Multi-nozzle compensation calibration method, device, terminal equipment and storage medium

Abstract

The present invention discloses a multi-nozzle compensation calibration method, device, terminal equipment and storage medium. The platform is flattened by a distance measuring device to obtain the distance difference of each grid plane relative to a reference point; the coordinate offset of each nozzle is measured by a positioning detection device; and the compensation coordinates of each nozzle are calculated according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point. The distance difference of each area of ​​the platform is detected by a distance measuring device, and the coordinate offset of each nozzle is detected by a positioning detection device, and then the compensation coordinates of each nozzle are obtained based on the corresponding distance difference and coordinate offset, so as to realize the calibration of multiple nozzle coordinates based on nozzle offset and platform height, thereby improving the working accuracy of the equipment.

Description

Technical Field

[0001] The present invention relates to the field of 3D printing technology, and in particular to a multi-nozzle compensation calibration method, device, terminal equipment and storage medium. Background Art

[0002] With the development of industrial technology, the application of multi-nozzle 3D printing or dispensing machines is becoming more and more widespread. During the application process, due to certain errors in the assembly process of different nozzles, the relative distance between each nozzle and the platform is inconsistent. At the same time, the flatness of the platform itself is inconsistent, which affects the working accuracy of the equipment.

[0003] Therefore, it is necessary to propose a solution to improve the accuracy of equipment operation. Summary of the invention

[0004] The main purpose of the present invention is to provide a multi-nozzle compensation calibration method, device, terminal equipment and storage medium, aiming to improve the working accuracy of the equipment.

[0005] To achieve the above object, the present invention provides a multi-nozzle compensation calibration method, the multi-nozzle compensation calibration method comprising:

[0006] The flatness of the platform is tested by a distance measuring device to obtain the distance difference between each grid plane and the reference point;

[0007] The coordinate offset of each nozzle is calculated by a positioning detection device;

[0008] The compensation coordinates of each nozzle are calculated according to the distance difference between the grid plane where each nozzle is located and the reference point and the coordinate offset.

[0009] Optionally, the step of detecting the flatness of the platform by using a distance measuring device to obtain the distance difference of each grid plane relative to the reference point includes:

[0010] Dividing the platform into a plurality of grid planes;

[0011] The intersection points of each grid plane are detected by the distance measuring device to obtain the Z coordinate of each intersection point;

[0012] The intersection point with the smallest Z coordinate among the intersection points is selected as the reference point, and the distance difference between each intersection point and the reference point is calculated.

[0013] Optionally, the step of calculating the coordinate offset of each nozzle by a positioning detection device includes at least one of the following:

[0014] Detecting the coordinate distance between each of the nozzles and the positioning detection device, selecting a reference nozzle from the nozzles, and calculating the coordinate offset of the remaining nozzles in the nozzles relative to the reference nozzle;

[0015] A reference nozzle is selected from the nozzles, the positioning coordinates of the reference nozzle are detected by the positioning detection device, and the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated in sequence based on the positioning coordinates of the reference nozzle.

[0016] Optionally, the step of detecting the coordinate distance between each of the nozzles and the positioning detection device, selecting a reference nozzle from the nozzles, and calculating the coordinate offset of the remaining nozzles in the nozzles relative to the reference nozzle includes:

[0017] The positioning detection device is arranged on the platform, wherein the positioning detection device comprises a first line and a second line, and the first line and the second line are respectively parallel to the X-axis direction and the Y-axis direction of the platform;

[0018] Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor;

[0019] The reference nozzle is selected from the nozzles, and the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated according to the coordinate distances between the nozzles and the positioning detection device.

[0020] Optionally, the step of selecting a reference nozzle from the nozzles, detecting the positioning coordinates of the reference nozzle by the positioning detection device, and sequentially calculating the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle based on the positioning coordinates of the reference nozzle includes:

[0021] Selecting a reference nozzle from the nozzles, and acquiring the execution coordinates of the reference nozzle;

[0022] A positioning detection device is set based on the execution coordinates of the reference nozzle, wherein the positioning detection device includes a first line and a second line, the first line and the second line are respectively parallel to the X-axis and the Y-axis corresponding to the execution coordinates, and the intersection of the first line and the second line is located at the execution coordinates of the reference nozzle;

[0023] Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor;

[0024] Calculating the positioning coordinates of the reference nozzle based on the coordinate distance between the reference nozzle among the nozzles and the positioning detection device and the execution coordinates;

[0025] The coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated in sequence according to the positioning coordinates of the reference nozzle.

