Multi-needle printing device with adjustment function, adjustment method and electronic equipment

Abstract

The embodiment of the invention relates to a multi-needle printing device with an adjustment function, an adjustment method and electronic equipment. The method comprises the steps of obtaining height data corresponding to at least two printing needles on a printing head; based on the height data corresponding to the at least two printing needles, the flatness of the printing head is adjusted by rotating the printing head; acquiring a bottom image of the printing head subjected to flatness adjustment so as to obtain a primary identification image containing the bottom image of the printing head, and obtaining primary image position coordinates corresponding to at least two printing needles on the printing head in the primary identification image; and on the basis of the primary image position coordinates corresponding to at least two printing needles on the printing head in the primary recognition image, the position of the printing head in the plane direction is adjusted by rotating the printing head. Before the multi-needle printing head is officially put into printing operation, the multi-needle printing head can be finely adjusted and calibrated, so that the printing precision is ensured, and potential faults are avoided.

Description

Technical Field

[0001] Multiple embodiments of the present specification relate to the field of printing technology, and specifically to a multi-needle printing device with a calibration function, a calibration method, and an electronic device. Background Art

[0002] With the continuous development of printing technology, in order to significantly improve printing efficiency, the use of multi-pin print heads has become increasingly widespread. However, as the number of print pins increases, the problem of printing errors has become increasingly prominent.

[0003] First, it must be recognized that even if the printing position of a single needle is accurate, it cannot guarantee that the printing position of the entire print head is completely accurate. Secondly, as the number of needles in the print head increases, the overall volume of the print head also increases, which increases the possibility of the overall tilt of the print head during use. Once the overall tilt of the print head occurs, if it is not corrected in time, it is easy to cause faults such as needle collision, which will have a serious impact on the printing quality.

[0004] Therefore, it is particularly important to perform a detailed calibration before the multi-needle print head is officially put into printing operation. This step is of great significance to ensure printing accuracy and avoid potential failures. Summary of the invention

[0005] The embodiments of this specification provide a multi-needle printing device, a calibration method, and an electronic device with a calibration function, which can perform detailed calibration operations on the multi-needle printing head before it is officially put into printing operation, thereby ensuring printing accuracy and avoiding potential failures.

[0006] The technical solution is as follows:

[0007] In a first aspect, an embodiment of the present specification provides a multi-needle printing device with a calibration function, including a printing mechanism, a height data acquisition module, and an image data acquisition module disposed below the printing mechanism, wherein the printing mechanism includes a printing head having at least two linearly arranged printing needles, a first calibration module, and a second calibration module;

[0008] The height data acquisition module acquires height data corresponding to at least two printing pins on the print head;

[0009] The first adjustment module adjusts the flatness of the print head by rotating the print head based on the height data corresponding to the at least two print needles;

[0010] The image data acquisition module acquires a bottom image of the print head after the flatness adjustment to obtain a primary recognition image including the bottom image of the print head, and obtains the primary image position coordinates corresponding to at least two printing pins on the print head in the primary recognition image;

[0011] The second adjustment module adjusts the position of the print head in a plane direction by rotating the print head based on the primary image position coordinates corresponding to at least two print pins on the print head in a primary recognition image.

[0012] As a preferred solution, the height data acquisition module includes a needle tip touch unit and a height data acquisition unit;

[0013] The needle tip contact unit is configured to contact the printing needle on the printing head by the printing head descending and / or the needle tip contact unit ascending;

[0014] The height data acquisition unit acquires the height data of the printing needle based on the descending height of the printing head and / or the ascending height of the needle tip contact unit when the needle tip contact unit contacts the printing needle on the printing head.

[0015] As a preferred solution, the first adjustment module includes a first rotating mechanism and a first control unit, and the second adjustment module includes a second rotating mechanism and a second control unit;

[0016] The first rotating mechanism is rotatably arranged on the second rotating mechanism, and the print head is fixedly connected to the first rotating mechanism;

[0017] The first control unit controls the rotation of the first rotating mechanism based on the height data corresponding to the at least two printing needles, thereby driving the printing head to rotate, so as to adjust the flatness of the printing head;

[0018] The second control unit, based on the image position coordinates corresponding to each of at least two printing needles on the print head in a recognition image, rotates the second rotating mechanism to drive the first rotating mechanism and the overall rotation of the print head to achieve position adjustment of the print head in the planar direction.

[0019] As a preferred solution, the second calibration module further performs a pre-rotation operation on the print head in a planar direction after obtaining a primary recognition image including an image of the bottom of the print head;

[0020] The image data acquisition module also acquires a bottom image of the pre-rotated print head in the same image acquisition direction as that used to acquire the primary recognition image to obtain a secondary recognition image including the bottom image of the print head, and obtains the secondary image position coordinates corresponding to at least two print pins on the print head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image;

[0021] The second adjustment module obtains the rotation center position coordinates of the print head in the plane direction based on the primary image position coordinates of at least two print needles on the print head that respectively correspond in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image, and based on the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the print head is rotated to achieve position adjustment of the print head in the plane direction.

