A nozzle coordinate compensation method, device, equipment and storage medium

Abstract

The present application relates to the field of inkjet printing technology, and discloses a nozzle coordinate compensation method, device, equipment and storage medium, comprising: obtaining printhead coordinate information; data processing the printhead coordinate information to obtain pre-compensation coordinate information; constructing a printhead plane equation according to the pre-compensation coordinate information; solving a rotation matrix of the printhead 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; and generating nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information; the present application generates nozzle coordinate compensation information by fitting processing the printhead plane, adjusts the coordinate position of the nozzle by using the nozzle coordinate compensation information, and controls the inkjet printer to perform delay or lag ejection processing on ink drops of different heights, thereby improving the landing point accuracy of the printing ink drops and obtaining better inkjet printing accuracy.

Description

Technical Field

[0001] This invention relates to the field of inkjet printing technology, and in particular to a nozzle coordinate compensation method, apparatus, device, and storage medium. Background Technology

[0002] OLED inkjet printing technology is an emerging method for manufacturing display devices. Compared with traditional vacuum evaporation technology, inkjet printing technology has several advantages, making it a promising candidate for OLED display production. The principle of OLED inkjet printing is to spray ink from a printhead onto designated pixel slots on a substrate to form R, G, and B light-emitting sub-pixels. This process involves precisely controlling 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 printhead surface is covered with nozzles; if there is a significant deviation in flatness, the distance from each nozzle to the substrate will be inconsistent, affecting the accuracy of the print landing point and consequently the inkjet printing accuracy. Therefore, the current technology still needs improvement. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, the present invention aims 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 based on the nozzle coordinate information to construct a nozzle plane equation, obtains the compensated nozzle coordinate information based on the nozzle plane equation, and finally generates nozzle coordinate compensation information based on the nozzle coordinate information before and after compensation. The nozzle coordinate compensation information is used to adjust the nozzle coordinate position and control the inkjet printer to perform delayed or lag-jetting processing on ink droplets of different heights, thereby improving the landing accuracy of printed ink droplets and obtaining better inkjet printing accuracy.

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

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

[0007] Optionally, in a second implementation of the first aspect of the present invention, the step of processing the nozzle coordinate information to obtain the pre-compensation coordinate information includes: screening the nozzle coordinate information to obtain the screened coordinate information; and calibrating the screened coordinate information to obtain the pre-compensation coordinate information.

[0008] Optionally, in a third implementation of the first aspect of the present invention, the step of 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 matrix equation set; solving the matrix equation set 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 the fourth implementation of the first aspect of the present invention, 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 based on the nozzle plane equation; pre-setting the reference plane normal vector information; obtaining the rotation axis information and the plane angle information based on the nozzle plane normal vector information and the reference plane normal vector information; normalizing the rotation axis information to obtain normalized rotation axis information; and using the rotation formula to calculate the rotation matrix of the normalized rotation axis information and the plane angle information to obtain the coordinate transformation matrix.

[0010] Optionally, in a fifth implementation of the first aspect of the present invention, generating nozzle coordinate compensation information based on pre-compensation coordinate information and post-compensation coordinate information includes: performing a difference analysis on the pre-compensation coordinate information and post-compensation coordinate information to obtain difference information; and generating 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, generating nozzle coordinate compensation information based on a preset compensation strategy and difference information includes: the compensation strategy includes a nozzle coordinate compensation strategy and an inkjet speed compensation strategy; generating nozzle coordinate adjustment parameters based on the difference information and the nozzle coordinate compensation strategy; generating inkjet speed compensation parameters based on the difference information and the inkjet speed compensation strategy; and obtaining nozzle coordinate compensation information based on the nozzle coordinate adjustment parameters and the inkjet speed compensation parameters.

[0012] A second aspect of the present invention provides a nozzle coordinate compensation device, comprising: a data acquisition module for acquiring nozzle coordinate information; a data processing module for processing the nozzle coordinate information to obtain pre-compensation coordinate information; a plane construction module for constructing a nozzle plane equation based on the pre-compensation coordinate information; a matrix solving module for solving the nozzle plane equation by performing a rotation matrix calculation to obtain a coordinate transformation matrix; a coordinate transformation module for performing a coordinate transformation on the pre-compensation coordinate information based on the coordinate transformation matrix to obtain post-compensation coordinate information; and a coordinate compensation module for generating nozzle coordinate compensation information based on the pre-compensation coordinate information and the post-compensation coordinate information.