[0026] Optionally, the step of calculating the compensation coordinates of each nozzle according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point includes:

[0027] Calculating the X-direction compensation amount, the Y-direction compensation amount, and the first Z-direction compensation amount corresponding to each nozzle according to the coordinate offset of each nozzle relative to the reference nozzle;

[0028] Calculate the second compensation amount in the Z direction corresponding to each nozzle according to the distance difference between the grid plane where each nozzle is located and the reference point;

[0029] Based on the execution coordinates of each nozzle, the compensation coordinates of each nozzle are calculated by combining the X-direction compensation amount, the Y-direction compensation amount, the Z-direction first compensation amount and the Z-direction second compensation amount corresponding to each nozzle.

[0030] Optionally, the distance measuring device includes a laser distance measuring sensor, an infrared distance measuring sensor and / or a physical contact sensor, the preset sensor includes a laser beam sensor, an infrared beam sensor and / or a tension sensor, and the first line and the second line include laser lines, infrared lines and / or physical lines.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also provides a multi-nozzle compensation calibration device, the multi-nozzle compensation calibration device comprising:

[0032] The flatness detection module is used to detect the flatness of the platform through a distance measuring device to obtain the distance difference between each grid plane and the reference point;

[0033] An offset detection module is used to measure the coordinate offset of each nozzle through a positioning detection device;

[0034] The coordinate compensation module is used to calculate the compensation coordinates of each nozzle according to the distance difference between the grid plane where each nozzle is located and the reference point and the coordinate offset.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes a memory, a processor, and a multi-nozzle compensation calibration program stored in the memory and executable on the processor, and the multi-nozzle compensation calibration program, when executed by the processor, implements the steps of the multi-nozzle compensation calibration method as described above.

[0036] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium, on which a multi-nozzle compensation calibration program is stored, and when the multi-nozzle compensation calibration program is executed by a processor, the steps of the multi-nozzle compensation calibration method as described above are implemented.

[0037] The embodiment of the present invention proposes a multi-nozzle compensation calibration method, device, terminal equipment and storage medium. The platform is tested for flatness by a distance measuring device to obtain the distance difference of each grid plane relative to the reference point; the coordinate offset of each nozzle is measured by a positioning detection device; and the compensation coordinates of each nozzle are calculated according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point. The distance difference of each area of ​​the platform is detected by a distance measuring device, and the coordinate offset of each nozzle is detected by a positioning detection device, and then the compensation coordinates of each nozzle are obtained based on the corresponding distance difference and coordinate offset, thereby realizing the calibration of multiple nozzle coordinates based on nozzle offset and platform height, thereby improving the accuracy of equipment operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a functional module schematic diagram of the terminal equipment to which the multi-nozzle compensation calibration device of the present invention belongs;

[0039] Figure 2 A schematic flow chart of an exemplary embodiment of a multi-nozzle compensation calibration method of the present invention;

[0040] Figure 3 for Figure 2 A schematic diagram of a specific process of step S20 in the embodiment.

[0041] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0043] The main solution of the embodiment of the present invention is: the flatness of the platform is detected by a distance measuring device to obtain the distance difference of each grid plane relative to the reference point; the coordinate offset of each nozzle is measured by a positioning detection device; the compensation coordinates of each nozzle are calculated according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point. The distance difference of each area of ​​the platform is detected by a distance measuring device, and the coordinate offset of each nozzle is detected by a positioning detection device, and then the compensation coordinates of each nozzle are obtained based on the corresponding distance difference and coordinate offset, which realizes the calibration of multiple nozzle coordinates based on nozzle offset and platform height, thereby improving the accuracy of equipment operation.

[0044] Specifically, refer to Figure 1 , Figure 1 The figure is a functional module diagram of the terminal device to which the multi-nozzle compensation calibration device of the present invention belongs. The multi-nozzle compensation calibration device can be a device that is independent of the terminal device and can perform multi-nozzle compensation calibration, and can be carried on the terminal device in the form of hardware or software. The terminal device can be a smart mobile terminal with data processing function such as a mobile phone or a tablet computer, or a fixed terminal device or server with data processing function.

[0045] In this embodiment, the terminal device to which the multi-nozzle compensation calibration apparatus belongs includes at least an output module 110 , a processor 120 , a memory 130 and a communication module 140 .

[0046] The memory 130 stores an operating system and a multi-nozzle compensation calibration program. The multi-nozzle compensation calibration device can store information such as the distance difference between each grid plane and the reference point obtained by performing a flatness detection on the platform through a distance measuring device, the coordinate offset of each nozzle measured by a positioning detection device, and the compensation coordinates of each nozzle calculated based on the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point in the memory 130; the output module 110 can be a display screen, etc. The communication module 140 can include a WIFI module, a mobile communication module, a Bluetooth module, etc., and communicates with an external device or server through the communication module 140.

