Multi-needle printing device with calibration function, calibration method, and electronic device

Abstract

Embodiments of the present specification relate to a multi-needle printing device with a calibration function, a calibration method and an electronic device. The method comprises: obtaining height data corresponding to each of at least two printing needles on a printing head; based on the height data corresponding to each of the at least two printing needles, adjusting the flatness of the printing head by rotating the printing head; obtaining a bottom image of the printing head that has been adjusted for flatness to obtain a first identification image containing the bottom image of the printing head, and obtaining first image position coordinates corresponding to each of the at least two printing needles in the first identification image; and based on the first image position coordinates corresponding to each of the at least two printing needles in the first identification image, adjusting the position of the printing head in the plane direction by rotating the printing head. The multi-needle printing head can be carefully calibrated before it is formally put into printing operation, thereby ensuring printing accuracy and avoiding potential faults.

Description

TECHNICAL FIELD

[0001] Embodiments of the present specification relate to the technical field of printing, and in particular to a multi-needle printing device with calibration function, a calibration method and an electronic device. BACKGROUND

[0002] With the continuous development of printing technology, in order to significantly improve the printing efficiency, the use of multi-needle printing head is increasingly widespread. However, with the increase in the number of printing needles, the problem of printing error is increasingly prominent.

[0003] Firstly, it must be recognized that even if the printing position of a single needle is accurate, the printing position of the entire printing head cannot be completely accurate. Secondly, due to the increase in the number of needles in the printing head, the overall volume of the printing head also increases, which increases the possibility of overall inclination of the printing head during use. Once the overall inclination of the printing head occurs, if the correction operation is not performed in time, it is easy to cause needle collision and other faults, which will have a serious impact on the printing quality.

[0004] Therefore, before the multi-needle printing head is formally put into printing operation, it is particularly important to perform detailed calibration operation. This step is of great significance to ensure printing accuracy and avoid potential faults. SUMMARY

[0005] The embodiments of the present specification provide a multi-needle printing device with calibration function, a calibration method and an electronic device, which can perform detailed calibration operation on the multi-needle printing head before it is formally put into printing operation, thereby ensuring printing accuracy and avoiding potential faults.

[0006] The technical scheme is as follows:

[0007] In a first aspect, the embodiments of the present specification provide a multi-needle printing device with calibration function, comprising a printing mechanism, a height data acquisition module and an image data acquisition module arranged below the printing mechanism, the printing mechanism comprising a printing head having at least two linearly arranged printing needles, a first calibration module and a second calibration module.

[0008] The height data acquisition module acquires height data corresponding to each of the at least two printing needles on the printing head;

[0009] The first calibration module adjusts the flatness of the printing head by rotating the printing head based on the height data corresponding to each of the at least two printing needles;

[0010] The image data acquisition module acquires a bottom image of the printing head after flatness adjustment to obtain a first recognition image containing the bottom image of the printing head, and obtains a first image position coordinate corresponding to each of the at least two printing needles on the printing head in the first recognition image.

[0011] The second adjusting module adjusts the position of the print head in the plane direction by rotating the print head based on the respective corresponding one image position coordinates of the at least two print needles on the print head in the one identification image.

[0012] As a preferred solution, the height data acquisition module comprises a needle tip touching unit and a height data acquisition unit.

[0013] The needle tip touching unit touches the print needles on the print head by lowering the print head and / or raising the needle tip touching unit.

[0014] The height data acquisition unit acquires the height data of the print needles based on the lowering height of the print head and / or the raising height of the needle tip touching unit when the needle tip touching unit touches the print needles on the print head.

[0015] As a preferred solution, the first adjusting module comprises a first rotating mechanism and a first control unit, and the second adjusting module comprises a second rotating mechanism and a second control unit.

[0016] The first rotating mechanism is rotatably arranged on the second rotating mechanism, and the print head is fixedly connected with the first rotating mechanism.

[0017] The first control unit controls the rotation of the first rotating mechanism to drive the print head to rotate based on the respective corresponding height data of the at least two print needles, so as to adjust the flatness of the print head.

[0018] The second control unit drives the first rotating mechanism and the print head to rotate as a whole by rotating the second rotating mechanism based on the respective corresponding one image position coordinates of the at least two print needles on the print head in the one identification image, so as to adjust the position of the print head in the plane direction.

[0019] As a preferred solution, the second adjusting module further performs a pre-rotation operation on the print head in the plane direction after obtaining the one identification image containing the bottom image of the print head.

[0020] The image data acquisition module obtains the bottom image of the print head after the pre-rotation operation to obtain a second identification image containing the bottom image of the print head, and obtains the respective corresponding second image position coordinates of the at least two print needles on the print head in the second identification image in the one identification image, in the same image acquisition direction as when the one identification image is obtained.

[0021] The second calibration module obtains the rotation center position coordinate of the print head in the plane direction based on the respective corresponding first image position coordinates of the at least two print needles on the print head in the first identification image and the respective corresponding second image position coordinates of the at least two print needles on the print head in the first identification image in which the first image position coordinates are identified, and adjusts the position of the print head in the plane direction by rotating the print head based on the respective corresponding second image position coordinates of the at least two print needles on the print head in the first identification image in which the first image position coordinates are identified and the rotation center position coordinate.