[0022] As a preferred solution, the second adjustment module includes a perpendicular midline acquisition unit and a circle center acquisition unit;

[0023] The perpendicular midline acquisition unit acquires a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles on the printing head based on the primary image position coordinates corresponding to the at least two printing needles on the printing head in the primary recognition image and the secondary image position coordinates corresponding to the at least two printing needles on the printing head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, and acquires a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles;

[0024] The center acquisition unit acquires the rotation center position coordinates of the print head in the plane direction based on the perpendicular bisector of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two print heads.

[0025] As a preferred solution, the distance between any two printing needles among the at least two printing needles for which the height data acquisition module acquires height data is greater than a preset distance;

[0026] The image data acquisition module acquires the image position coordinates once, and the distance between any two printing needles in at least two printing needles is greater than the preset distance.

[0027] As a preferred solution, the at least two printing needles whose image position coordinates are acquired by the image data acquisition module are consistent with the at least two printing needles whose height data are acquired by the height data acquisition module.

[0028] In a second aspect, an embodiment of this specification provides a calibration method, based on a multi-needle printing device with a calibration function described in the first aspect of the above embodiment, comprising:

[0029] Acquire height data corresponding to at least two printing pins on the printing head;

[0030] Based on the height data corresponding to at least two printing needles, the flatness of the printing head is adjusted by rotating the printing head;

[0031] Acquiring a bottom image of the flatness-adjusted print head to obtain a primary identification image including the bottom image of the print head, and obtaining primary image position coordinates corresponding to at least two print pins on the print head in the primary identification image;

[0032] Based on the primary image position coordinates respectively corresponding to at least two printing pins on the printing head in the primary recognition image, the position of the printing head in the plane direction is adjusted by rotating the printing head.

[0033] As a preferred solution, after obtaining the primary recognition image including the image of the bottom of the print head, the method further includes: performing a pre-rotation operation on the print head in the plane direction;

[0034] Before adjusting the position of the print head in the plane direction by rotating the print head based on the primary image position coordinates corresponding to the at least two print pins on the print head in the primary recognition image, the method further includes:

[0035] Acquiring a bottom image of the pre-rotated print head in the same image acquisition direction as that used for acquiring the primary recognition image to obtain a secondary recognition image including the bottom image of the print head, and obtaining the secondary image position coordinates of at least two print pins on the print head whose primary image position coordinates were recognized in the primary recognition image and corresponding to each other in the secondary recognition image;

[0036] The method of adjusting the position of the print head in the plane direction by rotating the print head based on the primary image position coordinates corresponding to the at least two print pins on the print head in the primary recognition image comprises:

[0037] The rotation center position coordinates of the print head in the plane direction are obtained based on the primary image position coordinates of at least two print needles on the print head that respectively correspond to each other in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image. Based on the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the position of the print head in the plane direction is adjusted by rotating the print head.

[0038] As a preferred solution, the method of obtaining the rotation center position coordinates of the print head in the plane direction based on the primary image position coordinates of at least two print pins on the print head corresponding to each other in the primary recognition image and the secondary image position coordinates of at least two print pins on the print head whose primary image position coordinates have been recognized in the primary recognition image corresponding to each other in the secondary recognition image includes:

[0039] Based on the primary image position coordinates of at least two print heads on the print head corresponding to each other in the primary recognition image and the secondary image position coordinates of at least two print heads on the print head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, obtaining a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two print heads, and obtaining a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two print heads;

[0040] Based on the perpendicular bisectors of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two printing needles respectively, the rotation center position coordinates of the printing head in the plane direction are obtained.

[0041] In a third aspect, an embodiment of this specification provides an electronic device, comprising a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps described in the second aspect of the above embodiment.

[0042] In a fourth aspect, an embodiment of this specification provides a computer storage medium, wherein the computer storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the steps described in the second aspect of the above embodiment.

[0043] The beneficial effects brought by the technical solutions provided by some embodiments of this specification include at least:

[0044] Based on the height data corresponding to at least two printing needles, the flatness of the print head is adjusted by rotating the print head, that is, by using the height data corresponding to at least two printing needles, at least two printing needles are at the same height, thereby adjusting the overall flatness of the print head. After the flatness of the print head is adjusted, all needles at the bottom of the print head should be at the same height, and then based on the image position coordinates corresponding to at least two printing needles on the print head in a first recognition image, the position of the print head in the plane direction is adjusted by rotating the print head, that is, by using the image position coordinates corresponding to at least two printing needles in a first recognition image, the position of at least two printing needles in the plane direction is adjusted, thereby adjusting the overall position of the print head in the plane direction.

