A printer component coordinate calibration system and method

Abstract

This invention discloses a component coordinate calibration system and method for a printer. The system includes: a first camera and a first fixed target fixedly connected to a printhead module mounting bracket of the printer; a second camera and a second fixed target fixedly connected to a substrate support surface of the printer; and the first camera and the second camera communicatively connected to a processor. The first camera is used to acquire the coordinates of a first target point of the second fixed target and send the coordinates of the first target point to the processor. The second camera is used to acquire the coordinates of a second target point of the first fixed target and send the coordinates of the second target point to the processor. The processor is used to acquire the coordinates of the first target point and the second target point, acquire a first positional relationship value and a second positional relationship value from a configuration file, and calibrate the coordinates of the first and second marker points based on the acquired target point coordinates and positional relationship values. This method can solve the problems of long time consumption and poor real-time performance in existing printer calibration technologies.

Description

Technical Field

[0001] This invention relates to the field of printer calibration technology, and in particular to a printer component coordinate calibration system and method. Background Technology

[0002] Inkjet printers typically use printhead scanning or substrate scanning for printing. As usage time increases, parts wear out, and the surrounding environment changes, the relative positions of the printer's various parts will change. For printers with registration accuracy requirements, the coordinate system positions of each part need to be calibrated periodically to ensure printing accuracy.

[0003] Currently, error measurement and compensation are usually carried out by periodic manual inspection and measurement of the actual registration deviation of the printed graphics after printing.

[0004] However, the manual calibration method is relatively complicated and requires a lot of manpower and resources. The method of measuring the registration deviation of the actual printed graphics after printing can only be used to measure and compensate for equipment errors after the final printing is completed, which is time-consuming and has poor real-time performance. Summary of the Invention

[0005] This invention provides a component coordinate calibration system and method for printers to solve the problems of long time consumption and poor real-time performance in existing printer calibration technologies.

[0006] According to one aspect of the present invention, a component coordinate calibration system for a printer is provided, comprising: a first camera, a first fixed target, a second camera, a second fixed target, and a processor;

[0007] The first camera and the first fixed target are respectively fixedly connected to the printhead module mounting bracket of the printer, the second camera and the second fixed target are respectively fixedly connected to the substrate support platform of the printer, and the first camera and the second camera are respectively communicatively connected to the processor.

[0008] The first camera is used to acquire the coordinates of the first target point of the second fixed target and send the coordinates of the first target point to the processor;

[0009] The second camera is used to acquire the coordinates of the second target point of the first fixed target and send the coordinates of the second target point to the processor;

[0010] The processor is configured to acquire the coordinates of the first target point and the second target point, acquire the first positional relationship value between the first marker point and the second fixed target on the substrate support platform in the configuration file, calibrate the coordinates of the first marker point according to the first target point coordinates and the first positional relationship value, and acquire the second positional relationship value between the second marker point and the first fixed target on the nozzle module mounting bracket in the configuration file, and calibrate the coordinates of the second marker point according to the second target point coordinates and the second positional relationship value.

[0011] According to another aspect of the present invention, a component coordinate calibration method for a printer is provided, applied to a component coordinate calibration system for a printer, comprising:

[0012] The first camera acquires the coordinates of the first target point of the second fixed target and sends the coordinates of the first target point to the processor.

[0013] The second camera acquires the coordinates of the second target point of the first fixed target and sends the coordinates of the second target point to the processor.

[0014] The processor acquires the coordinates of the first target point and the second target point, acquires the first positional relationship value between the first marker point and the second fixed target on the substrate support platform in the configuration file, calibrates the coordinates of the first marker point based on the first target point coordinates and the first positional relationship value, and acquires the second positional relationship value between the second marker point and the first fixed target on the nozzle module mounting bracket in the configuration file, calibrates the coordinates of the second marker point based on the second target point coordinates and the second positional relationship value.

[0015] The technical solution of this invention involves acquiring the coordinates of a first target point on a second fixed target using a first camera, acquiring the coordinates of a second target point on the first fixed target using a second camera, and sending both coordinates to a processor. Then, it obtains the first positional relationship value between a first marker point on the substrate support platform and the second fixed target as described in the configuration file. Based on the first target point coordinates and the first positional relationship value, the coordinates of the first marker point are calibrated. Similarly, it obtains the second positional relationship value between a second marker point on the printhead module mounting bracket and the first fixed target as described in the configuration file, and calibrates the coordinates of the second marker point based on both the second target point coordinates and the second positional relationship value. This approach saves manpower and resources for calibrating various printer components, ensures printer accuracy, simplifies the calibration process, and saves calibration time.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a printer component coordinate calibration system according to Embodiment 1 of the present invention;

[0019] Figure 2 This is a top view of the printhead module in the printer's component coordinate calibration system;

[0020] Figure 3 This is a structural side view of the printhead module in the printer's component coordinate calibration system;

[0021] Figure 4 This is a top view of the table module in the printer's component coordinate calibration system.

[0022] Figure 5 This is a structural side view of the table module in the printer's component coordinate calibration system;

[0023] Figure 6 This is a schematic diagram of the structure of another printer component coordinate calibration system provided in Embodiment 2 of the present invention;

[0024] Figure 7 This is a schematic diagram of the target and target pattern of the printer's component coordinate calibration system;

[0025] Figure 8 This is a schematic diagram of the active target module in the printer's component coordinate calibration system;

[0026] Figure 9 This is a component coordinate calibration method for a printer provided according to Embodiment 3 of the present invention;

[0027] Figure 10 This is another method for calibrating the coordinates of printer components according to Embodiment 4 of the present invention;

[0028] Figure 11 This is a schematic diagram illustrating the translation, rotation, expansion / contraction, and projection transformation relationships included in the matrix transformation formula;

[0029] Figure 12 This is a flowchart of a component coordinate calibration process for a printer, provided in Embodiment 5 of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Example 1

[0033] Figure 1 This is a schematic diagram of a component coordinate calibration system for a printer according to Embodiment 1 of the present invention. This embodiment is applicable to both printing and component coordinate calibration. The system can be implemented in hardware and / or software. The system includes: a first camera, a first fixed target, a second camera, a second fixed target, and a processor 400. The first camera is a printhead module camera 100, and the first fixed target is a printhead module fixed target 101; the second camera is a tabletop camera 200, and the second fixed target is a tabletop fixed target 201.

