Multi-substrate positioning printing method, device, equipment and storage medium

Abstract

The application discloses a multi-printing material positioning printing method and device, equipment and storage medium, relates to the inkjet printing technical field, and solves the technical problem of low efficiency of inkjet printing on multiple printing materials at a time in the existing inkjet printing mode. The method comprises the following steps: acquiring a first image, wherein the first image comprises a printing platform and all printing materials on the printing platform; acquiring position information and attitude information of each printing material on the printing platform according to the first image; processing a first printing image corresponding to each printing material according to the attitude information and the position information to obtain a target printing image; and performing inkjet printing according to the target printing image. The application can adapt to printing materials of various sizes and different positions, make the inkjet printing technology more intelligent and efficient, and improve printing accuracy and efficiency.

Description

Technical Field

[0001] This invention relates to the field of inkjet printing technology, and in particular to a multi-substrate positioning printing method, apparatus, equipment, and storage medium. Background Technology

[0002] In existing inkjet printing technology, different colors of ink are typically sprayed onto a substrate through a printhead to form patterns and text. With changing consumer needs, inkjet printing technology is being used on a wide variety of materials to produce products with pre-defined patterns and text.

[0003] If multiple small substrates need to be printed, the traditional method is to print or paste a grid line at a certain distance on the printing platform, place the substrates according to the grid line, and then determine the position and orientation of the substrates on the printing platform using the grid line. This traditional substrate positioning method has large errors, is cumbersome, and cannot handle multiple substrates of different sizes that cannot be arranged neatly. At the same time, it cannot accurately distinguish between multiple substrates with only slight differences, leading to printing errors. Recently, digital inkjet printers have a precise CCD automatic alignment function, which can automatically adjust the graphic size according to the different size changes of the substrate, so that the size of the digital graphic to be printed matches the actual size of the substrate.

[0004] Existing inkjet printers can only print on one substrate at a time. After the image on that substrate is printed, the printer will reposition itself to print the next substrate. This repositioning is required for each substrate, resulting in low printing efficiency. Summary of the Invention

[0005] This invention provides a multi-substrate positioning printing method, apparatus, device, and storage medium to solve the technical problem of low efficiency in existing inkjet printing methods when printing on multiple substrates at once.

[0006] In a first aspect, the present invention provides a multi-substrate positioning printing method for a printer, the printer comprising a printing carriage and a printing platform, the printing carriage having an imaging device disposed on the printhead stepping direction, and the printing platform for carrying a plurality of substrates, each substrate being simultaneously distributed at different positions on the printing platform, the method comprising:

[0007] Acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform;

[0008] Based on the first image, obtain the position and orientation information of each substrate on the printing platform;

[0009] Based on the posture information and the position information, the first printed image corresponding to each substrate is processed to obtain the target printed image;

[0010] Inkjet printing is performed based on the target print image.

[0011] As an optional embodiment of this application, the step of obtaining the position and orientation information of each substrate on the printing platform based on the first image includes:

[0012] According to the preset edge detection algorithm, edge detection is performed on the first image to obtain the contour information of each substrate;

[0013] A planar coordinate system is established with the reciprocating movement direction of the nozzle as the X-axis, the stepping direction of the nozzle as the Y-axis, and the plane where the printing platform is located.

[0014] The coordinates of each substrate in the planar coordinate system are calculated based on the contour information to obtain the position information of each substrate.

[0015] Based on the feature point detection algorithm and the contour information, feature points of each substrate in the first image are extracted;

[0016] Based on the feature points, the posture information of each substrate is obtained, wherein the posture information includes rotation angle and / or scaling factor.

[0017] As an optional embodiment of this application, the step of processing the first printed image corresponding to each substrate according to the posture information and the position information to obtain the target printed image includes:

[0018] Based on the posture information, the first printed image corresponding to each substrate is processed so that the position of the ink droplets ejected on each substrate is consistent with the desired ink outlet position on the substrate, thereby obtaining the second printed image.

[0019] Based on the position information of each substrate, the second printed image corresponding to each substrate is arranged on a blank canvas to obtain a first initial printed image, wherein the size of the blank canvas is the same as the size of the printing platform;

[0020] The initial printed image is rasterized to obtain the target printed image.

[0021] As an optional embodiment of this application, the step of acquiring the first image includes:

[0022] The printing carriage is controlled to move, thereby driving the imaging device to scan the printing platform and obtain a first image.