[0013] A third aspect of the present invention provides a nozzle coordinate compensation device, the nozzle coordinate compensation device comprising: a memory and at least one processor, the memory storing instructions; the at least one processor calling the instructions in the memory to cause the nozzle coordinate compensation device to perform the various steps of the nozzle coordinate compensation method described in any of the preceding claims.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed by a processor, implement the steps of the nozzle coordinate compensation method described in any of the preceding claims.

[0015] In the technical solution of this invention, a laser target point is first preset on the printhead plane, and the coordinate information of the printhead plane, i.e., the printhead coordinate information, is collected through the laser target point. Then, the printhead coordinate information is processed to remove unqualified information and obtain the pre-compensation coordinate information. Then, the printhead plane equation is constructed based on the pre-compensation coordinate information, and the coordinate transformation matrix is ​​obtained by solving the matrix based on the printhead plane equation. The coordinate transformation matrix is ​​used to transform the pre-compensation coordinate information to obtain the post-compensation coordinate information. Finally, nozzle coordinate compensation information is generated based on 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 control the inkjet printer to perform delayed or lag jetting of ink droplets of different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy. Attached Figure Description

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

[0017] Figure 1 This is a first flowchart of the nozzle coordinate compensation method provided in an embodiment of the present invention;

[0018] Figure 2 This is a second flowchart of the nozzle coordinate compensation method provided in an embodiment of the present invention;

[0019] Figure 3 This is a third flowchart of the nozzle coordinate compensation method provided in the embodiments of the present invention;

[0020] Figure 4 This is a fourth flowchart of the nozzle coordinate compensation method provided in the embodiments of the present invention;

[0021] Figure 5 A fifth flowchart of the nozzle coordinate compensation method provided in an embodiment of the present invention;

[0022] Figure 6 A sixth flowchart of the nozzle coordinate compensation method provided in an embodiment of the present invention;

[0023] Figure 7 A seventh flowchart of the nozzle coordinate compensation method provided in an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of the nozzle coordinate compensation device provided in an embodiment of the present invention;

[0025] Figure 9 This is a schematic diagram of the nozzle coordinate compensation device provided in an embodiment of the present invention. Detailed Implementation

[0026] This invention provides a nozzle coordinate compensation method, apparatus, device, and storage medium. The technical solution of this invention first presets a laser target point on the printhead plane, then collects the coordinate information of the printhead plane through the laser target point, i.e., the printhead coordinate information; next, it processes the printhead coordinate information, filtering out unqualified information to obtain the pre-compensation coordinate information; then, it constructs a printhead plane equation based on the pre-compensation coordinate information, and performs matrix solving based on the printhead plane equation to obtain a coordinate transformation matrix; it uses the coordinate transformation matrix to transform the pre-compensation coordinate information to obtain the post-compensation coordinate information; finally, it generates nozzle coordinate compensation information based on the pre-compensation and post-compensation coordinate information; it uses the nozzle coordinate compensation information to adjust the nozzle's coordinate position and controls the inkjet printer to perform delayed or lag-jetting processing on ink droplets of different heights, thereby improving the landing accuracy of printed ink droplets and obtaining better inkjet printing accuracy.

[0027] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 One embodiment of the nozzle coordinate compensation method in this invention includes:

[0029] 101. Obtain nozzle coordinate information;

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

[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. This may include data screening and error correction to ensure the accuracy of subsequent analysis; the processed nozzle coordinate information is marked as pre-compensation coordinate information, meaning that these coordinates have not yet undergone any compensation adjustment.

[0033] 103. Construct the nozzle plane equation based on 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 in the future 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. The ideal position is the position after coordinate compensation. The rotation matrix is ​​a mathematical tool used to describe rotation operations in three-dimensional space. By solving the rotation matrix on the nozzle plane equation, the system can obtain a coordinate transformation matrix. The coordinate transformation matrix can transform any point on the nozzle plane from its current position to the ideal position.

[0037] 105. Perform coordinate transformation on the coordinate information before compensation according to the coordinate transformation matrix to obtain the coordinate information after compensation;

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

[0039] 106. Generate nozzle coordinate compensation information based on the coordinate information before and after compensation;

[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 typically includes the displacement and rotation angle of each nozzle, and is used to guide the nozzles or inkjet printing equipment in making actual adjustments.

