A method and system for controlling curved surface printing motion trajectory

Abstract

The present invention discloses a control method and system for a curved surface printing motion trajectory, belonging to the technical field of curved surface screen printing, comprising: S1, extracting each entity element type to obtain a first curve element; S2, reconstructing a curve model; S3, obtaining the entity element type of each second curve element and the following data; S4, obtaining second-stage data through the second curve element; S5, obtaining third-stage data using the first-stage data and the second-stage data; S6, obtaining the rotation angle that should be achieved by the corresponding second curve element in the printing state through analysis and processing of the first-stage data and the third-stage data; S7, controlling the curved surface printing motion trajectory through the fourth-stage data.

Description

Technical Field

[0001] The invention belongs to the technical field of curved surface screen printing, and in particular relates to a method and system for controlling a curved surface printing motion trajectory. Background Art

[0002] As we all know, screen printing refers to using a silk screen as a base and making a screen printing plate with images through a photosensitive platemaking method. Screen printing consists of five major elements: screen printing plate, scraper, ink, printing table and substrate. Printing is based on the basic principle that the mesh holes of the image part of the screen printing plate can pass the ink, while the mesh holes of the non-image part cannot pass the ink. When printing, pour ink on one end of the screen printing plate, use the scraper to apply a certain pressure to the ink part on the screen printing plate, and move at a constant speed toward the other end of the screen printing plate. During the movement, the ink is squeezed from the mesh holes of the image part to the substrate by the scraper.

[0003] Screen printing includes flat screen printing and curved screen printing, among which: curved screen printing, and the printing surface of the substrate is an irregular curved surface. Curved screen printing combines the characteristics of simple process and high efficiency of screen printing, and can realize screen printing on convex substrates with rotational curved surfaces and non-rotational curved surfaces.

[0004] Especially for non-rotating curved surfaces, during the printing process, the screen is relatively still in the horizontal direction. While the printing scraper is scraping ink from the screen, the curved surface of the curved substrate is always in contact with and tangent to the screen, and the contact point between the screen and the curved substrate moves synchronously with the scraper, achieving the same effect as flat printing.

[0005] To achieve the above printing, it is necessary to calculate the motion trajectory of the printing mechanism and the printing platform according to the curves of different curved substrates, and generate executable files for the control system according to different control systems. Summary of the invention

[0006] Technical purpose: The present invention provides a control method and system for the motion trajectory of curved surface printing; it can obtain the motion trajectory of the printing mechanism and the printing platform according to different curved surface substrates by analyzing the curve of the printing direction, and generate executable files according to different control processes.

[0007] Technical Solution

[0008] The first object of the present invention is to provide a method for controlling a curved surface printing motion trajectory, comprising the following steps:

[0009] S1. Classify the entity element types of the 2D curve corresponding to the printing direction of the curved substrate into spline curves, straight lines, circular arcs, and polyline segments, extract each entity element type, and define it as the first curve element;

[0010] S2, reconstruct the curve model; specifically:

[0011] When the first curve element includes a spline curve, data of the control points of the spline curve are extracted, fitting points on the spline curve are calculated by a fixed step length method, and the above fitting points are sequentially connected to obtain a broken line corresponding to the spline curve; the broken line and other entity elements in the first curve element form a second curve element, and the curve model is reconstructed through the second curve element;

[0012] When the first curve element does not include a spline curve, the first curve element is directly assigned to the second curve element, and the 2D curve is directly assigned to the reconstructed curve model;

[0013] S3, obtaining the entity element type and the following data of each second curve element: the data of the straight line includes the starting point coordinates and the end point coordinates; the data of the arc includes the center coordinates, radius, starting point angle, and end point angle, which is the first stage data;

[0014] S4. Determine the quadrant of the coordinate system where the second curve element is located through the data of each second curve element, and calculate the length, angle, and arc length of each second curve element. The determination result and the calculation result are defined as the second stage data.

[0015] S5, using the first-stage data and the second-stage data, calculating the corresponding coordinates of each second curve element horizontally expanded to the screen height in the coordinate system quadrant, and the calculation results are defined as the third-stage data;

[0016] S6. Calculate the rotation angle, horizontal reverse correction value, and vertical reverse correction value of each second curve element through the first stage data, the second stage data, and the third stage data, and define them as the fourth stage data;

[0017] S7. Control the curved surface printing motion trajectory through the fourth stage data.