[0034] like Figure 1 As shown, the system also includes a printhead module mounting bracket 102, a printhead camera imaging optical path 103, a substrate support platform 202, a substrate 203, and a platform camera imaging optical path 204. The printhead module camera 100 and the printhead module fixing target 101 are fixedly connected to the printhead module mounting bracket 102 of the printer, the platform camera 200 and the platform fixing target 201 are fixedly connected to the substrate support platform 202 of the printer, the substrate 203 is fixed on the substrate support platform 202, and the platform printhead module camera 100 and the platform camera 200 are communicatively connected to the processor 400.

[0035] Among them, the nozzle module camera 100 is used to acquire the coordinates of the first target point of the fixed target 201 on the table and send the coordinates of the first target point to the processor; the table camera 200 is used to acquire the coordinates of the second target point of the fixed target 101 on the nozzle module and send the coordinates of the second target point to the processor.

[0036] The coordinates of the first target point can be the coordinates of a set point on the fixed target 201 on the platform. For example, the coordinates of the first target point can be the coordinates of the center point of the fixed target 201 on the platform, or the coordinates of the first target point can be the upper left corner of the fixed target 201 on the platform, etc. The coordinates of the second target point can be the coordinates of the center point of the first fixed target, or the coordinates of the second target point can be the upper left corner of the fixed target 101 of the nozzle module, etc.

[0037] Figure 2 This is a top view of the printhead module in the printer's component coordinate calibration system. Figure 3 This is a structural side view of the printhead module in the printer's component coordinate calibration system. For example... Figure 2 and Figure 3 As shown, the nozzle module camera 100, the nozzle module fixed target 101, and the nozzle array 103 are fixed on the nozzle module mounting bracket 102, and their relative physical positions remain fixed. The nozzle module fixed target 101 serves as the origin of the coordinate system for any object on the nozzle module. When the coordinate values ​​of the nozzle module fixed target 101 change, the coordinates of any object on the nozzle module also change accordingly.

[0038] Figure 4 This is a top view of the platform module in the printer's component coordinate calibration system. Figure 5 This is a structural side view of the table module in the printer's component coordinate calibration system. For example... Figure 4 and Figure 5 As shown, the tabletop camera 200 and the tabletop fixed target 201 are fixed on the substrate support tabletop 202, and their relative physical positions remain constant. The substrate 203 to be printed is fixed on the substrate support tabletop 202. The tabletop fixed target 201 serves as the origin of the coordinate system for any object on the tabletop module. When the coordinate values ​​of the tabletop fixed target 201 change, the coordinates of any object on the tabletop module also change accordingly.

[0039] Specifically, the printhead module camera 100 acquires the coordinates of the first target point of the fixed target 201 on the table and sends the coordinates of the first target point to the processor 400. This can be done before the inkjet printer starts working by taking a picture of the center point coordinates of the fixed target 201 on the table with the printhead module camera 100, thereby obtaining the coordinates of the first target point of the fixed target 201 on the table. The coordinates of the first target point of the fixed target 201 on the table can be used to determine the coordinates of any other object in the table module relative to the coordinates of the first target point.

[0040] Specifically, the tabletop camera 200 acquires the coordinates of the second target point of the printhead module fixed target 101 and sends the second target point coordinates to the processor 400. This can be done before the inkjet printer starts working by taking a picture of the center point coordinates of the printhead module fixed target 101 with the tabletop camera 200, thereby obtaining the coordinates of the second target point of the printhead module fixed target 101. The coordinates of the second target point of the printhead module fixed target 101 can be used to determine the coordinates of any other object in the printhead module relative to the second target point coordinates.

[0041] The processor 400 is used to acquire the coordinates of a first target point and a second target point, acquire the first positional relationship value between a first marker point on the substrate support platform and a second fixed target in the configuration file, calibrate the coordinates of the first marker point based on the first target point coordinates and the first positional relationship value, and acquire the second positional relationship value between a second marker point on the nozzle module mounting bracket and a first fixed target in the configuration file, and calibrate the coordinates of the second marker point based on the second target point coordinates and the second positional relationship value.

[0042] The configuration file stores the positional relationships of each marker point relative to each fixed target. These positional relationships can be the coordinate differences between the marker point and the fixed target. The first marker point can be any object in the platform module other than the fixed target 201 on the platform. The second marker point can be any object in the nozzle module other than the fixed target 101 in the nozzle module. Since the nozzle module and platform module have numerous components, and these components are relatively fixed, the positional relationships of each marker point relative to each fixed target stored in the configuration file can be updated according to the user's actual needs, such as once a week or once a month. This invention does not limit the update cycle of the data in the configuration file; users can set it according to their own needs. By updating the data in the configuration file at intervals, calibration efficiency can be improved and calibration time saved.

[0043] Specifically, after the processor receives the coordinates of the first target point and the second target point sent by the nozzle module camera 100 and the tabletop camera 200, it can obtain the first positional relationship value between the first marker point on the substrate support table and the tabletop fixed target 201 from the configuration file. Then, based on the obtained first target point coordinates and the first positional relationship value, it calculates the actual coordinate value of the first marker point relative to the tabletop fixed target 201. After obtaining the actual coordinate value of the first marker point, it can update the coordinate value of the first marker point to complete the calibration of the first marker point. Similarly, it can obtain the second positional relationship value between the second marker point on the nozzle module mounting bracket and the nozzle module fixed target 101 from the configuration file. Then, based on the obtained second target point coordinates and the second positional relationship value, it calculates the actual coordinate value of the second marker point relative to the nozzle module fixed target 101. After obtaining the actual coordinate value of the second marker point, it can update the coordinate value of the second marker point to complete the calibration of the second marker point.

[0044] The technical solution of this embodiment involves fixing a first camera and a first fixed target to the printer's printhead module mounting bracket. The first camera acquires the coordinates of a first target point on the second fixed target and sends these coordinates to a processor. The second camera and the second fixed target are fixed to the printer's substrate support surface. The second camera acquires the coordinates of a second target point on the first fixed target and sends these coordinates to the processor. The processor acquires the first and second target point coordinates, obtains the first and second positional relationship values ​​from the configuration file, and calibrates the coordinates of the first and second marker points based on the acquired target point coordinates and positional relationship values. This method saves manpower and resources for calibrating various printer components, ensures printer accuracy, simplifies the calibration process, and saves calibration time.

[0045] Example 2

[0046] Figure 6 This is a schematic diagram of another printer component coordinate calibration system provided in Embodiment 2 of the present invention. This embodiment is an optimization based on the above embodiment, adding a moving target device for associating the coordinate systems of the printhead module camera 100 and the tabletop camera 200. Technical terms that are the same as or similar to those in the above embodiment will not be repeated.