[0023] As an optional embodiment of this application, the step of inkjet printing based on the target print image includes:

[0024] After the printing carriage returns to its initial position, inkjet printing is performed based on the target print image.

[0025] As an optional embodiment of this application, the step of acquiring the first image includes:

[0026] When the size of each substrate on the printing platform is smaller than the first preset size, the printing carriage is controlled to move to drive the imaging device to scan the printing platform and obtain the first image;

[0027] When the size of each substrate on the printing platform is larger than a second preset size, the printing carriage is controlled to move to drive the imaging device to scan several positioning points on the substrate to obtain a first image. Within a preset range, the printing carriage moves at a preset speed; outside the preset range, the printing carriage accelerates with a preset acceleration. The preset range is a range with the positioning point as the center and a preset distance as the radius.

[0028] Wherein, the first preset size is smaller than the second preset size.

[0029] As an optional embodiment of this application, the step of inkjet printing based on the target print image includes:

[0030] When the size of each substrate on the printing platform is smaller than the first preset size, inkjet printing is performed based on the target printing image while the imaging device is scanning.

[0031] When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move from the last scanned positioning point to perform inkjet printing on the target image.

[0032] Secondly, the present invention provides a multi-substrate positioning printing device for a printer, the printer including a printing carriage and a printing platform, the printing carriage having an imaging device arranged in the printhead stepping direction, and the printing platform for carrying several substrates, each substrate being simultaneously distributed at different positions on the printing platform, the device comprising:

[0033] An image acquisition module is used to acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform;

[0034] The information acquisition module is used to acquire the position and orientation information of each substrate on the printing platform based on the first image;

[0035] The image processing module is used to process the first printed image corresponding to each substrate according to the posture information and the position information to obtain the target printed image;

[0036] An inkjet printing module is used to perform inkjet printing based on the target print image.

[0037] Thirdly, the present invention provides a printing apparatus including at least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the method described in the first aspect.

[0038] Fourthly, the present invention provides a storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method described in the first aspect.

[0039] In summary, the beneficial effects of this application are as follows:

[0040] This invention discloses a multi-substrate positioning printing method for a printer. The printer includes a printing carriage and a printing platform. An imaging device is mounted on the printing carriage in the printhead stepping direction. This imaging device allows for more precise capture of images at each printing step, facilitating positioning and calibration of the printing position. It is particularly suitable for scenarios requiring high-precision printing, saving imaging time and improving printing efficiency. The printing platform carries several substrates, which are simultaneously distributed at different positions on the printing platform. The method includes: acquiring a first image, wherein the first image includes the printing platform and all the substrates on the printing platform. The first image contains information about the entire printing platform and all the substrates on it, which enables the printing system to... The system can acquire the position and orientation information of all substrates at once. Compared to imaging each substrate individually, global information provides a more comprehensive visual scene, which is beneficial for overall image processing and printing optimization. Based on the first image, the system acquires the position and orientation information of each substrate on the printing platform. By analyzing the first image, the printing system can automatically acquire the position information of each substrate on the printing platform without manual intervention or tedious grid line positioning. Based on the orientation and position information, the first printed image corresponding to each substrate is processed to obtain the target printed image. By using the orientation and position information, the first printed image can be precisely processed and adjusted to match the actual position and orientation of each substrate. This ensures that the printed patterns and text appear accurately in the designated positions on the substrates, improving printing precision and accuracy. Finally, inkjet printing is performed based on the target printed image. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram illustrating the principle of using multiple scans and printing to improve image resolution in this invention.

[0043] Figure 2 This is a flowchart of the multi-substrate positioning printing method of the present invention.

[0044] Figure 3 This is a schematic diagram of the structure of the multi-substrate positioning printing device of the present invention.

[0045] Figure 4 This is a schematic diagram of the printing device of the present invention. Detailed Implementation

[0046] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the invention.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0048] Example 1

[0049] The inkjet printhead of a printing device consists of multiple nozzles arranged vertically in one or more rows. This determines that the inkjet printhead has a fixed resolution, or inherent resolution. For example, the resolution of a certain nozzle is 300 DPI, which means there are 300 nozzles per inch.