[0022] As a preferred solution, the second calibration module comprises a median line obtaining unit and a center obtaining unit.

[0023] The median line obtaining unit obtains the line connecting the respective corresponding first image position coordinates and second image position coordinates of the at least two print needles and obtains the median line of the line connecting the respective corresponding first image position coordinates and second image position coordinates of the at least two print needles based on the respective corresponding first image position coordinates of the at least two print needles on the print head in the first identification image and the respective corresponding second image position coordinates of the at least two print needles on the print head in the first identification image in which the first image position coordinates are identified.

[0024] The center obtaining unit obtains the rotation center position coordinate of the print head in the plane direction based on the obtained median line of the line connecting the respective corresponding first image position coordinates and second image position coordinates of the at least two print needles.

[0025] As a preferred solution, the distance between any two print needles of the at least two print needles obtaining the height data by the height data obtaining module is greater than a preset distance.

[0026] The distance between any two print needles of the at least two print needles obtaining the first image position coordinates by the image data obtaining module is greater than a preset distance.

[0027] As a preferred solution, the at least two print needles obtaining the first image position coordinates by the image data obtaining module are consistent with the at least two print needles obtaining the height data by the height data obtaining module.

[0028] In a second aspect, the embodiments of the present specification provide a calibration method based on the multi-needle printing device with a calibration function in the first aspect of the above embodiments, comprising:

[0029] Obtaining the respective corresponding height data of the at least two print needles on the print head.

[0030] adjusting the flatness of the print head by rotating the print head based on the height data corresponding to the at least two print needles respectively;

[0031] obtaining a bottom image of the print head after the flatness adjustment to obtain a first identification image containing the bottom image of the print head, and obtaining first image position coordinates corresponding to the at least two print needles respectively in the first identification image;

[0032] adjusting the position of the print head in the plane direction by rotating the print head based on the first image position coordinates corresponding to the at least two print needles respectively in the first identification image.

[0033] As a preferred solution, after the first identification image containing the bottom image of the print head is obtained, the method further comprises: performing a pre-rotation operation on the print head in the plane direction;

[0034] Before the adjusting the position of the print head in the plane direction by rotating the print head based on the first image position coordinates corresponding to the at least two print needles respectively in the first identification image, the method further comprises:

[0035] obtaining a bottom image of the print head after the pre-rotation operation to obtain a second identification image containing the bottom image of the print head, and obtaining second image position coordinates corresponding to the at least two print needles respectively in the second identification image, which have the first image position coordinates in the first identification image;

[0036] The adjusting the position of the print head in the plane direction by rotating the print head based on the first image position coordinates corresponding to the at least two print needles respectively in the first identification image, comprises:

[0037] obtaining a center position coordinate of the rotation circle of the print head in the plane direction based on the first image position coordinates corresponding to the at least two print needles respectively in the first identification image and the second image position coordinates corresponding to the at least two print needles respectively in the second identification image, which have the first image position coordinates in the first identification image, and adjusting the position of the print head in the plane direction by rotating the print head based on the second image position coordinates corresponding to the at least two print needles respectively in the second identification image, which have the first image position coordinates in the first identification image, and the center position coordinate of the rotation circle.

[0038] As a preferred solution, the method for obtaining the rotation center position coordinates of the print head in the plane direction based on the one-time image position coordinates of the at least two print needles on the print head in the one-time identification image and the two-time image position coordinates of the at least two print needles on the print head in the two-time identification image, which are identified in the one-time identification image, comprises the following steps of:

[0039] The method for obtaining the rotation center position coordinates of the print head in the plane direction based on the one-time image position coordinates of the at least two print needles on the print head in the one-time identification image and the two-time image position coordinates of the at least two print needles on the print head in the two-time identification image, which are identified in the one-time identification image, comprises the following steps of:

[0040] The method for obtaining the rotation center position coordinates of the print head in the plane direction based on the one-time image position coordinates of the at least two print needles on the print head in the one-time identification image and the two-time image position coordinates of the at least two print needles on the print head in the two-time identification image, which are identified in the one-time identification image, comprises the following steps of:

[0041] In a third aspect, an electronic device is provided, which comprises a processor and a memory. The processor is connected to the memory. The memory is configured to store executable program code. The processor is configured to execute a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the second aspect of the above-described embodiments.

[0042] In a fourth aspect, a computer storage medium is provided, which stores a plurality of instructions. The instructions are adapted to be loaded by a processor and executed to perform the steps of the second aspect of the above-described embodiments.

[0043] The technical solutions provided by some embodiments of the present specification have at least the following beneficial effects:

[0044] Based on the height data corresponding to each of the at least two printing needles, the flatness of the printing head is adjusted by rotating the printing head, that is, based on the height data corresponding to each of the at least two printing needles, the at least two printing needles are at the same height, and then the flatness of the printing head as a whole is adjusted. After the flatness adjustment of the printing head, all the printing needles at the bottom of the printing head should be at the same height. Subsequently, based on the one-time image position coordinates corresponding to each of the at least two printing needles in the one-time identification image, the position of the printing head in the plane direction is adjusted by rotating the printing head, that is, based on the one-time image position coordinates corresponding to each of the at least two printing needles in the one-time identification image, the positions of the at least two printing needles in the plane direction are adjusted, and then the positions of the printing head as a whole in the plane direction are adjusted.

