Method, device, controller and printing equipment for controlling the motion of a printing carriage

Abstract

This invention discloses a method, device, controller, and printing equipment for controlling the motion of a printing carriage, relating to the field of inkjet printing technology. The method determines the acceleration distance of the printing carriage and obtains a second driving current for decelerating the printing carriage based on a first driving current used to drive the printing carriage to accelerate within that acceleration distance. This yields optimized deceleration and constant-speed distances. The method then controls the movement of the printing carriage based on these optimized distances, reducing the time taken for each scan and thus improving the time required to complete the printing task, thereby increasing printing efficiency.

Description

Technical Field

[0001] This invention relates to the field of inkjet printing technology, and in particular to a method, device, controller and printing equipment for controlling the motion of a printing carriage. Background Technology

[0002] In a reciprocating scanning inkjet printing system, printing an image requires multiple reciprocating movements of the printing carriage. The movement of the printing carriage is divided into three stages: acceleration, constant speed, and deceleration. For example... Figure 1 As shown, the reciprocating scanning inkjet printer uses a motor to control the printing carriage to reciprocate along the crossbeam and print ink. Let the direction of the printing carriage's movement be the X direction (or printing direction, main scanning direction), and the direction of the printing medium's movement be the Y direction (or paper feeding direction, secondary scanning direction). The printing carriage moves from the left end to the right end along the X direction. During this process, the printing carriage accelerates from a standstill, moves at a constant speed after reaching the printing area (the inkjet image is printed during the constant speed movement), and decelerates until it stops after leaving the printing area. The printing carriage completes 1 pass printing (or completes one scan) and waits for the printing medium to move a certain distance along the Y direction (or for the printing carriage to move a certain distance along the Y direction) before starting the next 1 pass printing. That is, it accelerates from a standstill until it moves at a constant speed in the printing area, decelerates until it stops after leaving the printing area, and repeats this cycle until the printing task is completed.

[0003] The printing carriage needs to scan back and forth multiple times along the X direction, which takes a considerable amount of time to complete the entire printing task. Since the maximum speed of the printing carriage during printing is limited by the maximum ink ejection speed of the printhead, if the carriage speed exceeds this speed, it will cause abnormal printed images. Therefore, increasing the carriage speed cannot be relied upon to improve printing efficiency. Thus, optimizing the time required for each scan by the printing carriage to achieve the overall printing speed and efficiency is crucial. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method, apparatus, controller and printing equipment for controlling the motion of a printing carriage, in order to solve the problem of low printing efficiency in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a motion control method for a printing cart, the method comprising:

[0006] The acceleration distance and total running distance of the printing carriage are obtained based on the printing parameters; wherein, the acceleration distance is the distance the printing carriage moves during the acceleration process, and the total running distance is the distance the printing carriage moves in one scan along the printing direction;

[0007] Obtain a first driving current for driving the printed carriage to accelerate within the acceleration distance;

[0008] A second driving current for driving the printing carriage to decelerate is obtained based on the first driving current.

[0009] The deceleration distance of the printing carriage is obtained based on the second driving current, wherein the deceleration distance is the distance the printing carriage moves during the deceleration process;

[0010] The constant speed distance of the printing trolley is determined based on the acceleration distance, the deceleration distance, and the total running distance.

[0011] The printing trolley is controlled to accelerate, move at a constant speed, and decelerate according to the acceleration distance, the constant speed distance, and the deceleration distance, respectively.

[0012] Preferably, the printing parameters include: printing width, maximum travel of the printing carriage, and inkjet speed of the printing carriage.

[0013] Preferably, obtaining the acceleration distance and total running distance of the printing vehicle based on the printing parameters includes:

[0014] The initial uniform speed distance of the printing carriage is determined based on the printing width;

[0015] The speed of the printing carriage during its uniform motion within the initial uniform distance is determined based on the ink ejection speed of the printhead, and is denoted as the first speed.

