Chip control system applied to printing process
By designing the chip control system, it includes printing planning, robotic arm control, and printing supervision modules, which solves the problem of insufficient real -time data processing capacity and lack of flexibility in existing technologies, and achieves efficient fault diagnosis and synchronous printing of complex objects.
Patent Information
- Application Number
- CN202411528295.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2025-01-28
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing printing control technology lacks real-time data processing capabilities, resulting in slow response to fault diagnosis and adjustment, and traditional control systems lack flexibility, making it difficult to deal with complex printed objects.
A chip control system is designed, including printing planning modules, robotic arm control modules, and print supervision modules. This system generates local object image models, matches and stitched into a target object model, sets a printing route and coloring area, and adjusts the spray angle and jet caliber of the robotic arm according to real -time video data.
The response efficiency of fault diagnosis during the printing process was improved, and the synchronous printing of printing objects with different structures was achieved, and the printing efficiency and the quality of the finished product were improved.
Smart Images
Figure CN119369848A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of printing control, in particular to a chip control system applied to a printing process. Background Art
[0002] In modern printing technology, the control system of the printing process plays an important role in improving printing quality, efficiency and reducing costs. With the advent of the digital age, traditional printing technology has gradually developed in a more efficient and intelligent direction. In this context, the chip control system applied to the printing process came into being. It integrates multiple control algorithms and sensor technologies to achieve real-time monitoring and coordination of various components of the printer, ensuring the accuracy and stability of the printing process.
[0003] The existing printing control technology has the following defects: 1. The existing technology is insufficient in real-time data processing capabilities, and is slow to respond to fault diagnosis and adjustments during the printing process, which may affect printing efficiency and finished product quality.
[0004] 2. With the continuous application and development of printing technology in various application fields, the objects to be printed are becoming more and more complex. At present, most printed objects are mainly composed of multiple components, but traditional control systems mostly rely on fixed control algorithms and lack flexibility, making them inefficient when dealing with a wide variety of printed objects.
[0005] Therefore, how to improve the response efficiency of fault diagnosis during the printing process while achieving simultaneous printing of multiple printing objects with different structures is a difficulty in the prior art. To this end, a chip control system applied to the printing process is provided. Summary of the invention
[0006] In order to solve the above technical problems, the object of the present invention is to provide a chip control system applied to a printing process.
[0007] In order to achieve the above object, the present invention provides the following technical solutions: A chip control system applied to a printing process, comprising a microprocessor chip, wherein the microprocessor chip is provided with a printing planning module, a mechanical arm control module and a printing supervision module; The printing planning module is used to generate a plurality of local object image models according to the printing plan, match and splice the local object image models to obtain a target printing object image model, and then set a plurality of printing routes and coloring areas on the target printing object image model; The robot control module is communicatively connected to a plurality of robot arms, and is used to control the robot arms to execute the printing route and the coloring area, and to collect real-time printing video data and real-time coloring video data during the execution of the printing route and the coloring area; The printing supervision module is used to generate a real-time route execution model according to real-time printing video data, divide the real-time route execution model and the target printing object image model into a plurality of real-time route areas and a target route area respectively, obtain a corresponding deviation result vector according to the comparison results of the real-time route area and the target route area at the same position, and then adjust the injection angle and injection diameter of the robot arm according to the module length and direction of the deviation result vector until all printing routes are executed, and then adjust the process of the robot arm executing the coloring area according to the real-time coloring video data.
[0008] Furthermore, the printing scheme includes a plurality of multi-angle image data and component images of the target printing object, grayscale processing is performed on each multi-angle image data, and then a corresponding local object image model is established based on the grayscaled multi-angle image data.
