Ink droplet observation method, device, equipment and computer readable storage medium

Abstract

The present application discloses an ink droplet observation method, device, equipment and computer-readable storage medium. The present application relates to the field of inkjet printing technology. The method is applied to an ink droplet observation system. The ink droplet observation system includes multiple observation subsystems. The observation subsystem includes an observation device and a multi-axis motion mechanism. The multi-axis motion mechanism is used to drive the observation device to move. The observation device is used to observe ink droplets on the nozzles to be observed mounted on the motion axis. The method includes: controlling the motion axis on which each nozzle to be observed is mounted to move to a preset observation position; determining the first nozzle corresponding to each observation subsystem in each nozzle to be observed, controlling each multi-axis motion mechanism to adjust the position of each observation device so that each observation device can focus on each first nozzle respectively; and observing ink droplets on each focused first nozzle respectively through each observation device. The present application can improve the efficiency of ink droplet observation.

Description

Technical Field

[0001] The present application relates to the field of inkjet printing technology, and in particular to an ink droplet observation method, device, equipment and computer-readable storage medium. Background Art

[0002] The accuracy of ink droplet observation is the prerequisite for inkjet printing equipment to achieve high-precision printing. Ink droplet observation mainly includes observing the volume, flight speed, flight angle and morphological characteristics of ink droplets ejected by the nozzle, and the nozzle orifice can be screened based on the observation results. Among them, the inaccuracy of ink droplet volume will lead to uneven film thickness of pixel slots, and the deviation of flight speed and flight angle will affect the accuracy of ink droplet landing point, thereby affecting the printing yield.

[0003] At present, visual observation and laser observation are usually used to measure the dynamic flying ink droplets to obtain information such as ink droplet volume, flight speed, flight angle and morphological characteristics. However, since the nozzles are usually mounted on the moving axis in batches and move with the moving axis as a whole, and the ink droplet observation device is fixed and cannot be moved, when the ink droplet observation device focuses on a certain nozzle, it is limited by the overall movement and other nozzles cannot be focused. Only the nozzles on the same moving axis can be observed one by one, resulting in low ink droplet observation efficiency.

[0004] Therefore, how to improve the efficiency of ink droplet observation is a problem that needs to be solved urgently. Summary of the invention

[0005] The main purpose of the present application is to provide an ink droplet observation method, device, equipment and computer-readable storage medium, aiming to improve the efficiency of ink droplet observation.

[0006] To achieve the above-mentioned purpose, the present application provides an ink droplet observation method, which is applied to an ink droplet observation system, wherein the ink droplet observation system includes a plurality of observation subsystems, wherein the observation subsystem includes an observation device and a multi-axis motion mechanism, wherein the multi-axis motion mechanism is used to drive the observation device to move, and the observation device is used to observe ink droplets on a nozzle to be observed that is mounted on a motion axis;

[0007] The ink droplet observation method comprises:

[0008] Control the motion axis on which each nozzle to be observed is mounted to move to a preset observation position;

[0009] Determine the first nozzles corresponding to the observation subsystems in the nozzles to be observed, and control the multi-axis motion mechanisms to adjust the positions of the observation devices so that the observation devices can focus on the first nozzles respectively;

[0010] The ink droplets of the first nozzles that are respectively focused are observed by each of the observation devices.

[0011] In one embodiment, the step of determining the first nozzle corresponding to each of the observation subsystems in each of the nozzles to be observed comprises:

[0012] Acquire a plurality of preset observation instructions corresponding to the preset observation position, and acquire a preset mapping relationship between each of the observation instructions and each of the observation subsystems;

[0013] Based on the preset mapping relationship, each of the observation instructions is respectively issued to each of the observation subsystems;

[0014] For any target observation subsystem in each of the observation subsystems, identifying the nozzle identification in the received observation instruction through the target observation subsystem;

[0015] It is determined that the nozzle to be observed pointed to by the nozzle identifier is the first nozzle corresponding to the target observation subsystem.

[0016] In one embodiment, the observation subsystem further includes a positioning mechanism, and the step of controlling each of the multi-axis motion mechanisms to adjust the position of each of the observation devices so that each of the observation devices can focus on each of the first nozzles respectively includes:

[0017] For any target observation subsystem in each of the observation subsystems, determining the position information of the second nozzle through the alignment mechanism of the target observation subsystem, wherein the second nozzle is the first nozzle specified by the observation instruction received by the target observation subsystem;

[0018] The multi-axis motion mechanism in the target observation subsystem is controlled based on the position information, and the position of the target observation device in the target observation subsystem is adjusted so that the target observation device can focus on the second nozzle.

[0019] In one embodiment, the step of observing ink droplets of the first nozzles respectively focused by the observation devices comprises:

[0020] For any target observation subsystem in each of the observation subsystems, obtaining the distribution of the nozzle holes of the second nozzle, and determining the position coordinates of each nozzle hole on the second nozzle based on the distribution of the nozzle holes and the position information;

[0021] The target multi-axis motion mechanism is controlled based on each of the position coordinates to adjust the position of the target observation device, so that the target observation device can focus on each of the nozzles in sequence and observe ink droplets on each of the nozzles.

[0022] In one embodiment, before the step of controlling the motion axis on which each nozzle to be observed is mounted to move to a preset observation position, the method further includes:

[0023] The number of the observation subsystems is the number of nozzle groups, and the nozzles to be observed are grouped to obtain a plurality of nozzle groups, wherein the nozzles in each nozzle group are arranged continuously on the motion axis;

[0024] Taking the nozzles in the same order in each nozzle group as an observation group, to obtain at least one observation group;

[0025] The preset observation position is determined based on at least one of the observation groups.