[0045] For the method of adjusting the position of the print head in the plane direction by rotating the print head, it is particularly important to accurately position the center of the rotation circle, otherwise it will be difficult to adjust the position of the print head in the plane direction, because it is impossible to know how much the rotation angle can adjust the position of the print head in the plane direction. For the printing device, due to its long-term use, its rotation axis may be offset, which leads to the default position of the center of the rotation circle of the printing device when it leaves the factory. Therefore, in this specification, a pre-rotation operation is performed, and the bottom image is acquired again for the print head that has undergone the pre-rotation operation in the same image acquisition direction as when acquiring the first recognition image to obtain a secondary recognition image containing the bottom image of the print head, and the secondary image position coordinates corresponding to at least two print needles on the print head that have recognized the image position coordinates in the first recognition image in the second recognition image are obtained, and the rotation center position coordinates of the print head in the plane direction are further obtained based on the first image position coordinates corresponding to the at least two print needles on the print head in the first recognition image and the second image position coordinates corresponding to the at least two print needles on the print head that have recognized the image position coordinates in the first recognition image in the second recognition image.

[0046] By limiting the position of the printing needle head for obtaining the height data by the height data obtaining module and the position of the printing needle head for obtaining the image position coordinates by the image data obtaining module, the accuracy of the flatness adjustment of the printing head and the position adjustment in the plane direction is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 It is a schematic diagram of the overall structure of a multi-needle printing device with a calibration function provided in an embodiment of this specification.

[0049] Figure 2 It is a schematic diagram of the principle of adjusting the position of the print head in the plane direction in a multi-needle head printing device with an adjustment function provided in an embodiment of this specification.

[0050] Figure 3 It is a bottom view schematic diagram of the printing mechanism in a multi-needle printing device with an adjustment function provided in an embodiment of the present specification.

[0051] Figure 4 It is a schematic diagram of obtaining the position coordinates of the center of a rotating circle through a perpendicular bisector according to an embodiment of this specification.

[0052] Figure 5 It is a flowchart of a calibration method provided in an embodiment of this specification.

[0053] Figure 6 It is a structural schematic diagram of an electronic device provided in an embodiment of this specification.

[0054] In the figure: 1. Print head; 11. Print needle; 2. Adjustment turntable; 3. Adjustment turntable. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of this specification will be described clearly and completely below in conjunction with the drawings in the embodiments of this specification.

[0056] The terms "first", "second", "third", etc. in the description and claims of this specification and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0057] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present specification. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described with respect to some examples may be combined in other examples.

[0058] Reference Figure 1 As shown, Figure 1 This is a schematic diagram of the overall structure of a multi-needle printing device with a calibration function provided in an embodiment of this specification. The multi-needle printing device may at least include a printing mechanism, a height data acquisition module (Note: Figure 1 (not shown in the figure, it may be but is not limited to a tool setting instrument) and an image data acquisition module (Note: Figure 1 The printing mechanism includes a printing head 1 having at least two linearly arranged printing needles 11, a first adjustment module (Note: the first adjustment module adjusts the flatness of the printing head 1 by rotating the adjustment dial 3), and a second adjustment module (Note: the second adjustment module adjusts the position of the printing head 1 in the plane direction by rotating the adjustment turntable 2, wherein the adjustment turntable 2 can be referred to Figure 3 As shown, Figure 3 The arrow in the figure indicates the rotatable direction of the calibration turntable 2);

[0059] The height data acquisition module acquires height data corresponding to at least two printing pins 11 on the print head 1;

[0060] The first adjustment module adjusts the flatness of the print head 1 by rotating the print head 1 based on the height data corresponding to at least two print needles 11 (note: each print needle 11 is on the same height plane; and in the process of adjusting the flatness of the print head 1, multiple height data acquisition and rotation adjustments can be performed to ensure that the flatness meets the preset requirements);

[0061] The image data acquisition module acquires the bottom image of the print head 1 after the flatness adjustment to obtain a primary recognition image including the bottom image of the print head 1, and obtains the primary image position coordinates corresponding to at least two printing pins 11 on the print head 1 in the primary recognition image;

[0062] The second adjustment module adjusts the position of the print head 1 in the plane direction by rotating the print head 1 based on the primary image position coordinates corresponding to at least two print pins 11 on the print head 1 in the primary recognition image.

[0063] It is understandable that the printing device needs to be calibrated before formal printing, which not only includes the needle leveling adjustment, that is, adjusting all needles to the same height plane, but also includes adjusting the position of the print head 1 as a whole on the same plane so that the print head 1 reaches the specified position.

[0064] Therefore, the present specification provides a multi-needle printing device with a calibration function, based on the height data corresponding to at least two printing needles 11, by rotating the printing head 1 to adjust the flatness of the printing head 1, that is, by using the height data corresponding to at least two printing needles 11, at least two printing needles 11 are at the same height, thereby adjusting the overall flatness of the printing head 1. After the flatness of the printing head 1 is adjusted, all needles at the bottom of the printing head 1 should be at the same height, and then based on the first image position coordinates corresponding to at least two printing needles 11 on the printing head 1 in the first recognition image, the printing head 1 is rotated to adjust the position of the printing head 1 in the plane direction, that is, by using the first image position coordinates corresponding to at least two printing needles 11 in the first recognition image, the position of at least two printing needles 11 in the plane direction is calibrated, thereby adjusting the overall position of the printing head 1 in the plane direction.