[0018] The second object of the present invention is to provide a control system for a curved surface printing motion trajectory, comprising:

[0019] The first curve element construction module: divides the entity element types of the 2D curve corresponding to the printing direction of the curved substrate into spline curves, straight lines, arcs, and polyline segments, extracts each entity element type, and defines it as the first curve element;

[0020] Reconstruction curve model module: specifically:

[0021] When the first curve element includes a spline curve, data of the control points of the spline curve are extracted, fitting points on the spline curve are calculated by a fixed step length method, and the above fitting points are sequentially connected to obtain a broken line corresponding to the spline curve; the broken line and other entity elements in the first curve element form a second curve element, and the curve model is reconstructed through the second curve element;

[0022] When the first curve element does not include a spline curve, the first curve element is directly assigned to the second curve element, and the 2D curve is directly assigned to the reconstructed curve model;

[0023] The first stage data construction module: obtain the entity element type and the following data of each second curve element: the data of the straight line includes the starting point coordinates and the end point coordinates; the data of the arc includes the center coordinates, radius, starting point angle, and end point angle. This is the first stage data;

[0024] The second stage data construction module: through the data of each second curve element, determine the quadrant of the coordinate system where the second curve element is located, and calculate the length, angle, and arc length of each second curve element. The determination result and calculation result are defined as the second stage data;

[0025] The third stage data construction module: using the first stage data and the second stage data, calculate the corresponding coordinates of each second curve element horizontally expanded to the screen height in the coordinate system quadrant, and the calculation results are defined as the third stage data;

[0026] The fourth stage data construction module: calculates the rotation angle, horizontal reverse correction value, and vertical reverse correction value of each second curve element through the first stage data, the second stage data, and the third stage data, and defines them as the fourth stage data;

[0027] Control module: Controls the curved printing motion trajectory through the fourth stage data.

[0028] The third object of the present invention is to provide an information data processing terminal for implementing the above-mentioned control method of the curved surface printing motion trajectory.

[0029] A fourth object of the present invention is to provide a computer-readable storage medium, comprising instructions, which, when executed on a computer, enables the computer to execute the above-mentioned method for controlling the motion trajectory of curved surface printing.

[0030] The advantages and positive effects of the present invention are:

[0031] The present invention can calculate the motion trajectory of the printing mechanism and the printing platform for the curves of different curved substrates; in particular, for convex substrates with non-rotating curved surfaces, the printed screen is relatively stationary in the horizontal direction. The present invention can not only calculate the motion trajectory of the printing mechanism, the rotation angle of the printing platform and the motion trajectory of the printing platform in the horizontal direction during the printing process, but also calculate the motion trajectory of the printing platform in the vertical direction; the motion trajectory also includes the relative position relationship of the printing mechanism and the printing platform at any time, ensuring a one-to-one correspondence between the screen position and the curved surface position of the curved substrate, so that the screen pattern and the curved substrate pattern after printing remain consistent.

[0032] The present invention provides a basic mechanical model, and the actual mechanical model is transformed based on the basic mechanical model according to actual design requirements; the present invention can output the motion trajectory corresponding to the actual mechanical model by inputting the transformation data of the actual mechanical model;

[0033] The present invention takes into account the characteristics of different control systems and can add data containing control system characteristics to the output file to match different control systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of a preferred embodiment of the present invention;

[0035] Figure 2 is a curve diagram of the printing direction of the curved substrate in a preferred embodiment of the present invention;

[0036] Figure 3 It is the basic mechanical model in the preferred embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram before and after spline curve fitting;

[0038] Figure 5 is a front view of the reconstructed model and the schematic diagram of the halftone pattern;

[0039] Figure 6 is a schematic diagram of the second element and the corresponding halftone pattern before rotation;

[0040] Figure 7 It is a schematic diagram of the second element after rotation and the corresponding halftone pattern.

[0041] Among them: 1. Silk screen; 2. Curved substrate; 3. Printing platform support; 10. Printing mechanism; 11. Printing platform rotating mechanism; 12. Printing platform vertical lifting mechanism; 13. Printing platform horizontal moving mechanism; 21. Horizontal view of silk screen printing pattern; 22. Curve view of printing direction of curved substrate; 23. Coordinate system; 24. First quadrant; 25. Second quadrant; 30. Spline curve before fitting; 31. Multi-line segment after spline curve fitting; 32. Curve model after reconstruction; 33. Front view of screen pattern schematic diagram; 34. A straight line in the second element; 35. Partial front view of screen pattern. DETAILED DESCRIPTION

