Printing method and device

Abstract

The invention discloses a printing method and device, and the method comprises the steps: obtaining the feature information of a three-dimensional outer surface of a target object; performing segmentation processing on the to-be-printed image based on the feature information of the three-dimensional outer surface of the target object, and segmenting the to-be-printed image into a plurality of sub-images corresponding to a plurality of sub-regions of the three-dimensional outer surface; and controlling a printer driven by the mechanical arm to run to a target sub-region in the plurality of sub-regions, aligning a spray head of the printer to the printing surface of the target sub-region, and controlling the printer to print a sub-image corresponding to the target sub-region on the printing surface of the target sub-region until printing of all sub-images is completed. Different surface drawing of the target object is achieved, and a large printing range is achieved by means of the flexible moving performance of the mechanical arm and image segmentation printing.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a printing method and apparatus. Background Art

[0002] Birthday cakes play an important role in people's lives, especially in birthday celebration activities. Many people add personalized decorations to birthday cakes to increase their attractiveness, such as frosting flowers, chocolate decorations, and birthday cards. However, existing methods for making patterns on the surface of cakes, such as hand carving or using templates, are cumbersome and require special skills, which limits people's creativity. Therefore, a simple and creative method is needed to make patterns on the surface of birthday cakes.

[0003] In recent years, with the development of 3D printing technology, attempts have been made to apply printing technology to food surface drawing production, including using inkjet 3D printing technology for pattern and text decoration. Inkjet printing technology is a technology that sprays decorative patterns or text onto the surface of a cake by means of inkjet. Its advantages are that it can complete the decoration work quickly and consistently, and has relatively low skill requirements. By using preset patterns or text, inkjet code printing can produce a large number of consistent cakes in a short time. In addition, this technology also has the advantages of high efficiency and hygiene, and is suitable for large-scale production and high-quality requirements environments.

[0004] However, traditional 3D inkjet printers are limited by the size and shape of the printer workbench and can only print patterns on a plane with a limited size, unable to meet the printing needs of large-sized surfaces and surfaces with different shapes. Summary of the Invention

[0005] To overcome the problems in the related art, embodiments of the present invention provide a printing method and apparatus, and the technical solutions are as follows:

[0006] According to a first aspect of an embodiment of the present invention, a printing method is provided, including:

[0007] Obtaining feature information of the three-dimensional outer surface of a target object;

[0008] Performing segmentation processing on an image to be printed based on the feature information of the three-dimensional outer surface of the target object, and segmenting the image to be printed into a plurality of sub-images respectively corresponding to a plurality of sub-regions of the three-dimensional outer surface;

[0009] Controlling a printer driven by a robotic arm to move to a target sub-region among the plurality of sub-regions, aligning the nozzle of the printer with the printing surface of the target sub-region, and controlling the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

[0010] Preferably, the obtaining of the feature information of the three-dimensional outer surface of the target object includes:

[0011] Obtaining the size and shape of the three-dimensional outer surface of the target object.

[0012] Preferably, the segmentation processing of the image to be printed based on the feature information of the three-dimensional outer surface of the target object includes:

[0013] Based on the feature information of the three-dimensional outer surface of the target object, dividing the three-dimensional outer surface into multiple sub-regions suitable for printing by the print head of the printer;

[0014] Performing segmentation processing on the image to be printed according to the multiple sub-regions to obtain multiple sub-images, and each sub-image covers the corresponding sub-region.

[0015] Preferably, the obtaining of multiple sub-images by performing segmentation processing on the image to be printed according to the multiple sub-regions includes: segmenting the image to be printed according to the multiple sub-regions, and performing image scaling, stretching, and / or image rotation according to the sub-region features.

[0016] According to the second aspect of the embodiments of the present invention, a printing device is provided, and the device includes:

[0017] An obtaining module, configured to obtain the feature information of the three-dimensional outer surface of the target object;

[0018] A processing module, configured to perform segmentation processing on the image to be printed based on the feature information of the three-dimensional outer surface of the target object, and segment the image to be printed into multiple sub-images respectively corresponding to multiple sub-regions of the three-dimensional outer surface;

[0019] A printing module, configured to control the printer driven by the robotic arm to run to the target sub-region among the multiple sub-regions, align the print head of the printer with the printing surface of the target sub-region, and control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

[0020] Preferably, the obtaining module is used for:

[0021] Obtaining the size and shape of the three-dimensional outer surface of the target object.

