Nozzle coordinate compensation method, device and equipment and storage medium

Abstract

The invention relates to the technical field of ink-jet printing, and discloses a nozzle coordinate compensation method, device and equipment and a storage medium, and the method comprises the steps: obtaining the coordinate information of a nozzle; performing data processing on the nozzle coordinate information to obtain coordinate information before compensation; constructing a nozzle plane equation according to the coordinate information before compensation; performing rotation matrix solving on the nozzle plane equation to obtain a coordinate transformation matrix; performing coordinate transformation on the coordinate information before compensation according to the coordinate transformation matrix to obtain coordinate information after compensation; generating nozzle coordinate compensation information according to the coordinate information before compensation and the coordinate information after compensation; according to the method, the nozzle coordinate compensation information is generated by performing fitting processing on the nozzle plane, the coordinate position of the nozzle is adjusted by using the nozzle coordinate compensation information, and the ink-jet printer is controlled to perform delayed or lagged jet processing on the ink droplets at different heights, so that the drop point precision of the printing ink droplets is improved, and better ink-jet printing precision is obtained.

Description

Technical Field

[0001] The present invention relates to the field of inkjet printing technology, and in particular to a nozzle coordinate compensation method, device, equipment and storage medium. Background Art

[0002] OLED inkjet printing technology is an emerging method for manufacturing display devices. Compared with traditional vacuum evaporation technology, inkjet printing technology has many advantages, which makes it show broad prospects in the production of OLED displays. The principle of OLED inkjet printing is to spray ink onto the pixel slots specified by the substrate through the nozzle to form R, G, and B luminescent sub-pixels. This process involves precise control of the size and landing point of the ink droplets to achieve high-resolution patterning.

[0003] The flatness of the OLED inkjet printhead is crucial to the entire printing process. The surface of the printhead is covered with nozzles. If there is a large deviation in the flatness, the distance between each nozzle and the substrate will be different, affecting the accuracy of the print point and further affecting the inkjet printing accuracy. It can be seen that the existing technology still needs to be improved and enhanced. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a nozzle coordinate compensation method, device, equipment and storage medium; it obtains the nozzle coordinate information before compensation based on laser ranging, fits the nozzle plane according to the nozzle coordinate information, constructs the nozzle plane equation, and then obtains the compensated nozzle coordinate information according to the nozzle plane equation, and finally generates nozzle coordinate compensation information according to the nozzle coordinate information before compensation and the nozzle coordinate information after compensation; uses the nozzle coordinate compensation information to adjust the coordinate position of the nozzle, and controls the inkjet printer to delay or lag the injection of ink droplets at different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0005] The first aspect of the present invention provides a nozzle coordinate compensation method, including: acquiring nozzle coordinate information; performing data processing on the nozzle coordinate information to obtain pre-compensation coordinate information; constructing a nozzle plane equation based on the pre-compensation coordinate information; solving the rotation matrix of the nozzle plane equation to obtain a coordinate transformation matrix; performing coordinate transformation on the pre-compensation coordinate information according to the coordinate transformation matrix to obtain post-compensation coordinate information; generating nozzle coordinate compensation information based on the pre-compensation coordinate information and the post-compensation coordinate information.

[0006] Optionally, in a first implementation method of the first aspect of the present invention, the obtaining of nozzle coordinate information includes: presetting a laser target point; collecting nozzle height information and nozzle plane coordinate information according to the laser target point; and obtaining nozzle coordinate information according to the nozzle height information and the nozzle plane coordinate information.

[0007] Optionally, in a second implementation of the first aspect of the present invention, the data processing of the nozzle coordinate information to obtain the coordinate information before compensation includes: performing data screening on the nozzle coordinate information to obtain the coordinate information after screening; and performing data calibration on the coordinate information after screening to obtain the coordinate information before compensation.

[0008] Optionally, in a third implementation of the first aspect of the present invention, constructing the nozzle plane equation based on the pre-compensation coordinate information includes: constructing a basic nozzle plane equation; substituting the pre-compensation coordinate information into the basic nozzle plane equation to obtain a group of matrix equations; solving the group of matrix equations to obtain a solution result; and obtaining the nozzle plane equation based on the solution result and the basic nozzle plane equation.