[0042] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0043] See also Figures 1 to 7 , a method for controlling a curved surface printing motion trajectory, comprising:

[0044] 1. Read the open DXF format document of the 2D curve corresponding to the printing direction of the curved substrate. The entity elements of the document are spline curves, straight lines, arcs, and polyline segments; they can be composed of a single type of element or multiple elements;

[0045] 2. Reconstruct the curve model. Parse the element type and corresponding data of the original curve in the DXF document. If it exceeds the element type in step 1, a warning message will be given. After the type of the entity element meets the requirements, curve fitting is performed. For the spline curve, extract the data of its control points, calculate the points on the spline curve by a fixed step length, and convert them into line segments; combine these line segments with the other types of elements mentioned above to fit into a broken line composed of multiple line segments, which is the second curve element. Through this step, reconstruct a new curve model as close to the original curve as possible to facilitate subsequent calculations; at the same time, display the model in the window for intuitive display;

[0046] 3. Obtain the types and corresponding data of all second curve elements in the reconstructed curve model. A straight line contains data such as the starting point coordinates and the end point coordinates; an arc contains data such as the center coordinates, radius, starting point angle, and end point angle. This is the first stage data;

[0047] 4. Through the corresponding data of all the second curve elements, determine the quadrant of the coordinate system where they are located, and calculate the length, angle, arc length and other data of all the second curve elements. This is the second stage data;

[0048] 5. The screen of screen printing is horizontal. If the upper curved surface of the curved substrate is unfolded horizontally, the length of the pattern on the same screen is the same. During the printing process, the curved substrate must always be tangent or parallel to the screen, without relative sliding. The upper curved surface of the curved substrate 2 and the position of the screen 1 must accurately correspond. Based on the first-stage data and the second-stage data calculated in the above stages, further calculations are performed to obtain the corresponding coordinates of all the second curve elements horizontally unfolded to the screen height in the quadrant of their coordinate system. This is the third-stage data; this data is used for position control of the printing mechanism;

[0049] 6. Please refer to Figures 4 to 7 , 30 represents the spline curve before fitting; 31 represents the multi-line segment after the spline curve is fitted; 32 represents the curve model after reconstruction; 33 represents the front view of the screen pattern schematic diagram; 34 represents a straight line in the second element (represented by a dotted line); 35 represents the partial front view of the screen pattern corresponding to 34 (where α is the angle between 34 and 35, that is, the rotation angle that 34 should achieve); during the printing process, the printing platform needs to achieve the one-to-one correspondence between the upper surface of the curved substrate and the screen pattern through three movements: horizontal, vertical, and rotation. By comparing and calculating the data of the first stage of the second element with the third stage data of the corresponding element calculated at this time, the rotation angle that should be achieved by the corresponding second curve element in the printing state (that is, the rotation angle of the printing platform) is obtained; after rotation, there will be a deviation between the screen pattern and the desired curved substrate pattern, so the deviation from the third stage data after rotation in the horizontal and vertical directions is calculated, and the deviation value will be used for the reverse correction of the horizontal moving mechanism and the vertical lifting mechanism of the printing platform. The rotation angle, the horizontal reverse correction value, and the vertical reverse correction value are the fourth stage data.

[0050] 7. According to the third-stage data and the fourth-stage data corresponding to all the second curve elements, the coordinates of all positions under the basic mechanical model are integrated; the basic mechanical model at this time includes the movement data of the printing mechanism, the movement data of the printing platform in the horizontal direction, the movement data of the printing platform in the vertical direction, and the movement data of the printing platform rotation mechanism;

[0051] 8. Based on the data generated in the previous step, according to the characteristics of different control systems in terms of control methods, add data containing control system characteristics to the output code, such as the coordinate axis number of the CNC system machine tool; at the same time, according to the printing process requirements, add part of the data of the second curve element to the output code for use by the control system.

[0052] The calculation formula of the spline curve in step 2 is:

[0053]

[0054]

[0055] in: is a point on the spline curve; is the control point; is a harmonic function, known as the k-order (k-1 degree) B-spline basis function; for the spline curve in the DXF format, k=3;

[0056] The length formula and angle formula of the line segment in the second curve element in step 4 are:

[0057]

[0058]

[0059] Where: L is the length of the line segment; is the coordinate value of the endpoint of the line segment in the x direction; is the coordinate value of the endpoint of the line segment in the y direction; is the coordinate value of the starting point of the line segment in the x direction; is the coordinate value of the starting point of the line segment in the y direction; α is the angle of the line segment;

