that the coordinates of paper 104 that are to be printed by units 200 are those coordinates that are on top of table 106 at such particular time. One or more sensors may track and provide data related to a position of paper 104 with respect to table 106.

[0030] Reference is made to Fig. 2B, showing a high level block diagram of an exemplary computing device according to embodiments of the present invention. Computing device 150 may include a controller 105 that may be, for example, a central processing unit processor (CPU), a chip or any suitable computing or computational device, an operating system 115, a memory 120, an executable code 125, a storage system 130, input devices 135 and output devices 140. Controller 105 may be configured to carry out methods described herein, and/or to execute or act as the various modules, units, etc. More than one computing device 150 may be included, and one or more computing devices 150 may act as the various components, for example, computer 110 shown in Fig. 1 may be, or may include components of, computing device 150. For example, by executing executable code 125 stored in memory 120, controller 105 may be configured to carry out, or control, a method of printing as described herein.

[0031] Operating system 115 may be or may include any code segment (e.g., one similar to executable code 125 described herein) designed and/or configured to perform tasks involving coordination, scheduling, arbitration, supervising, controlling or otherwise managing operation of computing device 150, for example, scheduling execution of software programs or enabling software programs or other modules or units to communicate. Operating system 115 may be a commercial operating system.

[0032] Memory 120 may be or may include, for example, a Random Access Memory (RAM), a read only memory (ROM), a Dynamic RAM (DRAM), a Synchronous DRAM (SD-RAM), a double data rate (DDR) memory chip, a Flash memory, a volatile memory, a non- volatile memory, a cache memory, a buffer, a short term memory unit, a long term memory unit, or other suitable memory units or storage units. Memory 120 may be or may include a plurality of, possibly different memory units. Memory 120 may be a computer or processor non-transitory readable medium, or a computer non-transitory storage medium, e.g., a RAM.

[0033] Executable code 125 may be any executable code, e.g., an application, a program, a process, task or script. Executable code 125 may be executed by controller 105 possibly under control of operating system 115. For example, executable code 125 may be an application included in a system for, or a method of, printing as further described herein. Although, for the sake of clarity, a single item of executable code 125 is shown in Fig. 2B, a system according to embodiments of the invention may include a plurality of executable code segments similar to executable code 125 that may be loaded into memory 120 and cause controller 105 to carry out methods described herein. For example, units or modules described herein may be, or may include, controller 105 and executable code 125.

[0034] Storage 130 may be or may include, for example, a hard disk drive, a Compact Disk (CD) drive, a universal serial bus (USB) device or other suitable removable and/or fixed storage unit. Content may be stored in storage 130 and may be loaded from storage 130 into memoryl20 where it may be processed by controller 105. In some embodiments, some of the components shown in Fig. 2B may be omitted. For example, memory 120 may be a non- volatile memory having the storage capacity of storage 130. Accordingly, although shown as a separate component, storage 130 may be embedded or included in memory 120.

[0035] Input devices 135 may be or may include a mouse, a keyboard, a touch screen or pad or any suitable input device. It will be recognized that any suitable number of input devices may be operatively connected to computing device 150 as shown by block 135. Output devices 140 may include one or more displays or monitors, speakers and/or any other suitable output devices. It will be recognized that any suitable number of output devices may be operatively connected to computing device 150 as shown by block 140. Any applicable input/output (I/O) devices may be connected to computing device 150 as shown by blocks 135 and 140. For example, a wired or wireless network interface card (NIC), a printer, a universal serial bus (USB) device or external hard drive may be included in input devices 135 and/or output devices 140.

[0036] For example, a system may include a computing device 150 and input devices 135 and output devices 140 may include, or enable controlling, sensors, printing units, antennas, print heads, wheels, receivers and transmitters or electronic circuitries. [0037] Embodiments of the invention may include an article such as a computer or processor non- transitory readable medium, or a computer or processor non-transitory storage medium, such as for example a memory, a disk drive, or a USB flash memory, encoding, including or storing instructions, e.g., computer-executable instructions, which, when executed by a processor or controller, carry out methods disclosed herein. For example, an article may include a storage medium such as memory 120, computer-executable instructions such as executable code 125 and a controller such as controller 105.