[0009] Optionally, in a fourth implementation of the first aspect of the present invention, the rotation matrix of the nozzle plane equation is solved to obtain a coordinate transformation matrix, including: obtaining nozzle plane normal vector information according to the nozzle plane equation; presetting reference plane normal vector information; obtaining rotation axis information and plane angle information according to the nozzle plane normal vector information and the reference plane normal vector information; unitizing the rotation axis information to obtain unitized rotation axis information; and using the rotation formula to perform rotation matrix calculation on the unitized rotation axis information and plane angle information to obtain a coordinate transformation matrix.

[0010] Optionally, in the fifth implementation method of the first aspect of the present invention, the nozzle coordinate compensation information is generated based on the pre-compensation coordinate information and the post-compensation coordinate information, including: performing a difference analysis on the pre-compensation coordinate information and the post-compensation coordinate information to obtain difference information; and generating the nozzle coordinate compensation information based on a preset compensation strategy and the difference information.

[0011] Optionally, in a sixth implementation of the first aspect of the present invention, the nozzle coordinate compensation information is generated according to a preset compensation strategy and difference information, including: the compensation strategy includes a nozzle coordinate compensation strategy and an inkjet speed compensation strategy; nozzle coordinate adjustment parameters are generated according to the difference information and the nozzle coordinate compensation strategy; inkjet speed compensation parameters are generated according to the difference information and the inkjet speed compensation strategy; nozzle coordinate compensation information is obtained according to the nozzle coordinate adjustment parameters and the inkjet speed compensation parameters.

[0012] The second aspect of the present invention provides a nozzle coordinate compensation device, including: a data acquisition module for acquiring nozzle coordinate information; a data processing module for performing data processing on the nozzle coordinate information to obtain coordinate information before compensation; a plane construction module for constructing a nozzle plane equation based on the coordinate information before compensation; a matrix solving module for performing rotation matrix solution on the nozzle plane equation to obtain a coordinate transformation matrix; a coordinate transformation module for performing coordinate transformation on the coordinate information before compensation according to the coordinate transformation matrix to obtain coordinate information after compensation; a coordinate compensation module for generating nozzle coordinate compensation information based on the coordinate information before compensation and the coordinate information after compensation.

[0013] The third aspect of the present invention provides a nozzle coordinate compensation device, which includes: a memory and at least one processor, wherein instructions are stored in the memory; at least one of the processors calls the instructions in the memory so that the nozzle coordinate compensation device performs each step of the nozzle coordinate compensation method described in any one of the above items.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored thereon, and when the instructions are executed by a processor, the various steps of any of the above-mentioned nozzle coordinate compensation methods are implemented.

[0015] In the technical solution of the present invention, a laser target point is first preset on the nozzle plane, and the coordinate information of the nozzle plane, i.e., the nozzle coordinate information, is collected through the laser target point; then, data processing is performed on the nozzle coordinate information, and the coordinate information before compensation is obtained after filtering out unqualified information; then, a nozzle plane equation is constructed according to the coordinate information before compensation, and a matrix solution is performed according to the nozzle plane equation to obtain a coordinate transformation matrix; the coordinate information before compensation is transformed by using the coordinate transformation matrix to obtain the coordinate information after compensation; finally, nozzle coordinate compensation information is generated according to the coordinate information before compensation and the coordinate information after compensation; the nozzle coordinate compensation information is used to adjust the coordinate position of the nozzle, and the inkjet printer is controlled to perform delayed or delayed injection processing on ink droplets at different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 A first flow chart of a nozzle coordinate compensation method provided by an embodiment of the present invention;

[0018] Figure 2 A second flow chart of the nozzle coordinate compensation method provided by an embodiment of the present invention;

[0019] Figure 3 A third flow chart of the nozzle coordinate compensation method provided by an embodiment of the present invention;

[0020] Figure 4 A fourth flow chart of the nozzle coordinate compensation method provided by an embodiment of the present invention;

[0021] Figure 5 A fifth flow chart of the nozzle coordinate compensation method provided by an embodiment of the present invention;

[0022] Figure 6 A sixth flow chart of the nozzle coordinate compensation method provided by an embodiment of the present invention;

[0023] Figure 7 A seventh flow chart of the nozzle coordinate compensation method provided by an embodiment of the present invention;

[0024] Figure 8 A schematic diagram of the structure of a nozzle coordinate compensation device provided by an embodiment of the present invention;