[0016] The acceleration distance is determined based on the first speed;

[0017] The total running distance is determined based on the initial constant speed distance and the acceleration distance, wherein the total running distance is less than or equal to the maximum travel distance of the printing trolley.

[0018] Preferably, determining the acceleration distance based on the first speed includes:

[0019] The acceleration distance is determined based on the first velocity and the preset acceleration; or,

[0020] The acceleration distance is determined based on the first speed and the maximum drive current of the printing vehicle.

[0021] Preferably, obtaining the second drive current based on the first drive current includes:

[0022] The second drive current is equal to the first drive current; or,

[0023] The second drive current is equal to the first drive current minus the preset adjustment current.

[0024] Preferably, after obtaining the second driving current for driving the printing carriage to decelerate based on the first driving current, the method further includes:

[0025] The energy consumption of the printing car during acceleration and deceleration is obtained based on the first driving current and the second driving current.

[0026] Adjust the first drive current and / or the second drive current according to the energy consumption.

[0027] Preferably, the acceleration motion performed over the acceleration distance is a uniform acceleration motion, and the deceleration motion performed over the deceleration distance is a uniform deceleration motion.

[0028] Preferably, the acceleration motion performed at the acceleration distance is a variable acceleration motion, and the deceleration motion performed at the deceleration distance is a variable deceleration motion.

[0029] Secondly, embodiments of the present invention provide a motion control device for a printing carriage, the device comprising:

[0030] An acceleration distance acquisition module is used to acquire the acceleration distance and total running distance of the printing carriage based on printing parameters; wherein, the acceleration distance is the distance the printing carriage moves during acceleration, and the total running distance is the distance the printing carriage moves in one scan along the printing direction;

[0031] The first driving current acquisition module is used to acquire the first driving current used to drive the printing trolley to accelerate within the acceleration distance.

[0032] The second drive current acquisition module is used to acquire a second drive current for driving the printing carriage to decelerate based on the first drive current.

[0033] The deceleration distance acquisition module is used to acquire the deceleration distance of the printing carriage based on the second driving current, wherein the deceleration distance is the distance the printing carriage moves during the deceleration motion;

[0034] The constant speed distance acquisition module is used to determine the constant speed distance of the printing trolley based on the acceleration distance, the deceleration distance and the total running distance;

[0035] The control module is used to control the printing trolley to perform accelerated motion, constant speed motion, and deceleration motion according to the acceleration distance, the constant speed distance, and the deceleration distance, respectively.

[0036] Thirdly, embodiments of the present invention provide a controller, including:

[0037] The main control device is used to control the operation of the controller; and,

[0038] The motion control device for the printing carriage as described in the second aspect.

[0039] Fourthly, embodiments of the present invention provide a motion control device for a printing cart, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, wherein when the computer program instructions are executed by the processor, the method of the first aspect described above is implemented.

[0040] Fifthly, embodiments of the present invention provide a storage medium storing computer program instructions thereon, which, when executed by a processor, implement the method of the first aspect described above.

[0041] In summary, the beneficial effects of the present invention are as follows:

[0042] The printing carriage motion control method, device, controller, and printing equipment provided in this invention determine the acceleration distance of the printing carriage and obtain a second driving current for driving the printing carriage to decelerate based on a first driving current for driving the printing carriage to accelerate within the acceleration distance. This yields optimized deceleration distance and constant speed distance. By controlling the movement of the printing carriage based on the optimized deceleration distance and constant speed distance, the time taken by the printing carriage during each scan is reduced, thereby improving the time spent completing the printing task and increasing printing efficiency. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of the present invention.

[0044] Figure 1 This is a schematic diagram of reciprocating inkjet scanning printing according to an embodiment of the present invention.

[0045] Figure 2 This is a flowchart illustrating the motion control method for the printing cart according to an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the speed-time curve and the corresponding drive current-time curve of the printing car according to an embodiment of the present invention.

[0047] Figure 4 This is a schematic diagram of the printing width according to an embodiment of the present invention.

[0048] Figure 5This is a schematic diagram of the speed-time curve and the corresponding drive current-time curve of the printing car according to an embodiment of the present invention.

