Ink-jet printing method, device and equipment based on machine vision and storage medium

Abstract

The invention discloses an ink-jet printing method, device and equipment based on machine vision and a storage medium, relates to the technical field of ink-jet printing, and solves the technical problem of low efficiency of ink-jet printing on a plurality of printing stocks at one time in an existing ink-jet printing mode. The method comprises the steps that a first image is obtained, and the first image comprises a printing platform and all printing stocks on the printing platform; according to the first image, position information and posture information of each printing stock on the printing platform are obtained; according to the posture information and the position information, the first printing image corresponding to each printing stock is processed, and a target printing image is obtained; and performing ink-jet printing according to the target printing image. The ink-jet printing device can adapt to printing stocks with different sizes and different positions, so that the ink-jet printing technology is more intelligent and efficient, and the printing accuracy and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of inkjet printing technology, and in particular to an inkjet printing method, device, equipment and storage medium based on machine vision. Background Art

[0002] In the existing inkjet printing technology, generally, different colors of ink are sprayed onto the substrate through a nozzle to form patterns and texts. As people's life needs change, inkjet printing technology is used to print on various materials to obtain products with preset patterns and texts.

[0003] If it is necessary to print multiple smaller substrates, the traditional method is to print or paste grid lines at a certain distance on the printing platform, place the substrates according to the grid lines, and then determine the position and orientation of the substrates on the printing platform through the grid lines. 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 multiple substrates with only slight differences, resulting in printing errors. Recently, digital inkjet printers have precise CCD automatic alignment functions, which can automatically adjust the graphic size according to the different size changes of the substrates, 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 the substrate is printed, the next substrate is repositioned to print the corresponding image. Repositioning is required when printing an image on each substrate, resulting in low printing efficiency. Summary of the invention

[0005] The present invention provides a machine vision-based inkjet printing method, device, equipment and storage medium, which are used to solve the technical problem of low efficiency of inkjet printing on multiple substrates at one time in the existing inkjet printing method.

[0006] In a first aspect, the present invention provides an inkjet printing method based on machine vision, which is used for a printer, wherein the printer comprises a printing carriage and a printing platform, wherein an imaging device is arranged on the printing carriage in a reciprocating scanning direction, and the printing platform is used to carry a plurality of substrates, wherein each substrate is simultaneously distributed at different positions of the printing platform, and the method comprises:

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

[0008] Acquire position information and posture information of each printing object on the printing platform according to the first image;

[0009] Processing the first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image;

[0010] Inkjet printing is performed according to the target printing image.

[0011] As an optional embodiment of the present application, the first printed image corresponding to at least one substrate is different from the first printed images corresponding to other substrates, and 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:

[0012] According to the posture information, the first printing image corresponding to each substrate is processed so that the position of the ink droplets sprayed on each substrate is consistent with the desired ink outlet position on the substrate, thereby obtaining a second printing image;

[0013] Arranging the second printing image corresponding to each printing object on a blank canvas according to the position information of each printing object to obtain a first initial printing image, wherein the size of the blank canvas is the same as the size of the printing platform;

[0014] The initial printing image is subjected to rasterization processing to obtain a target printing image.

[0015] As an optional embodiment of the present application, the first printed image corresponding to each substrate is the same, and 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:

[0016] Performing rasterization processing on the first printing image to obtain a second initial printing image;

[0017] According to the posture information and the position information, the second initial printing image is subjected to an offset process and / or a filling process to obtain a target printing image.

[0018] As an optional embodiment of the present application, the step of acquiring the first image includes:

[0019] The printing carriage is controlled to move so as to drive the imaging device to scan the printing platform to obtain a first image.

[0020] As an optional embodiment of the present application, the step of performing inkjet printing according to the target printing image includes:

[0021] After the printing carriage returns to the initial position, inkjet printing is performed according to the target printing image.

[0022] As an optional embodiment of the present application, the step of acquiring the first image includes:

[0023] When the size of each substrate on the printing platform is smaller than a first preset size, the printing carriage is controlled to move to drive the imaging device to scan the printing platform to obtain a first image, wherein the imaging device includes a first imaging device and a second imaging device arranged on both sides of the printing carriage;

[0024] When the size of each substrate on the printing platform is between a first preset size and a second preset size, controlling the printing carriage to move in a first reciprocating scanning direction to drive the imaging device to scan the printing platform to obtain a first image;

[0025] 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 a number of positioning points on the substrate to obtain a first image, wherein within a preset range, the printing carriage moves at a preset speed; outside the preset range, the printing carriage accelerates at a preset acceleration; the preset range is a range with the positioning point as the center and a preset distance as the radius.