[0047] When the multi-nozzle compensation calibration program in the memory 130 is executed by the processor, the following steps are implemented:

[0048] The flatness of the platform is tested by a distance measuring device to obtain the distance difference between each grid plane and the reference point;

[0049] The coordinate offset of each nozzle is calculated by a positioning detection device;

[0050] The compensation coordinates of each nozzle are calculated according to the distance difference between the grid plane where each nozzle is located and the reference point and the coordinate offset.

[0051] Furthermore, when the multi-nozzle compensation calibration program in the memory 130 is executed by the processor, the following steps are also implemented:

[0052] Dividing the platform into a plurality of grid planes;

[0053] The intersection points of each grid plane are detected by the distance measuring device to obtain the Z coordinate of each intersection point;

[0054] The intersection point with the smallest Z coordinate among the intersection points is selected as the reference point, and the distance difference between each intersection point and the reference point is calculated.

[0055] Furthermore, when the multi-nozzle compensation calibration program in the memory 130 is executed by the processor, the following steps are also implemented:

[0056] Detecting the coordinate distance between each of the nozzles and the positioning detection device, selecting a reference nozzle from the nozzles, and calculating the coordinate offset of the remaining nozzles in the nozzles relative to the reference nozzle;

[0057] A reference nozzle is selected from the nozzles, the positioning coordinates of the reference nozzle are detected by the positioning detection device, and the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated in sequence based on the positioning coordinates of the reference nozzle.

[0058] Furthermore, when the multi-nozzle compensation calibration program in the memory 130 is executed by the processor, the following steps are also implemented:

[0059] The positioning detection device is arranged on the platform, wherein the positioning detection device comprises a first line and a second line, and the first line and the second line are respectively parallel to the X-axis direction and the Y-axis direction of the platform;

[0060] Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor;

[0061] The reference nozzle is selected from the nozzles, and the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated according to the coordinate distances between the nozzles and the positioning detection device.

[0062] Furthermore, when the multi-nozzle compensation calibration program in the memory 130 is executed by the processor, the following steps are also implemented:

[0063] Selecting a reference nozzle from the nozzles, and acquiring the execution coordinates of the reference nozzle;

[0064] A positioning detection device is set based on the execution coordinates of the reference nozzle, wherein the positioning detection device includes a first line and a second line, the first line and the second line are respectively parallel to the X-axis and the Y-axis corresponding to the execution coordinates, and the intersection of the first line and the second line is located at the execution coordinates of the reference nozzle;

[0065] Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor;

[0066] Calculating the positioning coordinates of the reference nozzle based on the coordinate distance between the reference nozzle among the nozzles and the positioning detection device and the execution coordinates;

[0067] The coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated in sequence according to the positioning coordinates of the reference nozzle.

[0068] Furthermore, when the multi-nozzle compensation calibration program in the memory 130 is executed by the processor, the following steps are also implemented:

[0069] Calculating the X-direction compensation amount, the Y-direction compensation amount, and the first Z-direction compensation amount corresponding to each nozzle according to the coordinate offset of each nozzle relative to the reference nozzle;

[0070] Calculate the second compensation amount in the Z direction corresponding to each nozzle according to the distance difference between the grid plane where each nozzle is located and the reference point;

[0071] Based on the execution coordinates of each nozzle, the compensation coordinates of each nozzle are calculated by combining the X-direction compensation amount, the Y-direction compensation amount, the Z-direction first compensation amount and the Z-direction second compensation amount corresponding to each nozzle.

[0072] This embodiment uses the above scheme to specifically detect the flatness of the platform through a distance measuring device to obtain the distance difference between each grid plane and the reference point; the coordinate offset of each nozzle is measured through a positioning detection device; and the compensation coordinates of each nozzle are calculated based on the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point. The distance difference of each area of ​​the platform is detected by a distance measuring device, and the coordinate offset of each nozzle is detected by a positioning detection device, and then the compensation coordinates of each nozzle are obtained based on the corresponding distance difference and coordinate offset, realizing the calibration of multiple nozzle coordinates based on nozzle offset and platform height, thereby improving the accuracy of equipment operation.

[0073] Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the method of the present invention is proposed.

[0074] The execution subject of the method of this embodiment may be a multi-nozzle compensation calibration device or a terminal device, etc. This embodiment takes a multi-nozzle compensation calibration device as an example.