[0049] Figure 6 This is a schematic diagram of the motion control device for the printing carriage according to an embodiment of the present invention.

[0050] Figure 7 This is a schematic diagram of the controller according to an embodiment of the present invention.

[0051] Figure 8 This is a schematic diagram of the printing device according to an embodiment of the present invention. Detailed Implementation

[0052] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the invention.

[0053] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0054] Example 1

[0055] This invention provides a method for controlling the motion of a printing carriage, applicable to reciprocating scanning printing systems. The reciprocating scanning printing system applies a driving current to the printing carriage, driving it to reciprocate multiple times to complete image printing. The carriage's motion includes three stages: acceleration, constant speed, and deceleration (hereinafter referred to as the acceleration stage, constant speed stage, and deceleration stage, respectively). In existing reciprocating scanning printing systems, the distance the printing carriage travels during the acceleration stage (acceleration distance) is the same as the distance it travels during the deceleration stage (deceleration distance). However, the acceleration or deceleration distance is limited by the maximum acceleration that the motion platform, composed of components such as the driver, motor, and motion guide rails, can withstand. If the carriage acceleration exceeds the platform's maximum acceleration, it can easily overload the motor and driver, leading to uncontrolled carriage movement. Conversely, if the carriage acceleration is too low, the speed at which it reaches the printing area will be too small, affecting printing efficiency. Limited by the length of the printing platform, the carriage has a maximum travel limit; if the acceleration distance is too long, it will compress the printing area, thus affecting image printing. The motion control method for the printing carriage proposed in this embodiment of the invention optimizes the time for each scan by optimizing the uniform speed distance and deceleration distance of the printing carriage, thereby improving printing efficiency.

[0056] Please see Figure 2 The motion control method for the printing carriage specifically includes the following steps:

[0057] S1: Obtain the acceleration distance and total running distance of the printing carriage according to the printing parameters; wherein, the acceleration distance is the distance the printing carriage moves during the acceleration process, and the total running distance is the distance the printing carriage moves in one scan along the printing direction;

[0058] S2: Obtain a first driving current for driving the printed vehicle to accelerate within the acceleration distance;

[0059] S3: Obtain a second driving current for driving the printing trolley to decelerate based on the first driving current;

[0060] S4: Based on the second driving current, obtain the deceleration distance of the printing carriage, wherein the deceleration distance is the distance the printing carriage moves during the deceleration process;

[0061] S5: Determine the constant speed distance of the printing trolley based on the acceleration distance, the deceleration distance, and the total running distance;

[0062] S6: Control the printing trolley to perform accelerated motion, constant speed motion, and deceleration motion according to the acceleration distance, the constant speed distance, and the deceleration distance, respectively.

[0063] Before starting a printing task, the host computer software sends printing parameters, such as those related to the image to be printed and parameters set by the user, to the printing control system. This allows the printing control system to determine the various control parameters required during the printing process. Printing parameters include the printing carriage's acceleration distance, constant speed distance, deceleration distance, maximum travel distance of the printing carriage, inkjet speed of the printing carriage, print width, and margin offset. These printing parameters allow the acquisition of the printing carriage's acceleration distance, constant speed distance, deceleration distance, and total travel distance (the total travel distance must be less than or equal to the maximum travel distance of the printing carriage). In existing technologies, the acceleration distance and deceleration distance are often the same, but the current applied to the printing carriage driver differs between the acceleration and deceleration phases. Figure 3 The diagram shows the three stages of the printing carriage's motion: acceleration, constant speed, and deceleration, along with its velocity-time curves and the driving current-time curve applied to the printing carriage. Figure 3 It is known that the driving current in the deceleration phase is less than that in the acceleration phase. Increasing the driving current in the deceleration phase to make it equal to or close to that in the acceleration phase can increase the acceleration in the deceleration phase, thereby reducing the deceleration time. However, the deceleration distance will also be reduced accordingly. Since the printing carriage needs to perform bidirectional printing, it is necessary to ensure that the printing carriage has sufficient acceleration distance in the next scan. Therefore, the total running distance of the printing carriage in a single scan should remain unchanged. Thus, it is necessary to redetermine the size of the uniform speed distance based on the acceleration distance, the reduced deceleration distance, and the total running distance. Then, the movement of the printing carriage is controlled based on the acceleration distance, the redetermined deceleration distance, and the uniform speed distance.