[0045] For the manner of adjusting the position of the printing head in the plane direction by rotating the printing head, the position of the rotation center is particularly important, otherwise it is difficult to adjust the positions of the printing head as a whole in the plane direction, because it is not known how many degrees of rotation can achieve the adjustment of the positions of the printing head as a whole in the plane direction. For the printing device, due to its long-term use, the rotation shaft may be offset, and then the default rotation center position of the printing device out of the factory is offset. Therefore, in the present specification, the pre-rotation operation is performed, and the bottom image of the printing head after the pre-rotation operation is acquired again in the same image acquisition direction as when the one-time identification image is acquired to obtain a secondary identification image containing the bottom image of the printing head, and obtain the secondary image position coordinates corresponding to each of the at least two printing needles in the secondary identification image, which have the one-time image position coordinates corresponding to each of the at least two printing needles in the one-time identification image. Further, the rotation center position coordinates of the printing head in the plane direction are obtained based on the one-time image position coordinates corresponding to each of the at least two printing needles in the one-time identification image and the secondary image position coordinates corresponding to each of the at least two printing needles in the secondary identification image, which have the one-time image position coordinates corresponding to each of the at least two printing needles in the one-time identification image.

[0046] By limiting the positions of the printing needles whose height data are acquired by the height data acquisition module and the positions of the printing needles whose one-time image position coordinates are acquired by the image data acquisition module, the accuracy of the flatness adjustment and the position adjustment in the plane direction of the printing head is increased. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0048] Figure 1 is a whole structure schematic diagram of a multi-needle printing device with a calibration function provided by an embodiment of the present specification.

[0049] Figure 2 is a principle schematic diagram of position adjustment of a print head in a planar direction in a multi-needle printing device with a calibration function provided by an embodiment of the present specification.

[0050] Figure 3 is a bottom view schematic diagram of a print mechanism in a multi-needle printing device with a calibration function provided by an embodiment of the present specification.

[0051] Figure 4 is a schematic diagram of obtaining a rotating circle center position coordinate through a median line, to which an embodiment of the present specification relates.

[0052] Figure 5 is a flow schematic diagram of a calibration method provided by an embodiment of the present specification.

[0053] Figure 6 is a structure schematic diagram of an electronic device provided by an embodiment of the present specification.

[0054] In the figure: 1, print head; 11, printing needle; 2, calibration turntable; 3, calibration turntable. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present specification will be described clearly and completely below in combination with the drawings in the embodiments of the present specification.

[0056] The terms “first”, “second”, “third”, etc. in the specification and claims in the present specification and the above drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

[0057] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes can be made to the functions and arrangements of described elements without departing from the scope of the present specification. Various processes or components can be appropriately omitted, replaced or added in various examples. For example, the described methods can be performed in different orders from the described order, and various steps can be added, omitted or combined. In addition, features described with respect to some examples can be combined into other examples.

[0058] Reference Figure 1 As shown, Figure 1 This is a schematic diagram of the overall structure of a multi-needle printing device with adjustment function provided in one embodiment of this specification. The multi-needle printing device may include at least a printing mechanism and a height data acquisition module (Note: Figure 1 (Not shown in the image, but may include, but is not limited to, a tool setter) and an image data acquisition module located below the printing mechanism (Note: Figure 1 (Not shown in the image, but may be, but is not limited to, a camera), the printing mechanism includes a print head 1 with at least two linearly arranged print needles 11, a first adjustment module (note: the first adjustment module adjusts the flatness of the print head 1 by rotating the adjustment turntable 3), and a second adjustment module (note: the second adjustment module adjusts the position of the print head 1 in the planar direction by rotating the adjustment turntable 2, wherein the adjustment turntable 2 can be found in [reference needed]). Figure 3 As shown, Figure 3 The arrows in the diagram indicate the rotatable direction of the turntable 2.

[0059] The height data acquisition module acquires the height data corresponding to at least two printing needles 11 on the print head 1;

[0060] The first adjustment module adjusts the flatness of the print head 1 by rotating the print head 1 based on the height data corresponding to each of the at least two print needles 11 (Note: this ensures that each print needle 11 is on the same height plane; and multiple height data acquisitions and rotation adjustments can be performed during the process of adjusting the flatness of the print head 1 to ensure that the flatness meets the preset requirements).

[0061] The image data acquisition module acquires the bottom image of the print head 1 after flatness adjustment to obtain a primary recognition image containing the bottom image of the print head 1, and obtains the primary image position coordinates of at least two printing needles 11 on the print head 1 in the primary recognition image.

[0062] The second adjustment module adjusts the position of the print head 1 in the planar direction by rotating the print head 1, based on the image position coordinates of at least two print needles 11 on the print head 1 in a single recognition image.