[0026] As an optional embodiment of the present application, the step of performing inkjet printing according to the target printing image includes:

[0027] When the size of each substrate on the printing platform is smaller than a first preset size, inkjet printing is performed according to the target printing image while the imaging device is scanning;

[0028] When the size of each printing object on the printing platform is between the first preset size and the second preset size, controlling the printing carriage to move in a second reciprocating scanning direction to perform inkjet printing on the target printing image, wherein the second reciprocating scanning direction is opposite to the first reciprocating scanning direction;

[0029] When the size of each printing object 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 printing image.

[0030] In a second aspect, the present invention provides an inkjet printing device based on machine vision, which is used in a printer, wherein the printer comprises a printing carriage and a printing platform, wherein an imaging device is arranged on the printing carriage in a reciprocating scanning direction, and the printing platform is used to carry a plurality of substrates, wherein each substrate is simultaneously distributed at different positions of the printing platform, and the device comprises:

[0031] An image acquisition module, configured to acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform;

[0032] An information acquisition module, used for acquiring position information and posture information of each substrate located on the printing platform according to the first image;

[0033] An image processing module, used for processing a first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image;

[0034] The inkjet printing module is used to perform inkjet printing according to the target printing image.

[0035] In a third aspect, the present invention provides a printing device, comprising at least one processor, at least one memory, and computer program instructions stored in the memory, wherein when the computer program instructions are executed by the processor, the method described in the first aspect is implemented.

[0036] In a fourth aspect, the present invention provides a storage medium having computer program instructions stored thereon, which implement the method described in the first aspect when the computer program instructions are executed by a processor.

[0037] In summary, the beneficial effects of this application are as follows:

[0038] The present invention discloses an inkjet printing method based on machine vision, which is used for a printer. The printer includes a printing carriage and a printing platform. An imaging device is arranged on the printing carriage in a reciprocating scanning direction. The imaging device can image the entire printing platform in a relatively short time as the printing carriage moves in the reciprocating scanning direction. In this way, the position and posture information of the substrate can be quickly obtained, which saves imaging time and improves printing efficiency. The printing platform is used to carry a plurality of substrates, and each substrate is distributed at a different position of the printing platform at the same time. The method includes: obtaining a first image, wherein the first image includes the printing platform and all the substrates on the printing platform. The first image contains information of the entire printing platform and all the substrates thereon, which makes The printing system can obtain the position and posture information of all substrates at one time. Compared with imaging each substrate separately, the global information can provide a more comprehensive visual scene, which is conducive to overall image processing and printing optimization; according to the first image, the position information and posture information of each substrate on the printing platform are obtained. By analyzing the first image, the printing system can automatically obtain the position information of each substrate on the printing platform without manual intervention or cumbersome grid line positioning; according to the posture information and the position information, the first printing image corresponding to each substrate is processed to obtain the target printing image. By using the posture information and the position information, the first printing image can be accurately processed and adjusted to match the actual position and posture of each substrate. In this way, it can ensure that the printed pattern and text appear accurately at the specified position of the substrate, improving the precision and accuracy of printing; finally, inkjet printing is performed according to the target printing image. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 The present invention is a schematic diagram showing the principle of improving image resolution by using multiple scanning and printing.

[0041] Figure 2 It is a flow chart of the inkjet printing method based on machine vision of the present invention.

[0042] Figure 3 It is a structural schematic diagram of an inkjet printing method and device based on machine vision of the present invention.

[0043] Figure 4 It is a schematic diagram of the structure of the printing device of the present invention. DETAILED DESCRIPTION

[0044] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and Examples. 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 implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0046] Example 1

[0047] The inkjet head of a printing device is composed of multiple nozzles arranged in one or more rows vertically, which determines that the inkjet head has a fixed resolution, that is, an inherent resolution. For example, the resolution of a nozzle is 300 DPI, which means there are 300 nozzles per inch.