[0009] Furthermore, the process of establishing the target printing object image model includes: A plurality of continuous model matching regions are set at the edge of each local object image model, each local object image model is used as a matching local object image model in turn, and the model matching region of the matching local object image model is traversed in turn to each position of other local object image models; If there is a match between a model matching region and a local object image model, then determine whether the current matching local object image model matches the local object image model, and then determine whether a model matching region adjacent to the model matching region also matches the local object image model; According to the matching result, the central model matching area is set as a new model matching area in the surrounding model part of the matching local object image model; The new model matching area is matched with the local object image model for a second time, and the process of setting the central model matching area is repeated again according to the matching results, until there is no matching model matching area position between the matching local object image model and the local object image model, and then according to the matching parts between the matching local object image model and the local object image model, the matching local object image model and the local object image model are overlapped and spliced to obtain the target printed object image model.
[0010] Furthermore, the process of generating the printing route includes: Generate corresponding component image models according to component images in the printing scheme, map each component image model into a target printing object image model, and set a printing start position inside the target printing object image model; Then, the spatial distance between each component image model and the printing start position is obtained, and the component image model with the smallest spatial distance is selected as the first component image model, and the spatial distance between the remaining component image models and the first component image model is determined, and the component image model with the smallest spatial distance is selected again as the second component image model; In the component image model, several printing routes with widths less than or equal to the diameter of the material injection port are planned, and the edge positions are connected in sequence and the end to end are connected, so that the area covered by all printing routes on the component image model is equal to the surface area of the component image model, thereby obtaining the printing routes of each component image model.
[0011] Furthermore, the process of generating the colored area includes: Coloring the target printing object image model according to the multi-angle image data of the target printing object, and obtaining the pixel value of each outer surface pixel of the target printing object image model, setting a pixel difference threshold, judging the size relationship between the pixel value difference between each outer surface pixel and its adjacent outer surface pixel and the pixel difference threshold, if the pixel value difference is less than or equal to the pixel difference threshold, setting the same label for the two outer surface pixels, otherwise no operation is performed; The adjacent outer surface pixels with the same annotation are integrated to generate several colored areas on the outer surface of the target printed object image model, and the pixel average value of the outer surface pixels of each colored area is obtained. Then, the coloring order of each colored area is set according to the size of the pixel average value, and the colored area with the smallest pixel average value is colored first.
[0012] Furthermore, the robot control module is communicatively connected to a plurality of robot arms, and the robot arms are provided with a plurality of groups of material injection ports, pigment injection ports, and cameras, and the pigment injection ports and the material injection ports have the same caliber; When the robot arm prints or paints through the material ejection port or the pigment ejection port, the camera associated with each material ejection port or the pigment ejection port collects real-time printing video data and real-time painting video data of the printed object along the ejection direction.
[0013] Furthermore, the process of adjusting the spray angle and spray diameter of the robot arm includes: Synchronously generating a corresponding real-time route execution model according to the real-time printing video data, and dividing the corresponding parts of the real-time route execution model and the target printing object image model into a plurality of real-time route areas and target route areas of the same size and in a cube shape; According to the update process of the real-time route execution model, the overlap between the latest generated real-time route area and the corresponding target route area is obtained, and an overlap threshold and a deviation threshold are set to determine whether there is a deviation in the overlap between each real-time route area and the corresponding target route area; According to the judgment result, it is judged again whether the number of real-time route areas with deviations at the current moment is greater than or equal to the deviation threshold. If it is less than the deviation threshold, the corresponding printed route is currently executed normally; If the number of real-time route areas with deviations at the current moment is greater than or equal to the deviation threshold, it is determined that the current execution of the corresponding printing route is abnormal, and then a central deviation detection point is set at the center position of the target route area corresponding to the real-time route area with deviations, and a plurality of deviation detection points are set at the outer edge position of the deviation part of the real-time route area; A number of deviation vectors are established with the central deviation detection point as the starting point and the deviation detection point as the end point. The deviation vectors are added together to obtain the deviation result vector of the real-time route area where the deviation exists. The angles of the deviation result vectors at the same time are compared. According to the comparison result, the deviation result vectors are superimposed. If there is only one deviation result vector, the direction of the deviation result vector is the deviation direction of the corresponding printing route at the current moment. Then, the robot control module controls the injection angle of the material injection port of the corresponding printing route according to the deviation direction. When there are only two deviation result vectors, the modulus lengths corresponding to the two deviation result vectors are obtained, and the material injection diameter of the material injection port is controlled according to the modulus lengths of the two deviation result vectors.