[0026] In one embodiment, the step of determining the preset observation position based on at least one of the observation groups comprises:

[0027] For any target observation group in at least one of the observation groups, determine the motion axis position of each nozzle in the target observation group when it is respectively within the field of view of each observation subsystem, wherein the motion axis position is the position of the motion axis on which each nozzle to be observed is mounted;

[0028] Obtain the motion axis position corresponding to at least one of the observation groups, and determine the motion axis position corresponding to the first observation group in at least one of the observation groups as the preset observation position, wherein the first observation group is the observation group in which the mounting position of the starting nozzle on the motion axis is most forward in at least one of the observation groups.

[0029] In one embodiment, after the step of observing ink droplets of the first nozzles that are respectively focused by the observation devices, the method further includes:

[0030] After monitoring the observation results obtained by each of the observation devices for observing the ink droplets of each of the first nozzles, determining whether there is a remaining observation group that has not been observed in at least one of the observation groups;

[0031] If yes, determining a second observation group in the remaining observation groups, wherein the second observation group and the observation group corresponding to the preset observation position have respective starting nozzles adjacent to the mounting positions on the motion axis;

[0032] The preset observation position is updated to the motion axis position corresponding to the second observation group, and the step of controlling the motion axis on which each nozzle to be observed is mounted to move to the preset observation position is returned to be executed;

[0033] If not, the loop ends.

[0034] In addition, to achieve the above-mentioned purpose, the present application further provides an ink droplet observation device, which is applied to an ink droplet observation system, wherein the ink droplet observation system includes a plurality of observation subsystems, wherein the observation subsystem includes an observation device and a multi-axis motion mechanism, wherein the multi-axis motion mechanism is used to drive the observation device to move, and the observation device is used to observe ink droplets on a nozzle to be observed mounted on the motion axis;

[0035] The ink droplet observation device comprises:

[0036] A nozzle control module is used to control the motion axis on which each nozzle to be observed is mounted to move to a preset observation position;

[0037] An observation control module, used for determining the first nozzles corresponding to the observation subsystems in the nozzles to be observed, and controlling the multi-axis motion mechanisms to adjust the positions of the observation devices so that the observation devices can focus on the first nozzles respectively;

[0038] The ink droplet observation module is used to observe the ink droplets of the first nozzles that are respectively focused by each of the observation devices.

[0039] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a program for implementing the ink droplet observation method is stored on the computer-readable storage medium. The program for implementing the ink droplet observation method is executed by a processor to implement the steps of the ink droplet observation method as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, including a computer program, which implements the steps of the ink droplet observation method as described above when executed by a processor.

[0041] The present application provides an ink droplet observation method, which is applied to an ink droplet observation system. The ink droplet observation system includes multiple observation subsystems, and the observation subsystem includes an observation device and a multi-axis motion mechanism. The multi-axis motion mechanism is used to drive the observation device to move, and the observation device is used to observe ink drops on the nozzles to be observed mounted on the motion axis. The present application controls the motion axis on which each nozzle to be observed is mounted to move to a preset observation position, determines the first nozzle corresponding to each observation subsystem in each nozzle to be observed, and then controls each multi-axis motion mechanism to adjust the position of each observation device so that each observation device can focus on each first nozzle respectively. Finally, each observation device observes ink drops on each focused first nozzle respectively.

[0042] In summary, compared to the traditional method of only moving the motion axis mounted on the nozzle to make the fixed ink droplet observation device focus on a certain nozzle, which results in only being able to observe the nozzles on the motion axis one by one, the present application provides a multi-axis motion mechanism in each observation subsystem, which is used to drive the movement of the observation device and control the motion axis mounted on the nozzle and the observation device to move in coordination so that each observation device can focus on one nozzle respectively, thereby realizing that multiple observation devices can observe ink droplets on different nozzles at the same time, thereby improving the efficiency of ink droplet observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 This is a schematic diagram of the flow chart of the first embodiment of the ink droplet observation method of the present application;

[0046] Figure 2 A schematic diagram of the ink droplet observation system architecture involved in an embodiment of the ink droplet observation method of the present application;

[0047] Figure 3 A schematic diagram of the observation subsystem architecture involved in an embodiment of the ink droplet observation method of the present application;

[0048] Figure 4 A schematic diagram of an ink droplet observation structure involved in an embodiment of the ink droplet observation method of the present application;

[0049] Figure 5 A schematic diagram of an ink droplet observation displacement process involved in an embodiment of the ink droplet observation method of the present application;

[0050] Figure 6 This is a schematic diagram of the module structure of the ink droplet observation device of the present application;

[0051] Figure 7 Schematic diagram of the device structure of the hardware operating environment involved in the ink droplet observation method in the embodiment of the present application.

[0052] Description of Figure Numbers:

[0053] a. Observation device; b. Multi-axis motion mechanism; c. CCD alignment mechanism; d. Observation subsystem; e. Nozzle; f. Motion axis.

[0054] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0056] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the present application is: controlling the motion axis on which each nozzle to be observed is mounted to move to a preset observation position; determining the first nozzle corresponding to each observation subsystem in each nozzle to be observed, and controlling each multi-axis motion mechanism to adjust the position of each observation device so that each observation device can focus on each first nozzle respectively; and observing ink droplets on each of the focused first nozzles through each observation device.