[0048] like Figure 1 As shown in the figure, the printing of high-resolution images can be completed by printing back and forth multiple times with the inkjet nozzle. For example, if a nozzle with a resolution of 300DPI is used to print an image with a resolution of 600DPI, the nozzle needs to scan and print twice to completely print the image data. Figure 1As shown, the triangle and the circle both represent an ink dot ejected by the nozzle. The nozzle can print out an image formed by the dots represented by the circle in the figure through one scan, and the resolution of the pattern is 300DPI. On this basis, the nozzle can print out the dots represented by the triangle in the figure through another scan, and finally the two dots together form an image with a resolution of 600DPI. The specific printing process can be that the nozzle first scans the dots represented by the circle in the print figure once, and then moves a certain distance in the longitudinal direction of the figure and scans the dots represented by the triangle in the print figure once, and this distance is the inkjet stepping distance. The above process requires two scans and prints, so the initial scan number of the print is 2. If each scan and print is regarded as a PASS, the print is a 2PASS print.

[0049] Based on the above printing method, Figure 2 As shown, the present invention provides an inkjet printing method based on machine vision, which is used in a printer, wherein the printer includes a printing carriage and a printing platform, wherein an imaging device is arranged on the printing carriage in a reciprocating scanning direction, and the imaging device is arranged on the printing carriage, and as the printing carriage moves in the reciprocating scanning direction, the entire printing platform can be continuously imaged. The imaging device may be a camera or other visual sensor, which can capture images of all substrates on the printing platform, and the printing platform is used to carry a plurality of substrates, and each substrate is simultaneously distributed at different positions on the printing platform;

[0050] Specifically, the printing carriage is a movable component that moves in the reciprocating scanning direction. The printing carriage is equipped with an imaging device for imaging the printing platform during the reciprocating scanning. The printing platform is used to carry multiple substrates, which are distributed at different positions at the same time.

[0051] See also Figure 2 , the method comprising:

[0052] S1. Acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform;

[0053] Specifically, the printing carriage starts to move in the reciprocating scanning direction. When the printing carriage moves, the imaging device starts to capture the image of the entire printing platform. The imaging device can take multiple images continuously or capture images at a certain frequency. In this way, the imaging device can obtain images of all substrates on the printing platform in a very short time;

[0054] In one embodiment, after acquiring the first image, the method further includes performing image processing on the first image; the image processing process may include image denoising, image enhancement, edge detection, etc., to ensure the quality and clarity of the image. Specifically, image denoising may use a mean filter to filter the image, taking the average value of surrounding pixels instead of the current pixel value, thereby reducing the noise in the image, or use a Gaussian filter to filter the image, assigning different weights to surrounding pixels according to Gaussian distribution, thereby smoothing the image and reducing noise;

[0055] Image enhancement can be done by:

[0056] Contrast enhancement: Through linear or nonlinear transformation, the pixel value range of the image is adjusted to enhance the contrast of the image, thereby improving the clarity and recognition of the image;

[0057] Brightness adjustment: adjust the brightness of the image to make it brighter or darker, thereby improving the visualization of the image;

[0058] Histogram equalization: Map the pixel values ​​of the image to make the histogram of the image more uniform within the pixel value range, thereby increasing the dynamic range and contrast of the image;

[0059] S2. Acquire position information and posture information of each printing object on the printing platform according to the first image;

[0060] First, perform target detection and image segmentation on the first image. Target detection refers to identifying the target of interest (i.e., substrate) in the image, while image segmentation is to segment the target from the image to obtain independent images of each substrate; for each detected substrate, extract its feature information, which may include position information, size, shape, color, etc.; based on the feature information, estimate the posture information of each substrate, such as rotation angle, tilt angle, etc., and posture estimation can obtain the direction and posture of the substrate by calculating the edges, corner points, line segments, etc. in the image; convert the position and posture information of the substrate into the coordinate system of the printing platform, so as to obtain the position information of each substrate;

[0061] S3, processing the first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image;

[0062] Specifically, for each substrate, firstly, image correction is performed according to its corresponding posture information, and the direction of the substrate in the image is adjusted to the correct position. Then, all corrected images are registered so that they are aligned in the same coordinate system. According to the position information and the actual size of the substrate, the image size corresponding to each substrate is adjusted to ensure that their size is consistent with the actual size, thereby obtaining the processed first print image. The corresponding first print images of all processed substrates are merged to obtain the final target print image. In this way, the target print image will contain all processed first print images and ensure that they are aligned in the same coordinate system.