[0050] like Figure 1 As shown, high-resolution image printing can be accomplished by multiple back-and-forth printing cycles from the inkjet printhead. For example, to print a 600 DPI image using a 300 DPI nozzle, the printhead needs to perform two scans and two print cycles to completely print the image data. Figure 1 As shown, both the triangle and the circle represent a single ink dot ejected from the printhead. The printhead can print an image formed by the dots represented by the circles in a single scan, with a resolution of 300 DPI. Then, the printhead can scan again to print the dots represented by the triangles, ultimately forming an image with a resolution of 600 DPI. Specifically, the printhead first scans the dots represented by the circles, then moves a certain distance along the vertical direction and scans again to print the dots represented by the triangles; this distance is the inkjet step distance. Since this process requires two scans, the initial number of scans is 2. If each scan is considered a pass, this is a 2-pass print.

[0051] Based on the above printing method, such as Figure 2 As shown, this invention provides a multi-substrate positioning printing method for a printer. The printer includes a printing carriage and a printing platform. An imaging device is mounted on the printing carriage in the printhead stepping direction. Located in front of the printing carriage, the imaging device can follow the movement of the printing carriage in real time, ensuring that image information of the substrate is acquired promptly when ink is ejected from the printhead. Furthermore, positioning the imaging device in the printhead stepping direction allows for more precise capture of images at each printing step, facilitating positioning and calibration of the printing position, making it particularly suitable for scenarios requiring high-precision printing. The imaging device may be a camera or other vision sensor, capable of capturing images of all substrates on the printing platform. The printing platform carries several substrates, each distributed simultaneously at different positions on the printing platform.

[0052] Specifically, the printing carriage is a movable component that moves in a reciprocating scanning direction. The printing carriage is equipped with an imaging device to image the printing platform during the reciprocating scan. The printing platform carries multiple substrates, which are simultaneously distributed in different positions.

[0053] See Figure 2 The method includes:

[0054] S1. Obtain a first image, wherein the first image includes the printing platform and all the substrates on the printing platform;

[0055] Specifically, the printing carriage first begins to move in the reciprocating scanning direction. As the printing carriage moves, the imaging device begins to capture images of the entire printing platform. The imaging device can capture multiple images continuously or acquire images at a certain frequency. In this way, the imaging device can acquire images of all the substrates on the printing platform in a very short time.

[0056] In one embodiment, after acquiring the first image, the method further includes image processing of the first image. The image processing may include image denoising, image enhancement, edge detection, etc., to ensure the quality and clarity of the image. Specifically, image denoising can use a mean filter to filter the image, taking the average value of the surrounding pixels to replace the current pixel value, thereby reducing noise in the image. Alternatively, a Gaussian filter can be used to filter the image, assigning different weights to the surrounding pixels according to the Gaussian distribution, thereby smoothing the image and reducing noise.

[0057] Image enhancement can be achieved using the following methods:

[0058] Contrast enhancement: By adjusting the range of pixel values ​​in an image through linear or non-linear transformations, the contrast of the image is enhanced, thereby improving the image's clarity and recognizability.

[0059] Brightness adjustment: Adjusts the brightness of the image to make it brighter or darker, thereby improving the image's visual effect;

[0060] Histogram equalization: Maps the pixel values ​​of an image to make the image's histogram more uniform across the pixel value range, increasing the image's dynamic range and contrast.

[0061] S2. Based on the first image, obtain the position and orientation information of each substrate on the printing platform;

[0062] First, target detection and image segmentation are performed on the first image. Target detection refers to identifying the target of interest (i.e., the substrate) in the image, while image segmentation is to separate the target from the image to obtain independent images of each substrate. For each detected substrate, its feature information is extracted, which may include position information, size, shape, color, etc. Based on the feature information, the pose information of each substrate, such as rotation angle, tilt angle, etc., is estimated. The pose estimation can be obtained by calculating the edges, corners, line segments, etc. in the image to obtain the orientation and pose of the substrate. The position and pose information of the substrate are transformed into the coordinate system of the printing platform to obtain the position information of each substrate.

[0063] In one embodiment, step S2 specifically includes:

[0064] S21. Perform edge detection on the first image according to the preset edge detection algorithm to obtain the contour information of each substrate;

[0065] Specifically, a preset edge detection algorithm is used to process the first image to extract the contour information of each substrate. This contour information is represented as a set of ordered pixels, describing the boundary of the substrate. Edge detection can effectively identify edge features in an image, helping to locate the contour of the substrate. The preset edge detection algorithm includes the Canny edge detection algorithm, the Sobel operator, etc.