[0041] In this embodiment of the invention, a laser target point is first preset on the printhead plane, and then the coordinate information of the printhead plane, i.e., the printhead coordinate information, is collected through the laser target point. The printhead coordinate information is then processed to remove unqualified information, resulting in pre-compensation coordinate information. Next, a printhead plane equation is constructed based on the pre-compensation coordinate information, and a coordinate transformation matrix is ​​obtained by solving the matrix based on the printhead plane equation. The pre-compensation coordinate information is then transformed using the coordinate transformation matrix to obtain post-compensation coordinate information. Finally, nozzle coordinate compensation information is generated based on the pre-compensation and post-compensation coordinate information. The nozzle coordinate compensation information is used to adjust the nozzle's coordinate position and control the inkjet printer to perform delayed or lag-jetting processing on ink droplets of different heights, thereby improving the accuracy of ink droplet landing and achieving better inkjet printing accuracy.

[0042] Please see Figure 2 The second embodiment of the nozzle coordinate compensation method in this invention includes:

[0043] 201. Preset laser target point;

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

[0045] 202. Collect nozzle height information and nozzle planar coordinate information based on the laser target point;

[0046] In this embodiment, once the laser target points are set, we will use a laser rangefinder or other high-precision measuring equipment to collect the nozzle height information and nozzle plane coordinate information for each target point. The nozzle height information refers to the vertical distance of the nozzle relative to a reference plane (such as the working plane of the laser rangefinder), while 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 the reflected signal. In one embodiment, the nozzle plane coordinate information can be expressed as: , , ..., The nozzle height information can be expressed as: , , ..., .

[0047] 203. Obtain the nozzle coordinate information based on the nozzle height information and the nozzle plane coordinate information;

[0048] In this embodiment, after collecting the nozzle height information and the coordinate information of the nozzle plane, we integrate this information to obtain complete nozzle coordinate information. It should be noted that when a reference plane is established using 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, thus obtaining the coordinates of each target point on the z-axis: , , ..., Therefore, the nozzle coordinate information can be expressed as: , , ..., .

[0049] Please see Figure 3 The third embodiment of the nozzle coordinate compensation method in this invention includes:

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

[0051] In this embodiment, a comprehensive data screening of the nozzle coordinate information is first required. 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 considered abnormal data. After data screening, the screened coordinate information is obtained, which will serve as the basis for subsequent data calibration.

[0052] 302. Perform data calibration on the screened coordinate information to obtain the coordinate information before compensation;

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

[0054] Please see Figure 4 The fourth embodiment of the nozzle coordinate compensation method in this 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 can take the form of:

[0057] ;

[0058] In the formula, , , The coefficients of the nozzle plane equation 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 pre-compensation coordinate information into the basic nozzle plane equation to obtain a set of matrix equations;

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

[0061] ;

[0062] Translate this system of equations into a matrix In formal terms, we obtain the system of matrix equations:

[0063] ; ; ;

[0064] in, , , The coefficients of the nozzle plane equation determine the direction and position of the plane; x, y, and z represent the position information in the nozzle coordinate information.

[0065] 403. Solve the system of matrix equations to obtain the solution;

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

[0067] ;

[0068] By solving matrix H, the coefficients of the nozzle plane equation can be obtained. , , The solution is obtained, thus completing the construction of the nozzle plane equation.

[0069] 404. Based on the solution results and the basic nozzle plane equation, the nozzle plane equation is obtained;

[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 using the pre-compensation coordinate information, therefore it can be used to describe the shape and deviation of the nozzle plane.

[0071] Please see Figure 5 The fifth embodiment of the nozzle coordinate compensation method in this invention includes:

[0072] 501. Obtain the nozzle plane normal vector information based on 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 represented in the following form:

[0074] ;

[0075] in, , , The coefficients of the nozzle plane equation are . This refers to 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 preset reference plane is used. The reference plane can be the working plane of the laser rangefinder. Since the working plane of the laser rangefinder is horizontal, the normal vector information of the reference plane can be represented in the following form:

[0078] ;

[0079] In the formula This refers to the normal vector information of the reference plane.

[0080] 503. Obtain the rotation axis information and the plane angle information based on the nozzle plane normal vector information and the reference plane normal vector information;

[0081] In this embodiment, rotation axis information and plane angle information can be constructed based on 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] Angle between the nozzle plane and the reference plane It can be expressed in the following form:

[0085] .

[0086] 504. Normalize the rotation axis information to obtain normalized rotation axis information;

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

[0088] .

[0089] 505. Using the rotation formula, calculate the rotation matrix based on the normalized rotation axis information and the plane angle information to obtain the coordinate transformation matrix;

[0090] In this embodiment, rotation axes and included angles are used to generate a rotation matrix. A rotation matrix is ​​a matrix used to describe the rotation of an object in three-dimensional space; it can transform a vector from one coordinate system to another. Solving for the rotation matrix using the rotation axis information and the included angle information yields the coordinate transformation matrix. Specifically, the rotation formula can be the Rodrigues rotation formula. Using the Rodrigues rotation formula to calculate the rotation matrix using the normalized rotation axis information and the included angle information, the coordinate transformation matrix can be obtained. It can be represented as:

[0091] .