[0063] As an optional embodiment of the present application, the first printed image corresponding to at least one substrate is different from the first printed images corresponding to other substrates, and 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:

[0064] S31, processing the first printing image corresponding to each substrate according to the posture information so that the position of the ink droplets sprayed on each substrate is consistent with the desired ink outlet position on the substrate, thereby obtaining a second printing image;

[0065] Specifically, in this embodiment, the first print image corresponding to at least one substrate is different from the first print image corresponding to other substrates. After acquiring the posture information of each substrate, a plurality of preset first print images are matched by the posture information of each substrate. The first print image includes dot matrix data for printing. By depicting the dot matrix data in an image file, the coordinate data of each image can be obtained in the first print image. 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, wherein the rotation angle and / or the scaling factor are calculated by detecting feature points (such as corner points, edges, etc.) on the image and the substrate, and then matching the feature points between the two. Common computer vision algorithms such as SIFT, SURF, ORB, etc. can be used for feature point matching;

[0066] S32, arranging the second printing image corresponding to each printing substrate on a blank canvas according to the position information of each printing substrate, so as to obtain a first initial printing image, wherein the size of the blank canvas is the same as the size of the printing platform;

[0067] First, the size of the blank canvas is determined according to the size of the printing platform. The size of the blank canvas is the same as the size of the printing platform. The same size of the blank canvas and the printing platform means that they have the same size and proportion, which helps to ensure that the arrangement of the image on the canvas is consistent with the actual printing platform. In this way, the position and size of the previewed image on the blank canvas are consistent with the position and size of the actual printing, making the preview effect more accurate;

[0068] Then, for each substrate, its position on the blank canvas is determined according to its position information on the printing platform, and the second printed image corresponding to each substrate is merged onto the blank canvas according to the determined position. This can be achieved by copying, pasting or overlaying the image;

[0069] 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 the blank canvas.

[0070] S33, performing rasterization processing on the initial printing image to obtain a target printing image.

[0071] Specifically, rasterization is the process of converting vector graphics into raster images (pixel arrays) so that they can be converted into a format recognizable by the printer. After rasterization, the target print image can accurately control the inkjet printer's inkjet position and ink droplet size, thereby achieving the desired printing effect.

[0072] As an optional embodiment of the present application, the first printed image corresponding to each substrate is the same, and 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:

[0073] S031, performing rasterization processing on the first printing image to obtain a second initial printing image;

[0074] Specifically, in this embodiment, since the first printing image corresponding to each substrate is the same, only one rasterization process needs to be performed on one image. The subsequent processing steps can be performed on the rasterized image, avoiding repeated rasterization calculations, reducing the amount of calculation and processing time, and improving processing efficiency; the rasterization process is the same as the aforementioned step S33, and will not be repeated here;

[0075] Since the first printing image corresponding to each substrate is the same, only one copy of the rasterized image data needs to be saved, which can save storage space and reduce data redundancy.

[0076] After rasterizing an image in advance, subsequent posture correction, position adjustment, image processing and other operations can be performed directly on the raster image without frequent calculations and transformations on the original vector image. This can greatly improve the efficiency of image preprocessing.

[0077] S032: Perform an offset process and / or a filling process on the second initial printing image according to the posture information and the position information to obtain a target printing image.

[0078] According to the posture information and position information of each substrate, its position in the target printing image is determined. Then, the second initial printing image is translated to adjust the position of the image on the blank canvas so that its position in the target printing image corresponds to the position of the actual substrate on the printing platform. This ensures that the position of the image on the substrate is accurately presented when printing; then, a filling process is performed, which refers to filling non-inking data in the area outside the second initial printing image on the blank canvas, thereby forming a target printing image;

[0079] S4, performing inkjet printing according to the target printing image;

[0080] As an optional embodiment of the present application, the step of acquiring the first image includes:

[0081] S11, controlling the printing carriage to move, so as to drive the imaging device to scan the printing platform to obtain a first image.

[0082] The step of performing inkjet printing according to the target printing image comprises:

[0083] S41, after the printing carriage returns to the initial position, performing inkjet printing according to the target printing image;

[0084] Specifically, in this embodiment, first, the printing carriage is controlled to move so that it drives the imaging device to scan the printing platform, thereby obtaining a first image. When the printing carriage is scanning, the imaging device records the position and posture information of all substrates on the entire printing platform to form a first image. Once the scanning is completed, the printing carriage returns to the initial position.