[0065] It can be understood that the purpose of adjusting the overall planar position of the print head 1 is to make the linearly arranged print needles 11 on the print head 1 face the corresponding preset direction, and then printing the corresponding preset route can be performed by moving the carrier platform set under the printing mechanism.

[0066] See also Figure 2 As shown, Figure 2 The schematic diagram is a principle diagram of adjusting the position of the print head 1 in the plane direction, and two print needles 11 are taken as an example:

[0067] Assume that based on the corresponding primary image position coordinates of the first and second printing pins on the printing head 1 in the primary identification image, the position adjustment of the printing head 1 in the plane direction is realized, and the primary image position coordinates of the first printing pin are coordinates A, and the primary image position coordinates of the second printing pin are coordinates B. Further, based on the known position of the rotation center C of the printing head 1 and the preset direction, it can be known how much the printing head 1 needs to rotate around the rotation center C so that the line segment AB is parallel to the preset direction after the rotation operation.

[0068] The specific principle of obtaining the information is: ∠c=∠d, ∠a=∠f, therefore ∠b=∠e; further, by only knowing the angle between the preset direction and the straight line AB (i.e. equal to the size of ∠b), it is possible to know how much the print head 1 needs to rotate around the center of rotation C (i.e. knowing the size of ∠e) so that the line segment AB is parallel to the preset direction after the rotation operation.

[0069] It is also understandable that there may be errors in image recognition, so there may be errors in the image position coordinates of the print head 11 in a recognized image. Furthermore, in multiple embodiments of this specification, the image position coordinates of more print heads 11 can be used to obtain the angle data that the print head 1 needs to rotate around the rotation center C. Specifically, multiple print heads 11 can be combined in pairs, and the corresponding rotation angles of each print head 11 combination can be calculated (Note: the calculation method can be referred to above, and will not be repeated here), and finally the average operation is performed to obtain the final rotation angle data.

[0070] It should be noted that, for the printing device, due to its long-term use, its rotation axis may be offset, which may cause the default rotation center position of the printing device to be offset when it leaves the factory. Therefore, the above adjustment method is not applicable in this case, and the specific adjustment method will be explained in the following embodiments.

[0071] In various embodiments of the present specification, the height data acquisition module includes a needle tip touch unit and a height data acquisition unit;

[0072] The needle tip contact unit is used to contact the printing needle 11 on the printing head 1 by the printing head 1 descending and / or the needle tip contact unit ascending;

[0073] The height data acquisition unit acquires the height data of the printing needle 11 based on the descending height of the printing head 1 and / or the ascending height of the needle tip contact unit when the needle tip contact unit contacts the printing needle 11 on the printing head 1 .

[0074] It is understandable that the contact between the printing needle 11 on the print head 1 and the needle tip contact unit can be achieved only by the lowering of the print head 1, or only by the rising of the needle tip contact unit, and of course, can also be achieved by both the lowering of the print head 1 and the rising of the needle tip contact unit.

[0075] It can also be understood that the contact between the print needle 11 on the print head 1 and the needle tip touch unit can trigger a change in the electrical signal. Therefore, by combining the moment of the electrical signal change, the descending height of the print head 1 and / or the rising height of the needle tip touch unit, the height data of the print needle 11 can be obtained.

[0076] In multiple embodiments of the present specification, the needle tip touching unit may be, but is not limited to, a tool setting instrument.

[0077] Reference Figure 3 As shown, Figure 3 is a bottom view schematic diagram of a printing mechanism in a multi-needle printing device with an adjustment function provided in an embodiment of this specification. In multiple embodiments of this specification, the first adjustment module includes a first rotating mechanism (i.e. Figure 1The adjustment dial 3 shown in FIG. 1 ), a first control unit, the second adjustment module includes a second rotating mechanism (i.e. Figure 3 The calibration turntable 2 shown in ), the second control unit;

[0078] The first rotating mechanism is rotatably arranged on the second rotating mechanism, and the print head 1 is fixedly connected to the first rotating mechanism;

[0079] The first control unit controls the rotation of the first rotating mechanism based on the height data corresponding to the at least two printing needles 11, thereby driving the printing head 1 to rotate, so as to adjust the flatness of the printing head 1;

[0080] The second control unit, based on the image position coordinates corresponding to at least two printing needles 11 on the print head 1 in a recognized image, rotates the second rotating mechanism to drive the first rotating mechanism and the print head 1 to rotate as a whole, so as to adjust the position of the print head 1 in the planar direction.