[0063] Understandably, before printing, a calibration process is required for the printing device. This includes not only calibrating the needles to be level, i.e., adjusting all the needles to the same height plane, but also adjusting the position of the print head 1 as a whole on the same plane so that the print head 1 reaches the specified position.

[0064] Therefore, the multi-needle printing device with adjustment function provided in several embodiments of this specification adjusts the flatness of the print head 1 by rotating it based on the height data corresponding to at least two print needles 11. That is, by using the height data corresponding to at least two print needles 11, at least two print needles 11 are made to be at the same height, thereby achieving overall flatness adjustment of the print head 1. After the flatness adjustment, all needles at the bottom of the print head 1 should be at the same height. Subsequently, based on the image position coordinates corresponding to at least two print needles 11 in a single recognition image, the print head 1 is rotated to adjust its position in the planar direction. That is, by using the image position coordinates corresponding to at least two print needles 11 in a single recognition image, the position of at least two print needles 11 in the planar direction is adjusted, thereby achieving overall planar position adjustment of the print head 1.

[0065] Understandably, the purpose of adjusting the overall planar position of the print head 1 is to ensure that the linearly arranged print needles 11 on the print head 1 face the corresponding preset direction, so that the corresponding preset route can be printed by moving the platform set below the printing mechanism.

[0066] Please see Figure 2 As shown, Figure 2 This is a schematic diagram illustrating the principle of adjusting the position of printhead 1 in the planar direction. The diagram uses two printheads 11 as an example:

[0067] Assuming that the position coordinates of print head 1 and print needle 2 in a single image recognition are used to adjust the position of print head 1 in the planar direction, the position coordinates of print needle 1 in the single image are taken as coordinate A, and the position coordinates of print needle 2 in the single image are taken as coordinate B. Furthermore, given the position of the rotation center C of print head 1 and the preset direction, it can be determined how much angle print head 1 needs to rotate around the rotation center C so that line segment AB is parallel to the preset direction after the rotation operation.

[0068] The specific principle for obtaining this information is as follows: ∠c = ∠d, ∠a = ∠f, therefore ∠b = ∠e; furthermore, by knowing the angle between the preset direction and the line AB (which is equal to the size of ∠b), we can determine how much the print head 1 needs to rotate around the center of rotation C (that is, to know the size of ∠e) so that the line segment AB is parallel to the preset direction after the rotation operation.

[0069] It is understandable that image recognition may contain errors, therefore the position coordinates of the printing needle 11 in a single recognized image may be inaccurate. Therefore, in several embodiments of this specification, the angle data for the print head 1 to rotate around the rotation center C can be obtained by using the position coordinates of multiple printing needles 11 in a single image. Specifically, multiple printing needles 11 can be combined in pairs, and the rotation angle corresponding to each combination of printing needles 11 can be calculated (note: the calculation method can be referred to above, and will not be repeated here). Finally, an averaging operation is performed to obtain the final rotation angle data.

[0070] It should be noted that, for printing devices, due to prolonged use, the rotation axis may shift, which may cause the default rotation center position of the printing device at the factory to shift. Therefore, the above adjustment method is not applicable in this case, and the specific adjustment method will be explained in the following embodiments.

[0071] In several embodiments of this specification, the height data acquisition module includes a needle tip touch unit and a height data acquisition unit;

[0072] The needle tip contact unit achieves contact with the printing needle 11 on the print head 1 by the print head 1 descending and / or the needle tip contact unit rising;

[0073] The height data acquisition unit acquires the height data of the printing needle 11 based on the descending height of the print head 1 and / or the rising height of the needle tip contact unit when the needle tip contact unit touches the printing needle 11 on the print head 1.

[0074] It is understandable that the contact between the printing needle 11 on the print head 1 and the needle tip contact unit can be achieved by the print head 1 descending, or by the needle tip contact unit rising, or by both the print head 1 descending and the needle tip contact unit rising simultaneously.

[0075] It is also understandable that the contact between the printing needle 11 on the print head 1 and the needle tip contact unit can trigger a change in the electrical signal. Therefore, by combining the moment of the electrical signal change with the descending height of the print head 1 and / or the rising height of the needle tip contact unit, the height data of the printing needle 11 can be obtained.

[0076] In several embodiments of this specification, the needle tip contact unit may be, but is not limited to, a tool setter.

[0077] Reference Figure 3 As shown, Figure 3 This is a bottom view schematic diagram of the printing mechanism in a multi-needle printing device with adjustment function provided in the embodiments of this specification. In several embodiments of this specification, the first adjustment module includes a first rotation mechanism (i.e., Figure 1the first control unit, the second adjustment module comprises a second rotating mechanism (i.e. Figure 3 the second control unit;

[0078] The first rotating mechanism is rotatably arranged on the second rotating mechanism, and the print head 1 is fixedly connected with the first rotating mechanism.

[0079] The first control unit controls the rotation of the first rotating mechanism to drive the print head 1 to rotate, so as to adjust the flatness of the print head 1, based on the respective height data of the at least two print needles 11.

[0080] The second control unit controls the rotation of the second rotating mechanism to drive the print head 1 to rotate, so as to adjust the position of the print head 1 in the plane direction, based on the respective first image position coordinates of the at least two print needles 11 in the first identification image.