[0085] Next, inkjet printing is performed according to the target printing image. At this stage, the inkjet printer processes the target printing image according to the position information and posture information of each substrate obtained in the first image. The specific processing steps include offset processing and filling processing to obtain an image for each substrate.

[0086] In summary, in this solution, the printing carriage first performs an empty run scan to obtain the position and posture information of all substrates, and then performs image processing and adjustment based on this information, and finally achieves the target printing image for each substrate. This processing flow improves the efficiency and accuracy of printing and ensures that the image is presented completely and accurately on the substrate.

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

[0088] S011. When the size of each substrate on the printing platform is smaller than a first preset size, controlling the printing carriage to move so as to drive the imaging device to scan the printing platform to obtain a first image, wherein the imaging device includes a first imaging device and a second imaging device disposed on both sides of the printing carriage;

[0089] The step of performing inkjet printing according to the target printing image comprises:

[0090] S041, when the size of each substrate on the printing platform is smaller than a first preset size, while the imaging device is scanning, inkjet printing is performed according to the target printing image;

[0091] Specifically, in this embodiment, when the size of each substrate on the printing platform is smaller than the first preset size, first, the printing carriage is controlled to move, driving the first imaging device and the second imaging device on both sides of the printing carriage to scan the printing platform, and the first imaging device and the second imaging device will simultaneously record the position and posture information of all substrates on the printing platform to form a first image. The setting of these two imaging devices can ensure that the information on the printing platform is obtained in all directions, and then the first image is generated. While the imaging device is scanning, inkjet printing is performed according to the target printing image. According to the position information and posture information of each substrate obtained in the first image, the target printing image is offset and filled to obtain the inkjet printing image corresponding to each substrate. The inkjet printer performs inkjet printing on each substrate based on the processed image to achieve the desired pattern and text printing effect.

[0092] Since the size of the substrate is smaller than the first preset size, that is, the substrate is small, such as a mobile phone case, a key chain, etc., the printing carriage can capture multiple substrates when entering the printing platform. This operation process of capturing while processing can efficiently process small-size substrates and improve the efficiency and accuracy of inkjet printing.

[0093] In one embodiment, the step of acquiring the first image includes:

[0094] S012, when the size of each substrate on the printing platform is between a first preset size and a second preset size, controlling the printing carriage to move in a first reciprocating scanning direction to drive the imaging device to scan the printing platform to obtain a first image;

[0095] The step of performing inkjet printing according to the target printing image comprises:

[0096] S042, when the size of each printing object on the printing platform is between the first preset size and the second preset size, controlling the printing carriage to move in a second reciprocating scanning direction to perform inkjet printing on the target printing image, wherein the second reciprocating scanning direction is opposite to the first reciprocating scanning direction;

[0097] In this embodiment, the size of each substrate on the printing platform is between the first preset size and the second preset size, that is, the substrate size is relatively large, such as tiles, gift decorations, etc., and different processes are performed on obtaining the first image and inkjet printing. The specific steps are as follows:

[0098] When the size of each substrate on the printing platform is between the first preset size and the second preset size, the printing carriage is controlled to move in the first reciprocating scanning direction to drive the imaging device to scan the printing platform, thereby acquiring a first image.

[0099] The first reciprocating scanning direction refers to the direction in which the printing carriage moves back and forth on the platform. Through this movement, the imaging device can cover the entire printing platform and record the position and posture information of each substrate to form a first image. The second reciprocating scanning direction is opposite to the first reciprocating scanning direction. Inkjet printing is performed when the printing carriage moves in the second reciprocating scanning direction. For example, in the printing of each PASS, the printing carriage obtains the first image through the imaging device when printing from left to right, and inkjet printing is performed when the printing carriage moves from right to left.

[0100] In this embodiment, different processing methods are adopted according to the size range of each substrate on the printing platform. For substrates with sizes between the first preset size and the second preset size, the printing carriage moves in different reciprocating scanning directions to obtain the first image and perform inkjet printing according to the target printing image. This processing method allows substrates of different sizes to be processed accordingly according to their specific size ranges when inkjet printing is performed, thereby improving the applicability and efficiency of inkjet printing.