[0075] Reference Figure 2 , Figure 2 1 is a flow chart of an exemplary embodiment of a multi-nozzle compensation calibration method of the present invention. The multi-nozzle compensation calibration method comprises:

[0076] Step S10, performing a flatness test on the platform by using a distance measuring device to obtain a distance difference between each grid plane and a reference point;

[0077] In the embodiment of the present application, a laser distance measuring sensor, an infrared distance measuring sensor or a physical contact sensor is used as a distance measuring device to detect the flatness of the platform, specifically including:

[0078] Dividing the platform into a plurality of grid planes;

[0079] The intersection points of each grid plane are detected by the distance measuring device to obtain the Z coordinate of each intersection point;

[0080] The intersection point with the smallest Z coordinate among the intersection points is selected as the reference point, and the distance difference between each intersection point and the reference point is calculated.

[0081] Specifically, the platform can be divided into multiple small plane grids, such as a 3*3=9-point grid, or a 4*4=16-point grid. After setting the grid, use the distance measuring device to perform multi-point scanning on the platform. The intersection points on the grid are all detection points. The Z coordinates of the detected points are: D1, D2, D3, D4, ..., D 16 . Select the lowest data as the reference point D min , the distance difference between the other faces corresponding to this face is △1=D1-D min , △2=D2-D min , △16=D 16 -D min .

[0082] Step S20, calculating the coordinate offset of each nozzle by a positioning detection device;

[0083] In an embodiment of the present application, a positioning detection device is used, which includes preset sensors, such as laser beam sensors, infrared beam sensors, and tension sensors. The preset sensors can form cross-shaped laser lines, infrared lines, or physical lines in the positioning detection device. When the nozzle blocks or touches the line, a switch signal is generated to determine the distance between the nozzle and the positioning detection device.

[0084] As one implementation method, the coordinate distance between each nozzle and the positioning detection device is detected in turn, a reference nozzle is selected from each nozzle, and then the coordinate offset of each nozzle relative to the reference nozzle is calculated based on the coordinate distance between each nozzle and the positioning detection device.

[0085] As another implementation, a reference nozzle is first selected from the nozzles, and the positioning coordinates of the reference nozzle are determined by a positioning detection device, and then the coordinate offsets of the remaining nozzles relative to the reference nozzle are determined in turn.

[0086] It should be noted that the embodiment of the present application adopts the implementation method of first detecting the flatness of the platform and then calculating the coordinate offset of each nozzle. In other embodiments, the implementation method of first calculating the coordinate offset of each nozzle and then detecting the flatness of the platform may also be adopted. The embodiment of the present application does not constitute a limitation on the implementation order of step S10 and step S20.

[0087] Step S30, calculating the compensation coordinates of each nozzle according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point.

[0088] Further, determine the distance difference between the grid plane where each nozzle is located and the reference point △1 = D1-D min , △2=D2-D min , △16=D 16 -D min , and the obtained coordinate offsets △X, △Y, △Z, the compensation coordinates of each nozzle can be calculated, including:

[0089] Calculating the X-direction compensation amount, the Y-direction compensation amount, and the first Z-direction compensation amount corresponding to each nozzle according to the coordinate offset of each nozzle relative to the reference nozzle;

[0090] Calculate the second compensation amount in the Z direction corresponding to each nozzle according to the distance difference between the grid plane where each nozzle is located and the reference point;

[0091] Based on the execution coordinates of each nozzle, the compensation coordinates of each nozzle are calculated by combining the X-direction compensation amount, the Y-direction compensation amount, the Z-direction first compensation amount and the Z-direction second compensation amount corresponding to each nozzle.

[0092] For example, with nozzle 1 as the reference nozzle, the coordinate P2(X,Y,Z) that needs to be executed by nozzle 2 is compensated: P2(X,Y,Z)=P2(X+△X2,Y+△Y2,Z+△Z2). Similarly, the coordinate Pn(X,Y,Z) after compensation of nozzle n is Pn(X+△Xn,Y+△Yn,Z+△Zn). When nozzle 1 reaches the platform △1 area, the Z coordinate of nozzle 1 needs to be compensated for the platform as P1(Z)=P1(Z-△1). Similarly, when P1 reaches the △n area, P1(Z)=P1(Z-△n); when Pn reaches the △n area, Pn(Z)=Pn(Z-△n). By superimposing the two, we can obtain that, when nozzle 1 is in the △1 area of ​​the platform, the coordinate compensation is P1(X,Y,Z)=P1(X+△X1,Y+△Y1,Z+△Z1-△1); when nozzle n is in the △n area of ​​the platform, the coordinate compensation is Pn(X,Y,Z)=Pn(X+△Xn,Y+△Yn,Z+△Zn-△n).