[0014] Furthermore, the process of adjusting the spray angle and spray diameter of the robot arm also includes: When all printing routes are executed and the printed object is obtained, the robotic arm control model calls the paint nozzles in the robotic arm to color the corresponding positions on the printed object in turn according to the numbers of each colored area on the outer surface of the target printed object image model, and collects real-time coloring video data of the corresponding positions through the camera, and then obtains the deviation direction and deviation distance of the corresponding printing route at the current moment according to the real-time printing video data, obtains the deviation direction and mold length of the current coloring process according to the real-time coloring video data, and then adjusts the angle and injection diameter of the paint nozzle until all the coloring areas are completed.
[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention generates a plurality of local object image models according to a printing scheme, matches and splices the various local object image models to obtain a target printing object image model, and then sets a plurality of printing routes and coloring areas on the target printing object image model, generates a real-time route execution model according to real-time printing video data, divides the real-time route execution model and the target printing object image model into a plurality of real-time route areas and a target route area, respectively, obtains a corresponding deviation result vector according to the comparison results of the real-time route area and the target route area at the same position, and then adjusts the injection angle and injection diameter of the robot arm according to the module length and direction of the deviation result vector, thereby realizing the synchronous printing of a plurality of printing objects with different structures while improving the response efficiency of fault diagnosis in the printing process. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the present invention. DETAILED DESCRIPTION
[0017] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.
[0018] like Figure 1 As shown, a chip control system applied to a printing process includes a microprocessor chip, wherein the microprocessor chip is provided with a printing planning module, a robot arm control module and a printing supervision module; The printing planning module is used to generate a plurality of local object image models according to the printing plan, match and splice the local object image models to obtain a target printing object image model, and then set a plurality of printing routes and coloring areas on the target printing object image model; The robot control module is communicatively connected to a plurality of robot arms, and is used to control the robot arms to execute the printing route and the coloring area, and to collect real-time printing video data and real-time coloring video data during the execution of the printing route and the coloring area; The printing supervision module is used to generate a real-time route execution model according to real-time printing video data, divide the real-time route execution model and the target printing object image model into a plurality of real-time route areas and a target route area respectively, obtain a corresponding deviation result vector according to the comparison results of the real-time route area and the target route area at the same position, and then adjust the injection angle and injection diameter of the robot arm according to the module length and direction of the deviation result vector until all printing routes are executed, and then adjust the process of the robot arm executing the coloring area according to the real-time coloring video data.
[0019] Further, the working principle of the present invention is described below by way of examples: The printing scheme includes a plurality of multi-angle image data of the target printing object, component images, the quantity and type of materials used for each component. It should be noted that each multi-angle image data corresponds to the same target printing object, but the angles are different. The printing planning module extracts all multi-angle image data from the printing plan, performs grayscale processing on each multi-angle image data, and then establishes a corresponding local object image model based on the grayscale processed multi-angle image data; Since each set of multi-angle image data corresponds to the same target printing object, there must be common parts between the local object image models generated corresponding to each set of multi-angle image data; Then, a plurality of continuous model matching regions are set at the edge of each local object image model, each local object image model is used as a matching local object image model in turn, and the model matching region of the matching local object image model is traversed in turn to each position of other local object image models; If there is a match between a model matching region and a local object image model, then determine whether the current matching local object image model matches the local object image model, and then determine whether a model matching region adjacent to the model matching region also matches the local object image model; If there is a match, the matching operation is repeated again with the matched model matching area until there is no match between the adjacent model matching area and the local object image model; If there is no match, the model matching area is used as the central model matching area, and the surrounding model part of the central model matching area that matches the local object image model is set as a new model matching area. It should be noted that the new model matching area does not include the existing model matching area. Perform secondary matching of the new model matching area with the local object image model, and repeat the process of setting the central model matching area again according to the matching result, until there is no matching model matching area position between the matched local object image model and the local object image model, and then overlap and splice the matched local object image model and the local object image model according to the matching parts between the matched local object image model and the local object image model; Repeat the process of overlapping and splicing each local object image model to obtain the target printed object image model.
