Systems and methods for printing on large surface with portable printing devices

A printing method comprising:

• a. using a projector to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector, wherein the pixel coordinates of the each pixel of the projector are encoded into the temporal projector light signal using a plurality of light pulses;
• b. detecting the temporal projector light signal using a light sensor of an autonomous mobile printing head and generating corresponding sensor signal, the autonomous mobile printing head comprising a drive unit and a color application actuator;
• and
• c. using an onboard computer of the autonomous mobile printing head to receive the sensor signal, to determine a location of the autonomous mobile printing head based on the detected temporal projector light signal, to issue a guidance command to the drive unit based on the detected location of the autonomous mobile printing head and to issue a color application command to the color application actuator to apply a color to a surface based on the detected location of the autonomous mobile printing head.

A tangible computer-readable medium embodying a set of instructions implementing a printing method comprising:

• a. using a projector to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector, wherein the pixel coordinates of the each pixel of the projector are encoded into the temporal projector light signal using a plurality of light pulses;
• b. detecting the temporal projector light signal using a light sensor of an autonomous mobile printing head and generating corresponding sensor signal, the autonomous mobile printing head comprising a drive unit and a color application actuator;
• and
• c. using an onboard computer of the autonomous mobile printing head to receive the sensor signal, to determine a location of the autonomous mobile printing head based on the detected temporal projector light signal, to issue a guidance command to the drive unit based on the detected location of the autonomous mobile printing head and to issue a color application command to the color application actuator to apply a color to a surface based on the detected location of the autonomous mobile printing head.