[0047] like Figure 6As shown, the system in this embodiment of the invention further includes an active target device, which may include an active state and an inactive state, such as being activated once a week or once a month. Users can set the activation cycle of the active target device according to their own needs; this application does not specifically limit the activation cycle. The active target device in the active state can be installed on the nozzle module mounting bracket 102 or the substrate support platform 202. Figure 6 As shown, when the movable target module is activated, the XYZ axes of the printer need to be moved, and the micro XYZ adjustment device of the movable target needs to be finely adjusted so that the target pattern 301 on the movable target is within the field of view of the printhead module camera 100 and the table camera 200, and is clearly imaged. When the movable target module is deactivated, the movable target device is in a retracted or detached state to avoid collision between the mechanical parts of the movable target and other mechanical parts. The movable target device includes: a movable target 300, on which the target pattern 301 is engraved.

[0048] The first camera and the second camera respectively capture the target pattern 301 from two opposite directions and send the target captured pattern 301 to the processor 400. The target captured pattern 301 includes the pattern obtained by the first camera capturing the target pattern and the pattern obtained by the second camera capturing the target pattern. The coordinate system of the first camera and the coordinate system of the second camera are associated based on the target captured pattern 301.

[0049] The coordinate system of the first camera can be the coordinate system of the first camera relative to the first fixed target, as captured by the second camera, and the coordinate system of the second camera can be the coordinate system of the second camera relative to the second fixed target, as captured by the first camera. The first camera coordinate system is used to characterize the coordinates of the first camera and related components relative to the first fixed target, and the second camera coordinate system is used to characterize the coordinates of the second camera and related components relative to the second fixed target.

[0050] Specifically, by associating the coordinate systems of the first and second cameras based on the target image captured by the processor, after receiving the target images captured by the first and second cameras, the processor establishes a connection between the coordinate systems of the first and second cameras based on the target images. After associating the first and second camera coordinate systems, the correspondence between them can be obtained. Furthermore, the coordinates of the second camera and related components within the second camera coordinate system can be obtained from the coordinates of the first camera, and vice versa. Here, the first camera is the nozzle module camera 100, and the second camera is the tabletop camera 200.

[0051] like Figure 8As shown, the movable target device is installed on the nozzle module or platform module and includes a detachable or retractable device to switch between active and inactive states. The movable target device also includes a position adjustment mechanism 302 and a module mounting activation mechanism 303. The position adjustment mechanism 302 is connected to both the module mounting activation mechanism 303 and the movable target 300, and is used to adjust the position of the target pattern 301.

[0052] The active target 300 is a transparent target made of translucent materials such as glass or PVC plastic. It has an opaque layer on its upper or lower surface, formed by photolithography or adhesive bonding, creating the target pattern 301. The pattern can be a solid circle, ring, concentric rings, cross, or other shapes. Figure 6 As shown, the upper surface of the active target 300 is engraved with a target pattern 301. The present invention does not specifically limit the target pattern, and users can set the shape of the target pattern 301 according to their needs.

[0053] The position adjustment mechanism 302 is connected to the module installation activation mechanism 303 and the active target 300 respectively. It is used to adjust the position of the target pattern 301. By adjusting the micro adjustment mechanism 302, the position of the target pattern 301 is finely adjusted so that the target pattern 301 is located in the center of the field of view of the nozzle module camera 100 and is clearly focused.

[0054] The module installation activation mechanism 303 is used to install the movable target device onto the nozzle module mounting bracket or substrate support surface, for the installation or extension of the movable target module to activate its use. The module installation activation mechanism 303 allows for the installation and removal of the movable target module. Figure 8 As shown, the active target module is mounted on the nozzle bracket via 303 and is positioned below the nozzle, and is in an active state.

[0055] The moving target device also includes: an adjustment system, used to acquire the target image pattern captured by the first camera, generate a fine-tuning command based on the target image pattern, send the fine-tuning command to the position adjustment mechanism, and instruct the position adjustment mechanism to adjust the spatial position of the target so that the target image is located in the center of the field of view of the first camera and is clearly imaged.

[0056] The adjustment system is specifically used for: after acquiring the target image captured by the nozzle module camera 100, obtaining the coordinate difference between the target image and the first camera based on the target image, generating a fine-tuning command for the target based on the coordinate difference, and sending the generated fine-tuning command to the position adjustment mechanism 302. After receiving the fine-tuning command from the adjustment system, the position adjustment mechanism 302 instructs the position adjustment mechanism to adjust the spatial position of the target so that the target image is located in the center of the field of view of the first camera and is clearly imaged. The adjustment range of the target is 0.1–5 mm.

[0057] The technical solution provided by this invention establishes a correspondence between the coordinate systems of the first and second cameras by linking the coordinate systems of the first and second cameras through a movable target device. By obtaining a fixed target coordinate, the positioning and calibration of any marker point in either the first or second camera coordinate system can be completed, thus improving calibration accuracy. Furthermore, the activation state of the movable target device can be flexibly set according to the user's actual needs, ensuring calibration accuracy while improving calibration efficiency and saving manpower and resources.

[0058] Example 3

[0059] Figure 9 This is a flowchart illustrating a method for calibrating the coordinates of printer components according to Embodiment 3 of the present invention. Figure 9 As shown, the method includes:

[0060] S110: The first camera acquires the coordinates of the first target point of the second fixed target and sends the coordinates of the first target point to the processor.

[0061] The first camera is a nozzle module camera, the second fixed target is a tabletop fixed target, and the coordinates of the first target point can be the coordinates of a set point on the tabletop fixed target. For example, the coordinates of the first target point can be the coordinates of the center point of the tabletop fixed target, or the coordinates of the first target point can be the upper left corner of the tabletop fixed target, etc.

[0062] Specifically, the first camera acquires the coordinates of the first target point of the second fixed target and sends the coordinates of the first target point to the processor. This can be achieved by using the nozzle module camera to photograph the fixed target on the table, measuring the center coordinates of the fixed target on the table, and then sending the center coordinates of the fixed target on the table to the processor.

[0063] S120: The second camera acquires the coordinates of the second target point of the first fixed target and sends the coordinates of the second target point to the processor.

[0064] Among them, the second camera is a tabletop camera, the first fixed target is a nozzle module fixed target, the coordinates of the second target point can be the coordinates of a set point on the nozzle module fixed target, the coordinates of the second target point can be the coordinates of the center point of the first fixed target, or the coordinates of the second target point can be the upper left corner of the nozzle module fixed target, etc.

[0065] Specifically, the second camera acquires the coordinates of the second target point of the first fixed target and sends the coordinates of the second target point to the processor. This can be achieved by using a tabletop camera to photograph the fixed target of the nozzle module, measuring the center coordinates of the fixed target of the nozzle module, and then sending the center coordinates of the fixed target of the nozzle module to the processor.