[0066] S22. Establish a planar coordinate system with the reciprocating movement direction of the nozzle as the X-axis, the stepping direction of the nozzle as the Y-axis, and the plane where the printing platform is located.

[0067] A planar coordinate system is established on the plane of the printing platform, with the reciprocating movement direction of the printhead as the X-axis and the stepping direction of the printhead as the Y-axis. This facilitates the accurate description and calculation of the position and orientation of the substrate.

[0068] S23. Calculate the coordinates of each substrate in the planar coordinate system based on the contour information to obtain the position information of each substrate;

[0069] Based on the contour information, the coordinates of each substrate are calculated in the established planar coordinate system, thus obtaining the position information of each substrate in the planar coordinate system. This position information will indicate the specific position of the substrate on the printing platform for subsequent printing processing.

[0070] S24. Based on the feature point detection algorithm and the contour information, extract the feature points of each substrate in the first image;

[0071] Based on contour information, feature points of each substrate in the first image are extracted using feature point detection algorithms, including SIFT (Scale Invariant Feature Transform) and SURF (Speed-Up Robust Feature Transform). Feature points are unique and stable points in an image, which can be used for subsequent pose calculation and matching.

[0072] S25. Based on the feature points, obtain the posture information of each substrate, wherein the posture information includes rotation angle and / or scaling factor.

[0073] After feature points are detected, each feature point is described as a feature vector containing local feature information of the region surrounding the feature point. The descriptor generation process considers the scale, orientation, and statistical information of local image patches of the feature points; by calculating the similarity metric of feature points, the feature points in the first image are matched with preset template feature points. This allows the identification of the corresponding feature points for each substrate in the first image; based on the matching results, the pose information of each substrate, including rotation angle and / or scaling factor, can be calculated. By analyzing the position and orientation of the feature points in the planar coordinate system, the rotation and scaling information of the substrate in the image can be obtained.

[0074] The role of feature point detection algorithms is to extract unique and stable feature points to identify the substrate and obtain its position and orientation information during subsequent pose calculation and matching processes. Using feature point descriptors, feature point matching can be performed across multiple images, enabling accurate substrate identification and pose calculation, thus achieving more precise print image adjustment and inkjet printing.

[0075] S3. Based on the posture information and the position information, process the first printed image corresponding to each substrate to obtain the target printed image;

[0076] Specifically, for each substrate, image correction is first performed based on its corresponding pose information to adjust the substrate orientation in the image to the correct position. Then, all corrected images are registered to align them in the same coordinate system. Based on the position information and the actual size of the substrate, the image size for each substrate is adjusted to ensure consistency with the actual dimensions, thus obtaining the processed first printed image. The processed first printed images of all substrates are then merged to obtain the final target printed image. In this way, the target printed image will contain all the processed first printed images and ensure their alignment in the same coordinate system.

[0077] As an optional embodiment of this application, the step of processing the first printed image corresponding to each substrate according to the posture information and the position information to obtain the target printed image includes:

[0078] S31. Based on the posture information, process the first printed image corresponding to each substrate so that the position of the ink droplets ejected on each substrate is consistent with the desired ink outlet position on the substrate, and obtain the second printed image.

[0079] Specifically, in this embodiment, after acquiring the posture information of each substrate, several preset first print images are matched using the posture information of each substrate. The first print images include dot matrix data for printing. By depicting the dot matrix data within an image file, coordinate data for each image can be obtained in the first print images. Based on the correspondence between the coordinate data of each contour point in the posture information and the coordinate data of the image, the rotation angle and / or the scaling factor are determined. The rotation angle and / or the scaling factor can be calculated by detecting feature points (such as corners, edges, etc.) on the image and the substrate, and then matching the feature points between them. Feature point matching can use common computer vision algorithms such as SIFT, SURF, and ORB.

[0080] S32. According to the position information of each substrate, arrange the second printed image corresponding to each substrate on the blank canvas to obtain the first initial printed image, wherein the size of the blank canvas is the same as the size of the printing platform;

[0081] First, the size of the blank canvas is determined based on the size of the printing platform. The size of the blank canvas is the same as the size of the printing platform. Having the same size means they have the same dimensions and proportions, which helps ensure that the image arrangement on the canvas is consistent with the actual printing platform. This ensures that the position and size of the previewed image on the blank canvas are consistent with its actual position and size during printing, resulting in a more accurate preview.