[0020] Furthermore, the robot control module is communicatively connected to a plurality of robot arms, and the robot arms are provided with a plurality of groups of material injection ports, pigment injection ports, and cameras, and the pigment injection ports and the material injection ports have the same caliber; It should be noted that each group of material injection ports, pigment injection ports and cameras on the robotic arm has only one; Generate corresponding component image models according to component images in the printing scheme, map each component image model into a target printing object image model, and set a printing start position inside the target printing object image model; Then, the spatial distance between each component image model and the printing start position is obtained, and the component image model with the smallest spatial distance is selected as the first component image model, and the spatial distance between the remaining component image models and the first component image model is determined, and the component image model with the smallest spatial distance is selected again as the second component image model, and so on, until all component image models are set with serial numbers; In the component image model, several printing routes with widths less than or equal to the diameter of the material injection port are planned, and the edge positions are connected in sequence and the end to end are connected, so that the area covered by all printing routes on the component image model is equal to the surface area of the component image model, thereby obtaining the printing routes of each component image model.
[0021] Furthermore, the target printing object image model is colored according to the multi-angle image data of the target printing object, and the pixel value of each outer surface pixel of the target printing object image model is obtained to set a pixel difference threshold; Then, the relationship between the pixel value difference between each outer surface pixel and its adjacent outer surface pixel and the pixel difference threshold is determined. If the pixel value difference is less than or equal to the pixel difference threshold, the same label is set for the two outer surface pixels, otherwise no operation is performed. The adjacent outer surface pixels with the same annotation are integrated to generate several colored areas on the outer surface of the target printed object image model, and the pixel average value of the outer surface pixels of each colored area is obtained. Then, the coloring order 1, 2, ... is set for each colored area according to the size of the pixel average value, and the colored area with the smallest pixel average value is colored first.
[0022] Furthermore, the printing planning module sends the target printing object image model and the printing route to the robot control module and the printing supervision module, and then the robot control module calls the robot to execute each printing route and coloring area in sequence; When the robot arm prints or paints through the material ejection port or the pigment ejection port, the camera associated with each material ejection port or the pigment ejection port collects real-time printing video data and real-time painting video data of the printed object along the ejection direction, and sends the real-time printing video data and real-time painting video data to the printing supervision module; The printing supervision module synchronously generates a corresponding real-time route execution model according to the real-time printing video data, and overlaps and maps the real-time route execution model in the target printing object image model according to the corresponding position of the printing route corresponding to the real-time printing video data on the target printing object image model; It should be noted that the real-time route execution model is updated synchronously with the continuous updating of the real-time printing video data until the execution of the corresponding printing route is completed; Dividing the corresponding parts of the real-time route execution model and the target printed object image model into a plurality of real-time route areas and target route areas of the same size and in a cube shape; According to the update process of the real-time route execution model, the overlap between the latest generated real-time route area and the corresponding target route area is obtained, and an overlap threshold and a deviation threshold are set to determine whether there is a deviation in the overlap between each real-time route area and the corresponding target route area; If the overlap between the newly generated real-time route area and the target route area is greater than or equal to the overlap threshold, the corresponding printed route is currently executing normally; If the overlap between the latest generated real-time route area and the target route area is less than the overlap threshold, it is determined that the corresponding real-time route area has a deviation, and then it is determined whether the number of real-time route areas with deviations at the current moment is greater than or equal to the deviation threshold. If it is less than the deviation threshold, the corresponding printed route is currently executing normally; If the number of real-time route areas with deviations at the current moment is greater than or equal to the deviation threshold, it is determined that the current execution of the corresponding printing route is abnormal, and then a central deviation detection point is set at the center position of the target route area corresponding to the real-time route area with deviations, and a plurality of deviation detection points are set at the outer edge position of the deviation part of the real-time route area; A number of deviation vectors are established with the central deviation detection point as the starting point and the deviation detection point as the end point, and the deviation vectors are added together to obtain the deviation result vector corresponding to the real-time route area where the deviation exists; Compare the angles of the deviation result vectors at the same time, and then sequentially superimpose the deviation result vectors whose angle differences are within 90 degrees, until the angle differences between the remaining deviation result vectors are greater than or equal to 90 degrees; Then, the deviation result vectors with an angle difference within 180 degrees are sequentially superimposed until the angle difference between the remaining deviation result vectors is greater than or equal to 180 degrees; If there is only one deviation result vector, the direction of the deviation result vector is the deviation direction of the corresponding printing route at the current moment, and then the robot arm control module adjusts the injection angle of the material injection port that executes the corresponding printing route according to the deviation direction. It should be noted that in the initial state, the material injection port and the pigment injection port are perpendicular to the printing position and the coloring position; When there are only two deviation result vectors, the modulus lengths corresponding to the two deviation result vectors are obtained, and the material injection diameter of the material injection port is controlled according to the modulus lengths of the two deviation result vectors; The execution and control process of the above printing paths are repeated until all printing paths are completed.