[0093] In this embodiment, the platform is flattened by a distance measuring device to obtain the distance difference of each grid plane relative to the reference point; the coordinate offset of each nozzle is calculated by a positioning detection device; and the compensation coordinates of each nozzle are calculated according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point. The distance difference of each area of ​​the platform is detected by a distance measuring device, and the coordinate offset of each nozzle is detected by a positioning detection device, and then the compensation coordinates of each nozzle are obtained based on the corresponding distance difference and coordinate offset, so as to realize the calibration of multiple nozzle coordinates based on nozzle offset and platform height, thereby improving the working accuracy of the equipment.

[0094] Reference Figure 3 , Figure 3 for Figure 2 The specific flow chart of step S20 in the embodiment. Figure 2 In the embodiment shown, in this embodiment, the above step S20 includes:

[0095] Step S201, detecting the coordinate distance between each of the nozzles and the positioning detection device, selecting a reference nozzle from the nozzles, and calculating the coordinate offset of the remaining nozzles in the nozzles relative to the reference nozzle;

[0096] As one implementation method, the coordinate distance between each nozzle and the positioning detection device is detected in turn, a reference nozzle is selected from each nozzle, and then the coordinate offset of each nozzle relative to the reference nozzle is calculated according to the coordinate distance between each nozzle and the positioning detection device, specifically including:

[0097] The positioning detection device is arranged on the platform, wherein the positioning detection device comprises a first line and a second line, and the first line and the second line are respectively parallel to the X-axis direction and the Y-axis direction of the platform;

[0098] Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor;

[0099] The reference nozzle is selected from the nozzles, and the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated according to the coordinate distances between the nozzles and the positioning detection device.

[0100] Specifically, the coordinates and relative positions in the X-axis direction are detected: the nozzle 1 will enter the positioning detection device, move left and right to touch the laser line (infrared or physical line), and the distance between the nozzle 1 and the positioning detection device in the X-axis direction can be determined as X1; in this way, the distances X2, X3, ... Xn of each nozzle from the detection device in the X-axis direction can be obtained; with the coordinates of the nozzle 1 as the reference point, the distance △X between the nozzle 2 and the nozzle 1 can be calculated: △X2 = X2-X1; in this way, the distances between other nozzles and the nozzle 1 can be obtained: △X3 = X3-X1, △Xn = Xn-X1;

[0101] Similarly, the coordinates and relative positions in the Y-axis direction are detected: the nozzle 1 will enter the positioning detection device, move back and forth to touch the laser line (infrared or physical line), and the distance between the nozzle 1 and the positioning detection device in the Y-axis direction can be determined as Y1; in this way, the distances Y2, Y3, ... Yn of each nozzle from the detection device in the Y-axis direction can be obtained; with the coordinates of the nozzle 1 as the reference point, the distance △Y between the nozzle 2 and the nozzle 1 can be calculated: △Y2 = Y2-Y1; in this way, the distances between the other nozzles and the nozzle 1 can be obtained: △Y3 = Y3-Y1, △Yn = Yn-Y1;

[0102] Similarly, the coordinates and relative position in the Z-axis direction are detected: the nozzle 1 will enter the positioning detection device, and the precise position is determined according to the above steps. The nozzle can be accurately above the positioning device, and then move up and down to touch the laser line (infrared or physical line), and the distance between the nozzle 1 and the positioning detection device in the Z-axis direction can be determined as Z1; this method can be used to obtain the distance Z2, Z3, ... Zn of each nozzle from the detection device in the Z-axis direction; taking the coordinates of the nozzle 1 as the reference point, the distance △Z between the nozzle 2 and the nozzle 1 can be calculated: △Z2 = Z2-Z1; this can be used to obtain the distances between other nozzles and the nozzle 1: △Z3 = Z3-Z1, △Zn = Zn-Z1.

[0103] Step S202 , selecting a reference nozzle from the nozzles, detecting the positioning coordinates of the reference nozzle by the positioning detection device, and sequentially calculating the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle based on the positioning coordinates of the reference nozzle.

[0104] As another implementation, a reference nozzle is first selected from each nozzle, and the positioning coordinates of the reference nozzle are determined by a positioning detection device, and then the coordinate offsets of the remaining nozzles relative to the reference nozzle are determined in sequence, specifically including:

[0105] Selecting a reference nozzle from the nozzles, and acquiring the execution coordinates of the reference nozzle;

[0106] A positioning detection device is set based on the execution coordinates of the reference nozzle, wherein the positioning detection device includes a first line and a second line, the first line and the second line are respectively parallel to the X-axis and the Y-axis corresponding to the execution coordinates, and the intersection of the first line and the second line is located at the execution coordinates of the reference nozzle;

[0107] Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor;

[0108] Calculating the positioning coordinates of the reference nozzle based on the coordinate distance between the reference nozzle among the nozzles and the positioning detection device and the execution coordinates;

[0109] The coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle are calculated in sequence according to the positioning coordinates of the reference nozzle.