[0081] In multiple embodiments of the present specification, the second calibration module further performs a pre-rotation operation on the print head 1 in a planar direction after obtaining a primary recognition image including an image of the bottom of the print head 1;

[0082] The image data acquisition module also acquires a bottom image of the pre-rotated print head 1 in the same image acquisition direction as that of the primary recognition image to obtain a secondary recognition image including the bottom image of the print head 1, and obtains the secondary image position coordinates corresponding to at least two printing pins 11 on the print head 1 whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image;

[0083] The second adjustment module obtains the rotation center position coordinates of the print head 1 in the plane direction based on the primary image position coordinates of at least two print needles 11 on the print head 1 that respectively correspond to each other in the primary recognition image and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image, and based on the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the print head 1 is rotated to achieve position adjustment of the print head 1 in the plane direction.

[0084] It is understandable that for the method of adjusting the position of the print head 1 in the plane direction by rotating the print head 1, the accurate position of the rotation center is particularly important, otherwise it will be difficult to adjust the position of the print head 1 in the plane direction as a whole, because it is impossible to know how much rotation angle can achieve the adjustment of the position of the print head 1 in the plane direction as a whole. As for the printing device, due to its long-term use, its rotation axis may be offset, which will cause the default rotation center position of the printing device to be offset when it leaves the factory. Therefore, in the present specification, a pre-rotation operation is performed, and the bottom image of the print head 1 that has undergone the pre-rotation operation is acquired again in the same image acquisition direction as when acquiring the first recognition image to obtain a secondary recognition image including the bottom image of the print head 1, and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the first image position coordinates in the first recognition image and that correspond to each other in the secondary recognition image are obtained. Further, based on the first image position coordinates of at least two print needles 11 on the print head 1 that have recognized the first image position coordinates in the first recognition image and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the first image position coordinates in the first recognition image and that correspond to each other in the secondary recognition image, the rotation center position coordinates of the print head 1 in the plane direction are obtained.

[0085] It should be noted that, in the recognition image acquired by the image data acquisition module, each point has a corresponding image coordinate, and when acquiring the secondary recognition image, the same image acquisition direction is used as when acquiring the primary recognition image. Therefore, the points on the primary recognition image and the secondary recognition image have correspondence. Therefore, through the position coordinates of the print needle 11 in the primary recognition image and the position coordinates of the print needle 11 in the secondary recognition image, the position change of the print needle 11 on the print head 1 after the pre-rotation can be known, and further, based on the position change of the print needle 11 after the pre-rotation, the position of the center of the rotation circle, that is, the position of the rotation axis, can be known.

[0086] Reference Figure 4 As shown, Figure 4 is a schematic diagram of obtaining the coordinates of the center of rotation through the perpendicular bisector involved in the embodiments of this specification. In multiple embodiments of this specification, the second adjustment module includes a perpendicular bisector obtaining unit and a center of rotation obtaining unit;

[0087] The perpendicular midline acquisition unit acquires a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two printing needles 11 on the printing head 1 based on the primary image position coordinates corresponding to each of the at least two printing needles 11 on the printing head 1 in the primary recognition image and the secondary image position coordinates corresponding to each of the at least two printing needles 11 on the printing head 1 whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, and acquires a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two printing needles 11;

[0088] The center acquisition unit acquires the rotation center position coordinates of the print head 1 in the plane direction based on the perpendicular bisectors of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two print heads 11 .

[0089] It can be understood that the distances from a point on the perpendicular bisector of a line segment to the two end points of the line segment are the same, so the intersection of the perpendicular bisectors is the position of the center of the rotation circle.

[0090] The following is an example:

[0091] Reference Figure 4 As shown, the image data acquisition module obtains the image position coordinates of two printing needles 11 as an example for explanation. It is assumed that the two printing needles 11 are printing needles 11 at two end points, namely, printing needle 1 and printing needle 2. The first image position coordinate corresponding to printing needle 1 in the first recognition image is coordinate A, and the first image position coordinate corresponding to printing needle 2 in the first recognition image is coordinate B; the second image position coordinate corresponding to printing needle 2 in the second recognition image is coordinate A', and the second image position coordinate corresponding to printing needle 2 in the second recognition image is coordinate B'. Further connect coordinate A with coordinate A', and connect coordinate B with coordinate B'. Further obtain the perpendicular bisector of line segment AA' and the perpendicular bisector of line segment BB' respectively. Finally, the intersection coordinate C between the perpendicular bisector of line segment AA' and the perpendicular bisector of line segment BB' is the position coordinate of the center of rotation of printing head 1 in the plane direction.

[0092] It should be noted that for the convenience of display, Figure 4 In the figure, only the print head 1 in the first recognition image and the print head 1 in the second recognition image are shown. And it can be understood that only the position of the print head 1 in the first recognition image and the second recognition image has changed.