[0025] Fig. 9 A schematic structural diagram of a nozzle coordinate compensation device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The present invention provides a nozzle coordinate compensation method, device, equipment and storage medium. The technical solution of the present invention first presets a laser target point on the nozzle plane, and then collects the coordinate information of the nozzle plane, that is, the nozzle coordinate information, through the laser target point; then the nozzle coordinate information is processed, and the coordinate information before compensation is obtained after filtering out unqualified information; then the nozzle plane equation is constructed according to the pre-compensation coordinate information, and the matrix is ​​solved according to the nozzle plane equation to obtain the coordinate transformation matrix; the coordinate information before compensation is transformed by using the coordinate transformation matrix to obtain the coordinate information after compensation; finally, the nozzle coordinate compensation information is generated according to the coordinate information before compensation and the coordinate information after compensation; the nozzle coordinate compensation information is used to adjust the coordinate position of the nozzle, and the inkjet printer is controlled to delay or lag the injection of ink droplets at different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0027] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of the nozzle coordinate compensation method in the embodiment of the present invention includes:

[0029] 101. Obtain nozzle coordinate information;

[0030] In this embodiment, the original coordinate information of the nozzle is first obtained through a sensor or measuring device. This coordinate information usually includes the three-dimensional coordinates of each target point of the nozzle (i.e., the nozzle position). These coordinates are relative to a reference point (reference plane). The purpose of obtaining this coordinate information is to provide basic data for subsequent data processing and compensation calculations.

[0031] 102. Process the nozzle coordinate information to obtain the coordinate information before compensation;

[0032] In this embodiment, the system performs preliminary data processing on the acquired nozzle coordinate information, which may include data screening, error correction, etc., to ensure the accuracy of subsequent analysis; the processed nozzle coordinate information is marked as pre-compensation coordinate information, which means that these coordinates have not been adjusted by any compensation.

[0033] 103. Constructing a nozzle plane equation according to the coordinate information before compensation;

[0034] In this embodiment, the nozzle coordinate information before compensation is used to fit a plane equation; this plane equation represents the average position distribution of the nozzle target points in the current state, it takes into account the position deviation of all target points, and attempts to approximate the distribution of these points with a plane; the purpose of constructing the plane equation is to be able to rotate and translate it later to achieve precise adjustment of the nozzle position.

[0035] 104. Solve the rotation matrix of the nozzle plane equation to obtain the coordinate transformation matrix;

[0036] In this embodiment, the rotation angle and direction of the nozzle plane relative to the ideal position are determined by solving the rotation matrix, and the ideal position is the position after coordinate compensation is completed; the rotation matrix is ​​a mathematical tool used to describe rotation operations in three-dimensional space. By solving the rotation matrix of the nozzle plane equation, the system can obtain a coordinate transformation matrix, which can transform any point on the nozzle plane from the current position to the ideal position.

[0037] 105. Perform coordinate transformation on the pre-compensation coordinate information according to the coordinate transformation matrix to obtain post-compensation coordinate information;

[0038] In this embodiment, the coordinate transformation matrix obtained in the previous step is used to transform the nozzle coordinate information before compensation, and the transformed coordinate information is marked as compensated coordinate information, which represents the new position of the nozzle target after compensation adjustment.

[0039] 106. Generate nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information;

[0040] In this embodiment, the system compares the coordinate information before and after compensation and generates nozzle coordinate compensation information. The nozzle coordinate compensation information generally includes the displacement and rotation angle of each nozzle, and is used to guide the nozzle or inkjet printing device to perform actual adjustment operations.

[0041] In an embodiment of the present invention, a laser target point is first preset on the nozzle plane, and then the coordinate information of the nozzle plane, i.e., the nozzle coordinate information, is collected through the laser target point; then, data processing is performed on the nozzle coordinate information to obtain the pre-compensation coordinate information after filtering out unqualified information; then, a nozzle plane equation is constructed according to the pre-compensation coordinate information, and a matrix solution is performed according to the nozzle plane equation to obtain a coordinate transformation matrix; the coordinate transformation matrix is ​​used to perform coordinate transformation on the pre-compensation coordinate information to obtain the post-compensation coordinate information; finally, nozzle coordinate compensation information is generated according to the pre-compensation coordinate information and the post-compensation coordinate information; the nozzle coordinate compensation information is used to adjust the coordinate position of the nozzle, and the inkjet printer is controlled to perform delayed or delayed injection processing on ink droplets of different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0042] See also Figure 2 , a second embodiment of the nozzle coordinate compensation method in the embodiment of the present invention includes:

[0043] 201. Preset laser target;

[0044] In this embodiment, a series of laser target points are first set in the working area of ​​the nozzle. The setting of the laser target points should fully cover the working range of the nozzle to ensure the accuracy and completeness of data collection; the laser target points are used as a benchmark for subsequent data collection and processing.