[0060] The formula for the corresponding coordinates of the second curve element in the horizontal printing direction in step 5 is:

[0061]

[0062] in: is the corresponding x-direction coordinate value of the second curve element in the horizontal printing direction; n-1 is the number of line segments in the quadrant of the coordinate system;

[0063] The formula for the coordinates of the midpoint of the second curve in step 6 after the coordinates are rotated by a certain angle is:

[0064]

[0065] in: is the x-coordinate value of the point after rotation; is the y-coordinate value of the point after rotation; is the x-coordinate value of the point before rotation; is the y-coordinate value of the point before rotation; is the coordinate value of the rotation center in the x direction; is the coordinate value of the rotation center in the y direction; θ is the angle of rotation.

[0066] A control system for curved surface printing motion trajectory, comprising:

[0067] The first curve element construction module: reads the open DXF format document of the 2D curve corresponding to the printing direction of the curved substrate. The types of entity elements in the document are spline curves, straight lines, arcs, and polyline segments; it can be composed of a single type of element or multiple elements;

[0068] Reconstruction curve model module: parse the element type and corresponding data of the original curve in the DXF document, and give a prompt warning message when it exceeds the above element type. After the type of the entity element meets the requirements, curve fitting is performed. For the spline curve, extract the data of its control points, calculate the points on the spline curve by a fixed step length, and convert them into line segments; merge these line segments with the other types of elements mentioned above to fit into a broken line composed of multiple line segments, which is the second curve element. Through this step, reconstruct a new curve model as close to the original curve as possible to facilitate subsequent calculations; at the same time, display the model in the window for intuitive display;

[0069] The first stage data construction module: obtain the types of all second curve elements in the reconstructed curve model and their corresponding data. A straight line contains data such as the starting point coordinates and the end point coordinates; an arc contains data such as the center coordinates, radius, starting point angle, and end point angle. This is the first stage data;

[0070] The second stage data construction module: through the corresponding data of all the second curve elements, determine the quadrant of the coordinate system where they are located, and calculate the length, angle, arc length and other data of all the second curve elements. This is the second stage data; Figure 2 As shown, 21 is a horizontal view of the screen printing pattern, 22 is a curve view of the printing direction of the curved substrate; the coordinate system 23 includes a first quadrant 24 and a second quadrant 25;

[0071] The third stage data construction module: The screen of screen printing is horizontal. If the upper curved surface of the curved substrate is unfolded horizontally, the pattern on the same screen is of equal length. During the printing process, the curved substrate must always be tangent or parallel to the screen, without relative sliding, and the upper curved surface of the curved substrate must accurately correspond to the position of the screen. Based on the first stage data and the second stage data calculated in the above stages, further calculations are performed to obtain the corresponding coordinates of all the second curve elements horizontally unfolded to the height of the screen in the quadrant of their coordinate system. This is the third stage data; this data is used for position control of the printing mechanism;

[0072] The fourth stage data construction module: During the printing process, the printing platform needs to move horizontally, vertically and rotated to achieve a one-to-one correspondence between the surface of the curved substrate and the screen pattern; Figure 3As shown, the printing mechanism 10 moves horizontally on the upper surface of the screen 1, the printing platform horizontal moving mechanism 13 moves horizontally on the printing platform support 3, and the printing platform vertical lifting mechanism 12 completes vertical movement on the printing platform horizontal moving mechanism 13; the printing platform rotating mechanism 11 completes rotational movement on the printing platform vertical lifting mechanism 12; the curved surface substrate 2 is located on the printing platform rotating mechanism 11;

[0073] By comparing and calculating the data of the first stage of the second element with the third stage data of the corresponding element calculated at this time, the rotation angle (i.e. the rotation angle of the printing platform) that should be achieved by the corresponding second curve element in the printing state is obtained; after rotation, there will be a deviation between the screen pattern and the desired curved surface substrate pattern, so the deviation from the third stage data after rotation in the horizontal and vertical directions is calculated, and the deviation value will be used for the reverse correction of the horizontal moving mechanism and vertical lifting mechanism of the printing platform. The rotation angle, horizontal reverse correction value, and vertical reverse correction value are the fourth stage data.