[0038] Some embodiments may be provided in a computer program product that may include a non- transitory machine-readable medium, stored thereon instructions, which may be used to program a computer, or other programmable devices, to perform methods as disclosed herein. Embodiments of the invention may include an article such as a computer or processor non-transitory readable medium, or a computer or processor non-transitory storage medium, such as for example a memory, a disk drive, or a USB flash memory, encoding, including or storing instructions, e.g., computer- executable instructions, which when executed by a processor or controller, carry out methods disclosed herein. The storage medium may include, but is not limited to, any type of disk including, semiconductor devices such as read-only memories (ROMs) and/or random access memories (RAMs), flash memories, electrically erasable programmable read-only memories (EEPROMs) or any type of media suitable for storing electronic instructions, including programmable storage devices. For example, in some embodiments, memory 120 is a non-transitory machine-readable medium.

[0039] A system according to embodiments of the invention may include components such as, but not limited to, a plurality of central processing units (CPU) or any other suitable multi-purpose or specific processors or controllers (e.g., controllers similar to controller 105), a plurality of input units, a plurality of output units, a plurality of memory units, and a plurality of storage units. A system may additionally include other suitable hardware components and/or software components. In some embodiments, a system may include, for example, a personal computer, a server computer, a network device, or any other suitable computing device. For example, a system as described herein may include one or more devices such as computing device 150.

[0040] Reference is made to Fig. 3, a flow in accordance with an embodiment of the invention. As shown by block 310, a command to start a print job may be received. For example, computer 110 may receive content 118 and a command to print content 118 on paper 104. As shown by block 315, position of paper 104 on table 106 may be verified or determined. For example, a sensor in printing unit 200 may determine whether or not the top right corner of paper 104 is placed at the top right corner of table 106. As shown by block 320, if paper 104 is not properly positioned, paper 104 may be shifted or moved on table 106 such that it is placed in a predefined starting position, e.g., paper 104 may be placed (e.g., using rollers and clippers as described) such that the top right corner of paper 104 is aligned with the top right corner of table 106. Positioning of paper 104 on table 106 is further described with reference to Fig. 4. As shown by block 325, if or when paper 104 is properly positioned, printing may be started.

[0041] As shown by block 330, when printing is complete, information related to the printed operation may be saved or recorded. For example, the location on paper 104 where printing was done may be stored, the location or position of paper 104 on table 106 may be stored, the area already printed may be stored, portion of content 118 already printed may be stored and so on. As shown by block 335, printing unit 200 may be moved to a parking or safe position when printing phase is done. As shown by block 340, after a print session is completed, paper 104 may be moved, e.g., in preparation for a subsequent print phase. For example, paper 104 may be moved along the X axis as further described with reference to Fig. 5.

[0042] As shown by block 345, a subsequent print session may begin. For example, after shifting paper 104, a subsequent print phase may include printing on a different portion of paper 104. As shown by block 350, a flow may include determining whether or not additional printing is required. As shown by block 355, if more printing is to be done, paper 104 may be moved so that it is properly placed according to the Y axis, e.g., as further described with reference to Fig. 6. As shown by block 360, when paper 104 is properly placed, printing may begin. As shown by blocks 365 and 370, if paper 104 cannot (or needs not) be moved in the X or Y directions then the process may terminate as shown by block 380. As shown by block 375, if paper 104 can (or needs to) be moved in either the X or Y direction then, if there is more data to be printed, then some of the flow may be repeated, e.g., paper 104 may be shifted and additional printing may be performed.