[0066] S130. The processor obtains the coordinates of the first target point and the second target point, obtains the first positional relationship value between the first marker point and the second fixed target on the substrate support platform in the configuration file, calibrates the coordinates of the first marker point according to the first target point coordinates and the first positional relationship value, and obtains the second positional relationship value between the second marker point and the first fixed target on the nozzle module mounting bracket in the configuration file, calibrates the coordinates of the second marker point according to the second target point coordinates and the second positional relationship value.

[0067] The configuration file is a file that stores the first positional relationship values ​​between the first marker point and the second fixed target, and the second positional relationship values ​​between the marker point and the first fixed target. By reading the configuration information in the configuration file, the relative coordinate values ​​between the marker point and the fixed target can be obtained. By using the relative coordinate values ​​between the marker point and the fixed target, and the coordinate values ​​of the fixed target, the coordinate values ​​corresponding to the marker point can be determined.

[0068] The first marking point refers to the components on the substrate bearing interface other than the second fixed target, and the second marking point refers to the components on the nozzle module mounting bracket other than the first fixed target.

[0069] The first positional relationship is the relative distance between the components on the substrate bearing interface (excluding the fixed target on the platform) and the fixed target on the platform, and the second positional relationship is the relative distance between the components on the nozzle module mounting bracket (excluding the fixed target on the nozzle module) and the fixed target on the nozzle module.

[0070] Specifically, the processor acquires the coordinates of the first target point and the second target point, and obtains the first positional relationship value between the first marker point and the second fixed target on the substrate support platform from the configuration file. Based on the coordinates of the first target point and the first positional relationship value, the processor calibrates the coordinates of the first marker point. This can be achieved after the processor receives the coordinates of the center of the fixed target on the platform captured by the nozzle module camera, obtains the positional relationship values ​​between the fixed target and other components on the substrate support platform from the configuration file, and then determines the coordinate values ​​of the other components on the substrate support platform based on the obtained coordinate values ​​of the fixed target and the positional relationship values ​​between the fixed target and other components on the substrate support platform. Finally, the processor calibrates the coordinate values ​​of the other components based on the determined coordinate values.

[0071] Specifically, the processor acquires the coordinates of the first target point and the second target point, and obtains the second positional relationship value between the second marker point on the nozzle module mounting bracket and the first fixed target from the configuration file. Based on the coordinates of the second target point and the second positional relationship value, the processor calibrates the coordinates of the second marker point. This can be achieved after the processor receives the coordinates of the center of the nozzle module fixed target captured by the table camera, and then obtains the positional relationship values ​​between the nozzle module fixed target and other components on the nozzle module mounting bracket (excluding the nozzle module fixed target) from the configuration file. Based on the acquired coordinate values ​​of the nozzle module fixed target and the positional relationship values ​​between the nozzle module fixed target and other components on the nozzle module mounting bracket, the processor determines the coordinate values ​​of the other components on the nozzle module mounting bracket (excluding the nozzle module fixed target), and then calibrates the coordinate values ​​of the other components based on the determined coordinate values.

[0072] The technical solution provided by this invention involves acquiring the coordinates of a first target point on a second fixed target using a first camera and the coordinates of a second target point on the first fixed target using a second camera, and then sending these coordinates to a processor. Next, it obtains the first positional relationship value between a first marker point on the substrate support platform and the second fixed target as described in the configuration file. Based on the first target point coordinates and the first positional relationship value, the coordinates of the first marker point are calibrated. Similarly, it obtains the second positional relationship value between a second marker point on the printhead module mounting bracket and the first fixed target as described in the configuration file, and calibrates the coordinates of the second marker point based on the second target point coordinates and the second positional relationship value. This approach saves manpower and resources for calibrating various printer components, ensures printer accuracy, simplifies the calibration process, and saves calibration time.

[0073] Example 4

[0074] Figure 10This is a flowchart illustrating another method for calibrating the coordinates of printer components according to Embodiment 4 of the present invention. This embodiment, based on the above embodiments, adds a step for adjusting the XYZ axes of the printer. For example... Figure 10 As shown, the method includes:

[0075] S210. Obtain the first coordinate value saved locally, wherein the first coordinate value is the XYZ axis coordinate value of the printer when the field of view of the first camera is aligned with the second fixed target.

[0076] The first camera is a nozzle module camera, and the second fixed target is a tabletop fixed target.

[0077] Specifically, the first coordinate value can be stored in a configuration file to represent the XYZ axis coordinates of the printer when the printhead module camera's field of view is aligned with the fixed target on the platform. This first coordinate value can be obtained by manually moving the printhead module camera in the printer to align its field of view with the fixed target during the initial printer component calibration operation, and then saving the XYZ axis coordinates of the printer to the configuration file.

[0078] Optionally, due to equipment wear and tear and changes in the machine environment, the coordinate values ​​of the second fixed target may shift. Therefore, users can update the first coordinate values ​​at a certain period to ensure the accuracy of the printer component coordinate calibration. This invention does not specify a particular period for updating the first coordinate values; users can set it according to their own needs.

[0079] S220. Adjust the XYZ axes of the printer according to the first coordinate values ​​so that the field of view of the first camera is aligned with the second fixed target.

[0080] Specifically, the XYZ axes of the printer are adjusted according to the first coordinate values ​​to align the field of view of the first camera with the second fixed target. This can be achieved by moving the XYZ axes of the printer based on the coordinate information contained in the first coordinate values ​​after obtaining them, thereby aligning the field of view of the printhead module camera with the fixed target on the table. During the initial printer component calibration operation, the user manually moves the printhead module camera in the printer to align its field of view with the fixed target. In subsequent printer component coordinate calibration processes, the first coordinate values ​​in the configuration file can be directly read, and the XYZ axes of the printer can be automatically adjusted according to these values ​​to align the field of view of the printhead module camera with the fixed target.

[0081] S230, when the field of view of the first camera is aligned with the second fixed target, the first camera acquires an image of the first marker point on the substrate support platform and sends the image of the first marker point to the processor.

[0082] The first marker point is the marker point of other components in the platform module besides the fixed target on the platform.

[0083] Specifically, when the field of view of the first camera is aligned with the second fixed target, the first camera acquires an image of the first marker point on the substrate support platform and sends the image of the first marker point to the processor. This can be done after aligning the field of view of the nozzle module camera with the fixed target on the platform, by taking images of the marker points of other components on the substrate support platform through the nozzle module camera, and sending the captured images of the marker points of the components to the processor.