[0092] Please see Figure 6 The sixth embodiment of the nozzle coordinate compensation method in this invention includes:

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

[0094] In this embodiment, by comparing 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), difference information can be obtained; the difference information is used to represent 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 based on the preset compensation strategy and difference information;

[0096] In this embodiment, after obtaining the difference information, we generate nozzle coordinate compensation information based on the 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. Based on the nozzle coordinate compensation information, the coordinate position of the nozzle can be adjusted, and the inkjet printer can be controlled to perform delayed or delayed ejection of ink droplets at different heights, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0097] Please see Figure 7 The seventh embodiment of the nozzle coordinate compensation method in this 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 positional deviation caused by unevenness of the printing platform by adjusting the coordinates of the nozzles. The inkjet speed compensation strategy aims to compensate for the droplet landing point deviation caused by unevenness of the platform by adjusting the inkjet speed.

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

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

[0102] 703. Generate inkjet speed compensation parameters based on the difference information and 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 the increase or decrease of the ink jet rate, in order to deal with the ink droplet landing accuracy problem that may occur during the printing process.

[0104] 704. Obtain nozzle coordinate compensation information based on nozzle coordinate adjustment parameters and inkjet speed compensation parameters;

[0105] In this embodiment, the nozzle coordinate adjustment parameters and 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. Based on this nozzle coordinate compensation information, the control system dynamically adjusts the position of the nozzle and the inkjet rate when performing the printing task, thereby improving the landing accuracy of the printed ink droplets and obtaining better inkjet printing accuracy.

[0106] The nozzle coordinate compensation method in the embodiments of the present invention has been described above. The nozzle coordinate compensation device in the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 8 One embodiment of the nozzle coordinate compensation device in this invention includes:

[0107] Data acquisition module 801 is used to acquire nozzle coordinate information;

[0108] Data processing module 802 is used to process the nozzle coordinate information to obtain the coordinate information before compensation;

[0109] Plane construction module 803 is used to construct the nozzle plane equation based on 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] The coordinate transformation module 805 is used to perform coordinate transformation on the coordinate information before compensation according to the coordinate transformation matrix to obtain the coordinate information after compensation.

[0112] The coordinate compensation module 806 is used to generate nozzle coordinate compensation information based on the coordinate information before and after compensation.

[0113] In this embodiment, the data acquisition module 801 first collects the coordinate information of the printhead plane to obtain the printhead coordinate information; then the data processing module 802 processes the printhead coordinate information, filters out unqualified information, and obtains the pre-compensation coordinate information; then the plane construction module 803 constructs the printhead plane equation based on the pre-compensation coordinate information, and the matrix solving module 804 solves the rotation matrix based on the printhead plane equation to obtain the coordinate transformation matrix; the coordinate transformation module 805 performs coordinate transformation on the pre-compensation coordinate information based on the coordinate transformation matrix to obtain the post-compensation coordinate information; finally, the coordinate compensation module 806 generates nozzle coordinate compensation information based on 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 perform delayed or lag jetting of ink droplets of 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 this embodiment of the invention will be described in detail from the perspective of modular functional entities. The nozzle coordinate compensation device in this embodiment of the invention will be described in detail from the perspective of hardware processing.

[0115] Figure 9 This is a schematic diagram of a nozzle coordinate compensation device 900 provided in an embodiment of the present invention. The nozzle coordinate compensation device 900 can vary significantly due to different configurations or performance characteristics. It may include one or more central processing units (CPUs) 910 (e.g., one or more processors) and a memory 920, and one or more storage media 930 (e.g., one or more mass storage devices) storing application programs 933 or data 932. The memory 920 and storage media 930 can be temporary or persistent storage. The program stored in the storage media 930 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the nozzle coordinate compensation device 900. Furthermore, the processor 910 may be configured to communicate with the storage media 930 and execute the series of instruction operations in the storage media 930 on the nozzle coordinate compensation device 900 to implement the steps of the nozzle coordinate compensation method provided in the above-described method embodiments.

[0116] The nozzle coordinate compensation device 900 may also include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input / output interfaces 960, and / or one or more operating systems 931, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 9 The nozzle coordinate compensation device structure shown does not constitute a limitation on nozzle coordinate compensation devices, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0117] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the nozzle coordinate compensation method.