[0043] Reference is made to Fig. 4, a flow in accordance with an embodiment of the invention. According to embodiments of the invention, sensors placed at the right and top sides or edges of table 106 enable determining whether or not the edges of paper 104 are outside table 104. A system and method according to embodiments of the invention may determine or verify that the top and right edges of paper 104 are aligned with the respective top and right edges of table 106. As shown by block 410, paper 104 may be shifted left. As shown by block 415, it may be determined (e.g., using sensors on table 106) whether or not paper 104 needs to be shifted left. As shown by block 410, paper 104 may be shifted left. As shown by the arrow connecting blocks 415 and 410, shifting paper 104 may be repeated until paper 104 is aligned with the side of table 106 or until paper 104 is properly placed on table 106 with respect to the X axis. As shown by block 420, paper 104 may be moved back one step on notch. For example, a system may operate such that a last shift as shown by block 410 causes paper 104 to be placed slightly away from the edge of table 106 and the shift as shown by block 420 places paper 104 in the right position. For example, using sensors that are uncovered when paper 104 is shifted, paper 104 may be shifted until the sensors are exposed or uncovered ant then paper 104 may be moved or shifted back one notch. Blocks 430, 435 and 440 generally repeat the process shown by blocks 410, 415 and 420 in the Y direction or axis. As shown by block 430, paper 104 may be moved down, as shown by block 435, it may be determined (e.g., using sensors on table 106) whether or not paper 104 needs to be shifted further down and, if so, shifting paper 104 mat be repeated as shown by the arrow connecting blocks 435 and 430. As shown by block 440, after paper 104 was moved enough to expose the Y axis sensors, paper 104 may be shifted a step back, e.g., slightly moved up. As shown by block 445, after positioning paper 104, printing may commence.

[0044] Reference is made to Fig. 5, a flow in accordance with an embodiment of the invention. As shown by block 510, a width parameter ("XStepsToGo") that defines or indicates the width, along the X axis, of the area to be printed may be set, received or configured. As shown by block 520, paper 104 may be moved or shifted by a predefined (typically small) step to the right and a unit (e.g., "1") may be decreased from the width parameter (e.g., by ("XStepsToGo = XStepsToGo - 1"). As shown by block 525, it may be determined whether or not the width parameter is zero, e.g., the shift of paper 104 has reached or exceeded the value of the width parameter and therefore no more shifting should be made. As shown by block 530, it may be determined whether or not a sensor at the top left of table 106 is still covered by paper 104. If the sensor at the top left of table 106 is not covered by paper 104 then a flag "EndOfX" may be set as shown by block 535. As shown by block 365 in Fig. 3, the EndOfX flag may be used in order to decide whether or not a repositioning of paper 104 needs to be done. As shown by block 540, if not more steps are to be performed (e.g., paper 104 has been shifted by the size set by XStepsToGo or the sensor at the top left of table 106 is exposed) then the flow may return to the flow described with reference to Fig. 3. [0045] Reference is made to Fig. 6, a flow in accordance with an embodiment of the invention. Generally, other than being related to the Y axis and not the X axis, the flow shown in Fig. 6 is similar to the flow shown in Fig. 5.

[0046] As shown by block 610, a length parameter ("YStepsToGo") that defines or indicates the length, along the Y axis, of the area to be printed may be set, received or configured. As shown by block 620, paper 104 may be moved or shifted by a predefined (typically small) step down and a unit (e.g., "1") may be decreased from the length parameter (e.g., by ("YStepsToGo = YStepsToGo - 1"). As shown by block 625, it may be determined whether or not the length parameter is zero, e.g., the shift of paper 104 has reached or exceeded the value of the length parameter and therefore no more shifting should be made. As shown by block 630, it may be determined whether or not a sensor at the top left of table 106 is still covered by paper 104. If the sensor at the top left of table 106 is not covered by paper 104 then a flag "EndOfY" may be set as shown by block 635. As shown by block 370 in Fig. 3, the "EndOfY" flag may be used in order to decide whether or not a repositioning of paper 104 needs to be done. As shown by block 640, if not more steps are to be performed (e.g., paper 104 has been shifted by the size set by YStepsToGo or the sensor at the top left of table 106 is exposed) then the flow may return to the flow described with reference to, and shown by, Fig. 3.

[0047] Reference is made to Fig 7, a flow in accordance with an embodiment of the invention. As shown by block 700, a coordinate on a substrate to be printed may be provided to a printing unit. As described, the printing unit may be adapted to travel on the substrate. For example, printing unit 200 may travel on paper 104 when paper 104 is placed on table 106. For example, computer 110 may send a coordinate and printing data to printing unit 200 and printing unit 200 may move on paper 104, reach the coordinate, and deposit ink at the coordinate such that content, as specified in a print instruction, is properly and accurately printed on paper 104. As shown by block 702 a wheel of a printing unit may be rotated in contact with a substrate, to move the printing unit to the coordinate. For example, wheels 204 may carry printing unit 200 to any location on paper 104 or on table 106, e.g., to a location specified by a coordinate provided by computer 110.