[0058] At present, the ink droplet observation system mainly includes observation technologies such as visual dynamic observation, laser phase Doppler dynamic observation and substrate camera static line scan measurement. Visual dynamic observation uses an array camera to shoot the dynamic flying ink droplets ejected by the nozzle, and uses the relevant image algorithm to extract the edge of the ink droplets to measure the ink droplets. Laser Doppler dynamic observation uses the laser Doppler principle to align the measurement area at the laser focus with the ejected ink droplets to measure the dynamic flying ink droplets. Substrate camera static line scan measurement prints ink droplets on a reference plate with special scale lines, uses multiple line scan cameras to collect the morphological features of the ink droplets on the substrate, obtains information such as the ink droplet volume through conversion, and obtains the landing point information through rapid identification. It is a static measurement method and it is difficult to obtain the dynamic and morphological features of the ink droplets. Therefore, the common dynamic ink droplet observation system mainly uses visual dynamic and laser dynamic observation methods.

[0059] For printing of large-size OLED panels, multiple print heads are required, as many as hundreds. Most high-DPI (Dots Per Inch) nozzles have thousands of nozzles, and each nozzle needs to be sampled multiple times, making the number of samples for ink droplet observation extremely large. Regardless of whether visual or laser detection methods are used, the nozzles need to be focused. However, since the nozzles are usually mounted in batches on the moving axis and move with the moving axis as a whole, and the ink droplet observation device is fixed and cannot be moved, when the ink droplet observation device focuses on a certain nozzle, it is limited by the overall movement and other nozzles cannot be focused. The nozzles on the same moving axis can only be observed one by one, resulting in low ink droplet observation efficiency.

[0060] Therefore, how to improve the efficiency of ink droplet observation is a problem that needs to be solved urgently.

[0061] Compared with the traditional method of only moving the motion axis mounted on the nozzle to make a fixed ink droplet observation device focus on a certain nozzle, which results in only being able to observe the nozzles on the motion axis one by one, the present application provides a multi-axis motion mechanism in each observation subsystem to drive the movement of the observation device and control the motion axis mounted on the nozzle and the observation device to move in coordination so that each observation device can focus on one nozzle respectively, thereby realizing that multiple observation devices can observe ink droplets on different nozzles at the same time, thereby improving the efficiency of ink droplet observation.

[0062] It should be noted that the execution subject of the method in each embodiment of the ink droplet observation method of the present application may be an ink droplet observation system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an ink droplet observation device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the ink droplet observation system as an example to illustrate this embodiment and the following embodiments.

[0063] Based on this, the present application proposes a first embodiment of an ink droplet observation method, please refer to Figure 1 The ink droplet observation method is applied to an ink droplet observation system, the ink droplet observation system includes a plurality of observation subsystems, the observation subsystem includes an observation device and a multi-axis motion mechanism, the multi-axis motion mechanism is used to drive the observation device to move, the observation device is used to observe ink droplets of a nozzle to be observed mounted on the motion axis, and the ink droplet observation method includes steps S10 to S30:

[0064] Step S10, controlling the motion axis on which each nozzle to be observed is mounted to move to a preset observation position;

[0065] It should be noted that the ink droplet observation method of the present application is applied to an ink droplet observation system, which includes multiple observation subsystems, each of which includes an observation device and a multi-axis motion mechanism. Among them, the observation device (i.e., ink droplet observation device) as an ink droplet detection mechanism can be a visual dynamic ink droplet observation device or a laser Doppler dynamic ink droplet observation device, which is used to observe the volume and motion state of ink droplets ejected from the nozzle to be observed, and screen the problem nozzle holes. The multi-axis motion mechanism is used to drive the observation device to move, so as to control the relative movement between the observation device and the nozzle to achieve the focusing operation. The position of the motion axis is pre-set, that is, the observation position is preset, so that the observation device can focus on the nozzle. In addition, it should be understood that when the motion axis is full of nozzles, it is difficult to focus on multiple nozzles when the nozzle is not moving due to the limitation of the motion stroke of the observation subsystem and the interference phenomenon between the observation subsystems. Therefore, the motion axis mounted on the nozzle needs to move in a coordinated manner so that the nozzle to be observed at that time moves into the field of view of the observation subsystem.

[0066] Step S20, determining the first nozzles corresponding to the observation subsystems in the nozzles to be observed, and controlling the multi-axis motion mechanisms to adjust the positions of the observation devices so that the observation devices can focus on the first nozzles respectively;

[0067] Determine the nozzles to be observed corresponding to each observation subsystem (hereinafter referred to as the first nozzle for distinction), the first nozzle refers to the nozzle to be observed for ink droplets when the motion axis is at the preset observation position. Then control the multi-axis motion mechanism of each observation subsystem to adjust the position of the observation device of the observation subsystem, so that each observation device can focus on each first nozzle respectively.

[0068] In this embodiment, the ink droplet observation system further includes a control module, and the control module is respectively connected to each observation subsystem for communication. The step S20 may include steps A10 to A40:

[0069] Step A10, obtaining a plurality of preset observation instructions corresponding to the preset observation position, and obtaining a preset mapping relationship between each of the observation instructions and each of the observation subsystems;

[0070] It should be noted that the ink droplet observation system of the present application also includes a control module, which is the main server of the ink droplet observation system. Each observation subsystem includes a distributed sub-communication system for communicating with the main server. That is, the control module can exchange information with each observation subsystem, including but not limited to data sharing of ink droplet observation screening results, sharing of position information of the motion axis where the nozzle is located, and sending and receiving of control instructions.

