Print correction method, device, printing system and computer readable storage medium

Abstract

Embodiments of the present application disclose a printing deviation correction method and device, a printing system and a computer readable storage medium. An image acquisition device acquires an image of a first printing medium moved to an acquisition position, obtains a first image, determines deviation pose information of the first printing medium deviating from a target pose according to the first image, acquires a reference printing image matched with the target pose, and performs transformation processing on the reference printing image according to the deviation pose information to obtain a first printing image matched with the first printing medium. The printing device is controlled to print the first printing medium moved to the first working position according to the first printing image and one or more nozzles of the printing device. The controller can perform transformation processing on the reference printing image matched with the target pose according to the deviation pose information between the first printing medium and the target pose to obtain the first printing image, so that the pattern printed on the first printing medium can also be aligned, and precise printing is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of inkjet printing technology, in particular to a printing deviation correction method and device, a printing system and a computer readable storage medium. BACKGROUND

[0002] At present, the traditional inkjet printing system needs to fix the position of the printing medium to print the printing medium. If the printing medium is placed in a deviated position, the pattern printed on the printing medium will also be deviated, and accurate printing cannot be achieved, and the inkjet printing precision is low. SUMMARY

[0003] The embodiments of the present application disclose a printing deviation correction method, device, printing system and computer readable storage medium, which can improve the precision of inkjet printing.

[0004] The embodiments of the present application disclose a printing deviation correction method applied to a controller of a printing system, wherein the printing system further comprises an image acquisition device, a transfer device and a printing device, the transfer device is used to carry a first printing medium and transmit the first printing medium to a corresponding acquisition position of the image acquisition device first, and then transmit the first printing medium to a corresponding first station of the printing device; the method comprises the following steps:

[0005] acquiring an image of the first printing medium moved to the acquisition position by the image acquisition device;

[0006] determining deviation pose information of the first printing medium deviating from a target pose according to the first image;

[0007] acquiring a reference printing image matched with the target pose;

[0008] performing transformation processing on the reference printing image according to the deviation pose information to obtain a first printing image matched with the first printing medium;

[0009] controlling one or more nozzles of the printing device to print the first printing medium moved to the first station according to the first printing image.

[0010] As an optional implementation, the first printing medium is provided with one or more markers, and the deviation pose information comprises deviation pose data between a first pose corresponding to the first printing medium and the target pose; the step of determining the deviation pose information of the first printing medium deviating from the target pose according to the first image comprises the following steps:

[0011] identifying each marker in the first image to determine the image position of each marker in the first image;

[0012] determine a first pose of the first print medium based on the image positions corresponding to the respective markers;

[0013] determine deviation pose data between the first pose and the target pose.

[0014] As an optional implementation, the first print medium is provided with a first marker and a second marker, the first pose includes first position data and first angle data corresponding to a midpoint between the first marker and the second marker, and the target pose includes target position data and target angle data corresponding to the midpoint;

[0015] The determination of the deviation pose data between the first pose and the target pose includes:

[0016] determination of deviation position data between the first position data and the target position data;

[0017] determination of deviation angle data between the first angle data and the target angle data.

[0018] As an optional implementation, the determination of the deviation pose information of the first print medium from the target pose based on the first image includes:

[0019] image matching of the first image and a second image corresponding to the target pose to obtain a plurality of groups of feature point pairs, each group of feature point pairs including a first feature point in the first image and a second feature point in the second image matched with the first feature point; the second image is obtained by an image acquisition device;

[0020] determination of a deviation distance between the first feature point and the second feature point of each group of feature point pairs based on the plurality of groups of feature point pairs;

[0021] determination of the deviation pose information of the first print medium from the target pose based on the deviation distances respectively corresponding to the plurality of groups of feature point pairs.

[0022] As an optional implementation, the print surface of the first print medium includes a curved surface, and the printing system further includes a height acquisition device; the method further includes:

[0023] scanning, by the height acquisition device, the first print medium moved to the acquisition position to obtain distance information between the print surface of the first print medium and the height acquisition device;

[0024] determination of height information between the print surface and a bearing surface of the transfer device based on the distance information;

[0025] determine curvature information of a printing surface of the first printing medium according to the height information;

[0026] control one or more nozzles of the printing device to print the first printing medium moved to the first station according to the first print image, including:

[0027] adjust a number of pixel points contained in the first print image according to the curvature information to obtain a second print image;

[0028] control one or more nozzles of the printing device to print the first printing medium moved to the first station according to the second print image.

[0029] As an optional implementation, the method of adjusting a number of pixel points contained in the first print image according to the curvature information to obtain a second print image, includes:

[0030] divide the first print image into a plurality of image regions according to the curvature information;

[0031] determine an adjustment ratio of each of the image regions according to height variation information corresponding to a printing surface corresponding to the image region;

[0032] adjust a number of pixel points contained in each of the image regions according to the adjustment ratio of the image region to obtain a second print image.

[0033] As an optional implementation, the height information includes height data corresponding to a plurality of points in the printing surface respectively; the height variation information corresponding to the printing surface corresponding to the image region includes a slope of the printing surface corresponding to the image region; the method further includes:

[0034] determine a highest point and a lowest point of a printing surface corresponding to a first image region; wherein the highest point is a point with the largest height data in the printing surface corresponding to the first image region, and the lowest point is a point with the smallest height data in the printing surface corresponding to the first image region; the first image region is any one of the plurality of image regions;

[0035] determine a slope of the printing surface corresponding to the first image region according to an image position of the highest point in the first image region, the height data corresponding to the highest point, an image position of the lowest point in the first image region, and the height data corresponding to the lowest point.

[0036] The embodiment of the present application discloses a printing deviation rectifying device, which is applied to a controller of a printing system, the printing system further comprises an image acquisition device, a transfer device and a printing device, the transfer device is used for carrying a first printing medium and transmitting the first printing medium to a corresponding acquisition position of the image acquisition device first, and then transmitting the first printing medium to a corresponding first station of the printing device; the printing deviation rectifying device comprises:

[0037] an image acquisition module, configured to acquire an image of the first printing medium moved to the acquisition position by the image acquisition device to obtain a first image;

[0038] a first determination module, configured to determine deviation pose information of the first printing medium deviating from a target pose according to the first image;

[0039] an image acquisition module, configured to acquire an image of the first printing medium moved to the acquisition position by the image acquisition device to obtain a first image;

[0040] an image transformation module, configured to perform transformation processing on the reference printing image according to the deviation pose information to obtain a first printing image matched with the first printing medium; and

[0041] a printing control module, configured to control one or more nozzles of the printing device to print the first printing medium moved to the first station according to the first printing image.

[0042] The embodiment of the present application discloses a printing system, comprising:

[0043] an image acquisition device;

[0044] a printing device;

[0045] a transfer device, configured to carry a first printing medium and transmit the first printing medium to a corresponding acquisition position of the image acquisition device first, and then transmit the first printing medium to a corresponding first station of the printing device; and

[0046] a controller, comprising a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to make the processor realize any one of the printing deviation rectifying methods disclosed by the embodiments of the present application.

[0047] The embodiment of the present application discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize any one of the printing deviation rectifying methods disclosed by the embodiments of the present application.

[0048] Compared with the related art, the embodiment of the present application has the following beneficial effects:

[0049] The embodiment of the present application provides a printing deviation correction method and device, a printing system and a computer readable storage medium. The printing system comprises a controller, an image acquisition device, a moving device and a printing device. The moving device is used for carrying a first printing medium, and transmitting the first printing medium to a corresponding acquisition position of the image acquisition device first, and then transmitting the first printing medium to a corresponding first station of the printing device. The controller acquires an image of the first printing medium moving to the acquisition position through the image acquisition device to obtain a first image. According to the first image, deviation pose information of the first printing medium deviating from a target pose is determined. A reference printing image matched with the target pose is acquired. According to the deviation pose information, the reference printing image is processed to obtain a first printing image matched with the first printing medium. According to the first printing image, one or more nozzles of the printing device are controlled to print the first printing medium moving to the first station. The controller can first determine the deviation pose information between the first printing medium and the target pose, and then process the reference printing image matched with the target pose according to the deviation pose information, so that the reference printing image is adjusted in position to obtain the first printing image matched with the first printing medium. Even if the first printing medium changes relative to the target pose, the pattern printed on the first printing medium can be aligned, and accurate printing is realized.