[0064] In some embodiments, the acceleration distance and total travel distance of the printing carriage are obtained by using the print width, inkjet speed of the printing carriage, and maximum travel distance of the printing carriage in the printing parameters, specifically including:

[0065] S11: Determine the initial uniform speed distance of the printing carriage based on the printing width;

[0066] S12: Determine the speed of the printing carriage when it moves at a constant speed within the initial constant speed distance based on the ink ejection speed of the printhead, and record it as the first speed;

[0067] S13: Determine the acceleration distance based on the first speed;

[0068] S14: Determine the total running distance based on the initial constant speed distance and the acceleration distance, wherein the total running distance is less than or equal to the maximum travel distance of the printing trolley.

[0069] Among them, such as Figure 4As shown, the print width refers to the width of the image to be printed onto the printing medium. The distance the print carriage travels at a constant speed must be greater than or equal to the print width. Generally, during printing, a certain white margin distance (or white margin offset) is set. This means that although the print carriage moves at a constant speed, it does not print ink until it reaches the designated output position. After printing one pass, it also moves at a constant speed for a certain distance (without printing ink) before decelerating. The white margin offset can be set according to the actual situation. Let the white margin offset be 'a' and the print width be 'b'. Then the distance the print carriage travels at a constant speed (denoted as the initial constant speed distance) is equal to: 2a + b, where a ≥ 0. Therefore, the initial constant speed distance of the print carriage must be greater than or equal to the print width to avoid printing errors.

[0070] The speed of the printing carriage within the initial uniform speed distance is determined by the inkjet speed of the printhead. Because the uniform speed movement phase of the printing carriage occurs within the inkjet printing area, the maximum speed of the printing carriage is limited by the maximum inkjet speed of the printhead. If the printing carriage speed exceeds the maximum inkjet speed of the printhead, it will result in abnormal printed images. To maximize printing efficiency, the speed of the printing carriage during this phase can be set to be equal to the maximum inkjet speed of the printhead. In other embodiments, the speed of the printing carriage during uniform speed movement can be set according to actual conditions. For example, if high image accuracy is required, the uniform speed of the printing carriage can be set to be less than the maximum inkjet speed of the printhead. The speed of the printing carriage during uniform speed movement within the initial uniform speed distance is recorded as the first speed. Based on the first speed, the acceleration distance required for the printing carriage to accelerate from rest to the first speed can be determined.

[0071] According to the formula v = at, given a fixed v value, a larger acceleration a results in a smaller t value. If the printing carriage needs to quickly reach its initial speed from rest, a larger acceleration a is better. However, due to the maximum acceleration that the motion platform composed of the driver, motor, and motion guide rails can withstand, the acceleration cannot be infinitely large. Therefore, the acceleration of the printing carriage needs to be set based on the maximum current that the driver can handle. To improve efficiency, a current close to the driver's maximum capacity can be used to accelerate the printing carriage, obtaining its maximum acceleration and thus determining the acceleration distance. The acceleration distance of the printing carriage is determined by the formula s = at. 2 / 2 can be calculated. In some other embodiments, a preset acceleration can be set according to actual conditions (such as to extend the life of the driver), thereby determining the acceleration distance based on the first velocity and the preset acceleration. The preset acceleration needs to ensure that the total running distance of the printing carriage is less than or equal to the maximum travel distance of the printing carriage. Because the initial deceleration distance of the printing carriage is equal to the acceleration distance, the total running distance of the printing carriage can be obtained by obtaining the acceleration distance and the initial constant speed distance of the printing carriage.