[0071] For example, Figure 2 The figure shows a schematic diagram of the ink droplet observation system architecture. The ink droplet observation system of the present application is connected to the printing software main control system in communication, and the ink droplet observation system includes a main server and multiple distributed observation subsystems. Among them, the main server uses the Internet of Things MQTT (Message Queuing Telemetry Transport) protocol to perform master-slave control on each observation subsystem, and can broadcast information to each observation subsystem and subscribe to feedback information from each observation subsystem. In addition, it should be understood that the main server simplifies the communication link as the only communication channel with the printing software main control system. And the printing software main control system is used to send observation task instructions to the main server, the main server receives the observation task instructions, and identifies the observation nozzle number, the current position of the motion axis and the number of observation samples in the observation task instructions, and broadcasts the identified information to each observation subsystem. After receiving the broadcast message, each observation subsystem performs initialization configuration and enters the ink droplet observation waiting state. Among them, the observation nozzle number is a form of nozzle identification, and the number of observation samples is the number of times ink droplet observation is performed on each nozzle.

[0072] The preset observation instructions corresponding to the current preset observation position are obtained, and the preset mapping relationship between each observation instruction and each observation subsystem is obtained. Specifically, each observation instruction corresponds to an observation subsystem, which is used to indicate the nozzle that the observation subsystem needs to observe during the current observation process.

[0073] Step A20, issuing each of the observation instructions to each of the observation subsystems based on the preset mapping relationship;

[0074] The control module sends each observation instruction to each observation subsystem based on the preset mapping relationship. For example, the main server controls the motion axis to move to a preset observation position, and sends the observation instruction to each observation subsystem based on the preset mapping relationship.

[0075] Step A30, for any target observation subsystem in each of the observation subsystems, identifying the nozzle identification in the received observation instruction through the target observation subsystem;

[0076] It should be noted that any one of the observation subsystems is referred to as a target observation subsystem. The observation instruction includes a nozzle identification, such as the above-mentioned observation nozzle number. After receiving the observation instruction sent by the main server, each observation subsystem identifies the nozzle identification in the received observation instruction.

[0077] Step A40: determine that the nozzle to be observed pointed to by the nozzle identifier is the first nozzle corresponding to the target observation subsystem.

[0078] It is determined that the nozzle to be observed corresponding to the nozzle identification recognized by the target observation subsystem is the first nozzle corresponding to the target observation subsystem.

[0079] In this embodiment, the observation subsystem further includes a positioning mechanism, and the step S20 may include steps B10 to B20:

[0080] Step B10, for any target observation subsystem in each of the observation subsystems, determining the position information of the second nozzle through the alignment mechanism of the target observation subsystem, wherein the second nozzle is the first nozzle specified by the observation instruction received by the target observation subsystem;

[0081] It should be noted that each observation subsystem also includes a positioning mechanism, which is a CCD positioning mechanism, which is used to align and calibrate the nozzle target and the nozzle hole to achieve fast focusing operation, and is also used for position calibration when the nozzle is replaced or the relative position of the nozzle and the observation device drifts, so as to facilitate maintenance. Figure 3The diagram is a schematic diagram of the observation subsystem architecture, where each observation subsystem includes an ink droplet observation device a, a multi-axis motion mechanism b, and a CCD alignment mechanism c.

[0082] Any observation subsystem in each observation subsystem is referred to as a target observation subsystem. The first nozzle specified by the observation instruction received by the target observation subsystem is referred to as the second nozzle for distinction. The position information of the second nozzle is determined by the alignment mechanism of the target observation subsystem. Among them, the position information of the second nozzle can be the coordinates of the target position of the second nozzle in the coordinate system pre-established by the CCD alignment mechanism, or it can be position information that can characterize the relative position relationship between the second nozzle and the observation device, which is not limited in the embodiment of the present application. In this way, the observation subsystem uses the CCD alignment mechanism to perform rapid focusing operations, records the position information of each nozzle, and completes the position mapping of all nozzle hole coordinates on the nozzle on the three-axis motion mechanism, that is, the position mapping in the coordinate system pre-established by the CCD alignment mechanism.

[0083] Step B20, controlling the multi-axis motion mechanism in the target observation subsystem based on the position information, and adjusting the position of the target observation device in the target observation subsystem so that the target observation device can focus on the second nozzle.

[0084] Based on the position information of the second nozzle, the multi-axis motion mechanism of the target observation subsystem is controlled to adjust the position of the observation device (hereinafter referred to as the target observation device for distinction) in the target observation subsystem so that the target observation device can focus on the second nozzle. It should be understood that for each observation subsystem in each observation subsystem, the above steps are used to focus on the nozzle specified by the observation instruction received by each observation subsystem, so that each observation device can focus on one nozzle.

[0085] Step S30 , using each of the observation devices to observe ink droplets of the first nozzles that are in focus respectively.

[0086] After each observation device focuses on a first nozzle, each observation device observes ink droplets on the first nozzle that is focused on. Specifically, ink droplets are observed on each nozzle hole in the first nozzle according to the number of observation samples indicated by the main server in the observation instruction.

[0087] In this embodiment, the step S30 may include steps S301-S302:

[0088] Step S301, for any target observation subsystem in each of the observation subsystems, obtaining the distribution of the nozzle holes of the second nozzle, and determining the position coordinates of each nozzle hole on the second nozzle based on the distribution of the nozzle holes and the position information;

[0089] It is worth emphasizing that the target observation subsystem is any one of the observation subsystems. The second nozzle is the first nozzle specified by the observation instruction received by the target observation subsystem.