[0050] Meanwhile, the processing of the reference printing image matched with the target pose is completed through software, and the response speed is extremely fast. Compared with mechanical adjustment, the adjustment speed is faster, and mechanical wear is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0052] Figure 1 is a structural schematic diagram of a printing system disclosed by the embodiment of the present application;

[0053] Figure 2 is a structural schematic diagram of a printing system disclosed by the embodiment of the present application; Figure 1 is a local enlarged view of A in the figure;

[0054] Figure 3 is a structural schematic diagram of a printing system disclosed by the embodiment of the present application; Figure 1 is a local enlarged view of B in the figure;

[0055] Figure 4 is a structural schematic diagram of a positioning assembly from another perspective disclosed by the embodiment of the present application;

[0056] Figure 5 is a bottom view of a print head according to an embodiment of the present application Figure 1 is a local enlarged view at C in FIG. 1B;

[0057] Figure 6 is a bottom view of a print head according to an embodiment of the present application

[0058] Figure 7 is a schematic view of a printing process according to an embodiment of the present application

[0059] Figure 8 is a flowchart of a print deviation correction method according to an embodiment of the present application

[0060] Figure 9 is a schematic view of a first pose corresponding to a first print medium according to an embodiment of the present application

[0061] Figure 10 is a flowchart of a pose deviation information determination process according to an embodiment of the present application

[0062] Figure 11 is a flowchart of another pose deviation information determination process according to an embodiment of the present application

[0063] Figure 12 is a flowchart of another print deviation correction method according to an embodiment of the present application

[0064] Figure 13 is a schematic view of a correspondence between pixel points of a print image and print points of a print surface according to an embodiment of the present application

[0065] Figure 14 is a flowchart of a second print image acquisition process according to an embodiment of the present application

[0066] Figure 15 is a structural schematic view of a print deviation correction apparatus according to an embodiment of the present application

[0067] Figure 16 is a structural schematic view of a controller of a print system according to an embodiment of the present application. DETAILED DESCRIPTION

[0068] The technical solutions in embodiments of the present application will be described clearly and completely below with reference to the drawings in embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0069] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0070] Please refer to Figure 1 This illustrates a schematic diagram of the structure of a printing system provided in an embodiment of this application. Figure 1 As shown, the printing system may include a transfer device 110, a positioning assembly 120, a printing device 130, and a controller. Figure 1 (Not shown in the image). The positioning component 120 may include an image acquisition device, and the transfer device 110 carries the printing medium to be printed, first transferring the printing medium to the acquisition position corresponding to the image acquisition device, and then transferring the printing medium to the first station corresponding to the printing device 130. The image acquisition device can be used to acquire an image of the first printing medium moved to the acquisition position to obtain a first image. The printing device 130 can be used to print the printing medium moved to the first station. Optionally, please refer to... Figure 1 The transfer device is used to drive the printing medium to move along the first direction X.

[0071] In some embodiments, please refer to Figure 1 The transfer device 110 may include an adsorption fixture 111 and a linear motor 112. The linear motor 112 extends along a first direction X, and the adsorption fixture 111 is used to fix the printing medium on the adsorption fixture 111 by vacuum adsorption.

[0072] Alternatively, please refer to Figure 2 The transfer device may also include a connecting fastener 210 and a fixture mounting support 220. The fixture mounting support 220 is used to provide a mounting surface for the adsorption fixture 111. That is, the adsorption fixture 111 is mounted on the fixture mounting support 220. The connecting fastener 210 is connected to the linear motor 112 and the fixture mounting support 220 respectively to ensure a stable connection between the linear motor 112 and the adsorption fixture 111, and to enable the adsorption fixture 111 to run along the first direction X under the drive of the linear motor 112.

[0073] Alternatively, please continue to refer to Figure 2 The transfer device may also include a vacuum display 230, which displays the vacuum adsorption value between the adsorption fixture 111 and the printing medium. When the vacuum adsorption value is greater than a preset threshold, it can be considered that the printing medium has been well adsorbed and can be relatively stably positioned on the adsorption fixture.

[0074] In some embodiments, please refer to Figure 3 It shows Figure 1 A magnified view of a section at point B. (See image below.) Figure 3 As shown, the positioning assembly may include an image acquisition device 310, a first gantry column 320, and an image acquisition mounting bracket 330. The first gantry column 320 provides a mounting base surface for other components of the positioning assembly. The image acquisition mounting bracket 330 is fixedly connected to both the first gantry column 320 and the image acquisition device 310, so that the image acquisition device 310 is mounted on the first gantry column 320, and the printing medium passes under the image acquisition device 310 under the drive of a linear motor.

[0075] Optionally, the positioning component may include multiple image acquisition devices 310 to acquire images of the complete printing medium. These image acquisition devices can scan the position and outline of the printing medium to obtain a two-dimensional image of the printing medium, providing positioning and location data for subsequent product printing.

[0076] In some embodiments, the positioning component may further include a light source assembly 340 and a light source mounting member 350, wherein the light source mounting member 350 is connected to the first gantry column 320 and the light source assembly 340 respectively, so as to mount the light source 340 on the first gantry column 320. The light source assembly 340 can be used to provide brightness supplementary lighting for the image acquisition device 310.

[0077] Please refer to Figure 4 It shows a schematic diagram of the positioning component from another perspective, such as Figure 4 As shown, the printing system may also include a height acquisition device 410 and a height sensing mounting component 420. The height sensing mounting component 420 is connected to the first gantry column 320 and the height acquisition device 410, respectively. The printing medium passes under the height acquisition device 410 under the drive of a linear motor, and the height acquisition device 410 can be used to acquire the distance between the printing surface of the printing medium and the height acquisition device 410.

[0078] Optionally, the height acquisition device 410 is installed on the first side of the first gantry column 320 via the height sensing mounting component 420, and the image acquisition device is installed on the second side of the first gantry column via the image acquisition mounting component. The first side and the second side are opposite sides. By setting the height acquisition device 410 and the image acquisition device on different sides of the first gantry column 320, the space of the first gantry column 320 can be fully utilized.

[0079] Please refer to Figure 5 It shows Figure 1 A magnified view of a section at point C. (See image below.) Figure 5As shown in the figure, the printing device can include a second gantry column 510, a print head 520, and a print mounting member 530. The print mounting member 530 is connected with the second gantry column 510 and the print head 520 respectively, and the print medium passes below the print head 520 under the driving of the linear motor, and a pattern is printed on the print medium moving to the first station through the print head 520.

[0080] Please refer to Figure 6 which shows a bottom view of a print head provided by an embodiment of the present application. As shown in the figure, Figure 6 the print head can include a plurality of ejection holes 610 arranged in one or more rows along the second direction Y, and each ejection hole 610 can work independently, that is, each ejection hole 610 can be independently selected to spray ink or not. Figure 6 As shown in the figure, the print head includes 8 rows of ejection holes, and the spacing between adjacent two rows of ejection holes can be equal or not equal.

[0081] Please refer to Figure 7 which shows a schematic diagram of a printing process provided by an embodiment of the present application. As shown in the figure, Figure 7 the length of the print head 710 along the second direction Y is greater than or equal to the length of the print medium 720 along the second direction Y, so as to ensure that a pattern can be printed on the corresponding position of the print medium 720 through the print head 710 during the movement of the print medium 720 along the first direction, and no printing blind spot occurs.

[0082] Please refer to Figure 8 which shows a flowchart of a printing deviation correction method provided by an embodiment of the present application. The method can be applied to a controller of a printing system, and the printing system includes an image acquisition device, a transfer device, and a printing device. The transfer device is used to carry a first print medium, and transmit the first print medium to a corresponding acquisition position of the image acquisition device first, and then transmit the first print medium to a corresponding first station of the printing device.

[0083] As shown in the figure, Figure 8 the printing deviation correction method can include steps 802 to 810.

[0084] Step 802: acquiring an image of the first print medium moving to the acquisition position through the image acquisition device to obtain a first image.