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

[0119] If the integrated unit is implemented as 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, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0120] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A nozzle coordinate compensation method characterized by, The method comprises the following steps: acquiring nozzle coordinate information; performing data processing on the nozzle coordinate information to obtain pre-compensation coordinate information; constructing a nozzle plane equation according to the pre-compensation coordinate information; the step of constructing the nozzle plane equation according to the pre-compensation coordinate information comprises the following steps: constructing a basic nozzle plane equation; substituting the pre-compensation coordinate information into the basic nozzle plane equation to obtain a matrix equation set; solving the matrix equation set to obtain a solution; and obtaining the nozzle plane equation according to the solution and the basic nozzle plane equation; performing rotation matrix solving on the nozzle plane equation to obtain a coordinate transformation matrix; the step of performing rotation matrix solving on the nozzle plane equation to obtain the coordinate transformation matrix comprises the following steps: obtaining nozzle plane normal vector information according to the nozzle plane equation; presetting reference plane normal vector information; obtaining rotation axis information and plane included angle information 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; and performing rotation matrix calculation on the unitized rotation axis information and the plane included angle information by using a rotation formula to obtain the 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 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 acquiring the nozzle coordinate information comprises the following steps: presetting a laser target point; collecting nozzle height information and nozzle plane coordinate information according to the laser target point; obtaining the nozzle coordinate information 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 step of performing data processing on the nozzle coordinate information to obtain the pre-compensation coordinate information comprises the following steps: performing data screening on the nozzle coordinate information to obtain screened coordinate information; performing data calibration on the screened coordinate information to obtain the pre-compensation coordinate information.

4. The nozzle coordinate compensation method according to claim 1, characterized by, The step of generating the nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information comprises the following steps: performing difference analysis on the pre-compensation coordinate information and the post-compensation coordinate information to obtain difference information; generating the nozzle coordinate compensation information according to a preset compensation strategy and the difference information.

5. The nozzle coordinate compensation method according to claim 4, wherein The step of generating the nozzle coordinate compensation information according to the preset compensation strategy and the difference information comprises the following steps: the compensation strategy comprises a nozzle coordinate compensation strategy and an ink jet speed compensation strategy; generating a nozzle coordinate adjustment parameter according to the difference information and the nozzle coordinate compensation strategy; generating an ink jet speed compensation parameter according to the difference information and the ink jet speed compensation strategy; obtaining the nozzle coordinate compensation information according to the nozzle coordinate adjustment parameter and the ink jet speed compensation parameter.

6. A nozzle coordinate compensation apparatus characterized by comprising: The method comprises the following steps: a data acquisition module is configured to acquire nozzle coordinate information; a data processing module is configured to perform data processing on the nozzle coordinate information to obtain pre-compensation coordinate information; a plane construction module is configured to construct a nozzle plane equation according to the pre-compensation coordinate information; the step of constructing the nozzle plane equation according to the pre-compensation coordinate information comprises the following steps: constructing a basic nozzle plane equation; substituting the pre-compensation coordinate information into the basic nozzle plane equation to obtain a matrix equation set; solving the matrix equation set to obtain a solution; and obtaining the nozzle plane equation according to the solution and the basic nozzle plane equation; The matrix solving module is configured to solve a rotation matrix of the nozzle plane equation to obtain a coordinate transformation matrix. The solving of the rotation matrix of the nozzle plane equation to obtain the coordinate transformation matrix includes: obtaining nozzle plane normal vector information according to the nozzle plane equation; presetting reference plane normal vector information; obtaining rotation axis information and plane included angle information 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; and performing rotation matrix calculation on the unitized rotation axis information and the plane included angle information by using a rotation formula to obtain the coordinate transformation matrix. The coordinate transformation module is configured to perform coordinate transformation on the pre-compensation coordinate information according to the coordinate transformation matrix to obtain post-compensation coordinate information. The coordinate compensation module is configured to generate nozzle coordinate compensation information according to the pre-compensation coordinate information and the post-compensation coordinate information.

7. A nozzle coordinate compensation apparatus characterized by comprising: The nozzle coordinate compensation device includes a memory and at least one processor, and the memory stores instructions. The at least one processor invokes the instructions in the memory to enable the nozzle coordinate compensation device to perform the steps of the nozzle coordinate compensation method in any one of claims 1-5.

8. A computer-readable storage medium having stored thereon instructions, the computer-readable storage medium comprising: The instructions are executed by the processor to implement the steps of the nozzle coordinate compensation method in any one of claims 1-5.

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