[0090] The nozzle distribution of the second nozzle is obtained, and the position coordinates of each nozzle on the second nozzle are determined based on the nozzle distribution and position information of the second nozzle. It should be noted that the nozzle distribution on the nozzle can be determined according to the nozzle model, and then all the nozzles on the nozzle are traversed in turn according to the nozzle position information and nozzle distribution to obtain the position coordinates of each nozzle.

[0091] Step S302 : Based on the position coordinates, the target multi-axis motion mechanism is controlled to adjust the position of the target observation device, so that the target observation device can focus on each of the nozzles in sequence and observe ink droplets on each of the nozzles.

[0092] Based on the position coordinates of each nozzle on the second nozzle, the target multi-axis motion mechanism is controlled to adjust the position of the target observation device, so that the target observation device can focus on each nozzle in turn, and observe ink droplets on each nozzle in turn. Exemplarily, according to the preset nozzle observation sequence, the position of the target observation device is adjusted based on the position coordinates of each nozzle in turn, and the nozzle is focused by the target observation device to observe ink droplets on the nozzle. It should be understood that for each observation device, the ink droplet observation of the nozzle focused on it is realized according to the above steps, so as to realize the simultaneous observation of ink droplets on multiple nozzles using multiple observation devices.

[0093] In the embodiment of the present application, a multi-axis motion mechanism is provided in each observation subsystem for driving the movement of the observation device and controlling the motion axis mounted on the nozzle and the observation device to perform coordinated movement, so that each observation device can focus on one nozzle respectively, thereby realizing that multiple observation devices can observe ink droplets on different nozzles at the same time, thereby improving the efficiency of ink droplet observation.

[0094] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and will not be described in detail later. On this basis, before the step S10, the ink droplet observation method further includes:

[0095] Step S01, taking the number of the observation subsystems as the number of nozzle groups, grouping the nozzles to be observed to obtain a plurality of nozzle groups, wherein the nozzles in each nozzle group are arranged continuously on the motion axis;

[0096] The number of observation subsystems in the ink droplet observation system is obtained, and the number of observation subsystems is used as the number of nozzle groups. The nozzles to be observed are grouped to obtain multiple nozzle groups, wherein the nozzles in each nozzle group are continuously arranged on the motion axis.

[0097] For example, if the printing software main control system indicates that the number of nozzles to be observed is 12, and the 12 nozzles are mounted continuously on the motion axis, and the number of observation subsystems is 3, then the 12 nozzles to be observed are divided into 3 nozzle groups, each nozzle group includes 4 continuously mounted nozzles.

[0098] Step S02, taking the nozzles in the same order in each nozzle group as an observation group to obtain at least one observation group;

[0099] After obtaining a plurality of nozzle groups, the nozzles arranged in the same order in each nozzle group are taken as an observation group to obtain at least one observation group.

[0100] For example, each nozzle group includes 4 nozzles mounted in series, the nozzle arranged in the first position in each nozzle group is used as the first observation group, the nozzle arranged in the second position in each nozzle group is used as the second observation group, the nozzle arranged in the third position in each nozzle group is used as the third observation group, and the nozzle arranged in the fourth position in each nozzle group is used as the fourth observation group. It can be understood that each observation group includes 3 nozzles. Figure 4 The figure shows a schematic diagram of the ink droplet observation structure, which is provided with three observation subsystems d and four observation groups. Each observation group includes three nozzles e. The motion axis f for mounting the nozzles makes coordinated motion so that the observation subsystem can focus on the nozzle e above it.

[0101] Step S03: determining the preset observation position based on at least one of the observation groups.

[0102] The preset observation position of the motion axis during the first round of ink droplet observation is determined based on at least one observation group, that is, the expected motion axis position during ink droplet observation for the first observation group.

[0103] In this embodiment, the step S03 may include steps C10 to C20:

[0104] Step C10, for any target observation group in at least one of the observation groups, determining the motion axis position of each nozzle in the target observation group when it is respectively within the field of view of each observation subsystem, wherein the motion axis position is the position of the motion axis on which each nozzle to be observed is mounted;

[0105] Any one of the at least one observation group is referred to as a target observation group for distinction. The position of the motion axis when each nozzle in the target observation group is respectively within the field of view of each observation subsystem is determined, i.e., the motion axis position. In other words, when the motion axis moves to a certain position, each nozzle in the observation group is just within the field of view of each observation subsystem, wherein each observation subsystem can observe one nozzle, and the position of the motion axis at this time is the above-mentioned motion axis position. It can be understood that each observation group corresponds to a motion axis position.

[0106] Step C20, obtain the motion axis position corresponding to at least one of the observation groups, and determine the motion axis position corresponding to the first observation group in at least one of the observation groups as the preset observation position, wherein the first observation group is the observation group in which the mounting position of the starting nozzle on the motion axis is closest to the front in at least one of the observation groups.

[0107] For each observation group in at least one observation group, determine the motion axis position corresponding to the observation group, and then determine the motion axis position corresponding to the first observation group in at least one observation group as the preset observation position, wherein the first observation group refers to the observation group in which the starting nozzle in at least one observation group is mounted most forward on the motion axis, and the starting nozzle of the observation group refers to the nozzle in the observation group that is mounted most forward on the motion axis.

[0108] Exemplarily, the first observation group refers to the first observation group among the four observation groups.