[0093] It can also be understood that when the image data acquisition module acquires the image position coordinates of three printing needles 11, three perpendicular midlines can be obtained. Under ideal conditions, the three perpendicular midlines should have only one intersection position, and the intersection position is the position of the center of rotation. However, due to certain errors in image recognition, the three perpendicular midlines may have three intersection positions. In this case, the coordinates of the center of rotation position can be obtained based on the coordinates of the three intersection positions. For example, the coordinates of the three intersection positions are (x1, y1), (x2, y2), and (x3, y3), respectively, then the coordinates of the center of rotation position can be ((x1+x2+x3) / 3, (y1+y2+y3) / 3). Similarly, when the image data acquisition module acquires the image position coordinates of a larger number of printing needles 11, the coordinates of the center of rotation position can also be obtained in the above manner, which will not be elaborated here.

[0094] In multiple embodiments of the present specification, the distance between any two printing needles 11 of at least two printing needles 11 for which the height data acquisition module acquires height data is greater than a preset distance;

[0095] The image data acquisition module acquires the image position coordinates once, and the distance between any two printing needles 11 among the at least two printing needles 11 is greater than the preset distance.

[0096] It is understandable that if the distance between two printing needles 11 is too close, when one of the needles touches the needle tip contact unit, the other printing needle 11 that is too close may also touch the needle tip contact unit, thereby causing errors in the obtained height data of the printing needles 11.

[0097] It can also be understood that if the print head 1 is tilted, then among the multiple printing needles 11 arranged linearly, the height data difference between two needles that are farther apart is greater, which is more meaningful as a reference for adjusting the flatness of the print head 1.

[0098] In multiple embodiments of the present specification, the at least two printing needles 11 whose image position coordinates are acquired by the image data acquisition module are consistent with the at least two printing needles 11 whose height data are acquired by the height data acquisition module.

[0099] That is, assuming that the at least two printing needles 11 whose height data is obtained by the height data obtaining module are printing needle a and printing needle b, then the at least two printing needles 11 whose image position coordinates are obtained by the image data obtaining module are also printing needle a and printing needle b.

[0100] It can be understood that after the flatness adjustment, the printing needles a and b are already on the same plane, and it is more reasonable to subsequently adjust the position of the entire printing head 1 in the plane direction based on these two needles on the same plane.

[0101] See next Figure 5 , Figure 5 A flow chart of a calibration method provided in an embodiment of this specification is shown.

[0102] The calibration method is based on a multi-needle printing device with a calibration function described in any of the above embodiments, and may at least include:

[0103] Step 502, obtaining height data corresponding to at least two printing pins 11 on the printing head 1;

[0104] Step 504: Based on the height data corresponding to at least two printing needles 11, the flatness of the printing head 1 is adjusted by rotating the printing head 1;

[0105] Step 506, acquiring a bottom image of the print head 1 after the flatness adjustment to obtain a primary recognition image including the bottom image of the print head 1, and obtaining the primary image position coordinates corresponding to at least two printing pins 11 on the print head 1 in the primary recognition image;

[0106] Step 508 : Based on the primary image position coordinates corresponding to at least two printing pins 11 on the print head 1 in the primary recognition image, the print head 1 is rotated to adjust the position of the print head 1 in the plane direction.

[0107] It should be noted that steps 502 to 504 may be repeated multiple times until the height data corresponding to at least two printing pins 11 on the printing head 1 obtained in step 502 meet the consistency requirement.

[0108] In one embodiment of the present specification, after obtaining a primary recognition image including an image of the bottom of the print head 1, the method further includes: performing a pre-rotation operation on the print head 1 in a planar direction;

[0109] Before adjusting the position of the print head 1 in the plane direction by rotating the print head 1 based on the primary image position coordinates of the at least two print pins 11 on the print head 1 in the primary recognition image, the method further includes:

[0110] Acquire the bottom image of the pre-rotated print head 1 in the same image acquisition direction as that of the primary recognition image to obtain a secondary recognition image including the bottom image of the print head 1, and obtain the secondary image position coordinates of at least two printing pins 11 on the print head 1 whose primary image position coordinates have been recognized in the primary recognition image and which correspond to each other in the secondary recognition image;

[0111] The method of adjusting the position of the print head 1 in a plane direction by rotating the print head 1 based on the primary image position coordinates corresponding to the at least two print pins 11 on the print head 1 in the primary recognition image includes:

[0112] The rotation center position coordinates of the print head 1 in the plane direction are obtained based on the primary image position coordinates of at least two print needles 11 on the print head 1 that respectively correspond to the primary recognition image and the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image. Based on the secondary image position coordinates of at least two print needles 11 on the print head 1 that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the print head 1 is rotated to achieve position adjustment in the plane direction.