[0045] 202. Collecting nozzle height information and nozzle plane coordinate information according to the laser target point;

[0046] In this embodiment, once the laser target point is set, we will use a laser rangefinder or other high-precision measuring equipment to collect the height information of the nozzle and the coordinate information of the nozzle plane for each target point; the nozzle height information refers to the vertical distance of the nozzle relative to the reference plane (such as the working plane of the laser rangefinder), and the nozzle plane coordinate information describes the specific position of the nozzle on the horizontal plane; this information is obtained by the laser rangefinder emitting a laser beam and receiving a reflected signal; in one embodiment, the nozzle plane coordinate information can be expressed as: (x0, y0), (x1, y1), ..., (x n ,y n ); The nozzle height information can be expressed as: d0, d1, ..., d n .

[0047] 203. Obtaining nozzle coordinate information according to nozzle height information and nozzle plane coordinate information

[0048] In this embodiment, after collecting the height information of the nozzle and the coordinate information of the nozzle plane, we integrate this information to obtain complete nozzle coordinate information. It should be noted that when the reference plane is established with the working plane of the laser rangefinder, the measured nozzle height information is the z-axis coordinate value of each target point in this coordinate system, and the coordinates of each target point on the z-axis are obtained: z0=d0, z1=d1, ..., z n =d n ; Therefore, the nozzle coordinate information can be expressed as (x0, y0, z0), (x1, y1, z1), ..., (x n ,y n ,z n ).

[0049] See also Figure 3 , a third embodiment of the nozzle coordinate compensation method in the embodiment of the present invention includes:

[0050] 301. Perform data screening on the nozzle coordinate information to obtain the screened coordinate information;

[0051] In this embodiment, it is necessary to first conduct a comprehensive data screening of the nozzle coordinate information. The purpose of data screening is to identify and eliminate abnormal or unreliable data points caused by various reasons (such as measurement errors, equipment failures, environmental interference, etc.); specifically, a reasonable numerical range is set, and coordinate values ​​outside this range are regarded as abnormal data; after data screening, the screened coordinate information is obtained, and the screened coordinate information will serve as the basis for subsequent data calibration.

[0052] 302. Performing data calibration on the coordinate information after screening to obtain coordinate information before compensation;

[0053] In this embodiment, data calibration is performed on the basis of data screening to identify and correct systematic errors caused by the measurement system itself; after data calibration, a set of more accurate coordinate information is obtained, and this set of coordinate information is marked as pre-compensation coordinate information.

[0054] See also Figure 4 , a fourth embodiment of the nozzle coordinate compensation method in the embodiment of the present invention includes:

[0055] 401. Construct the basic nozzle plane equation;

[0056] In this embodiment, a basic nozzle plane equation is first constructed. The basic nozzle plane equation may be in the form of:

[0057] z=a0x+a1y+a2;

[0058] Where a0, a1, and a2 are the coefficients of the nozzle plane equation, which determine the direction and position of the plane; x, y, and z represent the position information in the nozzle coordinate information.

[0059] 402. Substitute the coordinate information before compensation into the basic nozzle plane equation to obtain a matrix equation group;

[0060] In this embodiment, the coordinate information before compensation is substituted into the equation. Since there are multiple coordinate points in the coordinate information before compensation, this will generate an equation group containing multiple equations. The form of this equation group can be:

[0061]

[0062] Representing this system of equations in the form of matrix AH=B, we get the matrix system of equations:

[0063]

[0064] Among them, a0, a1, a2 are the coefficients of the nozzle plane equation, which determine the direction and position of the plane; x, y, z represent the position information in the nozzle coordinate information.

[0065] 403. Solve the matrix equation system to obtain a solution result;

[0066] In this embodiment, by solving the matrix equation group, the coefficients of the nozzle plane equation can be obtained, thereby completing the construction of the nozzle plane equation. In this embodiment, the least squares method can be used to solve the above matrix equation:

[0067] H=(A T A)-1 A T B;

[0068] By solving the matrix H, the solutions of the coefficients a0, a1, and a2 of the nozzle plane equation can be obtained, thereby completing the construction of the nozzle plane equation.