[0022] Preferably, the processing module includes:

[0023] A first processing unit, configured to divide the three-dimensional outer surface into multiple sub-regions suitable for printing by the print head of the printer based on the feature information of the three-dimensional outer surface of the target object;

[0024] A second processing unit, configured to perform segmentation processing on the image to be printed according to the multiple sub-regions to obtain multiple sub-images, and each sub-image covers the corresponding sub-region.

[0025] Preferably, the second processing unit is configured to: segment the image to be printed according to a plurality of sub-regions, and perform image scaling, stretching, and / or image rotation according to the sub-region features.

[0026] According to a third aspect of an embodiment of the present invention, there is provided a printing device, including:

[0027] A processor;

[0028] A memory for storing processor-executable instructions;

[0029] Wherein, the processor is configured to:

[0030] Obtain the feature information of the three-dimensional outer surface of the target object;

[0031] Perform segmentation processing on the image to be printed based on the feature information of the three-dimensional outer surface of the target object, and segment the image to be printed into a plurality of sub-images respectively corresponding to a plurality of sub-regions of the three-dimensional outer surface;

[0032] Control the printer driven by the robotic arm to move to the target sub-region among the plurality of sub-regions, align the nozzle of the printer with the printing surface of the target sub-region, and control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

[0033] According to a fourth aspect of an embodiment of the present invention, there is provided a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the steps of any one of the methods in the first aspect of the embodiment of the present invention are implemented.

[0034] The technical solution provided by the embodiment of the present invention can perform printing on the three-dimensional outer surface of the target object, realize different surface mapping of the target object, and printing is no longer limited by the size of the printing device workbench. Since the printer is connected to the robotic arm, with the help of the flexible movement performance of the robotic arm and image segmentation printing, a larger printing range can be achieved.

[0035] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0037] Figure 1Flow chart of a printing method provided by an embodiment of the present application;

[0038] Figure 2 Flow chart of a printing method provided by an embodiment of the present application;

[0039] Figure 3 Structural diagram of a printing device provided by an embodiment of the present application;

[0040] Figure 4 Structural diagram of a printing device provided by an embodiment of the present application. Detailed implementation manners

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0042] Terms such as "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may include unlisted steps or units.

[0043] The present application is applied to a robot, and the robot can be provided with an articulated robotic arm. The articulated robotic arm is similar to a human arm, and its characteristic is that it can move flexibly like a human hand. For example, when encountering an obstacle, the articulated robotic arm can bypass the obstacle and reach the target location. The articulated robotic arm can include, for example, a five-axis and a six-axis articulated arm.

[0044] As Figure 1 shown is a flow chart of a printing method provided by an embodiment of the present invention. The method includes the following steps S101 to step S103:

[0045] In step S101, obtain the feature information of the three-dimensional outer surface of the target object.

[0046] In step S102, based on the feature information of the three-dimensional outer surface of the target object, perform segmentation processing on the image to be printed, and segment the image to be printed into a plurality of sub-images respectively corresponding to a plurality of sub-regions of the three-dimensional outer surface.

[0047] In step S103, control the printer driven by the robotic arm to move to the target sub-region among multiple sub-regions, align the print head of the printer with the printing surface of the target sub-region, and control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

[0048] The printing method proposed in this application can print on the three-dimensional outer surface of the target object, realizing drawing on different surfaces of the target object, and the printing is no longer limited by the size of the printing device workbench. Since the printer is connected to the robotic arm, with the help of the flexible movement performance of the robotic arm and image segmentation printing, a larger printing range can be achieved.

[0049] In an embodiment of the present application, obtaining the feature information of the three-dimensional outer surface of the target object in step S101 includes: obtaining the size and shape of the three-dimensional outer surface of the target object.

[0050] Among them, the three-dimensional outer surface of the target object can be composed of multiple surfaces at different angles. Multiple surfaces at different angles can form a cylindrical, conical, spherical, or various special-shaped three-dimensional shapes. In addition, each surface can be flat, or undulating or concave-convex, that is, it can have various shapes. In an embodiment of the present application, the material information of the three-dimensional outer surface can also be obtained.

[0051] In an embodiment of the present application, the target object can be photographed by an image sensor, and then the target object is modeled to establish a model of the outer surface of the target object, including information such as the size, shape, and material of the outer surface of the target object.