[0023] Furthermore, when the print result object is obtained after the execution of all printing routes is completed, the robotic arm control model calls the paint nozzles in the robotic arm to color the corresponding positions on the print result object in turn according to the numbers on each coloring area on the outer surface of the target print object image model, and collects real-time coloring video data of the corresponding positions through the camera, and then adopts the process of obtaining the deviation direction and deviation distance of the corresponding printing route at the current moment according to the real-time printing video data, and obtains the deviation direction and mold length of the current coloring process according to the real-time coloring video data, and then adjusts the angle and injection diameter of the paint nozzle until all the coloring areas are completed.
[0024] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A chip control system used in a printing process, comprising a microprocessor chip, characterized in that: The microprocessor chip is provided with a printing planning module, a robotic arm control module and a printing supervision module; The printing planning module is used to generate a plurality of local object image models according to the printing plan, match and splice the local object image models to obtain a target printing object image model, and then set a plurality of printing routes and coloring areas on the target printing object image model; The robot control module is communicatively connected to the robot, and is used to control the robot to execute the printing route and the coloring area, and collect real-time printing video data and real-time coloring video data during the execution of the printing route and the coloring area; The printing supervision module is used to generate a real-time route execution model based on real-time printing video data, divide the real-time route execution model and the target printing object image model into a number of real-time route areas and target route areas respectively, obtain the corresponding deviation result vector based on the comparison results of the real-time route area and the target route area at the same position, and then adjust the injection angle and injection diameter of the robot arm according to the module length and direction of the deviation result vector, and then adjust the process of the robot arm executing the coloring area according to the real-time coloring video data.
2. A chip control system for printing process according to claim 1, characterized in that: The printing scheme includes a plurality of multi-angle image data and component images of the target printing object, grayscale processing is performed on each multi-angle image data, and then a corresponding local object image model is established based on the grayscaled multi-angle image data.
3. A chip control system for printing process according to claim 2, characterized in that: The process of establishing the target printing object image model includes: A plurality of continuous model matching regions are set at the edge of each local object image model, each local object image model is sequentially used as a matching local object image model, and the model matching region of the matching local object image model is sequentially traversed over other local object image models; If there is a match between a model matching region and a local object image model, then determine whether the current matching local object image model matches the local object image model, and then determine whether a model matching region adjacent to the model matching region also matches the local object image model; According to the matching result, the central model matching area is set as a new model matching area in the surrounding model part of the matching local object image model; The new model matching area is matched with the local object image model for a second time, and the process of setting the central model matching area is repeated again according to the matching results, until there is no matching model matching area between the matching local object image model and the local object image model, and then according to the matching parts of the matching local object image model and the local object image model, the matching local object image model and the local object image model are overlapped and spliced to obtain the target printed object image model.