[0072] In this embodiment, the deceleration phase is optimized by increasing the driving current during deceleration, making it equal to or close to the driving current during acceleration, thereby increasing the acceleration during deceleration and reducing the deceleration time, thus improving printing efficiency. To ensure the total running distance of the printing carriage remains constant, the deceleration distance and constant speed distance need to be redefined. The deceleration distance is determined based on the driving current applied to the printing carriage during deceleration. Let the driving current applied to the printing carriage during acceleration within the acceleration distance be the first driving current, and the driving current applied during deceleration within the deceleration distance be the second driving current, as follows... Figure 5 As shown, the second driving current can be set to be equal to or slightly less than the first driving current. For example, by setting a preset adjustment current, the second driving current is the first driving current minus this preset adjustment current. The printing carriage is driven to decelerate according to the second driving current, and the corresponding deceleration distance is obtained. The constant speed distance of the printing carriage can then be re-determined based on the total travel distance, acceleration distance, and deceleration distance of the printing carriage. Figure 5 As shown, the redefined uniform speed distance will be greater than the initial uniform speed distance or the width of the printing area (the width of the printing area is equal to the printing width plus the white border distance). During printing, the printing carriage accelerates during the acceleration phase, and after reaching the printing area, it begins to move at a uniform speed. After leaving the printing area, the printing carriage will continue to move at a uniform speed until it completes the uniform speed distance, after which it will begin to decelerate until it stops.

[0073] Considering that changes in the driving current have a significant impact on the energy consumption of the printing carriage during acceleration and deceleration, in one embodiment, after obtaining the first driving current and the second driving current, the energy consumption of the printing carriage during acceleration and deceleration is obtained, and the first driving current and / or the second driving current are adjusted accordingly to optimize the movement time while minimizing energy consumption. For example, a first energy consumption threshold and a second energy consumption threshold are set. After determining the second driving current based on the first driving current, the energy consumption is calculated using the electrical work formulas W = UIt and W = I. 2Rt acquires the total energy consumption and thermal energy consumption of the printing car during acceleration and deceleration. When the total energy consumption is greater than or equal to a first energy consumption threshold and / or the thermal energy consumption is greater than or equal to a second energy consumption threshold, the first drive current and / or the second drive current are adjusted so that the total energy consumption is less than the first energy consumption threshold and / or the thermal energy consumption is less than or equal to the second energy consumption threshold. Simultaneously, after adjusting the first and second drive currents, the movement time required for the printing car to accelerate and decelerate under the adjusted first and second drive currents is acquired. When the movement time is greater than or equal to a preset time threshold, the first and / or second drive currents are readjusted so that the total energy consumption or thermal energy consumption obtained based on the first and second drive currents is less than the first and second energy consumption thresholds respectively, and the movement time is less than the preset time threshold. This optimizes the movement time while minimizing energy consumption. The first energy consumption threshold, second energy consumption threshold, and preset time threshold can be set according to actual conditions and are not limited here.

[0074] like Figure 3 and Figure 5 The diagram shows a T-shaped curve. In this embodiment, the acceleration and deceleration of the printing carriage are both uniformly accelerated or uniformly decelerated, meaning the acceleration remains constant during the acceleration and deceleration process. Of course, the printing carriage motion control method provided in this embodiment is also applicable to other acceleration and deceleration control systems, such as... Figure 6 The S-curve shown indicates that the acceleration of the printed car can change during acceleration and deceleration.

[0075] In summary, the printing carriage motion control method provided by this embodiment of the invention determines the acceleration distance of the printing carriage and obtains a second driving current for driving the printing carriage to decelerate based on a first driving current for driving the printing carriage to accelerate within the acceleration distance. This yields optimized deceleration distance and constant speed distance. By controlling the movement of the printing carriage based on the optimized deceleration distance and constant speed distance, the time taken by the printing carriage during each scan is reduced, thereby improving the time spent completing the printing task and increasing printing efficiency.