[0085] It should be noted that the first printing medium can refer to a medium that needs to be printed, and the printing surface of the first printing medium can include a curved surface or a flat surface. For example, the printing medium can include, but is not limited to, paper, a cup, a lens, and the like. The acquisition position can refer to a position within the field of view of the image acquisition device. In the case where the transfer device transfers the first printing medium to the corresponding acquisition position of the image acquisition device, the image acquisition device can acquire a first image containing at least part of the first printing medium.

[0086] For example, the printing system can include one or more image acquisition devices, and the sum of the fields of view of the image acquisition devices along the second direction covers the first printing medium along the second direction, which can prevent missing some part of the first printing medium due to insufficient field of view. The second direction can refer to a direction perpendicular to the moving direction of the transfer device.

[0087] In some embodiments, the image acquisition device can include a line scan camera, the transfer device carries the first printing medium and drives the first printing medium to move along the first direction, the line scan camera acquires images of the first printing medium by means of line-by-line scanning, and as the first printing medium moves, the line scan camera captures a series of linear images and splices them to form a first image containing the entire first printing medium. It should be noted that the scanning speed of the line scan camera and the moving speed of the transfer device are matched to ensure the accuracy and proportion consistency of the first image obtained by splicing, and to ensure the accuracy of the deviation pose information obtained based on the analysis of the first image.

[0088] In some embodiments, the controller obtains a vacuum value corresponding to the adsorption jig, and when the vacuum value is greater than or equal to an adsorption threshold value, triggers the transfer device to move, so that the first printing medium is sequentially transferred to the corresponding acquisition position of the image acquisition device and the first printing medium is transferred to the corresponding first station of the printing device. It should be noted that the adsorption threshold value can be used to measure whether the adsorption force between the first printing medium and the adsorption jig can enable the first printing medium to be stably positioned on the adsorption jig. If the vacuum value is greater than or equal to the adsorption threshold value, it can be considered that the first printing medium can be stably positioned on the adsorption jig, that is, the first printing medium will not change its pose due to the movement of the transfer device. If the vacuum value is less than the adsorption threshold value, it can be considered that the first printing medium cannot be stably positioned on the adsorption jig.

[0089] In this embodiment, the controller can trigger the transfer device to move only when it is determined that the vacuum value corresponding to the adsorption jig is greater than or equal to the adsorption threshold value, which can ensure that the pose of the first printing medium relative to the adsorption jig at the acquisition position is consistent with the pose of the first printing medium relative to the adsorption jig at the first station, thereby ensuring the printing accuracy of the printing based on the first printed image after the transformation processing.

[0090] At step 804, the deviated pose information of the first print medium deviated from the target pose is determined according to the first image.

[0091] It should be noted that when the pose of the print medium is the target pose, the print medium is printed by using the reference print image matched with the target pose, and the printed pattern on the print medium meets the printing requirement. The printing requirement includes that the position of the printed pattern on the print medium is appropriate, the size of the printed pattern is appropriate, and the printed pattern is not missing, etc. In the embodiment, the controller determines the deviated pose information of the first print medium deviated from the target pose according to the first image, and performs transformation processing on the reference print image matched with the target pose according to the deviated pose information, to obtain the first print image matched with the pose of the first print medium, so that the first print medium is printed based on the first print image, and the pattern printed on the first print medium also meets the printing requirement.

[0092] In some embodiments, before the first image is obtained by performing image acquisition on the first print medium moved to the acquisition position by the image acquisition device, the controller performs image acquisition on the second print medium moved to the acquisition position by the image acquisition device to obtain a second image, the pose of the second print medium is the target pose, obtains a third print image, controls one or more nozzles of the printing device to print the second print medium moved to the first station according to the third print image, and determines whether the pattern printed on the second print medium meets the printing requirement. If not, the image parameters of the third print image are adjusted, and one or more nozzles of the printing device are controlled to print the second print medium moved to the first station according to the adjusted third print image until it is determined that the pattern printed on the second print medium meets the printing requirement, and the current third print image is determined as the reference print image. It should be noted that the second print medium and the first print medium are products of the same type, and the shapes of the two print media are similar. The image parameters can include but are not limited to the size, resolution and pose of the printed pattern, etc. By adjusting the image parameters of the third print image, the nozzles of the printing device for printing and / or the printing time of the nozzles (i.e. the time of ejecting ink droplets) can be adjusted, so that the size and position of the pattern printed on the second print image are changed, so as to obtain the printed second print medium meeting the printing requirement.

[0093] In some embodiments, according to the first image, a first pose corresponding to the first print medium is determined, and deviation pose data between the first pose and the target pose is determined. It should be noted that the first pose can include a pose corresponding to one or more points in the printing surface of the first print medium, and the first pose corresponding to the first print medium includes position data and angle data of the first print medium in the first image. The position data can be coordinates of one or more points in the printing surface in the image coordinate system, and the angle data can include an angle formed by a line direction of the origin of the image coordinate system and the one or more points in the printing surface and a first axis direction, and the first axis direction can be any axis direction in the image coordinate system. As shown in Figure 9 the first axis direction is the X axis direction, the line direction, and the angle data corresponding to point A is θ, and the coordinate data of point A is (x1, y1).

[0094] In step 806, a reference print image matching the target pose is obtained.

[0095] In step 808, the reference print image is transformed according to the deviation pose information to obtain a first print image matching the first print medium.

[0096] It should be noted that when printing a print product with a target pose based on the reference print image, a printed print medium meeting the printing requirements can be obtained. The controller can store the reference print image, or the reference print image can be stored in a terminal device, and the controller is connected to the terminal device to obtain the reference print image. The transformation processing can include but is not limited to translation transformation, rotation transformation, and scaling transformation. The translation transformation refers to moving the position of the pixel points of the reference print image, which can be achieved by adding a fixed offset to the coordinates of the pixel points in the reference print image. The rotation transformation refers to rotating a certain angle around the center or a specified point of the reference print image. The scaling transformation refers to changing the size of the reference print image, including enlargement and reduction.

[0097] For example, the reference print image matching the target pose is transformed according to the deviation pose information to obtain a first print image matching the first pose corresponding to the first print medium.

[0098] In the related art, when the printing medium is not placed at the reference position of the transfer device, the mechanical position of the printing head or the mechanical position of the transfer device is adjusted so that the printing medium returns to the reference position. In the present embodiment, the reference printing image is transformed to match the adjusted first printing image with the first printing medium, so that the printing system can adapt to different poses of the printing medium and achieve accurate printing for different poses of the printing medium. Moreover, the transformation of the reference printing image matching the target pose is completed by software, which has extremely fast response speed and faster adjustment speed than mechanical adjustment, and avoids mechanical wear.

[0099] At step 810, one or more nozzles of the printing device are controlled to print the first printing medium moved to the first station according to the first printing image.

[0100] It should be noted that the first printing image includes a plurality of pixel points, and the plurality of pixel points on the printing image are used to indicate that one or more nozzles of the printing head eject ink at a target time. The controller can read the pixel value corresponding to each row and each column of pixel points in the first printing image, and determine the control signal of each nozzle of the printing device according to the plurality of pixel values to drive the nozzle to perform a printing operation at a corresponding time, that is, to eject ink droplets, so that the landing positions of the plurality of ink droplets ejected by the one or more nozzles correspond one-to-one to the plurality of pixel points of the first printing image. The first printing medium moves along the first direction, and the nozzles eject ink at different times to form ink dots at different positions of the first printing medium along the first direction. At the same time, different nozzles are selected to eject ink to print ink dots at different positions of the first printing medium along the second direction.

[0101] In some embodiments, the printing head of the printing device remains stationary to print the first printing medium moved to the first station, wherein the width of the printing head along the second direction is greater than or equal to the width of the first printing medium, so as to ensure that the first printing medium can be printed without movement of the printing head of the printing device, and the ink droplets can land on the corresponding positions of the first printing medium.

[0102] In some embodiments, a first voltage is provided to the printing device, and a landing distance between the landing position of the ink droplet ejected by the nozzle of the printing head and the target landing position is determined. If the landing distance is less than or equal to a preset threshold, the first voltage is used as the trigger voltage. If the landing distance is greater than the preset threshold, the parameters of the first voltage are adjusted to obtain an adjusted first voltage, and the operation of providing the first voltage to the printing device is continued.