[0110] Specifically, a cross-shaped laser line, infrared line or physical line can be formed in the positioning detection device through a preset sensor. When the nozzle blocks or touches the line, a switch signal will be generated, and the center of the cross line, that is, the intersection of the two lines, will be set at the execution coordinate of the nozzle. Therefore, the distance of the nozzle offset relative to the execution coordinate can be determined by moving the nozzle on the X, Y, and Z axes, and then the positioning coordinates of the reference nozzle can be obtained. According to the distance from each nozzle to the positioning detection device, the coordinate offset of each nozzle relative to the reference nozzle can be further obtained.

[0111] This embodiment adopts the above scheme, specifically by detecting the coordinate distance between each nozzle and the positioning detection device, selects a reference nozzle from each nozzle, and calculates the coordinate offset of the remaining nozzles in each nozzle relative to the reference nozzle; selects a reference nozzle from each nozzle, detects the positioning coordinates of the reference nozzle by the positioning detection device, and sequentially calculates the coordinate offset of the remaining nozzles in each nozzle relative to the reference nozzle based on the positioning coordinates of the reference nozzle. Both methods can realize the determination of the coordinate offset of each nozzle, thereby compensating and calibrating the coordinates of each nozzle, making the positioning more accurate during the switching of multiple nozzles, thereby improving the accuracy of the equipment operation.

[0112] In addition, an embodiment of the present invention further provides a multi-nozzle compensation calibration device, the multi-nozzle compensation calibration device comprising:

[0113] The flatness detection module is used to detect the flatness of the platform through a distance measuring device to obtain the distance difference between each grid plane and the reference point;

[0114] An offset detection module is used to measure the coordinate offset of each nozzle through a positioning detection device;

[0115] The coordinate compensation module is used to calculate the compensation coordinates of each nozzle according to the distance difference between the grid plane where each nozzle is located and the reference point and the coordinate offset.

[0116] Specifically, through the XYZ three-coordinate positioning detection device, a laser beam sensor or an infrared beam sensor or a tension sensor can be used. The device forms a cross-shaped laser line or infrared line or a physical line. When the nozzle passes through the cross line, there will be a switch signal when the line is blocked or touched. When it is touched or blocked, the X coordinate ZBx=1, and when it is not touched or blocked, ZBx=0; similarly, the Y coordinate ZBy=1 or ZBy=0; when one of ZBx or ZBy is 1, ZBz=1, and when ZBx and ZBy are both equal to 0, ZBz=0.

[0117] In addition, laser distance measuring sensors, infrared distance measuring sensors or physical contact sensors can be used as distance measuring devices. After the equipment enters initialization, the multiple nozzles and platforms return to zero, and the coordinates of each nozzle and platform are defined as zero points. According to user needs, the platform can be divided into multiple small plane grids, such as a grid of 3*3=9 points, or a grid of 4*4=16. After setting the grid, use the distance measuring device to perform multi-point scanning on the platform. The intersections on the grid are all detection points. The Z coordinates of each point detected are: D1, D2, D3, D4...D16. Select the lowest data as the reference point Dmin, and the other faces correspond to this face to obtain the distance difference △1=D1-Dmin, △2=D2-Dmin, △16=D16-Dmin, and save it to the system.

[0118] In the process of detecting the coordinate offset, nozzle 1 can be selected as the reference nozzle to detect the coordinates and relative position in the X-axis direction: nozzle 1 will enter the positioning detection device, move left and right to touch the laser line (infrared or physical line), and the distance between nozzle 1 and the positioning detection device in the X-axis direction can be determined as X1; in this way, the distances X2, X3, ... Xn of each nozzle from the detection device in the X-axis direction can be obtained; with the coordinates of nozzle 1 as the reference point, the distance △X between nozzle 2 and nozzle 1 can be calculated: △X2=X2-X1; in this way, the distances between other nozzles and nozzle 1 can be obtained: △X3=X3-X1, △Xn=Xn-X1; Detect the coordinates and relative position in the Y-axis direction: nozzle 1 will enter the positioning detection device, move back and forth to touch the laser line (infrared or physical line), and the distance between nozzle 1 and the positioning detection device in the Y-axis direction can be determined as Y1; in this way, the distances X2, X3, ... Xn of each nozzle from the detection device in the Y-axis direction can be obtained The distance Y2, Y3, ... Yn of the measuring device; Taking the coordinate of nozzle 1 as the reference point, the distance △Y between nozzle 2 and nozzle 1 can be calculated: △Y2=Y2-Y1; the distance between other nozzles and nozzle 1 can be obtained: △Y3=Y3-Y1, △Yn=Yn-Y1; Detect the coordinates and relative position in the Z-axis direction: nozzle 1 will enter the positioning detection device, and the precise position is determined according to the above steps. The nozzle can accurately move above the positioning device and then move up and down By touching the laser line (infrared or physical line), the distance between nozzle 1 and the positioning detection device in the Z-axis direction can be determined as Z1; in this way, the distances Z2, Z3, ... Zn of each nozzle from the detection device in the Z-axis direction can be obtained; with the coordinates of nozzle 1 as the reference point, the distance △Z between nozzle 2 and nozzle 1 can be calculated: △Z2 = Z2-Z1; in this way, the distances between other nozzles and nozzle 1 can be obtained: △Z3 = Z3-Z1, △Zn = Zn-Z1.