[0076] Example 2

[0077] Please see Figure 6 This invention provides a motion control device 200 for a printing cart, the device 200 comprising:

[0078] The acceleration distance acquisition module 201 is used to acquire the acceleration distance and total running distance of the printing carriage according to the printing parameters; wherein, the acceleration distance is the distance the printing carriage moves during the acceleration process, and the total running distance is the distance the printing carriage moves in one scan along the printing direction;

[0079] The first drive current acquisition module 202 is used to acquire the first drive current when the printing car accelerates within the acceleration distance.

[0080] The second drive current acquisition module 203 is used to acquire a second drive current for driving the printing trolley to decelerate based on the first drive current.

[0081] The deceleration distance acquisition module 204 is used to acquire the deceleration distance of the printing carriage according to the second driving current, wherein the deceleration distance is the distance the printing carriage moves during the deceleration motion;

[0082] The constant speed distance acquisition module 205 is used to determine the constant speed distance of the printing trolley based on the acceleration distance, the deceleration distance and the total running distance;

[0083] The control module 206 is used to control the printing trolley to perform accelerated motion, constant speed motion and deceleration motion according to the acceleration distance, the constant speed distance and the deceleration distance respectively.

[0084] Furthermore, the acceleration distance acquisition module 201 includes:

[0085] An initial uniform speed distance determination unit is used to determine the initial uniform speed distance of the printing carriage based on the printing width.

[0086] The first speed determination unit is used to determine the speed of the printing carriage when it moves at a constant speed within the initial constant speed distance based on the ink ejection speed of the printhead, and is denoted as the first speed.

[0087] An acceleration distance determination unit is used to determine the acceleration distance based on the first speed;

[0088] The total running distance determination unit is used to determine the total running distance based on the initial constant speed distance and the acceleration distance, wherein the total running distance is less than or equal to the maximum travel distance of the printing trolley.

[0089] Furthermore, the acceleration distance determination unit includes:

[0090] A first determining unit is configured to determine the acceleration distance based on the first velocity and a preset acceleration; or,

[0091] The second determining unit is used to determine the acceleration distance based on the first speed and the maximum drive current of the printing vehicle.

[0092] Furthermore, the second drive current acquisition module 203 includes:

[0093] The first acquisition unit is configured to allow the second drive current to equal the first drive current; or...

[0094] The second acquisition unit is used to make the second driving current equal to the first driving current minus the preset adjustment current.

[0095] Furthermore, the device 200 also includes:

[0096] An energy consumption acquisition unit is used to acquire the energy consumption of the printing carriage during acceleration and deceleration based on the first drive current and the second drive current.

[0097] An adjustment unit is used to adjust the first drive current and / or the second drive current according to the energy consumption.

[0098] In summary, the printing carriage motion control device provided in this embodiment of the invention determines the acceleration distance of the printing carriage and obtains a second driving current for driving the printing carriage to decelerate based on a first driving current for driving the printing carriage to accelerate within the acceleration distance. This results in optimized deceleration distance and constant speed distance. By controlling the movement of the printing carriage based on the optimized deceleration distance and constant speed distance, the time taken by the printing carriage during each scan is reduced, thereby improving the time spent completing the printing task and increasing printing efficiency.

[0099] Example 3

[0100] Please see Figure 7 This invention provides a controller 400, which includes:

[0101] Main control device 401, used to control the operation of the controller; and,

[0102] The printing carriage motion control device 200 as described in Embodiment 2. The printing carriage motion control device 200 includes:

[0103] The acceleration distance acquisition module 201 is used to acquire the acceleration distance and total running distance of the printing carriage according to the printing parameters; wherein, the acceleration distance is the distance the printing carriage moves during the acceleration process, and the total running distance is the distance the printing carriage moves in one scan along the printing direction;

[0104] The first driving current acquisition module 202 is used to acquire the first driving current used to drive the printing trolley to accelerate within the acceleration distance.

[0105] The second drive current acquisition module 203 is used to acquire a second drive current for driving the printing trolley to decelerate based on the first drive current.