[0081] In the embodiments of the present application, the second adjustment module further performs a pre-rotation operation on the print head 1 in the plane direction after obtaining the first identification image containing the bottom image of the print head 1.

[0082] The image data acquisition module acquires the bottom image of the print head 1 after the pre-rotation operation to obtain a second identification image containing the bottom image of the print head 1, and obtains the respective second image position coordinates of the at least two print needles 11 in the second identification image, based on the same image acquisition direction as when the first identification image is acquired.

[0083] The second adjustment module obtains the rotation center position coordinates of the print head 1 in the plane direction based on the respective first image position coordinates of the at least two print needles 11 in the first identification image and the respective second image position coordinates of the at least two print needles 11 in the second identification image, and adjusts the position of the print head 1 in the plane direction by rotating the print head 1 based on the respective second image position coordinates of the at least two print needles 11 in the second identification image and the rotation center position coordinates.

[0084] Understandably, for a method that adjusts the position of printhead 1 in a planar direction by rotating it, the accuracy of the rotation center is crucial. Otherwise, it would be difficult to adjust the overall planar position of printhead 1, as it would be impossible to know by what angle of rotation would achieve this adjustment. Furthermore, due to prolonged use, the rotation axis of the printing device may shift, causing a deviation in the factory-default rotation center position. Therefore, in this specification, a pre-rotation operation is performed, and the bottom image of the print head 1 after the pre-rotation operation is acquired again in the same image acquisition direction as when the first recognition image is acquired, so as to obtain a secondary recognition image containing the bottom image of the print head 1. The secondary image position coordinates of at least two print needles 11 on the print head 1 that were recognized in the first recognition image are obtained in the secondary recognition image. Furthermore, based on the primary image position coordinates of at least two print needles 11 on the print head 1 and the secondary image position coordinates of at least two print needles 11 on the print head 1 that were recognized in the first recognition image, the rotation center position coordinates of the print head 1 in the planar direction are obtained.

[0085] It should be noted that in the recognition image acquired by the image data acquisition module, each point has its own corresponding image coordinates. When acquiring the secondary recognition image, the image acquisition direction is the same as when acquiring the primary recognition image. Therefore, each point in the primary recognition image and the secondary recognition image is corresponding. Thus, by using the position coordinates of the printing needle 11 in the primary recognition image and the position coordinates of the printing needle 11 in the secondary recognition image, the position change of the printing needle 11 on the print head 1 after pre-rotation can be known. Furthermore, based on the position change of the printing needle 11 after pre-rotation, the position of the rotation center, i.e., the position of the rotation axis, can be obtained.

[0086] Reference Figure 4 As shown, Figure 4 This is a schematic diagram illustrating the method of obtaining the coordinates of the center of rotation of a circle via a perpendicular bisector, as described in the embodiments of this specification. In several embodiments of this specification, the second adjustment module includes a perpendicular bisector acquisition unit and a center acquisition unit;

[0087] The perpendicular bisector acquisition unit obtains the line connecting the primary image position coordinates of at least two printing needles 11 on the print head 1 in the primary recognition image and the secondary image position coordinates of at least two printing needles 11 on the print head 1 that have been recognized in the primary recognition image in the secondary recognition image, and obtains the perpendicular bisector of the line connecting the primary image position coordinates of at least two printing needles 11 and the secondary image position coordinates of at least two printing needles 11.

[0088] The center acquisition unit obtains the rotation center position coordinates of the print head 1 in the planar direction based on the perpendicular bisector of the line connecting the primary and secondary image position coordinates of each of the at least two print needles 11.

[0089] It is understandable that the distance from a point on the perpendicular bisector of a line segment to the two endpoints of the line segment is the same, so the intersection of the perpendicular bisectors is the position of the center of rotation.

[0090] The following examples illustrate this:

[0091] Reference Figure 4 As shown, the explanation is based on the example of the image data acquisition module obtaining the image position coordinates of two printing needles 11. Assume the two printing needles 11 are located at opposite ends, designated as printing needle one and printing needle two, respectively. The primary image position coordinate of printing needle one in the first recognition image is coordinate A, and the primary image position coordinate of printing needle two in the first recognition image is coordinate B; the secondary image position coordinate of printing needle two in the second recognition image is coordinate A', and the secondary image position coordinate of printing needle two in the second recognition image is coordinate B'. Further, lines are drawn connecting coordinates A and A', and lines are drawn connecting coordinates B and B'. Then, the perpendicular bisectors of line segments AA' and BB' are obtained. Finally, the intersection point C between the perpendicular bisectors of line segments AA' and BB' represents the center of rotation of the printing head 1 in the planar direction.

[0092] It should be added that, for ease of demonstration, Figure 4 The image only shows printhead 1 in the first and second recognition images. And understandably, only the position of printhead 1 changes between the first and second recognition images.