[0103] It should be noted that the parameters of the first voltage, the ejection speed of the nozzle and the size of the ink droplet are different, and by adjusting the parameters of the first voltage, the deviation degree of the landing position of the ink droplet can be small, and the printing accuracy can be improved. The parameters of the first voltage can include the voltage amplitude, the pulse width, the waveform (such as square wave, trapezoidal wave, sine wave, etc.) of the first voltage, and the like. For example, the farthest point from the print head can be selected for testing, such as Figure 7 If the trigger voltage can make the corresponding nozzle eject at the corresponding time, and the ejected ink can accurately land at point B, then based on the trigger voltage triggering the nozzle to eject, the distance of the landing point corresponding to other positions will also be less than the preset threshold.

[0104] In some embodiments, according to the first print image, the ejection time of each nozzle is determined, the driving voltage is formed based on the ejection time of each nozzle and the trigger voltage, the driving voltage is provided to the printing device to control one or more nozzles, and the first print medium moving to the first station is printed, so that a pattern meeting the printing requirements can be formed on the printing surface of the first print medium.

[0105] In the embodiments of the present application, the controller acquires the first image by image acquisition device for the first print medium moving to the acquisition position, determines the deviation pose information of the first print medium deviating from the target pose according to the first image, acquires the reference print image matching the target pose, and processes the reference print image according to the deviation pose information to obtain the first print image matching the first print medium. According to the first print image, the controller controls one or more nozzles of the printing device to print the first print medium moving to the first station. The controller can first determine the deviation pose information between the first print medium and the target pose, and then process the reference print image matching the target pose according to the deviation pose information to adjust the reference print image to obtain the first print image matching the first print medium. Even if the first print medium changes relative to the target pose, the pattern printed on the first print medium can be aligned, and accurate printing can be achieved.

[0106] At the same time, the transformation processing of the reference print image matching the target pose is completed by software, and the response speed is extremely fast. Compared with mechanical adjustment, the adjustment speed is faster and mechanical wear is avoided.

[0107] Please refer to Figure 10 which shows a process schematic diagram of a pose deviation information determination process provided by an embodiment of the present application, wherein the first print medium is provided with one or more markers.

[0108] For example, Figure 10As shown, determining, according to the first image, the deviation pose information of the first print medium deviating from the target pose can include steps 1002 to 1006. In this embodiment, the deviation pose information can include deviation pose data between the first pose corresponding to the first print medium and the target pose.

[0109] In step 1002, each marker in the first image is identified, and the image position of each marker in the first image is determined.

[0110] It should be noted that a marker can refer to a portion of the first print medium having a specific shape, color, pattern, texture, or other distinctive features. By providing one or more markers on the first print medium, when the first print medium is imaged by the image acquisition device, a first image containing the markers can be acquired, the controller identifies each marker in the first image, and determines the image position of each marker in the first image.

[0111] In some embodiments, the controller can store target features corresponding to the markers of the first print medium, and the controller can determine the marker in the first image that matches the target features based on the target features corresponding to the marker, and determine the image position of the marker in the first image. In this embodiment, by pre-storing the target features of each marker, the marker that matches the target features can be quickly and accurately screened based on the target features, improving the speed of determining the deviation pose information, so that the deviation pose information can be determined before the first print medium moves to the first station, the reference print image is transformed to obtain the first print image, and the printing rate is ensured.

[0112] In other embodiments, the first image is input to the trained recognition model, each marker in the first image is identified by the trained recognition model, and the image position of the marker in the first image output by the trained recognition model is obtained. It should be noted that the trained recognition model is obtained by training the to-be-trained recognition model using a training sample set, and the training sample set can include a plurality of sample images containing markers, and the image position of each marker in the sample image. By training the to-be-trained recognition model using the training sample set, the trained recognition model obtained by training the to-be-trained recognition model can identify the marker from the first image and locate the image position of the marker in the first image.

[0113] Exemplarily, the sample image is input into the identification model to be trained for identification, to obtain a marker position output by the identification model to be trained, and whether the identification model to be trained meets the condition for completing training is determined according to the marker position and an image position corresponding to the sample image. If not, the model parameter of the identification model to be trained is adjusted, and the step of inputting the sample image into the identification model to be trained for identification is continuously performed until the identification model to be trained meets the condition for completing training, to obtain the identification model that completes training.

[0114] In this embodiment, the marker in the first image is directly identified and located by the identification model, so that the position of the marker in the first image can be determined efficiently and accurately.

[0115] In some embodiments, the image acquisition device is triggered to perform image acquisition when the controller detects that the transfer device moves to the acquisition position. If the image acquisition device starts to perform image acquisition when the transfer device is located at different positions, even if the pose of the print medium relative to the transfer device is unchanged, the position of the print medium in the first image acquired by the image acquisition device is different. In this embodiment, the image acquisition device is triggered to perform image acquisition when the controller determines that the transfer device moves to the acquisition position, so that the position of the transfer device is ensured to be the same each time the image acquisition is started, the accuracy of the first pose determined based on the first image is ensured, and the accuracy of the transformation of the reference print image based on the pose deviation information is ensured.

[0116] In step 1004, the first pose corresponding to the first print medium is determined based on the image position corresponding to each marker.

[0117] It should be noted that the first pose can include pose data corresponding to one or more points in the printing surface of the first print medium, and the first pose corresponding to the first print medium includes position data and angle data of the first print medium in the first image.

[0118] In some embodiments, the first print medium is provided with a first marker and a second marker, and the first pose includes first position data and first angle data corresponding to the midpoint between the first marker and the second marker. Based on the image position corresponding to each marker, the first pose corresponding to the first print medium can include: the controller determines the first position data and the first angle data of the midpoint between the first marker and the second marker in the first image according to the image position corresponding to the first marker and the image position corresponding to the second marker.

[0119] Exemplarily, if the image position corresponding to the first marker is (x2, y2) and the image position corresponding to the second marker is (x3, y3), the first position data of the midpoint between the first marker and the second marker in the first image is The first angle data of the midpoint in the first image is

[0120] In step 1006, deviation pose data between the first pose and the target pose is determined.

[0121] It should be noted that the deviation pose data is used to represent the deviation between the first pose and the target pose, and the deviation pose data can include deviation position data and / or deviation angle data.

[0122] In some embodiments, the first pose includes first position data and first angle data corresponding to the midpoint between the first marker and the second marker, and the target pose includes target position data and target angle data. Determining the deviation pose data between the first pose and the target pose can include determining deviation position data between the first position data and the target position data, and determining deviation angle data between the first angle data and the target angle data.

[0123] It should be noted that the controller can pre-store the target position data and the target angle data. In the case of determining the first position data and the first angle data corresponding to the midpoint between the first marker and the second marker according to the image positions of the respective markers, the difference between the first position data and the target position data can be calculated as the deviation position data, and the difference between the first angle data and the target angle data can be calculated as the deviation angle data.

[0124] In some embodiments, the second print medium includes the first marker and the second marker. The controller can determine the target position data and the target angle data of the midpoint between the first marker and the second marker in the second image according to the image position of the first marker in the second image and the image position of the second marker in the second image. It should be noted that the first marker of the second print medium matches the first marker of the first print medium, and the second marker of the second print medium matches the second marker of the first print medium. When manufacturing the respective print media, the corresponding first marker and second marker can be formed on the print medium to achieve positioning. In this embodiment, by storing the target position data and the target angle data of the midpoint between the first marker and the second marker in the second image, the deviation pose data between the first pose and the target pose can be determined in the case of obtaining the first position data and the first angle data, thereby reducing the storage amount and the operation amount of the controller.

[0125] In some embodiments, the transforming the reference print image matched with the target pose according to the deviated pose information to obtain the first print image matched with the first pose can include: controlling the controller to perform a translation operation on the reference print image according to the deviated position data and perform a rotation operation on the reference print image according to the deviated angle data to obtain the first print image.

[0126] In the embodiment, the first print image is obtained by performing a translation operation on the reference print image according to the deviated position data and performing a rotation operation on the reference print image according to the deviated angle data, so that the pose of the pattern of the obtained first print image matches the pose of the first print medium. Based on the first print image, the one or more nozzles of the coating device are controlled to print the first print medium moved to the first station, so that the position of the pattern printed on the first print medium matches the position of the pattern obtained by printing the second print medium moved to the first station based on the reference print image, so that the printing accuracy of the first print medium can be ensured even if the pose of the first print medium deviates from the second print medium.