[0109] In this embodiment, after step S30, the ink droplet observation method of the present application further includes steps D10 to D40:

[0110] Step D10, after monitoring the observation results obtained by each of the observation devices respectively observing the ink droplets of each of the first nozzles, determining whether there is a remaining observation group that has not been observed in at least one of the observation groups;

[0111] After each observation device observes the ink droplets of its respective focused first nozzle, each observation device generates an observation result when completing the current ink droplet observation, and the observation subsystem returns the observation result generated by the observation device and the observation completion instruction to the main server. After receiving the observation results and observation completion instructions returned by all observation subsystems, the main server determines whether there is an unobserved observation group in at least one observation group (hereinafter referred to as the remaining observation group for distinction).

[0112] Step D20: if yes, determine a second observation group in the remaining observation groups, wherein the second observation group and the observation group corresponding to the preset observation position have respective starting nozzles adjacent to the mounting positions on the motion axis;

[0113] If it is detected that there are remaining observation groups that have not been observed in at least one observation group, then a second observation group among the remaining observation groups is determined, wherein the second observation group refers to an observation group in which the mounting position of the starting nozzle on the moving axis is adjacent to the mounting position of the starting nozzle on the moving axis of the observation group corresponding to the preset observation position.

[0114] Exemplarily, when the observation group corresponding to the preset observation position is the first observation group, the second observation group can be determined as the second observation group among the four observation groups. That is, ink droplet observation is performed on the nozzles of the four observation groups in order from the first observation group to the fourth observation group.

[0115] Step D30, updating the preset observation position to the motion axis position corresponding to the second observation group, and returning to execute the step of controlling the motion axis on which each nozzle to be observed is mounted to move to the preset observation position;

[0116] The preset observation position is updated to the motion axis position corresponding to the second observation group, and the step of controlling the motion axis to move to the preset observation position is returned to be executed.

[0117] Step D40: If not, the loop ends.

[0118] If it is detected that there are no remaining unobserved observation groups in at least one observation group, the observation cycle ends, and each observation subsystem automatically exits the ink drop observation waiting state. The main server shares the observation results received in each round of observation cycle to the printing software main control system, and controls the motion axis to move to a safe position.

[0119] For example, Figure 5The figure shows a schematic diagram of the ink droplet observation displacement process. Assuming that the number of nozzles to be observed indicated by the printing software main control system is n times m, the ink droplet observation system includes m observation subsystems, each observation subsystem is responsible for the observation of a nozzle group, and the number of nozzle groups is m. The number of observation groups is n, and one observation group includes m nozzles to be observed. And, it can be understood that the nozzles in each nozzle group are respectively identified as 1 to n, so the nozzles with the same identification number in each nozzle group are regarded as an observation group. First, the main server controls the motion axis to move to the observation position of the first group of nozzles, that is, the motion axis position corresponding to the first group of observation groups. It can be understood that in the first round of observation, the observation position is preset as the observation position of the first group of nozzles, and the first group of observation instructions is issued to each observation subsystem, wherein the first group of observation instructions is used to instruct each observation device to observe each nozzle in the first group of observation groups; after receiving the first group of observation instructions, each observation subsystem starts the multi-axis motion mechanism and controls the multi-axis motion mechanism to move the observation device so that the observation device can focus on the specified nozzle and start ink droplet observation. It can be understood that each observation subsystem performs an independent ink droplet observation task; after each observation subsystem completes the ink droplet observation of the first group of observation group nozzles, it returns the completion instruction and observation results to the main server; when the main server receives the data returned by all observation subsystems, it controls the movement axis of the mounted nozzle to move to the observation position of the second group of nozzles, that is, the movement axis position corresponding to the second group of observation groups, and at the same time sends the second group of observation instructions to each observation subsystem, so that each observation subsystem can observe the ink droplets of the nozzles of the second observation group, and repeat this cycle until the observation of n groups of nozzles is completed.

[0120] In this way, the embodiment of the present application divides the nozzles to be observed into multiple observation groups, and controls the motion axis of the mounted nozzles to move in coordination with the observation device, so that each observation device focuses on one nozzle, and multiple nozzles can observe ink droplets at the same time, thereby improving the ink droplet observation efficiency. Specifically, if the ink droplet observation system of the present application includes m observation subsystems, then compared with the traditional method of observing the nozzles on the motion axis one by one, the embodiment of the present application can shorten the observation time to 1 / m of the time spent on observing one by one, greatly improving the ink droplet observation efficiency.

[0121] The present application also provides an ink droplet observation device, please refer to Figure 6 The ink droplet observation device is applied to an ink droplet observation system, the ink droplet observation system includes a plurality of observation subsystems, the observation subsystem includes an observation device and a multi-axis motion mechanism, the multi-axis motion mechanism is used to drive the observation device to move, and the observation device is used to observe ink drops on the nozzle to be observed mounted on the motion axis;

[0122] The ink droplet observation device comprises:

[0123] The nozzle control module 10 is used to control the motion axis on which each nozzle to be observed is mounted to move to a preset observation position;

[0124] The observation control module 20 is used to determine the first nozzles corresponding to the observation subsystems in the nozzles to be observed, and control the multi-axis motion mechanisms to adjust the positions of the observation devices so that the observation devices can focus on the first nozzles respectively.

[0125] The ink droplet observation module 30 is used to observe the ink droplets of the first nozzles that are respectively focused by each of the observation devices.

[0126] Optionally, the observation control module 20 is further used for:

[0127] Acquire a plurality of preset observation instructions corresponding to the preset observation position, and acquire a preset mapping relationship between each of the observation instructions and each of the observation subsystems;

[0128] Based on the preset mapping relationship, each of the observation instructions is respectively issued to each of the observation subsystems;

[0129] For any target observation subsystem in each of the observation subsystems, identifying the nozzle identification in the received observation instruction through the target observation subsystem;

[0130] It is determined that the nozzle to be observed pointed to by the nozzle identifier is the first nozzle corresponding to the target observation subsystem.