[0082] Subsequently, for each substrate, based on its position information on the printing platform, its position on the blank canvas is determined, and the second printed image corresponding to each substrate is merged onto the blank canvas according to the determined position. This can be achieved through methods such as image copying, pasting, or image overlay.

[0083] After merging the images of all the substrates, the first initial print image is obtained. This image contains the arrangement of all the substrates on a blank canvas.

[0084] S33. Rasterize the initial printed image to obtain the target printed image.

[0085] Specifically, rasterization is the process of converting vector graphics into raster images (pixel arrays), making them into a format that printers can recognize. After rasterization, the target print image can accurately control the inkjet printer's ink ejection position and droplet size, thereby achieving the desired printing effect.

[0086] S4. Perform inkjet printing based on the target print image;

[0087] As an optional embodiment of this application, the step of acquiring the first image includes:

[0088] S11. Control the printing carriage to move so as to drive the imaging device to scan the printing platform and obtain a first image.

[0089] The step of inkjet printing based on the target print image includes:

[0090] S41. After the printing carriage returns to its initial position, inkjet printing is performed according to the target printing image;

[0091] Specifically, in this embodiment, firstly, the printing carriage is controlled to move, causing it to drive the imaging device to scan the printing platform, thereby acquiring a first image. While the printing carriage is scanning, the imaging device records the position and orientation information of all substrates on the printing platform, forming the first image. Once the scanning is complete, the printing carriage returns to its initial position.

[0092] Next, inkjet printing is performed based on the target print image. At this stage, the inkjet printer processes the target print image based on the position and orientation information of each substrate obtained from the first image. Specific processing steps include offset processing and fill processing to obtain an image tailored to each substrate.

[0093] In summary, this solution involves the printing carriage first performing a no-load scan to acquire the position and orientation information of all substrates. Then, based on this information, image processing and adjustments are performed to ultimately achieve the target printed image for each substrate. This process improves printing efficiency and accuracy, ensuring that the image is completely and accurately rendered on the substrate.

[0094] As an optional embodiment of this application, the step of acquiring the first image includes:

[0095] S011. When the size of each substrate on the printing platform is smaller than the first preset size, the printing carriage is controlled to move to drive the imaging device to scan the printing platform and obtain a first image. The imaging device includes a first imaging device and a second imaging device disposed on both sides of the printing carriage.

[0096] The step of inkjet printing based on the target print image includes:

[0097] S041. When the size of each substrate on the printing platform is smaller than the first preset size, inkjet printing is performed based on the target printing image while the imaging device is scanning.

[0098] Specifically, in this embodiment, when the size of each substrate on the printing platform is smaller than a first preset size, firstly, the printing carriage is moved, causing the first and second imaging devices on both sides of the printing carriage to scan the printing platform. The first and second imaging devices simultaneously record the position and orientation information of all substrates on the printing platform, forming a first image. The setup of these two imaging devices ensures comprehensive acquisition of information from the printing platform, thereby generating the first image. While the imaging devices are scanning, inkjet printing is performed based on the target printing image. Based on the position and orientation information of each substrate obtained from the first image, the target printing image is offset and filled to obtain an inkjet printing image corresponding to each substrate. The inkjet printer then performs inkjet printing on each substrate based on the processed image, achieving the desired printing effect for patterns and text.

[0099] Since the size of the substrate is smaller than the first preset size, i.e., the substrate size is small, such as mobile phone cases, keychains, etc., the printing carriage can take pictures of multiple substrates when it enters the printing platform. This operation process of taking pictures at the same time can efficiently handle small-sized substrates and improve the efficiency and accuracy of inkjet printing.

[0100] In one embodiment, the step of acquiring the first image includes:

[0101] S012. When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move to drive the imaging device to scan several positioning points on the substrate to obtain a first image. Within the preset range, the printing carriage moves at a preset speed; outside the preset range, the printing carriage accelerates with a preset acceleration. The preset range is a range with the positioning point as the center and a preset distance as the radius.

[0102] The step of inkjet printing based on the target print image includes:

[0103] S042. When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move from the last scanned positioning point to perform inkjet printing on the target image.

[0104] In this embodiment, for cases where the size of each substrate on the printing platform is larger than the second preset size, the steps of acquiring a first image and performing inkjet printing based on the target printing image are performed respectively, as explained in detail below:

[0105] When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move, driving the imaging device to scan several positioning points on each substrate to obtain the first image. The positioning point refers to a specific point or mark on the substrate, and its position is fixed on the entire printing platform. By scanning the positioning point, the accurate position and posture information of each substrate can be obtained, including parameters such as rotation angle, scaling factor and possible translation offset.