[0084] S240. The processor determines the first coordinate deviation between each first marker point and the second fixed target based on the image of the first marker point, determines the first positional relationship value between the first marker point and the second fixed target based on the first coordinate deviation, and saves the first positional relationship value through a configuration file.

[0085] Wherein, the first coordinate deviation is the coordinate deviation between the fixed target on the platform and the coordinates of the marked points of other components on the substrate bearing platform, and the first positional relationship value is the coordinate value of the marked points of other components on the substrate bearing platform relative to the fixed target on the platform.

[0086] Specifically, the processor determines the first coordinate deviation between each first marker point and the second fixed target based on the image of the first marker point, determines the first positional relationship value between the first marker point and the second fixed target based on the first coordinate deviation, and saves the first positional relationship value through a configuration file. This can be achieved by the processor receiving images of marker points of other components in the table module besides the table fixed target and the coordinate values ​​of the table fixed target, obtaining the corresponding coordinate values ​​of other components based on the images of the marker points of other components, calculating the difference between the coordinate values ​​of the table fixed target and the coordinate values ​​of the marker points of other components in the table module, obtaining the coordinate values ​​of the marker points of other components on the substrate bearing table relative to the table fixed target based on the difference between the coordinate values ​​of the table fixed target and the coordinate values ​​of the marker points of other components in the table module, and storing the coordinate values ​​of the marker points of other components on the substrate bearing table relative to the table fixed target in the configuration file for subsequent calibration of printer component coordinates.

[0087] S250: The second camera acquires an image of the second marker point on the nozzle module mounting bracket and sends the image of the second marker point to the processor.

[0088] The second marker point is the marker point of other components in the nozzle module besides the fixed target of the nozzle module.

[0089] Specifically, the second camera acquires an image of the second marker point on the nozzle module mounting bracket and sends the image of the second marker point to the processor. This can be done after aligning the field of view of the tabletop camera with the nozzle module fixed target, by taking images of the marker points of other components on the nozzle module mounting bracket with the tabletop camera, and then sending the captured images of the marker points of the components to the processor.

[0090] S260. The processor determines the second coordinate deviation between each second marker point and the first fixed target based on the image of the second marker point, determines the second positional relationship value between the second marker point and the first fixed target based on the second coordinate deviation, and saves the second positional relationship value through a configuration file.

[0091] The second coordinate deviation is the coordinate deviation between the fixed target of the nozzle module and the coordinates of the marked points of other components on the nozzle module mounting bracket, and the second positional relationship value is the coordinate value of the marked points of other components on the nozzle module mounting bracket relative to the fixed target of the nozzle module.

[0092] Specifically, the processor determines the second coordinate deviation between each second marker point and the first fixed target based on the image of the second marker point, determines the second positional relationship value between the second marker point and the first fixed target based on the second coordinate deviation, and saves the second positional relationship value in the configuration file. This can be achieved by the processor receiving images of marker points from other components in the printhead module besides the printhead module fixed target, as well as the coordinate values ​​of the printhead module fixed target. It can then obtain the corresponding coordinate values ​​of the other components based on their images, calculate the difference between the coordinate values ​​of the printhead module fixed target and the coordinate values ​​of the marker points of other components in the printhead module, and obtain the coordinate values ​​of the marker points of other components on the printhead module mounting bracket relative to the printhead module fixed target based on the difference between these coordinate values. Finally, it stores these coordinate values ​​in the configuration file for subsequent calibration of printer component coordinates.

[0093] For example, the positional relationships of each component relative to the fixed target of the printhead module stored in the configuration file can be recorded in the form of (x, y). For instance, if the tabletop camera takes a picture of the fixed target of the printhead module and measures the center coordinates of the target as (500, 600), and the tabletop camera takes a picture of nozzle #1 and measures the coordinates as (550, 660), then the coordinates of nozzle #1 in the target reference coordinate system are (550-500, 660-600), i.e., (50, 60), and (50, 60) are saved in the configuration file. When calibrating the coordinates of the printer components, for example, if the target center coordinates are obtained as (500.1, 600.2), then the coordinates of nozzle #1 can be updated to (500.1+50, 600.2+60) = (550.1, 660.2).

[0094] Optionally, the positional relationships of the various components relative to the fixed target of the nozzle module stored in the configuration file can also be stored using a 3x3 affine transformation matrix. This matrix transformation formula includes one or more of the following transformation relationships: translation, rotation, scaling, and projection. Figure 11 As shown. The matrix calculation formula can be the following formula:

[0095]

[0096] In the above formula, (x A1 ,y A1 ), (x B1 ,y B1 ), (x C1 ,y C1 (x) represents the three ideal coordinates defining the target features. A0 ,y A0 ), (x B0 ,y B0 ), (x C0 ,y C0 To measure the three actual coordinates of the target features using a camera, an affine transformation matrix T can be calculated through simple matrix operations and then saved to a configuration file. When calibrating the coordinates of printer components, the coordinates of other components can be calculated using the actual coordinates measured by the camera and matrix T, and then the coordinates of the printer components can be calibrated based on the calculated coordinate values.

[0097] S270: The first camera acquires the coordinates of the first target point of the second fixed target and sends the coordinates of the first target point to the processor.

[0098] S280: The second camera acquires the coordinates of the second target point of the first fixed target and sends the coordinates of the second target point to the processor.

[0099] S290, the processor obtains the coordinates of the first target point and the second target point, obtains the first positional relationship value between the first marker point and the second fixed target on the substrate support platform in the configuration file, calibrates the coordinates of the first marker point according to the first target point coordinates and the first positional relationship value, and obtains the second positional relationship value between the second marker point and the first fixed target on the nozzle module mounting bracket in the configuration file, calibrates the coordinates of the second marker point according to the second target point coordinates and the second positional relationship value.

[0100] Optionally, the nozzle module and platform module have numerous components and many features requiring calibration, thus determining the first and second positional relationship values ​​is time-consuming. However, since the components on the nozzle module are relatively fixed, and the values ​​of any part relative to the target are also fixed with minimal variation, it is unnecessary to calculate the first and second positional relationship values ​​every time. Users can update the first and second positional relationship values ​​stored in the configuration file at a certain period according to their needs, thereby saving calibration time. This invention does not limit the period for updating the first and second positional relationship values ​​in the configuration file; users can set it according to their own needs. By setting a certain period for updating the first and second positional relationship values ​​in the configuration file, calibration efficiency can be improved while ensuring calibration accuracy.