[0113] In one embodiment of the present specification, the method of obtaining the rotation center position coordinates of the print head 1 in the plane direction based on the primary image position coordinates of at least two print pins 11 on the print head 1 corresponding to each other in the primary recognition image and the secondary image position coordinates of at least two print pins 11 on the print head 1 that have recognized the primary image position coordinates in the primary recognition image corresponding to each other in the secondary recognition image includes:

[0114] Based on the primary image position coordinates of at least two printing pins 11 on the printing head 1 respectively corresponding to the primary recognition image and the secondary image position coordinates of at least two printing pins 11 on the printing head 1 whose primary image position coordinates have been recognized in the primary recognition image and respectively corresponding to the secondary recognition image, a connecting line between the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing pins 11 respectively corresponding to the at least two printing pins 11 is obtained, and a perpendicular midline of the connecting line between the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing pins 11 respectively corresponding to the at least two printing pins 11 is obtained;

[0115] Based on the perpendicular bisectors of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two printing needles 11 , the rotation center position coordinates of the printing head 1 in the plane direction are obtained.

[0116] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the calibration method embodiment, since it is basically similar to the multi-needle printing device embodiment with a calibration function, the description is relatively simple, and the relevant parts can be referred to the partial description of the multi-needle printing device embodiment with a calibration function.

[0117] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0118] See also Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this specification is shown.

[0119] like Figure 6 As shown, the electronic device 600 may include: at least one processor 601 , at least one network interface 604 , a user interface 603 , a memory 605 , and at least one communication bus 602 .

[0120] The communication bus 602 may be used to realize the connection and communication among the above-mentioned components.

[0121] The user interface 603 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0122] The network interface 604 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0123] Among them, the processor 601 may include one or more processing cores. The processor 601 uses various interfaces and lines to connect the various parts of the entire electronic device 600, and executes various functions and processes data of the electronic device 600 by running or executing instructions, programs, code sets or instruction sets stored in the memory 605, and calling data stored in the memory 605. Optionally, the processor 601 can be implemented in at least one hardware form of DSP, FPGA, and PLC. The processor 601 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 601, and it can be implemented separately through a chip.

[0124] Among them, the memory 605 may include RAM or ROM. Optionally, the memory 605 includes a non-transient computer-readable medium. The memory 605 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 605 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above various method embodiments, etc. The memory 605 may also be at least one storage device located away from the aforementioned processor 601. The memory 605 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a calibration application. The processor 601 can be used to call the calibration application stored in the memory 605 and execute the steps of the calibration method mentioned in the above-mentioned embodiment.

[0125] The embodiments of this specification also provide a computer-readable storage medium, which stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes one or more steps in the above-mentioned calibration method embodiment. If the components of the above-mentioned electronic device are implemented in the form of software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0126] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of this specification is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0127] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes. In the absence of conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily. The embodiments described above are only described in the preferred embodiment mode of this specification, and are not intended to limit the scope of this specification. Without departing from the design spirit of this specification, various modifications and improvements made by those of ordinary skill in the art to the technical solution of this specification should fall within the scope of protection determined by the claims of this specification.

Claims

1. A multi-needle printing device with a calibration function, characterized in that: It includes a printing mechanism, a height data acquisition module and an image data acquisition module arranged below the printing mechanism, wherein the printing mechanism includes a printing head having at least two linearly arranged printing needles, a first adjustment module and a second adjustment module; The height data acquisition module acquires height data corresponding to at least two printing pins on the print head; The first adjustment module adjusts the flatness of the print head by rotating the print head based on the height data corresponding to the at least two print needles; The image data acquisition module acquires a bottom image of the print head after the flatness adjustment to obtain a primary recognition image including the bottom image of the print head, and obtains the primary image position coordinates corresponding to at least two printing pins on the print head in the primary recognition image; The second adjustment module adjusts the position of the print head in a plane direction by rotating the print head based on the primary image position coordinates corresponding to at least two print pins on the print head in a primary recognition image.

2. A multi-needle printing device with a calibration function according to claim 1, characterized in that: The height data acquisition module includes a needle tip touch unit and a height data acquisition unit; The needle tip contact unit is configured to contact the printing needle on the printing head by the printing head descending and / or the needle tip contact unit ascending; The height data acquisition unit acquires the height data of the printing needle based on the descending height of the printing head and / or the ascending height of the needle tip contact unit when the needle tip contact unit contacts the printing needle on the printing head.

3. A multi-needle printing device with a calibration function according to claim 1, characterized in that: The first adjustment module includes a first rotation mechanism and a first control unit, and the second adjustment module includes a second rotation mechanism and a second control unit; The first rotating mechanism is rotatably arranged on the second rotating mechanism, and the print head is fixedly connected to the first rotating mechanism; The first control unit controls the rotation of the first rotating mechanism based on the height data corresponding to the at least two printing needles, thereby driving the printing head to rotate, so as to adjust the flatness of the printing head; The second control unit, based on the image position coordinates corresponding to each of at least two printing needles on the print head in a recognition image, rotates the second rotating mechanism to drive the first rotating mechanism and the overall rotation of the print head to achieve position adjustment of the print head in the planar direction.