[0127] In the embodiment, by identifying each marker in the first image, determining the image position of each marker in the first image, and determining the first pose corresponding to the first print medium based on each image position, and further determining the deviated pose data between the first pose and the target pose, the accuracy of the determined deviated pose data can be ensured, and the printing accuracy of printing according to the first print image can be ensured.

[0128] Please refer to Figure 11 which shows another flowchart of a pose deviated information determination process provided by an embodiment of the application. As shown in Figure 11 , the deviated pose information of the first print medium deviated from the target pose is determined according to the first image, which can include steps 1102 to 1106.

[0129] Step 1102: image matching the first image with a second image corresponding to the target pose to obtain a plurality of feature point pairs.

[0130] Each feature point pair includes a first feature point in the first image and a second feature point matched with the first feature point in the second image, and the second image is obtained by the image acquisition device.

[0131] In some embodiments, the image matching of the first image and the second image corresponding to the target pose can obtain a plurality of feature point pairs, which can include: the controller extracts a plurality of first feature points in the first image and a plurality of second feature points in the second image, and performs feature point matching on the plurality of first feature points and the plurality of second feature points to obtain a plurality of feature points. The feature points can include key points and descriptors. The key points refer to the image positions of the feature points in the image. The descriptors are usually vectors that describe the information of the pixels around the key points. The feature point matching is performed on the feature descriptors. The distance between two descriptors can reflect the similarity of the two feature points, that is, whether the two feature points are the same. Different distance measurements can be selected according to different descriptors. If the descriptor is a floating-point type, the Euclidean distance can be used. If the descriptor is a BRIEF (Binary Robust Independent Elementary Features), the Hamming distance can be used (the Hamming distance between two different binaries refers to the number of different bits between the two binary strings).

[0132] In some embodiments, the controller can extract the first feature points in the first image and the second feature points in the second image based on the SIFT algorithm, or the controller can extract the first feature points in the first image and the second feature points in the second image based on the KAZE algorithm. The SIFT (Scale-invariant feature transform) is an algorithm for machine vision to detect and describe local features in images. It finds extreme points in the spatial scale and extracts their positions, scales, and rotation-invariant numbers. The KAZE (KAZE Accelerated Segment Test) algorithm is a feature detection method based on a nonlinear scale space, which has good scale invariance and robustness. It can be understood that the controller can also extract the first feature points in the first image and the second feature points in the second image based on other algorithms, which are not limited in the present embodiment.

[0133] In step 1104, the deviation distance between the first feature point and the second feature point of each feature point pair is determined according to the plurality of feature point pairs.

[0134] It should be noted that the deviation distance can refer to the distance between the image position of the first feature point in the first image and the image position of the second feature point in the second image. For example, the coordinates of the first feature point in the first image are (x4, y4), and the coordinates of the second feature point in the second image are (x5, y5). The corresponding deviation distance of the feature point pair includes a first displacement amount Δx corresponding to the first direction and a second displacement amount Δy corresponding to the second direction, where Δx = x4 - x5 and Δy = y4 - y5.

[0135] In step 1106, the deviation pose information of the first printing medium deviating from the target pose is determined according to the deviation distances respectively corresponding to the plurality of feature point pairs.

[0136] It should be noted that the deviation pose information of the first printing medium deviating from the target pose can include deviation pose data between the first pose corresponding to the first printing medium and the target pose.

[0137] In some embodiments, the controller can determine a third displacement amount corresponding to the first direction of the first image relative to the second image and a fourth displacement amount corresponding to the second direction of the first image relative to the second image according to the first displacement amounts and the second displacement amounts respectively corresponding to the plurality of feature point pairs. It should be noted that the plurality of first feature points are uniformly distributed in the first image, the plurality of second feature points are uniformly distributed in the second image, the reference printing image is transformed based on the third displacement amount corresponding to the first direction of the first image relative to the second image and the fourth displacement amount corresponding to the second direction of the first image relative to the second image, and the translation deviation and the rotation deviation of the reference printing image are adjusted to ensure the printing accuracy of the first printing image obtained based on the transformation.

[0138] Optionally, determining the third displacement amount corresponding to the first direction of the first image relative to the second image and the fourth displacement amount corresponding to the second direction of the first image relative to the second image according to the first displacement amounts and the second displacement amounts respectively corresponding to the plurality of feature point pairs can include: calculating an average value of the first displacement amounts respectively corresponding to the plurality of feature point pairs to obtain the third displacement amount, and calculating an average value of the second displacement amounts respectively corresponding to the plurality of feature point pairs to obtain the fourth displacement amount.

[0139] In this embodiment, the deviation pose information of the first printing medium deviating from the target pose is determined according to the deviation distances respectively corresponding to the plurality of feature point pairs of the first image and the second image, and the reference printing image matching the target pose is transformed according to the deviation pose information to obtain the first printing image matching the first printing medium, thereby ensuring the accuracy of the obtained first printing image.

[0140] For reference Figure 12Fig. 12 shows a flowchart of another printing deviation correction method according to an embodiment of the present application, in which the printing surface of the first printing medium comprises a curved surface, and the printing system further comprises a height acquisition device. The method can be applied to a controller of the printing system.

[0141] As shown in Fig. 12, the printing deviation correction method can comprise steps 1202-1218. Figure 12

[0142] In step 1202, the image acquisition device acquires an image of the first printing medium moved to the acquisition position.

[0143] In step 1204, the deviation pose information between the first printing medium and the target pose is determined according to the first image.

[0144] In step 1206, a reference printing image matching the target pose is obtained.

[0145] In step 1208, the reference printing image is transformed according to the deviation pose information to obtain a first printing image matching the first printing medium.

[0146] It should be noted that the steps 1202-1208 are described above and will not be repeated here.

[0147] In step 1210, the height acquisition device scans the first printing medium moved to the acquisition position to obtain distance information between the printing surface of the first printing medium and the height acquisition device.

[0148] It should be noted that the height acquisition device can be used to detect the distance between the printing surface of the first printing medium and the height acquisition device, and the distance information can be used to represent the distance between the printing surface of the first printing medium and the height acquisition device. The printing system can comprise one or more height acquisition devices, so that the scanning range of the multiple height acquisition devices along the second direction covers the first printing medium along the second direction to avoid missing the distance between part of the printing surface and the height acquisition device. Alternatively, the height acquisition device can include, but is not limited to, a laser sensor or an ultrasonic sensor, etc.

[0149] For example, the height acquisition device and the image acquisition device respectively scan the first printing medium moved to the acquisition position, so that the distance information detected by the height acquisition device can be matched with the first image acquired by the image acquisition device, thereby obtaining the three-dimensional information corresponding to the printing surface of the first printing medium.

[0150] ​The height acquisition device can detect a distance between the print surface of the first print medium and the height acquisition device along a third direction, wherein the third direction is perpendicular to the first direction and the second direction respectively. The height acquisition device can include a laser sensor, which can emit a laser along the third direction to detect the distance between the print surface and the height acquisition device along the third direction.

[0151] At step 1212, the height information between the print surface and the bearing surface of the transfer device is determined according to the distance information.

[0152] At step 1214, the curvature information of the print surface of the first print medium is determined according to the height information.

[0153] It should be noted that the bearing surface of the transfer device can refer to the surface of the transfer device that is in contact with the first print medium, and the height information can be used to represent the distance between the print surface of the first print medium and the bearing surface of the transfer device. The height information can include height data corresponding to a plurality of points on the print surface of the first print medium, and each point corresponds to a distance between the point and the bearing surface. The controller can pre-store the distance between the height acquisition device and the bearing surface, so as to determine the height information between the print surface of the print medium and the bearing surface of the transfer device according to the distance information and the distance between the height acquisition device and the bearing surface.

[0154] It should be noted that the curvature information can be used to represent the bending degree of the print surface of the first print medium. The curvature information can include curvatures corresponding to a plurality of points on the print surface of the first print medium. The controller can determine the curvatures corresponding to the plurality of points on the print surface according to the height data corresponding to the plurality of points on the print surface.