[0048] As shown by block 704 the printing head of the printing unit may be positioned on the coordinate to be printed. For example, using sensors as described, the location of printing unit 200 may be determined such that printing unit 200 may be accurately positioned at a specified coordinate on paper 104 or on table 106. As shown by block 706 an instruction may be transmitted to a print head to print content at a coordinate of the substrate. For example, printing unit 200 may print a specific pixel according to a specified color, intensity or other parameters where the pixel is selected according to a coordinate.

[0049] As described herein, a printing unit (e.g., printing unit 200) may include a print head, and one or more wheels to move the printing unit on a substrate to be printed. For example, wheels 204 may move printing unit 200 on paper 104 such that printing unit 200 may move on or over paper 104 and reach any location on paper 104. Accordingly, a system according to embodiments of the invention may print on a paper or substrate of any size. Unlike known printing systems and methods that can only print on substrates of predefined and/or limited size, a system according to embodiments of the invention is not limited to a particular size of the substrate since the printing unit may travel on a substrate of any size. Moreover, as described, the substrate itself may be moved or shifted on a table. The ability of shifting or moving the substrate further enhances the capability of a system according to embodiments of the invention since the size of a table or surface that holds or supports the substrate does not limit the size of the substrate on which the system prints.

[0050] As described, a receiver in print unit 200 may receive a signal (e.g., from computer 110) where the signal includes a coordinate on a substrate. For example, computer 110 may translate or convert pixels in a bitmap that represents content 118 into coordinates on paper 104 and send a signal that includes the coordinates to printing unit 200. Using a receiver, printing unit 200 may receive the signal and wheels 204 may move printing unit 200 on a substrate (e.g., on paper 104) to the coordinate received so that print head 210 is placed such that it can print on the substrate at the received coordinate.

[0051] As further described, printing unit 200 may include sensors that may sense, capture or identify (e.g., using a camera or other image acquisition components) printed matter on a substrate. For example, sensors 216 may capture a pattern printed by printing unit 200 and may send the captured pattern to computer 110. Computer 110 may then compare the captured pattern to content 118 to verify that the correct pattern was printed. Accordingly, computer 110 may verify that the correct pattern is printed at the correct location or coordinate.

[0052] As described, the position or location of printing unit 200 and print head 210 may be known to computer 110, for example, a transmitter included in print unit 200 may transmit the location of print unit 200 to computer 110. Additionally or alternatively, computer 110 may record each movement of print unit 200, accordingly, provided with an initial position, location and/or orientation of print unit 200, computer 110 may know the exact location of print unit 200 at any given time or phase.

[0053] Accordingly, a system may be adapted to determine whether or not a pattern at a coordinate has been printed in accordance with an instruction and/or in accordance with the content to be printed. Components of printing unit may be powered by a power source included in printing unit 200. For example, a battery may be included in printing unit 200 and the battery may power print heads 210, motors that rotate wheels 204 and any other components that need power.

[0054] In an embodiment, print unit 200 or print head 210 comprises a transmitter to transmit movement instructions to wheels 204. For example, print unit 200 may receive a coordinate from computer 110 and may transmit instructions to wheels 204 to cause wheels 204 to carry print head 210 to the coordinate. As described, print unit 200 may include ink storage (e.g., a cartridge), the ink storage adapted to transmit or provide ink to the print head. Suspended on the wheels, the print head may be placed above the substrate and may deposit ink on the substrate. The height of the print head may be configurable, e.g., using a suspension component that enables raising or lowering the print head. It will be understood that any number of print heads similar to print head 210 may be used, e.g., two or more print heads 210 may be installed in a printing unit 200. Alternatively or additionally, more than one printing units 200 may be used by a system. For example, computer 110 may control two or more printing units 200 that may simultaneously print on in different locations of the same paper 104. Accordingly, a system may include a plurality of print heads that may concurrently print on a substrate.