[0052] In an embodiment of the present application, in step S102, the to-be-printed image is segmented based on the feature information of the three-dimensional outer surface of the target object, including the following steps:

[0053] Step A1: Based on the feature information of the three-dimensional outer surface of the target object, divide the three-dimensional outer surface into multiple sub-regions suitable for the print head of the printer to print.

[0054] In an embodiment of the present application, the three-dimensional outer surface can be divided according to the size of the three-dimensional outer surface and the maximum printing size of the printer print head.

[0055] In an embodiment of the present application, on the basis of the above-mentioned region division according to size, the region can also be divided according to the shape of the three-dimensional outer surface. For example, the part in the same plane can be used as a divided sub-region.

[0056] In an embodiment of the present application, the region can also be divided according to the printing area selected by the user. For example, the user can select to print the to-be-printed image only in a certain area of the three-dimensional outer surface of the target object.

[0057] Step A2: Segment the image to be printed according to the multiple sub-regions to obtain multiple sub-images, and each sub-image covers the corresponding sub-region.

[0058] In an embodiment of the present application, when segmenting the image to be printed according to the multiple sub-regions in Step A2 to obtain multiple sub-images, image scaling and / or image rotation may also be performed according to the sub-region features.

[0059] In an embodiment of the present application, a user interaction interface may be provided to obtain the image to be printed selected or uploaded by the user through the user interaction interface. The user can implement functions such as setting the image to be printed, parameter setting, and print control through the user interaction interface. Through the user interaction interface, the user can select the image to be printed from the existing image library, or the user can upload the image to be printed. Through the user interaction interface, the user can select the printing area of the target object. Through the user interaction interface, the user can select printing parameters such as the printing color, etc. Through the user interaction interface, the user can control when to start printing, pause printing, interrupt printing, end printing, etc.

[0060] In an embodiment of the present application, when segmenting the image to be printed according to the multiple sub-regions to obtain multiple sub-images, if the sub-region is an irregular region, one or more operations of scaling, stretching, and rotating the corresponding sub-image may be performed so that the sub-image can exactly cover the corresponding sub-region.

[0061] In an embodiment of the present application, an inkjet printer may be installed on the robotic arm. A robotic arm with high precision and high stability may be selected. Preferably, the robotic arm can drive the inkjet printer to move in three directions of X, Y, and Z, and the robotic arm can flexibly align the nozzle of the inkjet printer with any sub-region of the target object, regardless of the angle of the surface of the sub-region.

[0062] In an embodiment of the present application, when controlling the printer to print an image, printing may be performed sequentially according to the order of the sub-images. For example, when segmenting the image to be printed according to multiple sub-regions, multiple sub-images with an order are obtained. The order may be any order suitable for printing, such as from top to bottom, from left to right, or a zigzag order, or an order from inside to outside, or an order of first the top surface and then the side surface. Control the robotic arm to move the printer to the first sub-region, adjust the angle to align the nozzle of the printer with the printing surface of the target sub-region, control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region, and then control the robotic arm to move the printer to the second sub-region for printing until all sub-images are printed, so that all sub-images are spliced into a complete large image, that is, the image to be printed selected by the user.

[0063] In an embodiment of the present application, step 103 for controlling the robotic arm to move the printer can be achieved by sending a control instruction to the robotic arm. The movement path of the robotic arm can be calculated based on the position of the sub-region, and then a control instruction is sent to the robotic arm to make the robotic arm move according to the calculated movement path.

[0064] The printing method proposed in the present application will be described below through specific embodiments.

[0065] As Figure 2 shown is a flowchart of a printing method provided by an embodiment of the present invention, which is applied to a robotic arm equipped with an inkjet printer. The robotic arm can be controlled by an industrial control computer or can be controlled by any terminal that can send a control instruction to the robotic arm. This method can be applied to an industrial control computer or a terminal. The method includes the following steps:

[0066] Step S201: Model the outer surface of the target object to obtain the characteristic information of the three-dimensional outer surface of the target object.

[0067] Step S202: Based on the characteristic information of the three-dimensional outer surface of the target object, divide the three-dimensional outer surface into multiple sub-regions suitable for the print head of the printer to print.

[0068] Step S203: Obtain the image to be printed.

[0069] Step S204: Segment the image to be printed according to the multiple sub-regions to obtain multiple sub-images, and each sub-image covers the corresponding sub-region.

[0070] Step S205: Perform image scaling, stretching, and / or image rotation on the sub-images according to the sub-region characteristics.