[0093] It can also be understood that when the image data acquisition module obtains the image position coordinates of three printing needles 11, three mid-perpendicular lines can be obtained, and in an ideal state, the three mid-perpendicular lines should have only one intersection position, which is the rotation center position. However, due to the error in image recognition, the three mid-perpendicular lines may have three intersection positions. In this case, the rotation center position coordinates can be obtained based on the coordinates of the three intersection positions. For example, the coordinates of the three intersection positions are (x1, y1), (x2, y2), and (x3, y3), and the rotation center position coordinates can be ((x1+x2+x3) / 3, (y1+y2+y3) / 3). Similarly, when the image data acquisition module obtains image position coordinates of a larger number of printing needles 11, the rotation center position coordinates can also be obtained in the above manner, which will not be described here.

[0094] In the embodiments of the present specification, the distance between any two of the at least two printing needles 11 for which the height data acquisition module obtains height data is greater than the preset distance.

[0095] The distance between any two of the at least two printing needles 11 for which the image data acquisition module obtains image position coordinates is greater than the preset distance.

[0096] It can be understood that if the distance between two printing needles 11 is too close, when one of the printing needles touches the needle tip contact unit, the other printing needle 11 that is too close to the needle tip contact unit may also touch the needle tip contact unit, thereby causing errors in the obtained height data of the printing needles 11.

[0097] It can also be understood that if the print head 1 is tilted, in the plurality of printing needles 11 arranged in a line, the distance between the two printing needles that are farther apart has a greater difference in height data, which is more significant for adjusting the flatness of the print head 1.

[0098] In the embodiments of the present specification, the at least two printing needles 11 for which the image data acquisition module obtains image position coordinates are the same as the at least two printing needles 11 for which the height data acquisition module obtains height data.

[0099] That is, assuming that the at least two printing needles 11 for which the height data acquisition module obtains height data are printing needle a and printing needle b, the at least two printing needles 11 for which the image data acquisition module obtains image position coordinates are also printing needle a and printing needle b, respectively.

[0100] It can be understood that after the flatness adjustment of the printing needle a and the printing needle b, the two printing needles are on the same plane, and it is more reasonable to adjust the position of the entire print head 1 in the plane direction based on the two printing needles on the same plane.

[0101] Next, please refer to Figure 5 , Figure 5 A flowchart of a method for calibrating is shown.

[0102] The calibration method is based on any of the above embodiments of the multi-needle printing device with a calibration function, and at least includes:

[0103] Step 502, obtaining the height data corresponding to each of the at least two printing needles 11 on the print head 1;

[0104] Step 504, based on the height data corresponding to each of the at least two printing needles 11, rotating the print head 1 to adjust the flatness of the print head 1;

[0105] Step 506, obtaining the bottom image of the print head 1 after the flatness adjustment to obtain a first identification image containing the bottom image of the print head 1, and obtaining the first image position coordinates corresponding to each of the at least two printing needles 11 on the print head 1 in the first identification image;

[0106] Step 508, based on the first image position coordinates corresponding to each of the at least two printing needles 11 on the print head 1 in the first identification image, rotating the print head 1 to adjust the position of the print head 1 in the plane direction.

[0107] It should be noted that steps 502-504 can be repeated multiple times until the height data corresponding to each of the at least two printing needles 11 on the print head 1 obtained in step 502 meets the consistency requirement.

[0108] In an embodiment of the present specification, after obtaining the first identification image containing the bottom image of the print head 1, it further includes: performing a pre-rotation operation on the print head 1 in the plane direction;

[0109] Before the print head 1 is rotated to adjust the position of the print head 1 in the plane direction based on the first image position coordinates corresponding to each of the at least two printing needles 11 on the print head 1 in the first identification image, it further includes:

[0110] Obtaining the bottom image of the print head 1 after the pre-rotation operation to obtain a second identification image containing the bottom image of the print head 1 in the same image acquisition direction as when obtaining the first identification image, and obtaining the second image position coordinates corresponding to each of the at least two printing needles 11 on the print head 1 in the first identification image in the second identification image;

[0111] the at least two print needles 11 on the print head 1 in the primary image correspondingly, and the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, to obtain the rotation center position coordinates of the print head 1 in the plane direction, and based on the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, and the rotation center position coordinates, to realize the position adjustment of the print head 1 in the plane direction by rotating the print head 1.

[0112] the at least two print needles 11 on the print head 1 in the primary image correspondingly, and the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, to obtain the rotation center position coordinates of the print head 1 in the plane direction, and based on the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, and the rotation center position coordinates, to realize the position adjustment of the print head 1 in the plane direction by rotating the print head 1.

[0113] In an embodiment of the present specification, the rotation center position coordinates of the print head 1 in the plane direction are obtained based on the primary image position coordinates of the at least two print needles 11 on the print head 1 in the primary image correspondingly, and the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, including:

[0114] the at least two print needles 11 on the print head 1 in the primary image correspondingly, and the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, to obtain the rotation center position coordinates of the print head 1 in the plane direction, and based on the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, and the rotation center position coordinates, to realize the position adjustment of the print head 1 in the plane direction by rotating the print head 1.

[0115] the at least two print needles 11 on the print head 1 in the primary image correspondingly, and the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, to obtain the rotation center position coordinates of the print head 1 in the plane direction, and based on the secondary image position coordinates of the at least two print needles 11 on the print head 1, which have recognized the primary image position coordinates in the primary image, in the secondary image correspondingly, and the rotation center position coordinates, to realize the position adjustment of the print head 1 in the plane direction by rotating the print head 1.