[0055] As described, in an embodiment, the substrate itself may be moved. For example, paper 104 may be shifted or moved on table 106. For example, if paper 104 is larger than table 106, at some point in time, a portion of paper 104 may be placed on table 106 while another portion of paper 104 may be outside of table 106. Using rollers and clippers as described, paper 104 may be shifted or moved such that at another point in time or phase, the portion outside table 106 may be laid on table 106 and the portion previously on table 106 is outside table 106. Rollers and clippers may be used to rotate paper 104 on table 106 or otherwise alter a position, location or orientation of paper 104 with respect to table 106. Moving, shifting or rotating a substrate may be done based on commands from computer 110, a processor or a controller. For example, rollers and clippers in print unit 200 as described may be controlled by computer 110. [0056] For example, a method of printing on a substrate according to embodiments of the invention may include transmitting to a printing unit a coordinate of a substrate to be printed, for example computer 110 may transmit a coordinate to printing unit 200.The method may include rotating a wheel of a printing unit, said wheel in contact with a substrate to be printed, to move said printing unit to said coordinate. For example, computer 110 may cause wheels 204 to rotate and thus move printing unit 200 to a desired location on paper 104.

[0057] The method may include positioning a printing head of a printing unit on said coordinate. For example, computer 110 may cause, as described, print unit 200 to move to a location such that print head 210 is placed above a specific coordinate, where the coordinate may be relative to paper 104. Placed at a coordinate, print head 210 may print on paper 104, accordingly, by causing a print unit to freely travel over a (possibly large) substrate, a system and method may freely move a print head to any location on a substrate, rotate the print head or otherwise orientate the print head, and further cause the print head to print at a specific location. It is emphasized that, unlike print heads in known systems that can only travel in one direction, along one axis, or along predefined, specific paths, print head 210 may freely move at any direction on a substrate and may be caused to reach any point on table 106. By further adding the element of moving the substrate itself, systems and methods according to embodiments of the invention enable printing anywhere on a substrate. Moreover, systems and methods according to embodiments of the invention enable printing on a substrate of any size or dimension. For example, systems and methods according to embodiments of the invention enable printing on a round substrate, a triangle shaped paper etc. Since, as described, both the printing unit and the substrate may be moved, systems and methods according to embodiments of the invention are not limited to a specific size or shape of the substrate.

[0058] Reference is made to Fig. 8, a flowchart of a method according to an embodiment of the present invention. As shown by block 810, a coordinate on a substrate to be printed and information related to content to be printed at the coordinate may be provided to a printing unit. For example, computer 110 sends, using wireless communication as described, a coordinate on paper 104 and some of content 118 thus instructing printing unit 200 to print content at a coordinate. As shown by block 815, wheels carrying the printing unit may rotate, thus moving the print unit to a coordinate on a substrate. For example, wheels 204 may rotate, thus move print unit 200 to a coordinate on paper 104, e.g., a coordinate specified in a print instruction received by print unit 200 from computer 110. As shown by block 820, a printing head of said printing unit may be positioned at said coordinate. For example, a processor in print unit 200 may cause wheels 204 to place print head 210 at a specific coordinate, e.g., a coordinate specified in a print instruction received from computer 110. As shown by block 820, a print head included in the printing unit may print at the coordinate. For example, after print head 210 is positioned at a coordinate specified in a print instruction, a processor in print unit 200 may cause print head 210 to print content at the coordinate in accordance with a print instruction received from computer 110.

[0059] As described, location information from a printing unit may be provided to a remote processor. For example, printing unit 200 may send (e.g., using wireless communication as described) its location to computer 110 and computer 110 may use the location of printing unit 200 in order to control wheels 204 to move printing unit 200 to a coordinate in preparation for printing content on paper 104.

[0060] As described, sensor 116 collect information (e.g., in the form of an image of printed content) that may be used to verify that printing content at a specific coordinate has been performed in accordance with an instruction received printing unit 200.

[0061] As described, printing unit 200 may be an autonomous printing unit comprising (or included in) a housing, the housing including a print head, a wireless receiver, a processor, a power source, and a plurality of wheels. The wireless receiver in an autonomous unit may receive a print instruction from a remote source (e.g., computer 110). The wheels of an autonomous unit may locomote the housing to a coordinate on a substrate to be printed.