[0101] Optionally, a moving target is installed in the printer's component coordinate calibration system. After sending the image of the first marker point to the processor, the method further includes:

[0102] The first camera acquires a target image and sends the target image to the adjustment system;

[0103] The adjustment system acquires the target image captured by the first camera, generates a fine-tuning command based on the target image captured by the first camera, and sends the fine-tuning command to the position adjustment mechanism. The fine-tuning command instructs the position adjustment mechanism to adjust the spatial position of the target so that the target image is located in the center of the field of view of the first camera and is clearly imaged.

[0104] Among them, the target image pattern is the pattern obtained by the nozzle module camera capturing the target pattern on the moving target device, and the pattern obtained by the table camera capturing the target pattern on the moving target device.

[0105] Specifically, the first camera acquires the target image pattern and sends the target image pattern to the adjustment system. This can be done after the image of the first marker point is sent to the processor, by acquiring the target image pattern from the image captured by the nozzle module camera and sending the target image pattern and its position to the adjustment system.

[0106] Specifically, the adjustment system acquires the target image captured by the first camera, generates a fine-tuning command based on the target image, and sends the fine-tuning command to the position adjustment mechanism. The fine-tuning command instructs the position adjustment mechanism to adjust the spatial position of the target so that the target image is centered in the field of view of the first camera and clearly imaged. Alternatively, after receiving the target image and its position, the adjustment system can generate the target fine-tuning command based on the position information of the nozzle module camera and the target image, and send the fine-tuning command to the position adjustment mechanism. The fine-tuning command instructs the position adjustment mechanism to adjust the spatial position of the target so that the target image is centered in the field of view of the nozzle module camera and clearly imaged.

[0107] Specifically, after the target pattern is located in the center of the field of view of the first camera and is clearly imaged, it also includes:

[0108] Obtain the locally saved second coordinate values, wherein the target pattern is located at the center of the field of view of the second camera and the printer's XYZ axis coordinate values ​​are in a clear imaging state.

[0109] Adjust the XYZ axes of the printer according to the second coordinate value.

[0110] The second coordinate value is the XYZ axis coordinate value of the printer when the target pattern is located in the center of the field of view of the second camera and in a clear imaging state.

[0111] Specifically, the second coordinate value saved locally is obtained, and the XYZ axis of the printer is adjusted according to the second coordinate value. This can be done after obtaining the XYZ axis coordinate values ​​of the printer when the target pattern is located in the center of the tabletop camera's field of view and in a clear imaging state, and then adjusting the XYZ axis of the printer according to the coordinate values, so that the center of the tabletop camera's field of view is aligned with the target pattern and a clear image is formed.

[0112] Specifically, after aligning the center of the field of view of the nozzle module camera and the center of the field of view of the table camera with the target pattern and achieving clear imaging, the nozzle module coordinate system and the table module coordinate system can be associated through the target pattern. After associating the nozzle module coordinate system and the table module coordinate system, the correspondence between the nozzle module coordinate system and the table module coordinate system can be obtained. Then, the coordinates of relevant parts in the table module coordinate system can be obtained through the coordinate points of the nozzle module, and the coordinates of relevant parts in the nozzle module coordinate system can also be obtained through the coordinate points of the table module.

[0113] The technical solution provided by this invention establishes a coordinate correspondence between the coordinate systems of the first and second cameras by associating the coordinate systems of the first and second cameras. With a fixed target coordinate, it is possible to locate and calibrate any marker point in either the first or second coordinate system, thus improving calibration accuracy. Furthermore, the user can customize the update cycle of the first and second positional relationship values ​​in the configuration file according to their actual needs, ensuring calibration accuracy while improving calibration efficiency.

[0114] Example 5

[0115] Figure 12 This is a flowchart illustrating the component coordinate calibration process of a printer, provided in Embodiment 5 of the present invention. This embodiment, based on the above embodiments, specifically describes the component coordinate calibration process of the printer. For example... Figure 12 As shown, it includes the following steps:

[0116] Step 1: Begin calibration.

[0117] During the use of a printer, the components may shift over time, causing misalignment of the coordinates of various parts and affecting printing accuracy. Therefore, it is necessary for staff to perform regular calibration of the printer.

[0118] When staff discover a decrease in printer accuracy and require calibration of the printer's component coordinates, they can execute the printer component calibration procedure of this invention to begin calibrating the printer's component coordinates. The initial calibration operation requires manual movement of the printer's XYZ axes by the calibration personnel; subsequent calibration processes can be automated.

[0119] Step 2: Move the XYZ axes and fix the target on the nozzle camera's photo-taking platform.

[0120] Specifically, during the initial movement of the XYZ axes, the printhead camera takes a picture of the fixed target on the table. This can be done manually by the calibration personnel, moving the printer's XYZ axes to align the printhead camera's view with the fixed target, and then taking a picture of the target. In subsequent calibrations, pre-saved coordinate values ​​can be read. Based on these coordinates, the printer's XYZ axes can be moved to align the printhead camera's view with the fixed target, and then the coordinates of the fixed target points can be obtained. Due to equipment wear and tear and changes in the machine environment, the obtained coordinates of the fixed target points will change in real time.

[0121] Step 21: Take the coordinates of any number of targets on the nozzle camera's photographic platform module.

[0122] Specifically, the coordinates of any number of targets on the nozzle camera's photographing platform module can be obtained by aligning the nozzle camera's field of view with the fixed target on the platform and photographing the fixed target with the nozzle camera, and then photographing the coordinates of any number of targets on the platform module other than the fixed target on the platform. The coordinates of any number of targets on the platform module are pre-marked components such as the target on the platform module.

[0123] It should be noted that due to the large number of components in the platform module and the numerous features that need to be calibrated, step 21 is time-consuming. However, the components on the platform module are relatively fixed, and the target value of any part on the module relative to the fixed target on the platform is also fixed with minimal variation. Therefore, step 21 does not need to be executed every time. After initialization, the target value of any part on the platform module relative to the fixed target on the platform can be stored in a configuration file. Subsequent execution can be performed at longer intervals (e.g., once a month). The specific interval can be set according to the user's needs; this invention does not impose any specific limitations.

[0124] After step 21 is completed once, subsequent calibration processes can directly proceed from step 2 to step 22 to update the coordinates of each associated component on the printhead module, without having to repeat step 21 separately each time, thus saving a lot of time for the coordinate calibration of printer components.

[0125] Step 22: Associate the target coordinates with the fixed target point on the platform.

[0126] Specifically, the target coordinates are associated with the fixed target point on the platform. This can be achieved by obtaining the fixed target point on the platform and the pre-marked components such as the target on the platform module, and then using the center of the fixed target point on the platform as the origin of the coordinate system for any component on the platform module, and defining the coordinate values ​​of each other component in the platform module.