[0116] Each embodiment in the present specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other. Each embodiment mainly describes the difference from other embodiments. Especially, for the calibration method embodiment, since it is basically similar to the multi-needle print device embodiment with calibration function, the description is relatively simple, and the relevant parts can be referred to the part of the multi-needle print device embodiment with calibration function.

[0117] The above describes particular embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims can be performed in a different order than the order in which they are recited and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or necessary.

[0118] Referring to Figure 6 A structural schematic diagram of an electronic device provided by the embodiments of the present specification is shown.

[0119] As Figure 6 The electronic device 600 can include at least one processor 601, at least one network interface 604, a user interface 603, a memory 605, and at least one communication bus 602, as shown.

[0120] The communication bus 602 can be used to realize the connection and communication of the above-mentioned components.

[0121] The user interface 603 can include a key, and the optional user interface can also include a standard wired interface, a wireless interface.

[0122] The network interface 604 can include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0123] The processor 601 can include one or more processing cores. The processor 601 connects various parts in the entire electronic device 600 through various interfaces and lines, executes various functions of the electronic device 600 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 605, and calling data stored in the memory 605. Optionally, the processor 601 can be implemented in at least one of the hardware forms of DSP, FPGA, and PLC. The processor 601 can integrate one or a combination of CPU, GPU, and modem. Among them, the CPU mainly processes the operating system, user interface, and application program; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 601, but can be realized by a separate chip.

[0124] The memory 605 can include a RAM and can also include a ROM. Optionally, the memory 605 includes a non-transitory computer-readable medium. The memory 605 can be used to store instructions, programs, codes, code sets, or instruction sets. The memory 605 can include a program storage area and a data storage area, wherein the program storage area can store the instructions for implementing the operating system, the instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), the instructions for implementing the various method embodiments described above, etc.; the data storage area can store the data involved in the various method embodiments above, etc. The memory 605 can also optionally be at least one storage device located away from the aforementioned processor 601. The memory 605, as a kind of computer storage medium, can include an operating system, a network communication module, a user interface module, and a calibration application. The processor 601 can be used to invoke the calibration application stored in the memory 605 and execute the steps of the calibration method mentioned in the foregoing embodiments.

[0125] The embodiments of the present specification also provide a computer-readable storage medium, which stores instructions, and when the instructions run on a computer or a processor, the computer or the processor executes the steps of one or more of the above calibration method embodiments. When each component module of the above electronic device is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in the computer-readable storage medium.

[0126] In the above embodiments, all or part of the methods can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in or transmitted by a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a digital versatile disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0127] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by a computer program instructing related hardware, which can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments. The storage medium includes ROM, RAM, magnetic or optical disks, and various media that can store program codes. In the case of no conflict, the technical features in the embodiments and the embodiments can be combined arbitrarily. The above-mentioned embodiments are only described as the preferred embodiment of the specification, and do not limit the scope of the specification. Without departing from the design spirit of the specification, various modifications and improvements of the technical solutions of the specification made by a person of ordinary skill in the art should fall within the protection scope determined by the claims of the specification.

Claims

1. A multi-needle printing device having a tuning function, characterized by, The printing mechanism, the height data acquisition module and the image data acquisition module arranged below the printing mechanism, the printing mechanism comprising a print head with at least two linearly arranged print needles, a first adjusting module and a second adjusting module; The height data acquisition module acquires height data corresponding to each of the at least two print needles of the print head; The first adjusting module adjusts the flatness of the print head by rotating the print head based on the height data corresponding to each of the at least two print needles of the print head; The image data acquisition module acquires a bottom image of the print head after the flatness adjustment to obtain a first identification image containing the bottom image of the print head and obtain first image position coordinates corresponding to each of the at least two print needles of the print head in the first identification image; The second adjusting module adjusts the position of the print head in the plane direction by rotating the print head based on the first image position coordinates corresponding to each of the at least two print needles of the print head in the first identification image; The second adjusting module further performs a pre-rotation operation on the print head in the plane direction after obtaining the first identification image containing the bottom image of the print head; The image data acquisition module further acquires a bottom image of the print head after the pre-rotation operation to obtain a second identification image containing the bottom image of the print head in the same image acquisition direction as when the first identification image is acquired, and obtain second image position coordinates corresponding to each of the at least two print needles of the print head in the second identification image, which have been identified in the first identification image; The second adjusting module obtains a rotation center position coordinate of the print head in the plane direction based on the first image position coordinates corresponding to each of the at least two print needles of the print head in the first identification image and the second image position coordinates corresponding to each of the at least two print needles of the print head in the second identification image, which have been identified in the first identification image, and adjusts the position of the print head in the plane direction by rotating the print head based on the second image position coordinates corresponding to each of the at least two print needles of the print head in the second identification image, which have been identified in the first identification image, and the rotation center position coordinate.