[0074] Data integration module: Integrate the third-stage data and the fourth-stage data corresponding to all the second curve elements into the coordinates of all positions under the basic mechanical model; the basic mechanical model at this time includes the movement data of the printing mechanism, the movement data of the printing platform in the horizontal direction, the movement data of the printing platform in the vertical direction, and the movement data of the printing platform rotation mechanism;

[0075] Control parameter setting module: Based on the data generated in the previous step, according to the characteristics of different control systems in terms of control methods, data containing control system characteristics are added to the output code, such as the coordinate axis number of the CNC system machine tool; at the same time, according to the printing process requirements, part of the data of the second curve element is added to the output code for use by the control system.

[0076] The calculation formula of the spline curve is:

[0077]

[0078]

[0079] in: is a point on the spline curve; is the control point; is a harmonic function, known as the k-order (k-1 degree) B-spline basis function; for the spline curve in the DXF format, k=3;

[0080] The length formula and angle formula of the line segment in the second curve element are:

[0081]

[0082]

[0083] Where: L is the length of the line segment; is the coordinate value of one end of the line segment in the x direction; is the coordinate value of one end of the line segment in the y direction; is the coordinate value of the other end of the line segment in the x direction; is the coordinate value of the other end of the line segment in the y direction; α is the angle of the line segment;

[0084] The formula for the corresponding coordinates of the second curve element in the horizontal printing direction is:

[0085]

[0086] in: is the corresponding x-direction coordinate value of the second curve element in the horizontal printing direction; n-1 is the number of line segments in the quadrant of the coordinate system;

[0087] The formula for the coordinates of the midpoint of the second curve in step 6 after the coordinates are rotated by a certain angle is:

[0088]

[0089] in: is the x-coordinate value of the point after rotation; is the y-coordinate value of the point after rotation; is the x-coordinate value of the point before rotation; is the y-coordinate value of the point before rotation; is the coordinate value of the rotation center in the x direction; is the coordinate value of the center of rotation in the y direction; θ is the angle of rotation.

[0090] An information data processing terminal is used to implement the above-mentioned control method of the curved surface printing motion trajectory.

[0091] A computer-readable storage medium includes instructions, which, when executed on a computer, enable the computer to execute the above-mentioned method for controlling the curved surface printing motion trajectory.

[0092] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When the use is 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 or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (e.g., infrared, wireless, microwave, etc.) mode) to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD) or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0093] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A method for controlling a curved surface printing motion trajectory, characterized in that: include: S1. Classify the entity element types of the 2D curve corresponding to the printing direction of the curved substrate into spline curves, straight lines, circular arcs, and polyline segments, extract each entity element type, and define it as the first curve element; S2, reconstruct the curve model; specifically: When the first curve element includes a spline curve, data of the control points of the spline curve are extracted, fitting points on the spline curve are calculated by a fixed step length method, and the above fitting points are sequentially connected to obtain a broken line corresponding to the spline curve; the broken line and other entity elements in the first curve element form a second curve element, and the curve model is reconstructed through the second curve element; When the first curve element does not include a spline curve, the first curve element is directly assigned to the second curve element, and the 2D curve is directly assigned to the reconstructed curve model; S3, obtaining the entity element type and the following data of each second curve element: the data of the straight line includes the starting point coordinates and the end point coordinates; the data of the arc includes the center coordinates, radius, starting point angle, and end point angle, which is the first stage data; S4. Determine the quadrant of the coordinate system where the second curve element is located through the data of each second curve element, and calculate the length, angle, and arc length of each second curve element. The determination result and the calculation result are defined as the second stage data. S5, using the first-stage data and the second-stage data, calculating the corresponding coordinates of each second curve element horizontally expanded to the screen height in the coordinate system quadrant, and the calculation results are defined as the third-stage data; S6. Calculate the rotation angle, horizontal reverse correction value, and vertical reverse correction value of each second curve element through the first stage data, the second stage data, and the third stage data, and define them as the fourth stage data; S7. Control the curved surface printing motion trajectory through the fourth stage data.

2. The method for controlling the motion trajectory of curved surface printing according to claim 1, characterized in that: S1 includes first creating a DXF document of a 2D curve corresponding to the printing direction of the curved substrate, then reading the DXF document, and finally dividing the entity element type of the first curve element into spline curve, straight line, circular arc, and polyline segment.