[0101] In one embodiment, the step of acquiring the first image includes:

[0102] S013. 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 a number of positioning points on the substrate to obtain a first image, wherein within a preset range, the printing carriage moves at a preset speed; outside the preset range, the printing carriage accelerates at a preset acceleration; the preset range is a range with the positioning point as the center and a preset distance as the radius.

[0103] The step of performing inkjet printing according to the target printing image comprises:

[0104] S043, when the size of each substrate on the printing platform is larger than the second preset size, controlling the printing carriage to move from the last scanned positioning point to perform inkjet printing on the target printing image;

[0105] In this embodiment, for the case where the size of each substrate on the printing platform is larger than the second preset size, the steps of acquiring the first image and performing inkjet printing according to the target printing image are respectively performed, and the specific explanation is as follows:

[0106] When the size of each substrate on the printing platform is larger than the second preset size, the printing carriage is controlled to move, and the imaging device is driven to scan a number of positioning points on each substrate, so as to obtain a first image. The positioning point refers to a specific point or mark located 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;

[0107] 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 a preset speed; outside the preset range, the printing carriage accelerates at a preset acceleration. That is, outside the positioning point, the printing carriage speeds up at a preset acceleration to improve scanning efficiency; the preset range is a range with the positioning point as the center and the preset distance as the radius, which is used to determine which positions of the printing carriage need to be scanned at a slower speed, and which positions can be scanned at a faster speed;

[0108] The printing carriage is controlled to move from the last scanned positioning point to perform inkjet printing on the target printing image; since the positioning point of each substrate has been scanned when acquiring the first image, the target printing image can be inkjet printed step by step starting from the last scanned positioning point during inkjet printing to ensure that each substrate can be correctly inkjet printed.

[0109] In this embodiment, for each printing object on the printing platform whose size is larger than the second preset size, the printing carriage is controlled to scan at a preset speed within the preset range and to scan at a preset acceleration outside the preset range, thereby obtaining the first image and performing inkjet printing according to the target printing image. The setting of the preset range and the scanning of the positioning point effectively handle the situation where the printing object size is larger, ensuring the accuracy and efficiency of inkjet printing.

[0110] Example 2

[0111] See also Figure 3 The present invention provides an inkjet printing device based on machine vision, which is used for a printer. The printer includes a printing carriage and a printing platform. The printing carriage is provided with an imaging device in a reciprocating scanning direction. The printing platform is used to carry a plurality of substrates, and each substrate is simultaneously distributed at different positions of the printing platform. The device includes:

[0112] An image acquisition module, configured to acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform;

[0113] An information acquisition module, used for acquiring position information and posture information of each substrate located on the printing platform according to the first image;

[0114] An image processing module, used for processing a first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image;

[0115] The inkjet printing module is used to perform inkjet printing according to the target printing image.

[0116] It should be noted that the modules and units in the inkjet printing device based on machine vision in this embodiment correspond one-to-one to the steps in the inkjet printing method based on machine vision in the aforementioned embodiment. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned inkjet printing method based on machine vision, which will not be repeated here.

[0117] Example 3

[0118] In addition, combined Figure 4 The described inkjet printing method based on machine vision in the embodiment of the present invention may be implemented by a printing device. Figure 4 A schematic diagram of the hardware structure of a printing device provided by an embodiment of the present invention is shown.

[0119] The printing device may include a processor 401 and a memory 402 storing computer program instructions.

[0120] Specifically, the processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0121] Memory 402 may include a large capacity memory for data or instructions. For example, but not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside a data processing device. In a specific embodiment, memory 402 is a non-volatile solid-state memory. In a specific embodiment, memory 402 includes a read-only memory (ROM). In appropriate cases, 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 a flash memory or a combination of two or more of these.

[0122] The processor 401 reads and executes computer program instructions stored in the memory 402 to implement any one of the machine vision-based inkjet printing methods in the above embodiments.

[0123] In one example, the printing device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0124] The communication interface 403 is mainly used to implement the communication between the modules, devices, units and / or equipment in the embodiment of the present invention.

[0125] Bus 410 includes hardware, software or both, and the parts of printing device are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

[0126] Example 4

[0127] In addition, in combination with the inkjet printing method based on machine vision in the above embodiments, the embodiments of the present invention may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the inkjet printing methods based on machine vision in the above embodiments is implemented.