[0155] In some embodiments, the height data corresponding to each point on the print surface includes a first distance between the point and the bearing surface, the curvature information includes curvatures corresponding to a plurality of points on the print surface, and determining the curvature information of the print surface of the first print medium according to the height information can include: determining three-dimensional coordinates corresponding to the plurality of points on the print surface according to the image positions of the plurality of points in the first image and the first distances corresponding to the plurality of points, determining a surface function corresponding to the print surface according to the three-dimensional coordinates corresponding to the plurality of points, and determining the curvatures corresponding to the plurality of points on the print surface according to the surface function.

[0156] At step 1216, the number of pixel points included in the first print image is adjusted according to the curvature information to obtain a second print image.

[0157] It should be noted that the greater the curvature, the greater the bending degree of the print surface, and the greater the difference between the length of the print surface and the length of the projection of the print surface in the first direction. Please refer to Figure 13, the length of the line segment AB in the first direction X is L, the length of the line segment BC in the first direction X is also L, and the length of the line segment AB is greater than the length of the line segment BC. The A' pixel point, the B' pixel point, and the C' pixel point of the first print image correspond to the A point, the B point, and the C point of the first print medium respectively, the interval between the A' pixel point and the B' pixel point, and the interval between the B' pixel point and the C' pixel point in the first print image are both L, but the distance between the A point and the B point, and the interval between the B point and the C point in the pattern printed by the first print medium are obviously different, resulting in different resolutions of the printed surface of the first print medium. In the embodiment, the number of pixel points contained in the first print image is adjusted according to the curvature information, so as to adjust the ejection frequency of the ejection orifice, so that the ejection frequency matches the curvature information, reduces the phenomenon that the distance between the printing points of the pattern changes due to the curved surface, and ensures the resolution of the pattern of the printed surface and the printing quality. For example, if a printing point D is added between the A point and the B point, the distance between the A point and the D point, the distance between the D point and the B point, and the distance between the B point and the C point are all equal, so that the resolution of the pattern of the first curved surface medium is uniform, and the D' pixel point is added in the first print image to form a printing point at the D point of the print medium.

[0158] For example, the greater the curvature of the printed surface indicated by the curvature information, the more pixel points of the second print image are obtained. It should be noted that when the bending degree of the printed surface is large, the number of pixel points added in the first print image is increased, so that the ejection frequency of the one or more ejection orifices of the printing device controlled to eject according to the second print image is increased, so as to make the resolution of the pattern printed on the first print medium uniform.

[0159] For example, if the curvature of the printed surface indicated by the curvature information is less than or equal to the curvature threshold, the number of pixel points contained in the first print image can not be adjusted. It should be noted that the pixel threshold can be used to measure whether the printed surface is close to a plane. If the curvature is greater than the curvature threshold, the printed surface is considered to be a curved surface, and if the curvature is less than or equal to the curvature threshold, the printed surface is considered to be close to a plane. When the curvature is less than or equal to the curvature threshold, the number of pixel points contained in the first print image is not adjusted, which can reduce the computational amount of the controller while ensuring the uniformity of the interval between the printing points of the printed pattern.

[0160] In some embodiments, adjusting the number of pixel points contained in the first print image according to the curvature information to obtain the second print image can include: the controller interpolates the first print image according to the curvature information to increase the number of pixel points contained in the first print image, to obtain the second print image. It should be noted that the interpolation operation refers to calculating new pixel values according to the values of existing pixels to fill in the blank areas in the first print image. Through the interpolation operation, new pixel points can be inserted between the rows or columns of the first print image, so that the pixel points of the print pattern in the second print image are more dense. In this embodiment, by inserting new pixel points, the ejection frequency of the nozzle is increased, so that the number of print points on the print surface is increased, thereby reducing the problem of uneven spacing between ink dots caused by curvature and improving print quality.

[0161] Step 1218, according to the second print image, controlling one or more nozzles of the printing device to print the first print medium moving to the first station.

[0162] It should be noted that the number of pixel points of the adjusted second print image changes, the number of pixel points increases, and the print frequency of the print head increases, that is, compared with printing the first print image, the spacing between the print points of the first print medium is reduced, so that the resolution of the print surface of the curved surface is uniform.

[0163] In this embodiment, the controller adjusts the number of pixel points contained in the first print image according to the curvature information to obtain the second print image, so that the print frequency (ejection frequency of ink droplets) of the nozzle matches the curvature information, ensures that the resolution of the print pattern on the first print medium based on the second print image is similar, and ensures the print quality.

[0164] Please refer to Figure 14 which shows a flowchart of a process for obtaining a second print image according to an embodiment of the present application. The height information includes height data corresponding to a plurality of points in the print surface of the first print medium. As shown in Figure 14 adjusting the number of pixel points contained in the first print image according to the curvature information to obtain the second print image can include steps 1402 to 1406.

[0165] Step 1402, according to the curvature information, dividing the first print image into a plurality of image regions.

[0166] It should be noted that the print surface includes a plurality of medium regions corresponding to the plurality of image regions, and the image region is used to control the printing device to print the corresponding medium region.

[0167] For example, the multiple pixels contained in the image area are used to indicate the printing parameters corresponding to multiple points in the media area corresponding to the image area, such as the color of the printing point and whether an ink droplet needs to be formed at that point (i.e. whether printing is required). The denser the pixels in the image area that indicate that printing is required, the denser the printing points in the media area corresponding to the image area.

[0168] For example, among multiple points in the medium region corresponding to the same image region, the difference between the maximum curvature and the minimum curvature is less than the curvature threshold. That is, the curvature difference between any two points in the same medium region is very small, thereby ensuring that the number of pixels contained in the adjusted image region is adapted to the curvature of the medium region, and ensuring that the resolution of the printed pattern meets the requirements.

[0169] In some embodiments, the printing surface of the first printing medium is divided into multiple medium regions according to curvature information, and the first printing image is divided into multiple image regions corresponding one-to-one with the multiple medium regions according to the correspondence between the printing surface and the first printed image.

[0170] Step 1404: Determine the adjustment ratio for each image region based on the height change information of the printed surface corresponding to each image region.

[0171] It should be noted that the height change information corresponding to the printed surface of the image area may refer to the height change information of the media area corresponding to the image area. This height change information of the media area can be used to describe the changing trend of height data of multiple points in the media area, or height differences, etc. Optionally, the height change information of the media area may include, but is not limited to, the slope, curvature, and height gradient of the media area. The adjustment ratio corresponding to the image area may refer to the ratio between the number of pixels in the image area of ​​the second printed image that indicate the need for printing and the number of pixels in the image area of ​​the first printed image that indicate the need for printing.

[0172] In some embodiments, the height information includes height data corresponding to multiple points on the printed surface, and the height change information corresponding to the printed surface of the image area includes the slope of the printed surface corresponding to the image area. The controller can determine the highest point and the lowest point of the printed surface corresponding to the first image area, and determine the slope of the printed surface corresponding to the first image area based on the image position of the highest point in the first image area, the height data corresponding to the highest point, the image position of the lowest point in the first image area, and the height data corresponding to the lowest point.

[0173] It should be noted that the first image region can be any one of multiple image regions. The highest point is the point with the largest height data in the printed surface corresponding to the first image region, and the lowest point is the point with the smallest height data in the printed surface corresponding to the first image region. In other words, the highest point is the point in the media region corresponding to the first image region that is closest to the height acquisition device, and the lowest point is the point in the media region corresponding to the first image region that is farthest from the height acquisition device. Both the height data and the image position of the first image region correspond to points on the media region. The greater the slope of the media region, the more printing points need to fall within that media region.

[0174] In some embodiments, the slope of the printed surface may include the slope of the printed surface along a first direction. Determining the slope of the printed surface corresponding to the first image area based on the image position of the highest point in the first image area, the height data corresponding to the highest point, the image position of the lowest point in the first image area, and the height data corresponding to the lowest point may include: the controller determining a first value in the first image position and a second value in the second image position; calculating the positional difference between the first and second values; calculating the height difference between the height data corresponding to the highest point and the height data corresponding to the lowest point; calculating the ratio of the height difference to the positional difference; and determining this ratio as the slope of the media area corresponding to the first image area. Wherein, the first image position is the image position of the highest point in the first image area, the second image position is the image position of the lowest point in the first image area, the first value is the coordinate value of the first image position corresponding to the first direction, and the second value is the coordinate value of the second image position corresponding to the first direction.