3. The method for controlling the motion trajectory of curved surface printing according to claim 2, characterized in that: In S2, the calculation formula of the fitting points is: in: is a point on the spline curve; is the control point; is a harmonic function, known as the k-order B-spline basis function; In S4, the length formula and angle formula of a line segment are: Where: L is the length of the line segment; is the coordinate value of one end of the line segment in the x direction; is the coordinate value of one end of the line segment in the y direction; is the coordinate value of the other end of the line segment in the x direction; is the coordinate value of the other end of the line segment in the y direction; α is the angle of the line segment; In S5, the formula for the corresponding coordinates of the second curve element in the horizontal printing direction is: in: is the corresponding x-direction coordinate value of the second curve element in the horizontal printing direction; n-1 is the number of line segments in the quadrant of the coordinate system; In S6, the coordinate formula of the midpoint of the second curve element after the coordinate is rotated by a certain angle is: in: is the x-coordinate value of the point after rotation; is the y-coordinate value of the point after rotation; is the x-coordinate value of the point before rotation; is the y-coordinate value of the point before rotation; is the coordinate value of the rotation center in the x direction; is the coordinate value of the center of rotation in the y direction; θ is the angle of rotation.

4. The method for controlling the motion trajectory of curved surface printing according to claim 1, characterized in that: The S7 is specifically: According to the data of the third stage and the data of the fourth stage, the position coordinates of the motion trajectory under the basic mechanical model are integrated; the basic mechanical model includes a printing mechanism for realizing horizontal motion, and a printing platform for realizing horizontal motion, vertical motion and rotational motion; The position coordinates of the motion trajectory include the rotation angle value, horizontal reverse correction value, vertical reverse correction value, and horizontal expansion coordinate value corresponding to each second curve element. According to the characteristics of different control systems in terms of control methods, the data containing the control system characteristics are added or adjusted; at the same time, according to the printing process requirements, part of the data of the second curve elements are added or adjusted.

5. A control system for curved surface printing motion trajectory, characterized in that: include: The first curve element construction module: divides the entity element types of the 2D curve corresponding to the printing direction of the curved substrate into spline curves, straight lines, arcs, and polyline segments, extracts each entity element type, and defines it as the first curve element; Reconstruction curve model module: specifically: When the first curve element includes a spline curve, data of the control points of the spline curve are extracted, fitting points on the spline curve are calculated by a fixed step length method, and the above fitting points are sequentially connected to obtain a broken line corresponding to the spline curve; the broken line and other entity elements in the first curve element form a second curve element, and the curve model is reconstructed through the second curve element; When the first curve element does not include a spline curve, the first curve element is directly assigned to the second curve element, and the 2D curve is directly assigned to the reconstructed curve model; The first stage data construction module: obtain the entity element type and the following data of each second curve element: the data of the straight line includes the starting point coordinates and the end point coordinates; the data of the arc includes the center coordinates, radius, starting point angle, and end point angle. This is the first stage data; The second stage data construction module: through the data of each second curve element, determine the quadrant of the coordinate system where the second curve element is located, and calculate the length, angle, and arc length of each second curve element. The determination result and calculation result are defined as the second stage data; The third stage data construction module: using the first stage data and the second stage data, calculate the corresponding coordinates of each second curve element horizontally expanded to the screen height in the coordinate system quadrant, and the calculation results are defined as the third stage data; The fourth stage data construction module: calculates the rotation angle, horizontal reverse correction value, and vertical reverse correction value of each second curve element through the first stage data, the second stage data, and the third stage data, and defines them as the fourth stage data; Control module: Controls the curved printing motion trajectory through the fourth stage data.

6. The control system for curved surface printing motion trajectory according to claim 5, characterized in that: The specific construction process of the first curve element construction module is to first create a DXF document of the 2D curve corresponding to the printing direction of the curved substrate, then read the DXF document, and finally divide the entity element type of the first curve element into spline curves, straight lines, arcs, and polyline segments to obtain the first curve element.

7. The control system for curved surface printing motion trajectory according to claim 6, characterized in that: The control module includes: According to the data of the third stage and the data of the fourth stage, the position coordinates of the motion trajectory under the basic mechanical model are integrated; the basic mechanical model includes a printing mechanism for realizing horizontal motion, and a printing platform for realizing horizontal motion, vertical motion and rotational motion; The position coordinates of the motion trajectory include the rotation angle value, horizontal reverse correction value, vertical reverse correction value, and horizontal expansion coordinate value corresponding to each second curve element. According to the characteristics of different control systems in terms of control methods, the data containing the control system characteristics are added or adjusted; at the same time, according to the printing process requirements, part of the data of the second curve elements are added or adjusted.

8. An information data processing terminal, characterized in that: A method for controlling the curved surface printing motion trajectory to achieve any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that: The method comprises instructions which, when executed on a computer, enable the computer to execute the method for controlling the motion trajectory of curved surface printing as claimed in any one of claims 1 to 4.

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