[0131] Optionally, the observation subsystem further includes an alignment mechanism, and the observation control module 20 is further used for:

[0132] For any target observation subsystem in each of the observation subsystems, determining the position information of the second nozzle through the alignment mechanism of the target observation subsystem, wherein the second nozzle is the first nozzle specified by the observation instruction received by the target observation subsystem;

[0133] The multi-axis motion mechanism in the target observation subsystem is controlled based on the position information, and the position of the target observation device in the target observation subsystem is adjusted so that the target observation device can focus on the second nozzle.

[0134] Optionally, the ink droplet observation module 30 is further used for:

[0135] For any target observation subsystem in each of the observation subsystems, obtaining the distribution of the nozzle holes of the second nozzle, and determining the position coordinates of each nozzle hole on the second nozzle based on the distribution of the nozzle holes and the position information;

[0136] The target multi-axis motion mechanism is controlled based on each of the position coordinates to adjust the position of the target observation device, so that the target observation device can focus on each of the nozzles in sequence and observe ink droplets on each of the nozzles.

[0137] Optionally, the ink droplet observation device further includes an observation position determination module, and the observation position determination module is used to:

[0138] The number of the observation subsystems is the number of nozzle groups, and the nozzles to be observed are grouped to obtain a plurality of nozzle groups, wherein the nozzles in each nozzle group are arranged continuously on the motion axis;

[0139] Taking the nozzles in the same order in each nozzle group as an observation group, to obtain at least one observation group;

[0140] The preset observation position is determined based on at least one of the observation groups.

[0141] Optionally, the observation position determination module is further used for:

[0142] For any target observation group in at least one of the observation groups, determine the motion axis position of each nozzle in the target observation group when it is respectively within the field of view of each observation subsystem, wherein the motion axis position is the position of the motion axis on which each nozzle to be observed is mounted;

[0143] Obtain the motion axis position corresponding to at least one of the observation groups, and determine the motion axis position corresponding to the first observation group in at least one of the observation groups as the preset observation position, wherein the first observation group is the observation group in which the mounting position of the starting nozzle on the motion axis is most forward in at least one of the observation groups.

[0144] Optionally, the ink droplet observation device further includes a circulation module, and the circulation module is used to:

[0145] After monitoring the observation results obtained by each of the observation devices for observing the ink droplets of each of the first nozzles, determining whether there is a remaining observation group that has not been observed in at least one of the observation groups;

[0146] If yes, determining a second observation group in the remaining observation groups, wherein the second observation group and the observation group corresponding to the preset observation position have respective starting nozzles adjacent to the mounting positions on the motion axis;

[0147] The preset observation position is updated to the motion axis position corresponding to the second observation group, and the step of controlling the motion axis on which each nozzle to be observed is mounted to move to the preset observation position is returned to be executed;

[0148] If not, the loop ends.

[0149] The ink droplet observation device provided in the embodiment of the present application adopts the ink droplet observation method in the above embodiment, which can solve the technical problem of how to improve the ink droplet observation efficiency. Compared with the prior art, the beneficial effects of the ink droplet observation device provided in the embodiment of the present application are the same as the beneficial effects of the ink droplet observation method provided in the above embodiment, and other technical features in the ink droplet observation device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0150] The present application provides an ink droplet observation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the ink droplet observation method in the above-mentioned embodiment one.

[0151] Reference below Figure 7 , which shows a schematic structural diagram of an ink droplet observation device suitable for implementing an embodiment of the present application. Figure 7 The ink droplet observation device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0152] like Figure 7 As shown, the ink droplet observation device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the ink droplet observation device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the ink droplet observation device to communicate with other devices wirelessly or wired to exchange data. Although the ink droplet observation device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0153] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0154] The ink droplet observation device provided by the present application adopts the ink droplet observation method in the above embodiment, which can solve the technical problem of how to improve the ink droplet observation efficiency. Compared with the prior art, the beneficial effects of the ink droplet observation device provided by the present application are the same as the beneficial effects of the ink droplet observation method provided by the above embodiment, and the other technical features of the ink droplet observation device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0155] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0156] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0157] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the ink droplet observation method in the above-mentioned embodiment.

[0158] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0159] The computer-readable storage medium may be included in the ink droplet observation device; or may exist independently without being assembled into the ink droplet observation device.

[0160] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the ink droplet observation device, the ink droplet observation device: controls the motion axis mounted with each nozzle to be observed to move to a preset observation position; determines the first nozzle corresponding to each observation subsystem in each nozzle to be observed, and controls each of the multi-axis motion mechanisms to adjust the position of each observation device so that each observation device can focus on each of the first nozzles respectively; and observes ink drops on the first nozzles focused on by each of the observation devices.

[0161] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0162] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0163] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0164] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned ink droplet observation method, and can solve the technical problem of how to improve the ink droplet observation efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the ink droplet observation method provided in the above-mentioned embodiment, and will not be elaborated here.

[0165] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the ink droplet observation method as described above when executed by a processor.

[0166] The computer program product provided in this application can improve the ink droplet observation efficiency. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiment of this application are the same as the beneficial effects of the ink droplet observation method provided in the above embodiment, which will not be repeated here.