2. The multi-needle printing device with a tuning function according to claim 1, characterized in that, The height data acquisition module comprises a needle tip touching unit and a height data acquisition unit; The needle tip touching unit touches the print needle on the print head by lowering the print head and / or raising the needle tip touching unit; The height data acquisition unit acquires the height data of the print needle based on the lowering height of the print head and / or the raising height of the needle tip touching unit when the needle tip touching unit touches the print needle on the print head.

3. The multi-needle printing device with a tuning function according to claim 1, characterized in that, The first adjusting module comprises a first rotating mechanism and a first control unit, and the second adjusting module comprises a second rotating mechanism and a second control unit; The first rotating mechanism is rotatably arranged on the second rotating mechanism, and the print head is fixedly connected with the first rotating mechanism. The first control unit controls rotation of the first rotating mechanism to drive the print head to rotate, based on the height data corresponding to the at least two print needles, to adjust flatness of the print head. The second control unit controls rotation of the second rotating mechanism to drive the first rotating mechanism and the print head to rotate as a whole, based on the first image position coordinates corresponding to the at least two print needles in the first identification image, to adjust position of the print head in the plane direction.

4. The multi-needle printing device with a tuning function according to claim 1, characterized in that, The second adjustment module comprises a median line obtaining unit and a circle center obtaining unit. The median line obtaining unit obtains the median line of the line connecting the first image position coordinates and the second image position coordinates corresponding to the at least two print needles, and obtains the median line of the line connecting the first image position coordinates and the second image position coordinates corresponding to the at least two print needles. The circle center obtaining unit obtains the rotation circle center position coordinates of the print head in the plane direction based on the obtained median line of the line connecting the first image position coordinates and the second image position coordinates corresponding to the at least two print needles.

5. The multi-needle printing device with a tuning function according to claim 1, characterized in that, The distance between any two print needles of the at least two print needles obtaining height data is greater than a preset distance. The distance between any two print needles of the at least two print needles obtaining first image position coordinates is greater than a preset distance.

6. The multi-needle printing device with a tuning function according to claim 5, characterized in that, The at least two print needles obtaining first image position coordinates are consistent with the at least two print needles obtaining height data.

7. A method of calibrating a multi-needle printing apparatus having a calibration function according to any one of claims 1 to 6, characterized by, It comprises: obtaining height data corresponding to the at least two print needles on the print head; controlling rotation of the print head to adjust flatness of the print head based on the height data corresponding to the at least two print needles; performing bottom image acquisition on the print head after flatness adjustment to obtain a first identification image containing a bottom image of the print head, and obtaining first image position coordinates corresponding to the at least two print needles on the print head in the first identification image; controlling rotation of the print head to adjust position of the print head in the plane direction based on the first image position coordinates corresponding to the at least two print needles in the first identification image.

8. The method of tuning of claim 7, wherein, When the first identification image containing the bottom image of the print head is obtained, the method further comprises: before the print head is rotated to adjust position of the print head in the plane direction based on the first image position coordinates corresponding to the at least two print needles in the first identification image, the method further comprises: acquire a bottom image of the print head by a bottom image acquisition in the same image acquisition direction as acquiring the first identification image to obtain a second identification image containing the bottom image of the print head, and obtain second image position coordinates of the at least two print needles corresponding to the first image position coordinates of the at least two print needles in the first identification image in the second identification image; the position adjustment of the print head in the planar direction by rotating the print head based on the first image position coordinates of the at least two print needles on the print head in the first identification image and the second image position coordinates of the at least two print needles corresponding to the first image position coordinates of the at least two print needles in the first identification image in the second identification image comprises: the position adjustment of the print head in the planar direction by rotating the print head based on the first image position coordinates of the at least two print needles on the print head in the first identification image and the second image position coordinates of the at least two print needles corresponding to the first image position coordinates of the at least two print needles in the first identification image in the second identification image comprises:

9. The method of tuning of claim 8, wherein, the position adjustment of the print head in the planar direction by rotating the print head based on the first image position coordinates of the at least two print needles on the print head in the first identification image and the second image position coordinates of the at least two print needles corresponding to the first image position coordinates of the at least two print needles in the first identification image in the second identification image comprises: the position adjustment of the print head in the planar direction by rotating the print head based on the first image position coordinates of the at least two print needles on the print head in the first identification image and the second image position coordinates of the at least two print needles corresponding to the first image position coordinates of the at least two print needles in the first identification image in the second identification image comprises: the position adjustment of the print head in the planar direction by rotating the print head based on the first image position coordinates of the at least two print needles on the print head in the first identification image and the second image position coordinates of the at least two print needles corresponding to the first image position coordinates of the at least two print needles in the first identification image in the second identification image comprises:

10. An electronic device, comprising: the position adjustment of the print head in the planar direction by rotating the print head based on the first image position coordinates of the at least two print needles on the print head in the first identification image and the second image position coordinates of the at least two print needles corresponding to the first image position coordinates of the at least two print needles in the first identification image in the second identification image comprises: a processor and a memory; the processor is connected with the memory; the memory is used for storing executable program codes; the processor runs a program corresponding to the executable program codes by reading the executable program codes stored in the memory, so as to execute the method in any one of claims 7 to 9.

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