[0106] Within the preset range, the printing carriage moves at a preset speed. That is, near the positioning point, the printing carriage scans and acquires images at the preset speed; outside the preset range, the printing carriage accelerates with a preset acceleration. That is, outside the positioning point, the printing carriage accelerates with a preset acceleration to improve scanning efficiency. The preset range is a circle with the positioning point as the center and a preset distance as the radius, used to determine where the printing carriage needs to scan at a slower speed and where it can scan at a faster speed.

[0107] The control system moves the printing carriage from the last scanned positioning point to perform inkjet printing on the target image. Since the positioning points of each substrate have been scanned when the first image is acquired, inkjet printing can start from the last scanned positioning point and gradually spray ink onto the target image to ensure that inkjet printing is performed correctly on each substrate.

[0108] In this embodiment, for each substrate size on the printing platform that is larger than a second preset size, the printing carriage is controlled to scan within a preset range at a preset speed, and to accelerate scanning outside the preset range at a preset acceleration. This achieves the acquisition of a first image and inkjet printing based on the target print image. The setting of the preset range and the scanning of the positioning points effectively handle the case of large substrate sizes, ensuring the accuracy and efficiency of inkjet printing.

[0109] Example 2

[0110] Please see Figure 3 This invention provides a multi-substrate positioning printing device for a printer. The printer includes a printing carriage and a printing platform. An imaging device is mounted on the printing carriage in the printhead stepping direction. The printing platform carries several substrates, each simultaneously distributed at different positions on the printing platform. The device includes:

[0111] An image acquisition module is used to acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform;

[0112] The information acquisition module is used to acquire the position and orientation information of each substrate on the printing platform based on the first image;

[0113] The image processing module is used to process the first printed image corresponding to each substrate according to the posture information and the position information to obtain the target printed image;

[0114] An inkjet printing module is used to perform inkjet printing based on the target print image.

[0115] It should be noted that each module and unit in the multi-substrate positioning printing device in this embodiment corresponds one-to-one with each step in the multi-substrate positioning printing method in the aforementioned embodiment. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned multi-substrate positioning printing method, and will not be repeated here.

[0116] Example 3

[0117] In addition, combined Figure 4 The multi-substrate positioning printing method described in this embodiment of the invention can be implemented by a printing device. Figure 4 A schematic diagram of the hardware structure of the printing device provided in an embodiment of the present invention is shown.

[0118] The printing device may include a processor 401 and a memory 402 storing computer program instructions.

[0119] Specifically, the processor 401 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of the present invention.

[0120] Memory 402 may include mass storage for data or instructions. For example, and not limitingly, memory 402 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 402 may include removable or non-removable (or fixed) media. Where appropriate, memory 402 may be internal or external to a data processing device. In a particular embodiment, memory 402 is a non-volatile solid-state memory. In a particular embodiment, memory 402 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0121] The processor 401 reads and executes computer program instructions stored in the memory 402 to implement any of the multi-substrate positioning printing methods in the above embodiments.

[0122] In one example, the printing device may also include a communication interface 403 and a bus 410. For example, Figure 4 As shown, the processor 401, memory 402, and communication interface 403 are connected through bus 410 and complete communication with each other.

[0123] The communication interface 403 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of the present invention.

[0124] Bus 410 includes hardware, software, or both, that couples components for a printing device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 410 may include one or more buses. While specific buses are described and illustrated in embodiments of the invention, the invention contemplates any suitable bus or interconnect.

[0125] Example 4

[0126] Furthermore, in conjunction with the multi-substrate positioning printing method in the above embodiments, this invention can be implemented using a computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the multi-substrate positioning printing methods in the above embodiments.

[0127] The above is a detailed description of the multi-substrate positioning printing method, apparatus, equipment, and storage device provided in the embodiments of the present invention.