[0175] In some embodiments, determining the adjustment ratio for each image region based on the height change information of the printed surface corresponding to each image region may include: the controller determining the adjustment ratio for each image region based on the slope of the printed surface corresponding to each image region. For example, the adjustment ratio is... in, ΔH represents the slope of the printed surface corresponding to the image area, ΔH represents the height difference between the height data corresponding to the highest point and the height data corresponding to the lowest point in the first image area, and ΔL represents the position difference between the first position and the second position in the first image area.

[0176] Step 1406: Adjust the number of pixels in each image region according to the adjustment ratio corresponding to each image region to obtain the second printed image.

[0177] In some embodiments, the transfer device carries a first printing medium and drives the first printing medium to move at a constant speed along a first direction. The number of pixels in each image region is adjusted according to the adjustment ratio corresponding to each image region to obtain a second printed image. This may include: a controller performing interpolation processing on each image region in the first printed image along the first direction according to the adjustment ratio corresponding to each image region to obtain the second printed image. The ratio between the number of pixels in each image region of the second printed image along the first direction and the number of pixels in the corresponding image region of the first printed image along the first direction is the adjustment ratio corresponding to the corresponding image region. That is, the controller performs interpolation processing on the second image region along the first direction according to the adjustment ratio corresponding to the second image region to obtain the second printed image. The ratio between the number of pixels in the second image region of the second printed image along the first direction and the number of pixels in the second image region of the first printed image along the first direction is the adjustment ratio corresponding to the second image region, which can be any one of multiple image regions.

[0178] It should be noted that the transfer device moves at a constant speed along the first direction. To ensure the quality of the ink droplets at the printed points, the speed of the transfer device is generally not very fast. Therefore, if the printing surface of the first printing medium is curved along the first direction, uneven spacing between the printed points will occur. In this embodiment, by adjusting the number of pixels contained in each image area, the frequency at which the print head prints onto the medium area corresponding to that image area is adjusted, thereby ensuring uniform spacing between two printed points and guaranteeing printing resolution.

[0179] For example, the spacing between two adjacent nozzles in the printhead along the second direction is less than or equal to a distance threshold. It should be noted that a spacing between two adjacent nozzles less than or equal to the distance threshold can be considered as a very small interval between them. Therefore, even if the printing surface is curved along the second direction, the spacing difference of the printed dots along the second direction can be guaranteed to be very small, and the curvature has little effect on the printed dots, ensuring printing accuracy.

[0180] In this embodiment, the number of pixels in the second printed image is matched with the curvature of the surface of the first printing medium. By dividing the first printing medium containing the surface into sections according to the curvature and adjusting the resolution of the printed image corresponding to the moving direction, the printing frequency corresponding to different curvatures is different, so that the spacing of ink dots on surfaces with different curvatures is close, thus ensuring printing quality.

[0181] In this embodiment, the first printed image is divided into multiple image regions based on curvature information, and the adjustment ratio corresponding to each image region is determined based on the height change information of the printing surface corresponding to each image region. This means that the printing frequency of the nozzles corresponding to the medium regions with different curvatures is different, so that the spacing between the printing points in the printing surfaces with different curvatures is uniform, thus ensuring the printing resolution.

[0182] Please refer to Figure 15 This document illustrates a schematic diagram of a print correction device disclosed in an embodiment of this application. This device can be applied to the controller of a printing system. The printing system also includes an image acquisition device, a transfer device, and a printing device. The transfer device carries a first printing medium and first transfers the first printing medium to the acquisition position corresponding to the image acquisition device, and then transfers the first printing medium to the first station corresponding to the printing device. Figure 15 As shown, the print correction device 1500 may include an image acquisition module 1510, a first determination module 1520, an image acquisition module 1530, an image transformation module 1540, and a print control module 1550.

[0183] The image acquisition module 1510 acquires an image of the first printing medium that has moved to the acquisition position using an image acquisition device, thereby obtaining a first image. The first determination module 1520 determines the deviation pose information of the first printing medium from the target pose based on the first image. The image acquisition module 1530 acquires a reference printed image that matches the target pose. The image transformation module 1540 transforms the reference printed image based on the deviation pose information to obtain a first printed image that matches the first printing medium. The print control module 1550 controls one or more nozzles of the printing device to print the first printing medium that has moved to the first station based on the first printed image.

[0184] In some embodiments, the first printing medium is provided with one or more markers disposed on the printing surface of the first printing medium, so that the image acquisition device can acquire the markers. The deviation pose information includes deviation pose data between the first pose corresponding to the first printing medium and the target pose. The first determining module 1520 includes an identification unit, a first determining unit, and a second determining unit. The identification unit is used to identify each marker in the first image and determine the image position of each marker in the first image. The first determining unit is used to determine the first pose corresponding to the first printing medium based on the image position corresponding to each marker. The second determining unit is used to determine the deviation pose data between the first pose and the target pose.

[0185] In some embodiments, the first printing medium is provided with a first marker and a second marker. The first pose includes first position data and first angle data corresponding to the midpoint between the first marker and the second marker. The target pose includes target position data and target angle data corresponding to the midpoint. The second determining unit includes a first determining subunit and a second determining subunit. The first determining subunit is used to determine the deviation position data between the first position data and the target position data. The second determining subunit is used to determine the deviation angle data between the first angle data and the target angle data.

[0186] In some embodiments, the first determining module 1520 includes a matching unit, a third determining unit, and a fourth determining unit. The matching unit performs image matching between the first image and a second image corresponding to the target pose to obtain multiple sets of feature point pairs. Each set of feature point pairs includes a first feature point in the first image and a second feature point in the second image that matches the first feature point. The second image is acquired by an image acquisition device. The third determining unit determines the deviation distance between the first and second feature points in each set of feature point pairs based on the multiple sets of feature point pairs. The fourth determining unit determines the deviation pose information of the first printing medium from the target pose based on the deviation distances corresponding to the multiple sets of feature point pairs.

[0187] In some embodiments, the printing surface of the first printing medium includes a curved surface, and the printing system further includes a height acquisition device. The printing correction device 1500 further includes a height acquisition module, a second determination module, and a third determination module. The printing control module 1550 includes an adjustment unit and a control unit. The height acquisition module is used to scan the first printing medium that has moved to the acquisition position using the height acquisition device to obtain distance information between the printing surface of the first printing medium and the height acquisition device. The second determination module is used to determine the height information between the printing surface and the bearing surface of the transfer device based on the distance information. The third determination module is used to determine the curvature information of the printing surface of the first printing medium based on the height information. The adjustment unit is used to adjust the number of pixels contained in the first printed image based on the curvature information to obtain a second printed image. The control unit is used to control one or more nozzles of the printing device to print the first printing medium that has moved to the first station based on the second printed image.

[0188] In some embodiments, the height information includes height data corresponding to multiple points on the printing surface of the first printing medium. The adjustment unit includes a division subunit, a third determination subunit, and an adjustment subunit. The division subunit is used to divide the first printed image into multiple image regions according to curvature information. The third determination subunit is used to determine the adjustment ratio corresponding to each of the image regions according to the height change information corresponding to the printing surface of each image region. The adjustment subunit is used to adjust the number of pixels contained in each image region according to the adjustment ratio corresponding to each image region to obtain a second printed image.

[0189] In some embodiments, the height information includes height data corresponding to multiple points on the printed surface; the height change information corresponding to the printed surface of the image area includes the slope of the printed surface corresponding to the image area. The print correction device 1500 further includes a fourth determining module and a fifth determining module. The fourth determining module is used to determine the highest point and the lowest point of the printed surface corresponding to the first image area; wherein, the highest point is the point with the largest height data in the printed surface corresponding to the first image area, and the lowest point is the point with the smallest height data in the printed surface corresponding to the first image area; the first image area is any one of multiple image areas. The fifth determining module is used to determine the slope of the printed surface corresponding to the first image area based on the image position of the highest point in the first image area, the height data of the highest point, the image position of the lowest point in the first image area, and the height data of the lowest point.