[0069] 404. Obtaining a nozzle plane equation according to the solution result and the basic nozzle plane equation;

[0070] In this embodiment, the solution result is substituted into the basic nozzle plane equation to obtain the nozzle plane equation. The nozzle plane equation is obtained by plane fitting based on the pre-compensation coordinate information, so it can be used to describe the shape and deviation of the nozzle plane.

[0071] See also Figure 5 , a fifth embodiment of the nozzle coordinate compensation method in the embodiment of the present invention includes:

[0072] 501. Obtaining normal vector information of the nozzle plane according to the nozzle plane equation;

[0073] In this embodiment, the normal vector information of the nozzle plane is extracted from the nozzle plane equation. The normal vector information of the nozzle plane can be expressed in the following form:

[0074]

[0075] Among them, a0, a1, a2 are the coefficients of the nozzle plane equation, It is the normal vector information of the nozzle plane.

[0076] 502. Preset reference plane normal vector information;

[0077] In this embodiment, the normal vector information of the reference plane is preset, and the reference plane may be the working plane of the laser rangefinder; because the working plane of the laser rangefinder is horizontal, the normal vector information of the reference plane may be expressed in the following form:

[0078]

[0079] In the formula It is the reference plane normal vector information.

[0080] 503. Obtaining rotation axis information and plane angle information according to the nozzle plane normal vector information and the reference plane normal vector information;

[0081] In this embodiment, the rotation axis information and the plane angle information can be constructed according to the nozzle plane normal vector information and the reference plane normal vector information;

[0082] Rotation axis information It can be expressed in the following form:

[0083]

[0084] The angle θ between the nozzle plane and the reference plane can be expressed as follows:

[0085]

[0086] 504. Perform unitization processing on the rotation axis information to obtain unitized rotation axis information;

[0087] In this embodiment, the rotation axis information is normalized to obtain normalized rotation axis information. It can be expressed as:

[0088]

[0089] 505. Using the rotation formula, a rotation matrix is ​​calculated for the normalized rotation axis information and the plane angle information to obtain a coordinate transformation matrix;

[0090] In this embodiment, the rotation axis and the angle are used to generate a rotation matrix. The rotation matrix is ​​a matrix used to describe the rotation of an object in a three-dimensional space. It can transform a vector from one coordinate system to another coordinate system, and solve the rotation matrix for the rotation axis information and the plane angle information to obtain a coordinate transformation matrix. Specifically, the rotation formula can be the Rodrigues rotation formula. The Rodrigues rotation formula is used to calculate the rotation matrix of the normalized rotation axis information and the plane angle information to obtain a coordinate transformation matrix. The coordinate transformation matrix R(θ) can be expressed as:

[0091]

[0092] See also Figure 6 The sixth embodiment of the nozzle coordinate compensation method in the embodiment of the present invention includes:

[0093] 601. Perform difference analysis on the coordinate information before compensation and the coordinate information after compensation to obtain difference information;

[0094] In this embodiment, the original coordinate information before applying the coordinate transformation matrix (i.e., the coordinate information before compensation) and the coordinate information after applying the coordinate transformation matrix (i.e., the coordinate information after compensation) are compared to obtain difference information; the difference information is used to indicate the coordinate position deviation or change caused by the coordinate transformation; the nozzle or inkjet printing device is adjusted according to the difference information.

[0095] 602. Generate nozzle coordinate compensation information according to a preset compensation strategy and difference information;

[0096] In this embodiment, after obtaining the difference information, we generate nozzle coordinate compensation information according to a preset compensation strategy and the difference information. The nozzle coordinate compensation information may include parameters for adjusting the nozzle coordinates or parameters for adjusting the inkjet speed. According to the nozzle coordinate compensation information, the coordinate position of the nozzle can be adjusted, and the inkjet printer can be controlled to delay or lag the injection of ink droplets at different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0097] See also Figure 7 The seventh embodiment of the nozzle coordinate compensation method in the embodiment of the present invention includes:

[0098] 701. The compensation strategy includes a nozzle coordinate compensation strategy and an inkjet speed compensation strategy;

[0099] In this embodiment, the compensation strategy includes a nozzle coordinate compensation strategy and an inkjet speed compensation strategy. The nozzle coordinate compensation strategy aims to correct the position deviation caused by the unevenness of the printing platform by adjusting the coordinates of the nozzle; the inkjet speed compensation strategy aims to compensate for the ink drop landing point deviation caused by the unevenness of the platform by adjusting the inkjet speed.