[0128] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0129] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this invention are programs or code segments used to perform the required tasks. The programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0130] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0131] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A multi-substrate positioning printing method, characterized in that, For a printer, the printer includes a printing carriage and a printing platform, the printing carriage having an imaging device arranged in the printhead stepping direction, and the printing platform for carrying several substrates, each substrate being simultaneously distributed at different positions on the printing platform, the method comprising: Acquiring a first image, wherein the first image includes the printing platform and all the substrates on the printing platform, the acquisition of the first image includes: When the size of each substrate on the printing platform is smaller than the first preset size, the printing carriage is controlled to move to drive the imaging device to scan the printing platform and obtain the first image; When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move to drive the imaging device to scan several positioning points on the substrate to obtain a first image. Within the preset range, the printing carriage moves at a preset speed; outside the preset range, the printing carriage accelerates with a preset acceleration. The preset range is a range with the positioning point as the center and a preset distance as the radius, and the first preset size is smaller than the second preset size. Based on the first image, obtain the position and orientation information of each substrate on the printing platform; Based on the posture information and the position information, the first printed image corresponding to each substrate is processed to obtain a target printed image, including: based on the posture information, the first printed image corresponding to each substrate is processed so that the position of the ink droplets ejected on each substrate is consistent with the desired ink outlet position on the substrate, to obtain a second printed image. Based on the position information of each substrate, the second printed image corresponding to each substrate is arranged on a blank canvas to obtain a first initial printed image, wherein the size of the blank canvas is the same as the size of the printing platform; The first initial printed image is rasterized to obtain the target printed image; Inkjet printing is performed based on the target print image.

2. The multi-substrate positioning printing method according to claim 1, characterized in that, The step of obtaining the position and orientation information of each substrate on the printing platform based on the first image includes: According to the preset edge detection algorithm, edge detection is performed on the first image to obtain the contour information of each substrate; A planar coordinate system is established with the reciprocating movement direction of the nozzle as the X-axis, the stepping direction of the nozzle as the Y-axis, and the plane where the printing platform is located. The coordinates of each substrate in the planar coordinate system are calculated based on the contour information to obtain the position information of each substrate. Based on the feature point detection algorithm and the contour information, feature points of each substrate in the first image are extracted; Based on the feature points, the acquisition posture information of each substrate is obtained, wherein the posture information includes rotation angle and / or scaling factor.

3. The multi-substrate positioning printing method according to any one of claims 1-2, characterized in that, The step of acquiring the first image includes: The printing carriage is controlled to move, thereby driving the imaging device to scan the printing platform and obtain a first image.

4. The multi-substrate positioning printing method according to claim 3, characterized in that, The step of inkjet printing based on the target print image includes: After the printing carriage returns to its initial position, inkjet printing is performed based on the target print image.

5. The multi-substrate positioning printing method according to claim 1, characterized in that, The step of inkjet printing based on the target print image includes: When the size of each substrate on the printing platform is smaller than the first preset size, inkjet printing is performed based on the target printing image while the imaging device is scanning. When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move from the last scanned positioning point to perform inkjet printing on the target image.

6. A multi-substrate positioning printing device, characterized in that, For a printer, the printer includes a printing carriage and a printing platform. An imaging device is mounted on the printing carriage in the printhead stepping direction. The printing platform carries several substrates, each simultaneously distributed at different positions on the printing platform. The device includes: An image acquisition module is configured to acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform, and acquiring the first image includes: When the size of each substrate on the printing platform is smaller than the first preset size, the printing carriage is controlled to move to drive the imaging device to scan the printing platform and obtain the first image; When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move to drive the imaging device to scan several positioning points on the substrate to obtain a first image. Within the preset range, the printing carriage moves at a preset speed; outside the preset range, the printing carriage accelerates with a preset acceleration. The preset range is a range with the positioning point as the center and a preset distance as the radius, and the first preset size is smaller than the second preset size. The information acquisition module is used to acquire the position and orientation information of each substrate on the printing platform based on the first image; The image processing module is used to process the first printed image corresponding to each substrate according to the posture information and the position information to obtain a target printed image, including: processing the first printed image corresponding to each substrate according to the posture information so that the position of the ink droplets ejected on each substrate is consistent with the desired ink outlet position on the substrate, to obtain a second printed image. Based on the position information of each substrate, the second printed image corresponding to each substrate is arranged on a blank canvas to obtain a first initial printed image, wherein the size of the blank canvas is the same as the size of the printing platform; The first initial printed image is rasterized to obtain the target printed image; An inkjet printing module is used to perform inkjet printing based on the target print image.

7. A printing device, characterized in that, It includes at least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the method as described in any one of claims 1-5.

8. A storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by a processor, the method as described in any one of claims 1-5 is implemented.

Images