4. A chip control system for printing process according to claim 3, characterized in that: The generation process of the printing route includes: Generate corresponding component image models according to component images in the printing scheme, map each component image model into a target printing object image model, and set a printing start position inside the target printing object image model; Then, the spatial distance between each component image model and the printing start position is obtained, and the component image model with the smallest spatial distance is selected as the first component image model, and the spatial distances between the remaining component image models and the first component image model are determined, and the component image model with the smallest spatial distance is selected again as the second component image model, and so on; In the component image model, several printing routes are planned, the width of which is less than or equal to the diameter value of the material injection port and the edge position are connected in sequence and end to end, so that the area covered by all printing routes on the component image model is equal to the surface area of the component image model, thereby obtaining the printing routes of each component image model.
5. A chip control system for printing process according to claim 4, characterized in that: The generation process of the colored area includes: Coloring the target printing object image model according to the multi-angle image data of the target printing object, and obtaining the pixel value of each outer surface pixel of the target printing object image model, setting a pixel difference threshold, judging the size relationship between the pixel value difference between each outer surface pixel and its adjacent outer surface pixel and the pixel difference threshold, if the pixel value difference is less than or equal to the pixel difference threshold, setting the same label for the two outer surface pixels, otherwise no operation is performed; The adjacent outer surface pixels with the same annotation are integrated to generate several coloring areas on the outer surface of the target printed object image model, and the pixel average value of the outer surface pixels of each coloring area is obtained, and then the coloring order of each coloring area is set according to the size of the pixel average value.
6. A chip control system for printing process according to claim 5, characterized in that: The robotic arm control module is communicatively connected to a plurality of robotic arms, and the robotic arms are provided with a plurality of groups of material injection ports, pigment injection ports and cameras; When the robot arm prints or paints through the material ejection port or the pigment ejection port, the camera associated with each material ejection port or the pigment ejection port collects real-time printing video data and real-time painting video data of the printed object along the ejection direction.
7. A chip control system for printing process according to claim 6, characterized in that: The process of adjusting the spray angle and spray diameter of the robot arm includes: Synchronously generating a corresponding real-time route execution model according to the real-time printing video data, and dividing the corresponding parts of the real-time route execution model and the target printing object image model into a plurality of real-time route areas and target route areas of the same size and in a cube shape; According to the update process of the real-time route execution model, the overlap between the latest generated real-time route area and the corresponding target route area is obtained, and an overlap threshold and a deviation threshold are set to determine whether there is a deviation in the overlap between each real-time route area and the corresponding target route area; According to the judgment result, it is judged again whether the number of real-time route areas with deviations at the current moment is greater than or equal to the deviation threshold. If it is less than the deviation threshold, the corresponding printed route is currently executed normally; If the number of real-time route areas with deviations at the current moment is greater than or equal to the deviation threshold, it is determined that the current execution of the corresponding printing route is abnormal, and then a central deviation detection point is set at the center position of the target route area corresponding to the real-time route area with deviations, and a plurality of deviation detection points are set at the outer edge position of the deviation part of the real-time route area; A number of deviation vectors are established with the center deviation detection point as the starting point and the deviation detection point as the end point. The deviation vectors are added together to obtain the deviation result vector of the corresponding real-time route area where the deviation exists. The angles of the deviation result vectors at the same time are compared. According to the comparison results, the deviation result vectors are superimposed. Then, according to the direction of the deviation result vector after vector superposition and the mold length, the injection angle and material injection diameter of the material injection port that executes the corresponding printing route are adjusted.
8. A chip control system for printing process according to claim 7, characterized in that: The process of adjusting the spray angle and spray diameter of the robot arm also includes: When all printing routes are executed and the printed result object is obtained, the robot arm control model calls the paint nozzle in the robot arm to color the corresponding positions on the printed result object in turn, and obtains the deviation direction and deviation distance of the corresponding printing route at the current moment according to the real-time printing video data, and obtains the deviation direction and mold length of the current coloring process according to the real-time coloring video data, and then adjusts the angle and injection diameter of the paint nozzle until all the coloring areas are completed.