[0100] 702. Generate nozzle coordinate adjustment parameters according to the difference information and the nozzle coordinate compensation strategy;

[0101] In this embodiment, based on the difference information (i.e., the comparison result of the coordinates before and after compensation) and the nozzle coordinate compensation strategy, we can calculate the nozzle coordinate adjustment parameters. These parameters include the offset of the nozzle, and the position of the nozzle can be accurately adjusted according to the nozzle coordinate adjustment parameters.

[0102] 703. Generate inkjet speed compensation parameters according to the difference information and the inkjet speed compensation strategy;

[0103] In this embodiment, based on the difference information and the inkjet speed compensation strategy, we can calculate the inkjet speed compensation parameters, which include an increase or decrease in the ink jetting rate to deal with the ink droplet landing accuracy problem that may occur during the printing process.

[0104] 704. Obtain nozzle coordinate compensation information according to the nozzle coordinate adjustment parameter and the inkjet speed compensation parameter;

[0105] In this embodiment, the nozzle coordinate adjustment parameters and the inkjet speed compensation parameters are integrated into the nozzle coordinate compensation information. The nozzle coordinate compensation information is transmitted to the control system of the printing device. The control system dynamically adjusts the nozzle position and inkjet speed when executing the printing task based on the nozzle coordinate compensation information, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0106] The nozzle coordinate compensation method in the embodiment of the present invention is described above. The nozzle coordinate compensation device in the embodiment of the present invention is described below. Figure 8 , an embodiment of the nozzle coordinate compensation device in the embodiment of the present invention includes:

[0107] Data acquisition module 801, used to obtain nozzle coordinate information;

[0108] The data processing module 802 is used to process the nozzle coordinate information to obtain the pre-compensation coordinate information;

[0109] A plane construction module 803 is used to construct a nozzle plane equation according to the pre-compensation coordinate information;

[0110] The matrix solving module 804 is used to solve the rotation matrix of the nozzle plane equation to obtain the coordinate transformation matrix;

[0111] A coordinate transformation module 805 is used to perform coordinate transformation on the pre-compensation coordinate information according to the coordinate transformation matrix to obtain the post-compensation coordinate information;

[0112] The coordinate compensation module 806 is used to generate nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information.

[0113] In this embodiment, firstly, the coordinate information of the nozzle plane is collected by the data acquisition module 801 to obtain the nozzle coordinate information; then the data processing module 802 processes the nozzle coordinate information, and obtains the pre-compensation coordinate information after filtering out the unqualified information; then the plane construction module 803 constructs the nozzle plane equation according to the pre-compensation coordinate information, and the matrix solving module 804 solves the rotation matrix according to the nozzle plane equation to obtain the coordinate transformation matrix; the coordinate transformation module 805 performs coordinate transformation on the pre-compensation coordinate information according to the coordinate transformation matrix to obtain the post-compensation coordinate information; finally, the coordinate compensation module 806 generates the nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information; the printing device can use the nozzle coordinate compensation information to adjust the coordinate position of the nozzle, and control the inkjet printer to delay or lag the injection of ink droplets at different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0114] above Figure 8 The nozzle coordinate compensation device in the embodiment of the present invention is described in detail from the perspective of modular functional entities, and the nozzle coordinate compensation device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0115] Fig. 9is a schematic diagram of the structure of a nozzle coordinate compensation device provided by an embodiment of the present invention. The nozzle coordinate compensation device 900 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 910 (for example, one or more processors) and a memory 920, and one or more storage media 930 (for example, one or more mass storage devices) storing application programs 933 or data 932. Among them, the memory 920 and the storage medium 930 can be short-term storage or permanent storage. The program stored in the storage medium 930 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the nozzle coordinate compensation device 900. Furthermore, the processor 910 can be configured to communicate with the storage medium 930, and execute a series of instruction operations in the storage medium 930 on the nozzle coordinate compensation device 900 to implement the steps of the nozzle coordinate compensation method provided in the above-mentioned method embodiments.