[0127] Step 3: Install the moving target.

[0128] Specifically, installing the movable target can be done by mounting the movable target on the nozzle module mounting bracket or the substrate support platform.

[0129] Step 4: Fine-tune the XYZ of the moving target, and take a picture of the moving target with the nozzle camera.

[0130] Specifically, fine-tuning the XYZ axes of the moving target and taking pictures of the moving target with the printhead camera can be achieved by adjusting the XYZ axes of the printer so that the target pattern on the moving target is within the field of view of the printhead camera and clearly imaged. Then, the printhead camera takes pictures of the moving target and obtains the coordinate values ​​of the moving target relative to the printhead camera.

[0131] Step 5: Move the XYZ axes and use the tabletop camera to photograph the moving target.

[0132] Specifically, the XYZ axes are moved, and the tabletop camera takes pictures of the moving target. This can be done by moving the XYZ axes of the printer so that the target pattern on the moving target is within the field of view of the tabletop camera and clearly imaged. Then, the moving target is photographed by the tabletop camera, and the coordinate values ​​of the moving target relative to the tabletop camera are obtained.

[0133] Step 6: Disassemble the moving target.

[0134] After the platform camera and nozzle camera photograph the moving target, the relationship between the nozzle coordinate system and the platform coordinate system can be established using the moving target. For situations where it is necessary to align the target on the nozzle with the target on the platform, coordinate transformation is required based on this relationship. After establishing the relationship between the nozzle coordinate system and the platform coordinate system using the moving target, the moving target can be disassembled and reinstalled when needed.

[0135] It should be noted that steps 3, 4, 5, and 6 do not need to be executed every time. They should be executed once during initialization, and then once every long interval (e.g., once a month) thereafter. The specific interval can be set by the user according to their needs, and this invention does not impose any specific limitations.

[0136] Step 7: The tabletop camera takes pictures of the nozzle module and fixes the target.

[0137] Step 31: Take photos of the coordinates of any number of targets on the nozzle module using the tabletop camera.

[0138] Specifically, the coordinates of any number of targets on the nozzle module can be captured by the tabletop camera. These coordinates can be any number of targets on the nozzle module other than the fixed target on the nozzle. The coordinates of any number of targets on the nozzle module are pre-marked components such as the target on the nozzle module.

[0139] It should be noted that due to the numerous components in the printhead module and the many features requiring calibration, step 31 is time-consuming. However, the components on the printhead module are relatively fixed, and the target values ​​of any part relative to the fixed target of the printhead module are also fixed with minimal variation. Therefore, step 21 does not need to be executed every time. After initialization, the target values ​​of any part on the printhead module relative to the fixed target can be stored in a configuration file. Subsequent executions can be performed at longer intervals (e.g., once a month). The specific interval can be set according to user needs; this invention does not impose a specific limitation. After step 31 is completed once, subsequent calibration processes can directly proceed from step 7 to step 32, updating the coordinates of each associated component on the printhead module, without needing to re-perform step 31 each time, thus saving significant time for printer component coordinate calibration.

[0140] Step 32: Associate the target coordinates with the nozzle fixed target point.

[0141] Specifically, the target coordinates are associated with the nozzle fixed target point. This can be achieved by obtaining the nozzle fixed target point and pre-marked components such as the target on the nozzle module, and then using the center nozzle fixed target point of the nozzle module fixed target as the origin of the coordinate system for any component on the nozzle module, and defining the coordinate values ​​of each other component in the nozzle module.

[0142] Step 8: Update the coordinate system.

[0143] Specifically, updating the coordinate system can be achieved by obtaining the coordinate values ​​of the current fixed target on the platform and the coordinate values ​​of each component in the platform module relative to the fixed target on the platform, as well as the coordinate values ​​of the fixed target on the nozzle module and the coordinate values ​​of each component in the nozzle module relative to the fixed target on the nozzle module. Similarly, updating the coordinate values ​​of each component in the nozzle module can be done by obtaining the coordinate values ​​of the fixed target on the platform and the coordinate values ​​of each component in the nozzle module relative to the fixed target on the nozzle module.

[0144] For example, if the tabletop camera photographs the fixed target of the printhead module and measures the target center coordinates as (500, 600), and the tabletop camera photographs nozzle #1 and measures its coordinates as (550, 660), then the coordinates of nozzle #1 in the target reference coordinate system are (550-500, 660-600), i.e., (50, 60). This (50, 60) is saved in the configuration file. When calibrating the coordinates of printer components, for example, if the target center coordinates are (500.1, 600.2), then the coordinates of nozzle #1 can be updated to (500.1+50, 600.2+60) = (550.1, 660.2). This eliminates the need to remeasure the coordinates of nozzle #1 using a new tabletop printer, thus saving calibration time.

[0145] Optionally, the positional relationships of the various components relative to the fixed target of the nozzle module stored in the configuration file can also be stored using a 3x3 affine transformation matrix. This matrix transformation formula includes one or more of the following transformation relationships: translation, rotation, scaling, and projection. Figure 11 As shown. The matrix calculation formula can be the following formula:

[0146]

[0147] In the above formula, (x A1 ,y A1 ), (x B1 ,y B1 ), (x C1 ,y C1 (x) represents the three ideal coordinates defining the target features. A0 ,y A0 ), (x B0 ,y B0 ), (x C0 ,y C0 To measure the three actual coordinates of the target features using a camera, an affine transformation matrix T can be calculated through simple matrix operations and then saved to a configuration file. When calibrating the coordinates of printer components, the coordinates of other components can be calculated using the actual coordinates measured by the camera and matrix T, and then the coordinates of the printer components can be calibrated based on the calculated coordinate values.

[0148] It should be noted that after updating the coordinate system of the printer components, the coordinate system values ​​can be saved to a configuration file for easy retrieval later. Since the target's position relative to the fixed target center is usually constant, updates can be performed monthly or every two months. The update cycle can be set according to user needs; this invention does not impose specific limitations. The initial calibration of the printer component coordinates requires manual movement of each axis of the printer by the calibration personnel. Subsequent calibration processes can be automated. The software will read the previously saved configuration file and can be configured to skip certain steps to save time during automatic coordinate system calibration. Specific configuration schemes can be set according to user needs; this invention does not impose specific limitations.

[0149] Step 9: End calibration.

[0150] Specifically, ending the calibration can be done after the coordinate system has been updated, at which point the calibration process for the printer coordinates can be terminated.