[0071] Step S206: Control the printer driven by the robotic arm to move to the target sub-region among the multiple sub-regions, align the print head of the printer with the printing surface of the target sub-region, and control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

[0072] The above embodiments of the present application achieve generating patterns on the surface of irregular objects (such as food like irregular cakes), and with the multi-joint and multi-angle movement and positioning ability of the robotic arm, it realizes drawing on the surface of different objects. Moreover, the printing is no longer limited by the size of the printing device workbench, but only by the movement radius of the robotic arm. The working radius of mainstream collaborative robotic arms on the market is from 50 cm to 150 cm, easily realizing the production of patterns of 1 meter or even larger. The device has a small volume and a large working area; by batch printing through pre-designed patterns or texts, the production efficiency can be greatly improved; using computer-aided design software, various beautiful patterns and texts can be designed, and then decorated through inkjet printing technology, and the patterns can be printed realistically, greatly improving the aesthetic degree of the food surface; it provides diversified choices: by printing with inks of different colors, diversified choices can be provided to meet the needs of different consumers.

[0073] The following is an embodiment of the device of the present invention, which can be used to execute the method embodiment of the present invention.

[0074] Figure 3 It is a block diagram of a printing device shown according to an exemplary embodiment. The device can be a terminal or a part of a terminal, and the device can be implemented as part or all of an electronic device through a combination of software, hardware, or both. As Figure 3 shown, the device includes:

[0075] An acquisition module 301, configured to acquire the feature information of the three-dimensional outer surface of the target object;

[0076] A processing module 302, configured to perform segmentation processing on the image to be printed based on the feature information of the three-dimensional outer surface of the target object, and segment the image to be printed into a plurality of sub-images respectively corresponding to a plurality of sub-regions of the three-dimensional outer surface;

[0077] A printing module 303, configured to control the printer driven by the robotic arm to move to the target sub-region among the plurality of sub-regions, align the nozzle of the printer with the printing surface of the target sub-region, and control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

[0078] In an embodiment of the present application, the acquisition module 301 is configured to:

[0079] Acquire the size and shape of the three-dimensional outer surface of the target object.

[0080] In an embodiment of the present application, the processing module 302 includes:

[0081] A first processing unit, configured to divide the three-dimensional outer surface into a plurality of sub-regions suitable for the nozzle of the printer to print based on the feature information of the three-dimensional outer surface of the target object;

[0082] A second processing unit, configured to segment a to-be-printed image according to the multiple sub-regions to obtain multiple sub-images, and each sub-image covers a corresponding sub-region.

[0083] In an embodiment of the present application, the second processing unit is configured to: segment the to-be-printed image according to multiple sub-regions, and perform image scaling, stretching, and / or image rotation according to sub-region features.

[0084] In another embodiment of the present application, a printing device is further provided, and the device may include:

[0085] A processor;

[0086] A memory for storing instructions executable by the processor;

[0087] Wherein, the processor is configured to:

[0088] Obtain feature information of a three-dimensional outer surface of a target object;

[0089] Segment the to-be-printed image based on the feature information of the three-dimensional outer surface of the target object, and segment the to-be-printed image into multiple sub-images respectively corresponding to multiple sub-regions of the three-dimensional outer surface;

[0090] Control a printer driven by a robotic arm to move to a target sub-region among the multiple sub-regions, align a nozzle of the printer with a printing surface of the target sub-region, and control the printer to print a sub-image corresponding to the target sub-region on the printing surface of the target sub-region until printing of all sub-images is completed.

[0091] It should be noted that the specific implementation of the processor in this embodiment may refer to the corresponding content in the foregoing, and will not be elaborated herein.

[0092] Figure 4 FIG. 800 is a block diagram of a printing device 800 shown according to an exemplary embodiment, and the device may be a computer, a server, etc.

[0093] The device may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0094] The processing component 802 generally controls the overall operation of the device 800, such as operations associated with display, telephone calls, data communication, camera operations, and recording operations. The processing element 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above methods. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0095] The memory 804 is configured to store various types of data to support the operation of the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disks, or optical disks.

[0096] The power component 806 provides power to various components of the device 800. The power component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.

[0097] The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense the boundaries of touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operations. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0098] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), which is configured to receive external audio signals when the device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.

[0099] The I / O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, a click wheel, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a power button, and a lock button.