[0106] The deceleration distance acquisition module 204 is used to acquire the deceleration distance of the printing carriage according to the second driving current, wherein the deceleration distance is the distance the printing carriage moves during the deceleration motion;

[0107] The constant speed distance acquisition module 205 is used to determine the constant speed distance of the printing trolley based on the acceleration distance, the deceleration distance and the total running distance;

[0108] The control module 206 is used to control the printing trolley to perform accelerated motion, constant speed motion and deceleration motion according to the acceleration distance, the constant speed distance and the deceleration distance respectively.

[0109] Furthermore, the acceleration distance acquisition module 201 includes:

[0110] An initial uniform speed distance determination unit is used to determine the initial uniform speed distance of the printing carriage based on the printing width.

[0111] The first speed determination unit is used to determine the speed of the printing carriage when it moves at a constant speed within the initial constant speed distance based on the ink ejection speed of the printhead, and is denoted as the first speed.

[0112] An acceleration distance determination unit is used to determine the acceleration distance based on the first speed;

[0113] The total running distance determination unit is used to determine the total running distance based on the initial constant speed distance and the acceleration distance, wherein the total running distance is less than or equal to the maximum travel distance of the printing trolley.

[0114] Furthermore, the acceleration distance determination unit includes:

[0115] A first determining unit is configured to determine the acceleration distance based on the first velocity and a preset acceleration; or,

[0116] The second determining unit is used to determine the acceleration distance based on the first speed and the maximum drive current of the printing vehicle.

[0117] Furthermore, the second drive current acquisition module 203 includes:

[0118] The first acquisition unit is configured to allow the second drive current to equal the first drive current; or...

[0119] The second acquisition unit is used to make the second driving current equal to the first driving current minus the preset adjustment current.

[0120] Furthermore, the device 200 also includes:

[0121] An energy consumption acquisition unit is used to acquire the energy consumption of the printing carriage during acceleration and deceleration based on the first drive current and the second drive current.

[0122] An adjustment unit is used to adjust the first drive current and / or the second drive current according to the energy consumption.

[0123] In summary, the controller provided in this embodiment of the invention determines the acceleration distance of the printing carriage and obtains a second driving current for driving the printing carriage to decelerate based on a first driving current for driving the printing carriage to accelerate within the acceleration distance. This results in optimized deceleration distance and constant speed distance. By controlling the movement of the printing carriage based on the optimized deceleration distance and constant speed distance, the time taken by the printing carriage during each scan is reduced, thereby improving the time spent completing the printing task and increasing printing efficiency.

[0124] Example 4

[0125] In addition, the printing method of this invention can be implemented by a printing device. Figure 8 A schematic diagram of the hardware structure of the printing device provided in an embodiment of the present invention is shown.

[0126] The printing device may include a processor 301 and a memory 302 storing computer program instructions.

[0127] Specifically, the processor 301 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of the present invention.

[0128] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to a data processing device. In a particular embodiment, memory 302 is a non-volatile solid-state memory. In a particular embodiment, memory 302 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0129] The processor 301 implements any of the printing methods described in the above embodiments by reading and executing computer program instructions stored in the memory 302.

[0130] In one example, the printing device may also include a communication interface 303 and a bus 310. For example, Figure 8 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0131] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of the present invention.

[0132] Bus 310 includes hardware, software, or both, that couples components of a printing device together. For example, and not as a limitation, bus 310 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. While specific buses are described and illustrated in embodiments of the invention, the invention contemplates any suitable bus or interconnect.

[0133] Example 5

[0134] Furthermore, in conjunction with the printing carriage motion control method in the above embodiments, this invention can be implemented using a computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by the processor 301, they implement any of the printing carriage motion control methods in the above embodiments.

[0135] In summary, the printing carriage motion control method, device, controller, and printing equipment provided in this embodiment of the invention determine the acceleration distance of the printing carriage and obtain a second driving current for driving the printing carriage to decelerate based on a first driving current for driving the printing carriage to accelerate within the acceleration distance. This yields optimized deceleration distance and constant speed distance. By controlling the movement of the printing carriage based on the optimized deceleration distance and constant speed distance, the time taken by the printing carriage during each scan is reduced, thereby improving the time spent completing the printing task and increasing printing efficiency.