[0119] After initialization is completed, the device enters the working state. The device defaults to nozzle 1 as the reference head. When using nozzle 2 for work, the system will compensate the coordinates P2 (X, Y, Z) required to be executed by nozzle 2 according to △X2, △Y2, △Z2 obtained from the measured coordinate offset: P2 (X, Y, Z) = P2 (X + △X2, Y + △Y2, Z + △Z2). Similarly, the coordinates of nozzle n after compensation Pn (X, Y, Z) = Pn (X + △Xn, Y + △Yn, Z + △Zn).

[0120] According to the Z difference compensation of each point on the platform, △1, △2, ... △n are obtained. When nozzle 1 reaches the △1 area of ​​the platform, the Z coordinate of nozzle 1 needs to be compensated by the platform as P1(Z)=P1(Z-△1). Similarly, when P1 reaches the △n area, P1(Z)=P1(Z-△n); when Pn reaches the △n area, Pn(Z)=Pn(Z-△n).

[0121] Further superposition is performed, for example, when nozzle 1 is in the platform △1 area, the coordinate compensation is P1(X, Y, Z) = P1(X+△X1, Y+△Y1, Z+△Z1-△1); when nozzle n is in the platform △n area, the coordinate compensation is Pn(X, Y, Z) = Pn(X+△Xn, Y+△Yn, Z+△Zn-△n).

[0122] This embodiment uses the above solution, specifically through a laser or infrared XYZ positioning detection device, an infrared or laser distance measuring device, and the optimization of the software algorithm, so that the device can automatically test the offset between multiple nozzles and the distance between the nozzle and the platform, and automatically measure the flatness of the platform. Then, the offset compensation between the nozzles and the platform height compensation are performed through the software, thereby realizing the automatic calibration function of multiple nozzles and the platform.

[0123] In addition, an embodiment of the present invention also proposes a terminal device, which includes a memory, a processor, and a multi-nozzle compensation calibration program stored in the memory and run on the processor. When the multi-nozzle compensation calibration program is executed by the processor, the steps of the multi-nozzle compensation calibration method described above are implemented.

[0124] Since the multi-nozzle compensation calibration program adopts all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0125] In addition, an embodiment of the present invention further proposes a computer-readable storage medium, on which a multi-nozzle compensation calibration program is stored. When the multi-nozzle compensation calibration program is executed by a processor, the steps of the multi-nozzle compensation calibration method described above are implemented.

[0126] Since the multi-nozzle compensation calibration program adopts all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0127] Compared with the prior art, the multi-nozzle compensation calibration method, device, terminal equipment and storage medium proposed in the embodiment of the present invention detect the flatness of the platform through a distance measuring device to obtain the distance difference of each grid plane relative to the reference point; the coordinate offset of each nozzle is measured through a positioning detection device; and the compensation coordinates of each nozzle are calculated according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point. The distance difference of each area of ​​the platform is detected by a distance measuring device, and the coordinate offset of each nozzle is detected by a positioning detection device, and then the compensation coordinates of each nozzle are obtained based on the corresponding distance difference and coordinate offset, thereby realizing the calibration of multiple nozzle coordinates based on nozzle offset and platform height, thereby improving the accuracy of equipment operation.

[0128] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0129] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0130] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to execute the method of each embodiment of the present application.