[0100] The sensor component 814 includes one or more sensors for providing an assessment of various aspects of the state of the device 800. For example, the sensor component 814 can detect the on / off state of the device 800, the relative positioning of components, such as the display and keypad of the device 800. The sensor component 814 can also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration / deceleration of the device 800, and the temperature change of the device 800. The sensor component 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 814 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 514 can further include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0101] The communication component 816 is configured to facilitate communication between the device 800 and other devices in a wired or wireless manner. The device 800 can access a wireless network based on communication standards, such as a walkie-talkie private network, WiFi, 2G, 3G, 4G, or 5G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0102] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0103] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the above instructions can be executed by a processor 820 of the apparatus 800 to complete the above method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0104] In another embodiment of the present application, a readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the printing method described in any one of the above is implemented.

[0105] The various embodiments in this specification are described in a progressive manner, and the key point of each embodiment is the difference from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0106] Those skilled in the art can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in this document can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0107] The steps of the method or algorithm described in combination with the embodiments disclosed in this document can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well known in the technical field.

[0108] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A printing method, characterized in that, including: obtaining feature information of the three-dimensional outer surface of the target object; performing segmentation processing on the image to be printed based on the feature information of the three-dimensional outer surface of the target object, and segmenting the image to be printed into a plurality of sub-images respectively corresponding to a plurality of sub-regions of the three-dimensional outer surface; controlling the printer driven by the robotic arm to move to a target sub-region among the plurality of sub-regions, aligning the nozzle of the printer with the printing surface of the target sub-region, and controlling the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

2. The method according to claim 1, characterized in that The obtaining of the feature information of the three-dimensional outer surface of the target object includes: obtaining the size and shape of the three-dimensional outer surface of the target object.

3. The method according to claim 1, characterized in that The performing segmentation processing on the image to be printed based on the feature information of the three-dimensional outer surface of the target object includes: dividing the three-dimensional outer surface into a plurality of sub-regions suitable for printing by the nozzle of the printer based on the feature information of the three-dimensional outer surface of the target object; performing segmentation processing on the image to be printed according to the plurality of sub-regions to obtain a plurality of sub-images, and each sub-image covers the corresponding sub-region.

4. The method according to claim 3, characterized in that The performing segmentation processing on the image to be printed according to the plurality of sub-regions to obtain a plurality of sub-images includes: segmenting the image to be printed according to the plurality of sub-regions, and performing image scaling, stretching, and / or image rotation according to the sub-region features.

5. A printing device, characterized in that, including: an obtaining module configured to obtain feature information of the three-dimensional outer surface of the target object; a processing module configured to perform segmentation processing on the image to be printed based on the feature information of the three-dimensional outer surface of the target object, and segment the image to be printed into a plurality of sub-images respectively corresponding to a plurality of sub-regions of the three-dimensional outer surface; a printing module configured to control the printer driven by the robotic arm to move to a target sub-region among the plurality of sub-regions, align the nozzle of the printer with the printing surface of the target sub-region, and control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until all sub-images are printed.

6. The device according to claim 5, characterized in that The obtaining module is configured to: obtain the size and shape of the three-dimensional outer surface of the target object.

7. The device according to claim 5, wherein The processing module includes: a first processing unit configured to divide the three-dimensional outer surface into a plurality of sub-regions suitable for printing by the nozzle of the printer based on the feature information of the three-dimensional outer surface of the target object; a second processing unit configured to perform segmentation processing on the image to be printed according to the plurality of sub-regions to obtain a plurality of sub-images, and each sub-image covers the corresponding sub-region.

8. The device according to claim 7, characterized in that, The second processing unit is configured to: segment the image to be printed according to the plurality of sub-regions, and perform image scaling, stretching, and / or image rotation according to the sub-region features.

9. A printing device, characterized in that, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to: obtain feature information of the three-dimensional outer surface of the target object; perform segmentation processing on the image to be printed based on the feature information of the three-dimensional outer surface of the target object, and segment the image to be printed into a plurality of sub-images respectively corresponding to a plurality of sub-regions of the three-dimensional outer surface; Control the printer driven by the robotic arm to run to the target sub-region among multiple sub-regions, align the print head of the printer with the printing surface of the target sub-region, and control the printer to print the sub-image corresponding to the target sub-region on the printing surface of the target sub-region until the printing of all sub-images is completed.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that, When the instruction is executed by the processor, the steps of the method described in any one of claims 1-4 are implemented.

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