[0116] The nozzle coordinate compensation device 900 may further include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input and output interfaces 960, and / or one or more operating systems 931, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Fig. 9 The structure of the nozzle coordinate compensation device shown does not constitute a limitation on the nozzle coordinate compensation device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0117] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the nozzle coordinate compensation method.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0120] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A nozzle coordinate compensation method, characterized in that: include: Get the nozzle coordinate information; Process the nozzle coordinate information to obtain the coordinate information before compensation; Construct the nozzle plane equation according to the coordinate information before compensation; Solve the rotation matrix of the nozzle plane equation to obtain the coordinate transformation matrix; Performing coordinate transformation on the pre-compensation coordinate information according to the coordinate transformation matrix to obtain the post-compensation coordinate information; The nozzle coordinate compensation information is generated according to the pre-compensation coordinate information and the post-compensation coordinate information.

2. The nozzle coordinate compensation method according to claim 1, characterized in that: The step of obtaining the nozzle coordinate information includes: Preset laser target; Collect the nozzle height information and nozzle plane coordinate information according to the laser target point; The nozzle coordinate information is obtained according to the nozzle height information and the nozzle plane coordinate information.

3. The nozzle coordinate compensation method according to claim 1, characterized in that: The data processing of the nozzle coordinate information to obtain the coordinate information before compensation includes: Perform data screening on the nozzle coordinate information to obtain the screened coordinate information; The coordinate information after screening is calibrated to obtain the coordinate information before compensation.

4. The nozzle coordinate compensation method according to claim 1, characterized in that: The step of constructing the nozzle plane equation according to the pre-compensation coordinate information includes: Construct the basic sprinkler plane equation; Substitute the coordinate information before compensation into the basic nozzle plane equation to obtain a matrix equation group; Solve the matrix equations to obtain the solution; The nozzle plane equation is obtained according to the solution results and the basic nozzle plane equation.

5. The nozzle coordinate compensation method according to claim 1, characterized in that: The step of solving the rotation matrix of the nozzle plane equation to obtain the coordinate transformation matrix includes: obtaining the nozzle plane normal vector information according to the nozzle plane equation; Preset reference plane normal vector information; The rotation axis information and the plane angle information are obtained according to the nozzle plane normal vector information and the reference plane normal vector information; Performing unitization processing on the rotation axis information to obtain unitized rotation axis information; The rotation formula is used to calculate the rotation matrix of the normalized rotation axis information and plane angle information to obtain the coordinate transformation matrix.

6. The nozzle coordinate compensation method according to claim 1, characterized in that: The generating of nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information includes: performing difference analysis on the pre-compensation coordinate information and the post-compensation coordinate information to obtain difference information; and generating nozzle coordinate compensation information according to a preset compensation strategy and the difference information.

7. The nozzle coordinate compensation method according to claim 6, characterized in that: The generating of nozzle coordinate compensation information according to the preset compensation strategy and difference information includes: The compensation strategy includes a nozzle coordinate compensation strategy and an inkjet speed compensation strategy; Generate nozzle coordinate adjustment parameters according to the difference information and the nozzle coordinate compensation strategy; Generate inkjet speed compensation parameters according to the difference information and the inkjet speed compensation strategy; The nozzle coordinate compensation information is obtained according to the nozzle coordinate adjustment parameter and the inkjet speed compensation parameter.

8. A nozzle coordinate compensation device, characterized in that: include: A data acquisition module is used to obtain the nozzle coordinate information; A data processing module is used to process the nozzle coordinate information to obtain the coordinate information before compensation; A plane construction module is used to construct the nozzle plane equation according to the pre-compensation coordinate information; The matrix solving module is used to solve the rotation matrix of the nozzle plane equation to obtain the coordinate transformation matrix; A coordinate transformation module, used for performing coordinate transformation on the pre-compensation coordinate information according to the coordinate transformation matrix to obtain the post-compensation coordinate information; The coordinate compensation module is used to generate nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information.

9. A nozzle coordinate compensation device, characterized in that: The nozzle coordinate compensation device comprises: a memory and at least one processor, wherein instructions are stored in the memory; At least one of the processors calls the instructions in the memory to enable the nozzle coordinate compensation device to perform each step of the nozzle coordinate compensation method according to any one of claims 1 to 7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the various steps of the nozzle coordinate compensation method as described in any one of claims 1 to 7 are implemented.

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