4. A multi-needle printing device with a calibration function according to claim 1, characterized in that: The second adjustment module also performs a pre-rotation operation on the print head in a planar direction after obtaining a primary recognition image including an image of the bottom of the print head; The image data acquisition module also acquires a bottom image of the pre-rotated print head in the same image acquisition direction as that used to acquire the primary recognition image to obtain a secondary recognition image including the bottom image of the print head, and obtains the secondary image position coordinates corresponding to at least two print pins on the print head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image; The second adjustment module obtains the rotation center position coordinates of the print head in the plane direction based on the primary image position coordinates of at least two print needles on the print head that respectively correspond in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image, and based on the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the print head is rotated to achieve position adjustment of the print head in the plane direction.

5. A multi-needle printing device with adjustment function according to claim 4, characterized in that: The second adjustment module includes a perpendicular midline acquisition unit and a circle center acquisition unit; The perpendicular midline acquisition unit acquires a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles on the printing head based on the primary image position coordinates corresponding to the at least two printing needles on the printing head in the primary recognition image and the secondary image position coordinates corresponding to the at least two printing needles on the printing head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, and acquires a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to the at least two printing needles; The center acquisition unit acquires the rotation center position coordinates of the print head in the plane direction based on the perpendicular bisector of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two print heads.

6. A multi-needle printing device with a calibration function according to claim 1, characterized in that: The distance between any two printing needles among the at least two printing needles for which the height data acquisition module acquires height data is greater than a preset distance; The image data acquisition module acquires the image position coordinates once, and the distance between any two printing needles in at least two printing needles is greater than the preset distance.

7. A multi-needle printing device with adjustment function according to claim 6, characterized in that: The at least two printing needles whose image position coordinates are acquired by the image data acquisition module are consistent with the at least two printing needles whose height data are acquired by the height data acquisition module.

8. A calibration method, based on a multi-needle printing device with calibration function as claimed in any one of claims 1 to 7, characterized in that: include: Acquire height data corresponding to at least two printing pins on the printing head; Based on the height data corresponding to at least two printing needles, the flatness of the printing head is adjusted by rotating the printing head; Acquiring a bottom image of the flatness-adjusted print head to obtain a primary identification image including the bottom image of the print head, and obtaining primary image position coordinates corresponding to at least two print pins on the print head in the primary identification image; Based on the primary image position coordinates respectively corresponding to at least two printing pins on the printing head in the primary recognition image, the position of the printing head in the plane direction is adjusted by rotating the printing head.

9. A calibration method according to claim 8, characterized in that: After obtaining the primary recognition image including the image of the bottom of the print head, the method further includes: performing a pre-rotation operation on the print head in a plane direction; Before adjusting the position of the print head in the plane direction by rotating the print head based on the primary image position coordinates corresponding to the at least two print pins on the print head in the primary recognition image, the method further includes: Acquiring a bottom image of the pre-rotated print head in the same image acquisition direction as that used for acquiring the primary recognition image to obtain a secondary recognition image including the bottom image of the print head, and obtaining the secondary image position coordinates of at least two print pins on the print head whose primary image position coordinates were recognized in the primary recognition image and corresponding to each other in the secondary recognition image; The method of adjusting the position of the print head in the plane direction by rotating the print head based on the primary image position coordinates corresponding to the at least two print pins on the print head in the primary recognition image comprises: The rotation center position coordinates of the print head in the plane direction are obtained based on the primary image position coordinates of at least two print needles on the print head that respectively correspond to each other in the primary recognition image and the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image in the secondary recognition image. Based on the secondary image position coordinates of at least two print needles on the print head that have recognized the primary image position coordinates in the primary recognition image and the rotation center position coordinates, the position of the print head in the plane direction is adjusted by rotating the print head.

10. A calibration method according to claim 9, characterized in that: The method of obtaining the rotation center position coordinates of the print head in the plane direction based on the primary image position coordinates of at least two print pins on the print head corresponding to each other in the primary recognition image and the secondary image position coordinates of at least two print pins on the print head corresponding to each other in the secondary recognition image, which have been recognized by the primary image position coordinates in the primary recognition image, comprises: Based on the primary image position coordinates of at least two print heads on the print head corresponding to each other in the primary recognition image and the secondary image position coordinates of at least two print heads on the print head whose primary image position coordinates have been recognized in the primary recognition image in the secondary recognition image, obtaining a line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two print heads, and obtaining a perpendicular midline of the line connecting the primary image position coordinates and the secondary image position coordinates corresponding to each of the at least two print heads; Based on the perpendicular bisectors of the lines connecting the primary image position coordinates and the secondary image position coordinates corresponding to at least two printing needles respectively, the rotation center position coordinates of the printing head in the plane direction are obtained.

11. An electronic device, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the method according to any one of claims 8 to 10.

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