[0062] A power source in the autonomous unit may supply power to components in the autonomous unit and a processor in the autonomous unit may issue a signal a print head in the autonomous unit to print at a coordinate on a substrate. An instruction from the remote source, received by the autonomous unit, may include an indication of a location on a substrate and the wheels of the autonomous unit may be adapted to locate autonomous unit at the indicated location.

[0063] A sensor in an autonomous unit may be used to determine whether or not content specified in a print instruction received by the autonomous unit has been printed in accordance with a print instruction received by the autonomous unit. As described, a plurality of autonomous printing units controlled by a remote source (e.g. computer 110), may be adapted to concurrently move and print on a substrate.

[0064] Components in an autonomous unit (e.g., printing unit 200) may operate or function independently, concurrently or simultaneously. For example, wheels 204 and print head 210 may operate or function concurrently or simultaneously. For example, print head 210 may deposit material on a substrate while wheels 204 rotate and move or maneuver a housing (e.g. a housing including printing unit 200). For example, to print a line, print head 210 may deposit ink on paper 104 while wheels 204 move printing unit 200.

[0065] The flow shown by Fig. 8 may be carried out by a system according to embodiments of the invention, e.g., a system comprising a printing unit (e.g., printing unit 200), where the printing unit comprises a print head (e.g. print head 210), one or more wheels to move the printing unit on a substrate to be printed (e.g., wheels 204), a memory, and one or more receive/transmit (Rx/Tx) units enabling components of the system to communicate. For example, computer 110 and printing unit 200 may communicate using one or more Tx/Rx units as known in the art. In operation, a receiver in a system according to embodiments of the invention receives a signal indicating a coordinate on a substrate, a wheel in the system moves the printing unit on the substrate so that said a print head is placed at the coordinate, and the print head deposits material (e.g., ink) at the coordinate on the substrate.

[0066] According to embodiments of the invention, a printing unit may comprise a sensor usable to determine whether or not material was deposited at said coordinate in accordance with an instruction received by said printing unit. For example, feedback related to printing may be generated using a sensor included in the printing unit (e.g. sensor 216). For example, sensor 216 may acquire an image of content printed on paper 104 and send the image (or other signal) to computer 110. Computer 110 may compare an image received from sensor 216 to content 118 thus verify content 118 is properly or adequately printed on paper 104. A signal sent to computer 110 may include an indication that printing at a specific coordinate is done, receiving an indication printing is done, computer 110 may issue an additional signal to cause printing unit 200 to perform additional printing. As described, a printing unit may comprise a power source to power components included in said printing unit. For example, a battery in printing unit 200 may provide power to wheels 204, sensor 216 and any other components in printing unit 200 that require electrical power in order to operate.

[0067] Printing unit 200 may report its location to computer 110. For example, a transmitter in printing unit 200 may transmit, to computer 110, a signal that includes a position, location or coordinate of printing unit 200. A signal from printing unit 200 may be used by computer 110 to verify that printing unit 200 is indeed located at a desired coordinate, e.g., a coordinate included in a print instruction. [0068] Wheels 204 may be controlled by a processor in printing unit 200 or by computer 110. For example, printing unit 200 may comprise a transmission to transmit movement instructions to wheels 204.

[0001] Wheels 204 may be adapted to suspend printing head 210 at a known height above a substrate (e.g., a known height above paper 104). Wheels 204 may be in contact with a substrate when the printing unit moves. For example, wheels 204 may roll on paper 104 thus transfer printing unit 200 from one location or coordinate on paper 104 to another location or coordinate on paper 104.

[0002] Ink storage, e.g., ink cartridges of more than one color may be included in printing unit 200 and may provide ink to print head 210. As described, a memory in computer 110 may store digital information related to a content to be printed (e.g., content 118), and the processor may receive a signal, or other indication of a location of printing unit 200 on a substrate (e.g., a location of printing unit 200 on paper 104). A processor in computer 110 may transmit to printing unit 200 a coordinate to be printed and, and the processor may transmit to printing unit 200 information related to a content to be printed at the coordinate.

[0003] Although a single printing unit 200 is mainly described herein, a system may include a plurality of printing units similar to printing unit 200 and the plurality of printing units may concurrently move on a substrate. For example, computer 110 may control a number of printing units 200 that may simultaneously or concurrently print on paper 104 as described herein with respect to printing unit 200.