[0190] In this embodiment, the controller can first determine the deviation pose information between the first printing medium and the target pose, and then transform the reference printing image that matches the target pose according to the deviation pose information, so that the reference printing image is adjusted accordingly to obtain the first printing image that matches the first printing medium, so that even if the first printing medium changes relative to the target pose, the pattern printed on the first printing medium can be aligned, thus achieving accurate printing.

[0191] Meanwhile, the transformation processing of the reference printed image for target pose matching is completed by software, which has an extremely fast response speed. Compared with mechanical adjustment, the adjustment speed is faster and avoids mechanical wear.

[0192] This application also provides a printing system, which may include an image acquisition device, a printing device, a transfer device, and a controller. The transfer device carries a first printing medium and first transfers the first printing medium to the acquisition position corresponding to the image acquisition device, and then transfers the first printing medium to the first workstation corresponding to the printing device.

[0193] Please refer to Figure 16The diagram shows a schematic of the structure of a controller for a printing system disclosed in an embodiment of this application.

[0194] like Figure 16 As shown, the controller 1600 may include:

[0195] Memory 1610 storing executable program code;

[0196] Processor 1620 coupled to memory 1610;

[0197] The processor 1620 calls the executable program code stored in the memory 1610 to execute any of the printing correction methods disclosed in the embodiments of this application.

[0198] This application discloses a computer-readable storage medium storing a computer program, wherein when the computer program is executed by the processor, the processor implements any of the printing correction methods disclosed in this application.

[0199] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Those skilled in the art should also recognize that the embodiments described in the specification are optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0200] In the various embodiments of this application, it should be understood that the sequence number of each process does not necessarily imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0201] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they can be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0202] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0203] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-accessible memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several requests to cause a computer device (which can be a personal computer, server, or network device, specifically a processor in the computer device) to execute some or all of the steps of the methods described in the various embodiments of this application.

[0204] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0205] The foregoing has provided a detailed description of a printing correction method, apparatus, printing system, and computer-readable storage medium disclosed in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A printing correction method, characterized in that, A controller for a printing system, the printing system further comprising an image acquisition device, a transfer device, and a printing device, wherein the transfer device carries a first printing medium and first transfers the first printing medium to the acquisition position corresponding to the image acquisition device, and then transfers the first printing medium to the first station corresponding to the printing device; the method includes: The image acquisition device acquires an image of the first printing medium that has moved to the acquisition position, thereby obtaining a first image. Based on the first image, determine the deviation pose information of the first printing medium from the target pose; Obtain a reference printed image that matches the target pose; The reference printed image is transformed based on the deviation pose information to obtain a first printed image that matches the first printing medium. Based on the first printed image, control one or more nozzles of the printing device to print the first printing medium that has moved to the first station; The first printing medium is provided with a first marker and a second marker. The deviation pose information includes deviation pose data between the first pose corresponding to the first printing medium and the target pose. The target pose includes target position data and target angle data corresponding to the midpoint between the first marker and the second marker. Determining the deviation pose information of the first printing medium from the target pose based on the first image includes: Identify each marker in the first image and determine the image position of each marker in the first image; Based on the image positions corresponding to each of the markers, the first pose corresponding to the first printing medium is determined; the first pose includes the first position data and the first angle data corresponding to the midpoint. Determine the deviation position data between the first position data and the target position data; Determine the deviation angle data between the first angle data and the target angle data; or, The step of determining the deviation pose information of the first printing medium from the target pose based on the first image includes: The first image is matched with the second image corresponding to the target pose to obtain multiple sets of feature point pairs. Each set of feature point pairs includes a first feature point in the first image and a second feature point in the second image that matches the first feature point. The second image is acquired by an image acquisition device. Based on the multiple sets of feature point pairs, determine the deviation distance between the first feature point and the second feature point in each set of feature point pairs; Based on the deviation distances corresponding to the multiple sets of feature point pairs, the deviation pose information of the first printing medium from the target pose is determined.

2. The method according to claim 1, characterized in that, The printing surface of the first printing medium includes a curved surface, and the printing system further includes a height acquisition device; the method further includes: The height acquisition device scans the first printing medium that has moved to the acquisition position to obtain the distance information between the printing surface of the first printing medium and the height acquisition device. Based on the distance information, determine the height information between the printing surface and the bearing surface of the transfer device; Based on the height information, the curvature information of the printing surface of the first printing medium is determined; The step of controlling one or more nozzles of the printing device to print the first printing medium that has moved to the first station, based on the first printed image, includes: The number of pixels in the first printed image is adjusted according to the curvature information to obtain the second printed image; Based on the second printed image, one or more nozzles of the printing device are controlled to print the first printing medium that has moved to the first station.

3. The method according to claim 2, characterized in that, The step of adjusting the number of pixels in the first printed image according to the curvature information to obtain the second printed image includes: Based on the curvature information, the first printed image is divided into multiple image regions; Based on the height change information of the printed surface corresponding to each of the image regions, determine the adjustment ratio corresponding to each of the image regions; The number of pixels contained in each of the image regions is adjusted according to the adjustment ratio corresponding to each of the image regions to obtain the second printed image.

4. The method according to claim 3, characterized in that, The height information includes height data corresponding to multiple points on the printed surface; the height change information corresponding to the printed surface of the image region includes the slope of the printed surface corresponding to the image region; the method further includes: Determine the highest and lowest points of the printed surface corresponding to the first image region; wherein, the highest point is the point with the largest height data in the printed surface corresponding to the first image region, and the lowest point is the point with the smallest height data in the printed surface corresponding to the first image region; the first image region is any one of the plurality of image regions; Based on the image position of the highest point in the first image area, the height data of the highest point, the image position of the lowest point in the first image area, and the height data of the lowest point, the slope of the printed surface corresponding to the first image area is determined.

5. A printing correction device, characterized in that, A controller for a printing system, the printing system further comprising an image acquisition device, a transfer device, and a printing device, wherein the transfer device is used to carry a first printing medium and first transfer the first printing medium to the acquisition position corresponding to the image acquisition device, and then transfer the first printing medium to the first station corresponding to the printing device; The printing correction device includes: The image acquisition module is used to acquire an image of the first printing medium that has moved to the acquisition position through the image acquisition device, thereby obtaining a first image; The first determining module is used to determine the deviation pose information of the first printing medium from the target pose based on the first image; The image acquisition module is used to acquire a reference printed image that matches the target pose; An image transformation module is configured to transform the reference printed image based on the deviation pose information to obtain a first printed image that matches the first printing medium; and A printing control module is used to control one or more nozzles of the printing device to print the first printing medium that has moved to the first station, based on the first printed image. The first printing medium is provided with a first marker and a second marker. The deviation pose information includes deviation pose data between the first pose corresponding to the first printing medium and the target pose. The target pose includes target position data and target angle data corresponding to the midpoint between the first marker and the second marker. The first determining module includes: The recognition unit is used to recognize each marker in the first image and determine the image position of each marker in the first image. The first determining unit is configured to determine the first pose corresponding to the first printing medium based on the image positions corresponding to each of the markers; the first pose includes the first position data and the first angle data corresponding to the midpoint; A first determining subunit is configured to determine offset position data between the first position data and the target position data; and The second determining subunit is used to determine the deviation angle data between the first angle data and the target angle data; or, The first determining module includes: The matching unit is used to perform image matching between the first image and the second image corresponding to the target pose to obtain multiple sets of feature point pairs. Each set of feature point pairs includes a first feature point in the first image and a second feature point in the second image that matches the first feature point. The second image is acquired by an image acquisition device. The third determining unit is configured to determine, based on the multiple sets of feature point pairs, the deviation distance between the first feature point and the second feature point in each set of feature point pairs; and The fourth determining unit is used to determine the deviation pose information of the first printing medium from the target pose based on the deviation distances corresponding to the multiple sets of feature point pairs.

6. A printing system, characterized in that, include: Image acquisition device; Printing device; A transfer device is used to carry the first printing medium and first transfer the first printing medium to the acquisition position corresponding to the image acquisition device, and then transfer the first printing medium to the first station corresponding to the printing device. as well as A controller includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 4.

Images