[0128] The above is a detailed introduction to the machine vision-based inkjet printing method, device, equipment and storage device provided in the embodiments of the present invention.

[0129] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is 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, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0130] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal 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, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0131] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0132] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. An inkjet printing method based on machine vision, characterized in that: Used for a printer, the printer comprises a printing carriage and a printing platform, the printing carriage is provided with an imaging device in a reciprocating scanning direction, the printing platform is used to carry a plurality of substrates, each substrate is simultaneously distributed at different positions of the printing platform, the method comprises: Acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform; Acquire position information and posture information of each printing object on the printing platform according to the first image; Processing the first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image; Inkjet printing is performed according to the target printing image.

2. The inkjet printing method based on machine vision according to claim 1, characterized in that: The first printing image corresponding to at least one substrate is different from the first printing images corresponding to other substrates, and the step of processing the first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image includes: According to the posture information, the first printing image corresponding to each substrate is processed so that the position of the ink droplets sprayed on each substrate is consistent with the desired ink outlet position on the substrate, thereby obtaining a second printing image; Arranging the second printing image corresponding to each printing object on a blank canvas according to the position information of each printing object to obtain a first initial printing image, wherein the size of the blank canvas is the same as the size of the printing platform; The initial printing image is subjected to rasterization processing to obtain a target printing image.

3. The inkjet printing method based on machine vision according to claim 1, characterized in that: The first printing image corresponding to each substrate is the same, and the step of processing the first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image includes: Performing rasterization processing on the first printing image to obtain a second initial printing image; According to the posture information and the position information, the second initial printing image is subjected to an offset process and / or a filling process to obtain a target printing image.

4. The method for inkjet printing based on machine vision according to any one of claims 1 to 3, characterized in that: The step of acquiring the first image comprises: The printing carriage is controlled to move so as to drive the imaging device to scan the printing platform to obtain a first image.

5. The method for inkjet printing based on machine vision according to claim 4, characterized in that: The step of performing inkjet printing according to the target printing image comprises: After the printing carriage returns to the initial position, inkjet printing is performed according to the target printing image.

6. The method for inkjet printing based on machine vision according to any one of claims 1 to 3, characterized in that: The step of acquiring the first image comprises: When the size of each substrate on the printing platform is smaller than a first preset size, the printing carriage is controlled to move to drive the imaging device to scan the printing platform to obtain a first image, wherein the imaging device includes a first imaging device and a second imaging device arranged on both sides of the printing carriage; When the size of each substrate on the printing platform is between a first preset size and a second preset size, controlling the printing carriage to move in a first reciprocating scanning direction to drive the imaging device to scan the printing platform to obtain a first image; 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 a number of positioning points on the substrate to obtain a first image, wherein within a preset range, the printing carriage moves at a preset speed; outside the preset range, the printing carriage accelerates at a preset acceleration; the preset range is a range with the positioning point as the center and a preset distance as the radius.

7. The method for inkjet printing based on machine vision according to claim 6, characterized in that: The step of performing inkjet printing according to the target printing image includes: When the size of each substrate on the printing platform is smaller than the first preset size, inkjet printing is performed according to the target printing image while the imaging device is scanning; When the size of each printing object on the printing platform is between the first preset size and the second preset size, controlling the printing carriage to move in a second reciprocating scanning direction to perform inkjet printing on the target printing image, wherein the second reciprocating scanning direction is opposite to the first reciprocating scanning direction; When the size of each printing object 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 printing image.

8. An inkjet printing device based on machine vision, characterized in that: Used for a printer, the printer comprises a printing carriage and a printing platform, the printing carriage is provided with an imaging device in a reciprocating scanning direction, the printing platform is used to carry a plurality of substrates, each substrate is simultaneously distributed at different positions of the printing platform, the device comprises: An image acquisition module, configured to acquire a first image, wherein the first image includes the printing platform and all the substrates on the printing platform; An information acquisition module, used for acquiring position information and posture information of each substrate located on the printing platform according to the first image; An image processing module, used for processing a first printing image corresponding to each substrate according to the posture information and the position information to obtain a target printing image; The inkjet printing module is used to perform inkjet printing according to the target printing image.

9. A printing device, characterized in that: The method comprises at least one processor, at least one memory and computer program instructions stored in the memory, and when the computer program instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images