[0004] As described herein, other than moving a printing unit on a substrate, a system and method according to embodiments of the invention may move the substrate itself. For example, a system according to embodiments of the invention may include a roller to alter a position of a substrate in response to a signal from a processor. For example, computer 110 may cause components in table 106 (e.g., rollers 116 and clippers as described herein) to move, shift or rotate paper 104 on table 106. When generating or calculating coordinates for printing, computer 110 may take into account any altering of a position of a substrate. For example, coordinates sent to printing unit 200 may be calculated such that they are relevant or respective to a portion of paper 104 that is currently on table 106.

[0005] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents may occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

[0006] Various embodiments have been presented. Each of these embodiments may of course include features from other embodiments presented, and embodiments not specifically described may include various features described herein.

Claims

CLAIMS What is claimed is:

1. A system for printing comprising:

a printing unit comprising:

a print head,

a wheel to move said printing unit on a substrate to be printed, a memory,

a receiver, and

a transmitter;

wherein said receiver receives a signal of a coordinate on said substrate, said wheel moves said printing unit on said substrate so that said print head is placed at said coordinate, said print head deposits material at said coordinate on said substrate, and said transmitter delivers a signal related to a printing at said coordinate.

2. The system as in claim 1 , wherein said printing unit comprises a sensor to determine whether or not material was deposited at said coordinate in accordance with an instruction received by said printing unit.

3. The system as in claim 1, wherein said printing unit comprises a power source to power components included in said printing unit.

4. The system as in claim 1, wherein said transmitter transmits a signal of a position of said printing unit, said signal used by a computer to verify said printing unit is located at said coordinate.

5. The system as in claim 1, wherein said printing unit comprises a transmission to transmit movement instructions to said wheel.

6. The system as in claim 1, wherein said printing unit comprises ink storage, said ink storage to provide ink to said print head.

7. The system as in claim 1, comprising a plurality of wheels, said wheels to suspend said printing head at a known height above said substrate and to locate said print head at said coordinate.

8. The system as in claim 1, comprising a processor and a memory, said memory to store digital information related to a content to be printed, and said processor to:

receive a signal of a location of said printing unit on said substrate;

transmit to said printing unit a coordinate to be printed and, and

transmit to said printing unit information related to a content to be printed at said coordinate.

9. The system as in claim 1, wherein said wheel is in contact with said substrate when said printing unit moves.

10. The system as in claim 1, comprising a plurality of printing units, said plurality of printing units to concurrently move on said substrate.

11. The system as in claim 1, comprising a roller to alter a position of said substrate in response to a signal from a processor.

12. The system as in claim 11, wherein said processor is to calculate said coordinate of said substrate to be printed, taking into account said altering of said position of said substrate.

13. A method of printing on a substrate, comprising:

transmitting to a printing unit a coordinate on a substrate to be printed;

rotating a wheel of the printing unit, said wheel in contact with a substrate to be printed, to move said printing unit to said coordinate;

positioning a printing head of said printing unit at said coordinate; and

printing content at coordinate using a print head included in said printing unit.

14. The method as in claim 13, comprising transmitting location information from said printing unit to a remote processor.

15. The method as in claim 13, comprising sensing with a sensor included in said printing unit that printing at said coordinated has been performed in accordance with an instruction received by said printing unit.

16. A system comprising an autonomous printing unit, comprising:

a housing, said housing including a print head, a wireless receiver, a processor, a power source, and a plurality of wheels; wherein

said wireless receiver is to receive a print instruction from a remote source,

said wheels are to locomote said housing to a coordinate on a substrate to be printed,

said power source is to supply power to components in said print unit, and

said processor is to issue a signal to said print head to print at said coordinate.

17. The system of claim 16, wherein said instruction from the remote source includes an indication of a location on said substrate and wherein said wheels are adapted to locate said print head at the indicated location.

18. The system of claim 16, wherein said sensor is used to determine whether or not content specified in the print instruction has been printed in accordance with the print instruction.

19. The system of claim 16, comprising a plurality of autonomous printing units controlled by said remote source, said plurality of autonomous printing units adapted to concurrently move and print on said substrate.

20. The system of claim 16, wherein said print head is to deposit material on said substrate while said housing is maneuvered by said wheels.