[0167] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A method for observing ink droplets, characterized in that: The ink droplet observation method is applied to an ink droplet observation system, wherein the ink droplet observation system includes a plurality of observation subsystems, wherein the observation subsystem includes an observation device and a multi-axis motion mechanism, wherein the multi-axis motion mechanism is used to drive the observation device to move, and the observation device is used to observe ink droplets of a nozzle to be observed mounted on the motion axis; The ink droplet observation method comprises: Control the motion axis on which each nozzle to be observed is mounted to move to a preset observation position; Determine the first nozzles corresponding to the observation subsystems in the nozzles to be observed, and control the multi-axis motion mechanisms to adjust the positions of the observation devices so that the observation devices can focus on the first nozzles respectively; Observe ink droplets of the first nozzles that are respectively focused by the observation devices; Before the step of controlling the motion axis on which each nozzle to be observed is mounted to move to a preset observation position, the method further includes: The number of the observation subsystems is the number of nozzle groups, and the nozzles to be observed are grouped to obtain a plurality of nozzle groups, wherein the nozzles in each nozzle group are arranged continuously on the motion axis; Taking the nozzles in the same order in each nozzle group as an observation group, to obtain at least one observation group; The preset observation position is determined based on at least one of the observation groups.

2. The method according to claim 1, characterized in that The step of determining the first nozzle corresponding to each of the observation subsystems in each of the nozzles to be observed comprises: Acquire a plurality of preset observation instructions corresponding to the preset observation position, and acquire a preset mapping relationship between each of the observation instructions and each of the observation subsystems; Based on the preset mapping relationship, each of the observation instructions is respectively issued to each of the observation subsystems; For any target observation subsystem in each of the observation subsystems, identifying the nozzle identification in the received observation instruction through the target observation subsystem; It is determined that the nozzle to be observed pointed to by the nozzle identifier is the first nozzle corresponding to the target observation subsystem.

3. The method according to claim 2, characterized in that The observation subsystem further includes a positioning mechanism, and the step of controlling each of the multi-axis motion mechanisms to adjust the position of each of the observation devices so that each of the observation devices can focus on each of the first nozzles respectively includes: For any target observation subsystem in each of the observation subsystems, determining the position information of the second nozzle through the alignment mechanism of the target observation subsystem, wherein the second nozzle is the first nozzle specified by the observation instruction received by the target observation subsystem; The multi-axis motion mechanism in the target observation subsystem is controlled based on the position information, and the position of the target observation device in the target observation subsystem is adjusted so that the target observation device can focus on the second nozzle.

4. The method according to claim 3, characterized in that The step of observing ink droplets of the first nozzles respectively focused by the observation devices comprises: For any target observation subsystem in each of the observation subsystems, obtaining the distribution of the nozzle holes of the second nozzle, and determining the position coordinates of each nozzle hole on the second nozzle based on the distribution of the nozzle holes and the position information; The multi-axis motion mechanism is controlled to adjust the position of the target observation device based on each of the position coordinates, so that the target observation device can focus on each of the nozzles in sequence and observe ink droplets on each of the nozzles.

5. The method according to claim 1, characterized in that The step of determining the preset observation position based on at least one of the observation groups comprises: For any target observation group in at least one of the observation groups, determine the motion axis position of each nozzle in the target observation group when it is respectively within the field of view of each observation subsystem, wherein the motion axis position is the position of the motion axis on which each nozzle to be observed is mounted; Obtain the motion axis position corresponding to at least one of the observation groups, and determine the motion axis position corresponding to the first observation group in at least one of the observation groups as the preset observation position, wherein the first observation group is the observation group in which the mounting position of the starting nozzle on the motion axis is most forward in at least one of the observation groups.

6. The method according to claim 5, characterized in that After the step of observing ink droplets of the first nozzles that are respectively focused by the observation devices, the method further includes: After monitoring the observation results obtained by each of the observation devices for observing the ink droplets of each of the first nozzles, determining whether there is a remaining observation group that has not been observed in at least one of the observation groups; If yes, determining a second observation group in the remaining observation groups, wherein the second observation group and the observation group corresponding to the preset observation position have respective starting nozzles adjacent to the mounting positions on the motion axis; The preset observation position is updated to the motion axis position corresponding to the second observation group, and the step of controlling the motion axis on which each nozzle to be observed is mounted to move to the preset observation position is returned to be executed; If not, the loop ends.

7. An ink droplet observation device, characterized in that: The ink droplet observation device is applied to an ink droplet observation system, the ink droplet observation system includes a plurality of observation subsystems, the observation subsystem includes an observation device and a multi-axis motion mechanism, the multi-axis motion mechanism is used to drive the observation device to move, and the observation device is used to observe ink drops on the nozzle to be observed mounted on the motion axis; The ink droplet observation device comprises: A nozzle control module is used to control the motion axis on which each nozzle to be observed is mounted to move to a preset observation position; An observation control module, used for determining the first nozzles corresponding to the observation subsystems in the nozzles to be observed, and controlling the multi-axis motion mechanisms to adjust the positions of the observation devices so that the observation devices can focus on the first nozzles respectively; An ink droplet observation module, used for observing ink droplets of the first nozzles that are respectively focused by the observation devices; The observation position determination module is used to group the nozzles to be observed based on the number of the observation subsystems as the number of nozzle groups, so as to obtain multiple nozzle groups, wherein the nozzles in each nozzle group are arranged continuously on the motion axis; the nozzles in the same order in each nozzle group are taken as an observation group to obtain at least one observation group; and the preset observation position is determined based on at least one of the observation groups.

8. An ink droplet observation device, characterized in that: The ink droplet observation device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the ink droplet observation method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the ink droplet observation method according to any one of claims 1 to 6 are implemented.

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