[0131] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-nozzle compensation calibration method, characterized in that: The multi-nozzle compensation calibration method comprises the following steps: The flatness of the platform is tested by a distance measuring device to obtain the distance difference between each grid plane and the reference point; The coordinate offset of each nozzle is calculated by a positioning detection device; Calculate the compensation coordinates of each nozzle according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point; The step of calculating the coordinate offset of each nozzle by the positioning detection device includes at least one of the following: Detecting the coordinate distance between each of the nozzles and the positioning detection device, selecting a reference nozzle from the nozzles, and calculating the coordinate offset of the remaining nozzles in the nozzles relative to the reference nozzle; Selecting a reference nozzle from the nozzles, detecting the positioning coordinates of the reference nozzle by the positioning detection device, and sequentially calculating the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle based on the positioning coordinates of the reference nozzle; The steps of detecting the coordinate distance between each of the nozzles and the positioning detection device, selecting a reference nozzle from the nozzles, and calculating the coordinate offset of the remaining nozzles in the nozzles relative to the reference nozzle include: The positioning detection device is arranged on the platform, wherein the positioning detection device comprises a first line and a second line, and the first line and the second line are respectively parallel to the X-axis direction and the Y-axis direction of the platform; Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor; Selecting the reference nozzle from the nozzles, and calculating the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle according to the coordinate distances between the nozzles and the positioning detection device; The step of selecting a reference nozzle from the nozzles, detecting the positioning coordinates of the reference nozzle by the positioning detection device, and sequentially calculating the coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle based on the positioning coordinates of the reference nozzle comprises: Selecting a reference nozzle from the nozzles, and acquiring the execution coordinates of the reference nozzle; A positioning detection device is set based on the execution coordinates of the reference nozzle, wherein the positioning detection device includes a first line and a second line, the first line and the second line are respectively parallel to the X-axis and the Y-axis corresponding to the execution coordinates, and the intersection of the first line and the second line is located at the execution coordinates of the reference nozzle; Controlling the nozzles to move along the X-axis, the Y-axis and the Z-axis respectively, and obtaining the coordinate distance between the nozzles and the positioning detection device through a preset sensor; Calculating the positioning coordinates of the reference nozzle based on the coordinate distance between the reference nozzle among the nozzles and the positioning detection device and the execution coordinates; Calculating coordinate offsets of the remaining nozzles in the nozzles relative to the reference nozzle in sequence according to the positioning coordinates of the reference nozzle; The step of calculating the compensation coordinates of each nozzle according to the distance difference and coordinate offset of the grid plane where each nozzle is located relative to the reference point includes: Calculating the X-direction compensation amount, the Y-direction compensation amount, and the first Z-direction compensation amount corresponding to each nozzle according to the coordinate offset of each nozzle relative to the reference nozzle; Calculate the second compensation amount in the Z direction corresponding to each nozzle according to the distance difference between the grid plane where each nozzle is located and the reference point; Based on the execution coordinates of each nozzle, the compensation coordinates of each nozzle are calculated by combining the X-direction compensation amount, the Y-direction compensation amount, the Z-direction first compensation amount and the Z-direction second compensation amount corresponding to each nozzle.

2. The multi-nozzle compensation calibration method according to claim 1, characterized in that: The step of detecting the flatness of the platform by using a distance measuring device to obtain the distance difference between each grid plane and the reference point comprises: Dividing the platform into a plurality of grid planes; The intersection points of each grid plane are detected by the distance measuring device to obtain the Z coordinate of each intersection point; The intersection point with the smallest Z coordinate among the intersection points is selected as the reference point, and the distance difference between each intersection point and the reference point is calculated.

3. The multi-nozzle compensation calibration method according to claim 1, characterized in that: The distance measuring device includes a laser distance measuring sensor, an infrared distance measuring sensor and / or a physical contact sensor, the preset sensor includes a laser beam sensor, an infrared beam sensor and / or a tension sensor, and the first line and the second line include laser lines, infrared lines and / or physical lines.

4. A multi-nozzle compensation calibration device, characterized in that: The multi-nozzle compensation calibration device is used to implement the multi-nozzle compensation calibration method according to any one of claims 1 to 3, and the multi-nozzle compensation calibration device includes: The flatness detection module is used to detect the flatness of the platform through a distance measuring device to obtain the distance difference between each grid plane and the reference point; An offset detection module is used to measure the coordinate offset of each nozzle through a positioning detection device; The coordinate compensation module is used to calculate the compensation coordinates of each nozzle according to the distance difference between the grid plane where each nozzle is located and the reference point and the coordinate offset.

5. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a multi-nozzle compensation calibration program stored in the memory and executable on the processor. When the multi-nozzle compensation calibration program is executed by the processor, the steps of the multi-nozzle compensation calibration method described in any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a multi-nozzle compensation calibration program, and when the multi-nozzle compensation calibration program is executed by the processor, the steps of the multi-nozzle compensation calibration method according to any one of claims 1 to 3 are implemented.

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