[0136] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0137] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this invention are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0138] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0139] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A motion control method for a printing trolley, characterized in that, The method comprises: obtaining an acceleration distance and a total running distance of a printing carriage according to printing parameters; wherein the acceleration distance is a distance moved by the printing carriage during acceleration movement, the total running distance is a movement distance of the printing carriage for scanning once in a printing direction, and the printing parameters comprise a printing width, a maximum travel of the printing carriage, and an ink jet speed of the printing carriage; obtaining a first driving current for driving the printing carriage to perform acceleration movement within the acceleration distance; obtaining a second driving current for driving the printing carriage to perform deceleration movement according to the first driving current; obtaining a deceleration distance of the printing carriage according to the second driving current, wherein the deceleration distance is a distance moved by the printing carriage during deceleration movement; determining a constant speed distance of the printing carriage according to the acceleration distance, the deceleration distance, and the total running distance; controlling the printing carriage to perform acceleration movement, constant speed movement, and deceleration movement according to the acceleration distance, the constant speed distance, and the deceleration distance, respectively; obtaining an acceleration distance and a total running distance of a printing carriage according to printing parameters comprises: determining an initial constant speed distance of the printing carriage according to the printing width; determining a speed of the printing carriage during constant speed movement within the initial constant speed distance as a first speed according to an ink jet speed of a print head; determining the acceleration distance according to the first speed; determining the total running distance according to the initial constant speed distance and the acceleration distance, wherein the total running distance is less than or equal to the maximum travel of the printing carriage.

2. The print carriage motion control method of claim 1, wherein, obtaining a second driving current for driving the printing carriage to perform deceleration movement according to the first driving current comprises: the second driving current is equal to the first driving current; or the second driving current is equal to the first driving current minus a preset adjustment current. obtaining a second driving current for driving the printing carriage to perform deceleration movement according to the first driving current further comprises:

3. The print carriage motion control method of claim 1, wherein, obtaining energy consumption of the printing carriage during acceleration movement and deceleration movement according to the first driving current and the second driving current; adjusting the first driving current and / or the second driving current according to the energy consumption. The acceleration movement within the acceleration distance is uniform acceleration movement, and the deceleration movement within the deceleration distance is uniform deceleration movement.

4. The print carriage motion control method of any of claims 1-3, wherein, The acceleration movement within the acceleration distance is variable acceleration movement, and the deceleration movement within the deceleration distance is variable deceleration movement.

5. The print carriage motion control method of any of claims 1-3, wherein, The device for implementing the method according to any one of claims 1 to 5 comprises:

6. A print carriage motion control device, characterized by, an acceleration distance obtaining module, configured to obtain an acceleration distance and a total running distance of a printing carriage according to printing parameters; wherein the acceleration distance is a distance moved by the printing carriage during acceleration movement, and the total running distance is a movement distance of the printing carriage for scanning once in a printing direction; a first driving current obtaining module, configured to obtain a first driving current for driving the printing carriage to perform acceleration movement within the acceleration distance; a second driving current obtaining module, configured to obtain a second driving current for driving the printing carriage to perform deceleration movement according to the first driving current. ​ A deceleration distance acquisition module is configured to acquire a deceleration distance of the printing trolley according to the second driving current, wherein the deceleration distance is a distance moved by the printing trolley during deceleration movement; A constant speed distance acquisition module is configured to determine a constant speed distance of the printing trolley according to the acceleration distance, the deceleration distance and the total running distance; A control module is configured to control the printing trolley to perform acceleration movement, constant speed movement and deceleration movement according to the acceleration distance, the constant speed distance and the deceleration distance respectively.

7. A controller characterized by comprising: The controller comprises: A master control device configured to control the controller to work; and The printing trolley movement control device according to claim 6.

8. A print carriage motion control apparatus, characterized by, Comprise: At least one processor, at least one memory and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, the method is realized according to any one of claims 1-5.

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