[0151] The technical solution provided by this invention can store the coordinate values ​​of other components relative to the fixed target in the configuration file after the initial calibration is completed. This allows users to select a suitable calibration scheme for the printer based on their actual calibration needs and the real-time status of the printer. This can improve calibration efficiency while ensuring calibration accuracy. Furthermore, it can measure and compensate for equipment errors without the need for final printing, further improving calibration efficiency.

[0152] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0153] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A component coordinate calibration system for a printer, characterized in that, include: First camera, first fixed target, second camera, second fixed target, and processor; The first camera and the first fixed target are respectively fixedly connected to the printhead module mounting bracket of the printer, the second camera and the second fixed target are respectively fixedly connected to the substrate support platform of the printer, and the first camera and the second camera are respectively communicatively connected to the processor. The first camera is used to acquire the coordinates of the first target point of the second fixed target and send the coordinates of the first target point to the processor; The second camera is used to acquire the coordinates of the second target point of the first fixed target and send the coordinates of the second target point to the processor; The processor is configured to acquire the coordinates of the first target point and the second target point, acquire the first positional relationship value between the first marker point and the second fixed target on the substrate support platform in the configuration file, calculate the actual coordinate value of the first marker point relative to the fixed target on the platform based on the first target point coordinates and the first positional relationship value, calibrate the coordinate value of the first marker point relative to the fixed target on the platform based on the actual coordinate value of the first marker point relative to the fixed target on the platform, and acquire the second positional relationship value between the second marker point and the first fixed target on the nozzle module mounting bracket in the configuration file, calculate the actual coordinate value of the second marker point relative to the fixed target of the nozzle module based on the acquired second target point coordinates and the second positional relationship value, and calibrate the coordinate value of the second marker point relative to the fixed target of the nozzle module based on the actual coordinate value of the second marker point relative to the fixed target of the nozzle module.

2. The system according to claim 1, characterized in that, Also includes: Active target device; The movable target device is installed on the nozzle module mounting bracket or the substrate support platform, and the movable target device includes a target pattern; The first camera and the second camera respectively capture the target pattern from two opposite directions and send the captured target pattern to the processor. The captured target pattern includes the pattern obtained by the first camera capturing the target pattern and the pattern obtained by the second camera capturing the target pattern. The coordinate system of the first camera and the coordinate system of the second camera are associated with the target-captured pattern.

3. The system according to claim 2, characterized in that, The active target device includes a target, a target pattern, a position adjustment mechanism, and a module installation and activation mechanism. The target is made of a transparent material, and one surface of the target has a target pattern; The module installation activation mechanism is used to install the active target device on the nozzle module mounting bracket or the substrate support platform. The position adjustment mechanism is connected to the module installation activation mechanism and the target respectively, and is used to adjust the position of the target pattern.

4. The system according to claim 3, characterized in that, The movable target device also includes: An adjustment system is used to acquire the target image pattern captured by the first camera, generate a fine-tuning command based on the target image pattern, send the fine-tuning command to the position adjustment mechanism, and instruct the position adjustment mechanism to adjust the spatial position of the target so that the target image is located in the center of the field of view of the first camera and is clearly imaged.

5. A method for calibrating the coordinates of printer components, characterized in that, A component coordinate calibration system for a printer as described in any one of claims 1-4, comprising: The first camera acquires the coordinates of the first target point of the second fixed target and sends the coordinates of the first target point to the processor. The second camera acquires the coordinates of the second target point of the first fixed target and sends the coordinates of the second target point to the processor. The processor acquires the coordinates of the first target point and the second target point, acquires the first positional relationship value between the first marker point and the second fixed target on the substrate support platform in the configuration file, calibrates the coordinates of the first marker point according to the first target point coordinates and the first positional relationship value, and acquires the second positional relationship value between the second marker point and the first fixed target on the nozzle module mounting bracket in the configuration file, calibrates the coordinates of the second marker point according to the second target point coordinates and the second positional relationship value. The step of calibrating the coordinates of the first marker point based on the coordinates of the first target point and the first positional relationship value includes: calculating the actual coordinate value of the first marker point relative to the fixed target on the platform based on the coordinates of the first target point and the first positional relationship value, and calibrating the coordinate value of the first marker point based on the actual coordinate value of the first marker point relative to the fixed target on the platform. The step of calibrating the coordinates of the second marker point based on the coordinates of the second target point and the value of the second positional relationship includes: calculating the actual coordinates of the second marker point relative to the fixed target on the platform based on the coordinates of the second target point and the value of the second positional relationship, and calibrating the coordinates of the second marker point based on the actual coordinates of the second marker point relative to the fixed target on the platform.

6. The method according to claim 5, characterized in that, This also includes generating the configuration file in the following manner: When the field of view of the first camera is aligned with the second fixed target, the first camera acquires an image of the first marker point on the substrate support platform and sends the image of the first marker point to the processor; The processor determines the first coordinate deviation between each first marker point and the second fixed target based on the image of the first marker point, determines the first positional relationship value between the first marker point and the second fixed target based on the first coordinate deviation, and saves the first positional relationship value through a configuration file.

7. The method according to claim 6, characterized in that, Also includes: Obtain the locally saved first coordinate value, wherein the first coordinate value is the XYZ axis coordinate value of the printer when the field of view of the first camera is aligned with the second fixed target state; The XYZ axes of the printer are adjusted according to the first coordinate values ​​so that the field of view of the first camera is aligned with the second fixed target.

8. The method according to claim 6, characterized in that, After sending the image of the first marker point to the processor, the process further includes: The first camera acquires a target image and sends the target image to the adjustment system; The adjustment system acquires the target image captured by the first camera, generates a fine-tuning command based on the target image captured by the first camera, and sends the fine-tuning command to the position adjustment mechanism. The fine-tuning command instructs the position adjustment mechanism to adjust the spatial position of the target so that the target image is located in the center of the field of view of the first camera and is clearly imaged.

9. The method according to claim 8, characterized in that, After the target pattern is positioned in the center of the field of view of the first camera and is clearly imaged, the process also includes: Obtain the locally saved second coordinate values, wherein the target pattern is located at the center of the field of view of the second camera and the printer's XYZ axis coordinate values ​​are in a clear imaging state. Adjust the XYZ axes of the printer according to the second coordinate value.

10. The method according to claim 9, characterized in that, This also includes generating the configuration file in the following manner: The second camera acquires an image of the second marker point on the nozzle module mounting bracket and sends the image of the second marker point to the processor; The processor determines the second coordinate deviation between each second marker point and the first fixed target based on the image of the second marker point, determines the second positional relationship value between the second marker point and the first fixed target based on the second coordinate deviation, and saves the second positional relationship value through a configuration file.

Images