Jitter correction method and device of printing equipment, electronic equipment and storage medium

Abstract

The invention discloses a jitter correction method and device of printing equipment, electronic equipment and a storage medium, and relates to the technical field of ink-jet printing, and the jitter correction method of the printing equipment comprises the steps that in the process that a motor drives a spraying vehicle to move, a grating signal collected by a reading head is obtained; determining the motion state of the spraying vehicle according to the grating signal; if the motion state of the spraying vehicle is uniform-speed motion, the actual time interval between every two adjacent grating signals is obtained; and correcting the speed of the motor based on the actual time interval and a preset time interval. According to the invention, errors caused by vehicle spraying speed jitter are reduced, and error accumulation during printing is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of inkjet printing, and particularly to a method and device for jitter correction of a printing device, an electronic device, and a storage medium. Background Art

[0002] In the field of inkjet printing, motor jitter is one of the key factors affecting printing quality. Since the core components of a printer, such as a print head and a drive system, rely on the motor for driving, the jitter of the motor speed will cause problems such as reduced printing accuracy, uneven inkjet, blurred lines, etc., and even error accumulation. Summary of the Invention

[0003] The main purpose of the present application is to provide a method and device for jitter correction of a printing device, an electronic device, and a storage medium, aiming to solve the technical problem of motor speed jitter of a printing device.

[0004] To achieve the above object, the present application proposes a method for jitter correction of a printing device. The printing device includes a carriage, a motor, a rail, and a grating scale. The motor drives the carriage to move on the rail. The grating scale includes a reading head and a grating. The grating is parallel to the rail. A print head is provided on the carriage, and the reading head is provided on the carriage. The reading head is used to read the grating signals of the grating. The method includes:

[0005] During the process of the motor driving the carriage to move, obtaining the grating signals collected by the reading head;

[0006] Determining the motion state of the carriage according to the grating signals;

[0007] If the motion state of the carriage is a uniform motion, obtaining the actual time interval between two adjacent grating signals;

[0008] Based on the actual time interval and a preset time interval, correcting the speed of the motor.

[0009] In one embodiment, the step of obtaining the actual time interval between two adjacent grating signals includes:

[0010] Obtaining the number of clocks between two adjacent grating signals;

[0011] Determining the actual time interval between two adjacent grating signals according to the number of clocks.

[0012] In one embodiment, the preset time interval is the grating distance between two adjacent grids of the grating scale divided by the target speed of the carriage.

[0013] In one embodiment, the step of determining the motion state of the spraying vehicle according to the grating signal includes:

[0014] Obtain the actual time interval between every two adjacent grating signals;

[0015] Obtain the interval difference between two consecutive actual time intervals;

[0016] If the interval difference is less than a preset difference, determine that the motion state of the spraying vehicle is uniform motion.

[0017] In one embodiment, the step of correcting the speed of the motor based on the actual time interval and the preset time interval includes:

[0018] Determine the time difference between the actual time interval and the preset time interval;

[0019] Determine the speed correction parameter of the motor according to the time difference, the current position and the target position of the spraying vehicle;

[0020] Correct the speed of the motor according to the speed correction parameter.

[0021] In one embodiment, the step of correcting the speed of the motor based on the actual time interval and the preset time interval includes:

[0022] Determine the actual moving speed of the spraying vehicle according to the grid distance between adjacent grids and the actual time interval of the grating signal;

[0023] Determine the target moving speed of the spraying vehicle according to the grid distance and the preset time interval;

[0024] Determine the speed correction parameter of the motor according to the actual moving speed, the target moving speed, the current position and the target position of the spraying vehicle;

[0025] Correct the speed of the motor according to the speed correction parameter.

[0026] In one embodiment, the step of determining the speed correction parameter of the motor according to the actual moving speed, the target moving speed, the current position and the target position of the spraying vehicle includes:

[0027] Calculate the distance between the current position and the target position of the spraying vehicle;

[0028] Calculate the acceleration of the spraying vehicle according to the distance, the actual moving speed and the target moving speed, and the speed correction parameter includes the acceleration.

[0029] In one embodiment, if the motor is a stepper motor, the step of correcting the speed of the motor according to the speed correction parameter includes:

[0030] Correcting the frequency change value of the pulse signal according to the acceleration to control the acceleration or deceleration of the stepper motor;

[0031] If the motor is a servo motor, the step of correcting the speed of the motor according to the speed correction parameter includes:

[0032] Correcting the PID control parameter of the servo motor according to the acceleration to control the acceleration or deceleration of the stepper motor;

[0033] If the motor is a linear motor, the step of correcting the speed of the motor according to the speed correction parameter includes:

[0034] Correcting the working current and working voltage of the linear motor according to the acceleration to control the acceleration or deceleration of the linear motor.

[0035] In addition, to achieve the above object, the present application further provides a jitter correction device for a printing device. The printing device includes an inkjet carriage, a motor, a rail, and a grating scale. The motor drives the inkjet carriage to move on the rail. The grating scale includes a reading head and a grating. The grating is parallel to the rail. A print head is provided on the inkjet carriage. The reading head is provided on the inkjet carriage. The reading head is used to read the grating signal of the grating. The device includes:

[0036] An acquisition module, configured to acquire the grating signal collected by the reading head during the process of the motor driving the inkjet carriage to move;

[0037] A determination module, configured to determine the motion state of the inkjet carriage according to the grating signal;

[0038] A calculation module, configured to, if the motion state of the inkjet carriage is a uniform motion, acquire the actual time interval between two adjacent grating signals;

[0039] A correction module, configured to correct the speed of the motor based on the actual time interval and the preset time interval.

[0040] In addition, to achieve the above object, the present application further provides an electronic device. The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. The computer program is configured to implement the steps of the jitter correction method for the printing device as described above.

[0041] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the dither correction method of the printing device as described above are implemented.

[0042] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the dither correction method of the printing device as described above are implemented.

[0043] One or more technical solutions proposed by the present application have at least the following technical effects:

[0044] By comparing the actual time interval with the preset time interval in the uniform speed state, the speed of the motor is corrected, thereby reducing the error caused by the speed jitter of the spraying vehicle, avoiding the accumulation of errors during printing, greatly improving the accuracy of the image imaging position and the image quality during printing, and enhancing the printing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0046] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0047] Figure 1 Schematic structural diagram of the printing device in the dither correction method of the printing device of the present application;

[0048] Figure 2 Brief flow schematic diagram of the dither correction method of the printing device of the present application;

[0049] Figure 3 Flow schematic diagram provided in Embodiment 1 of the dither correction method of the printing device of the present application;

[0050] Figure 4 Flow schematic diagram provided in Embodiment 2 of the dither correction method of the printing device of the present application;

[0051] Figure 5 Flow schematic diagram provided in Embodiment 3 of the dither correction method of the printing device of the present application;

[0052] Figure 6 Brief flow schematic diagram of the dither correction method of the printing device of the present application;

[0053] Figure 7 It is a schematic diagram of the functional modules of the jitter correction device for the printing device of the present application;

[0054] Figure 8 It is a schematic diagram of the device structure of the hardware operating environment involved in the jitter correction method of the printing device in the embodiment of the present application.

[0055] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0056] 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.

[0057] In order to better understand the technical solutions of the present application, the following will be described in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0058] The main solution of the embodiment of the present application is: during the process of driving the inkjet carriage by the motor, obtain the grating signal collected by the reading head; determine the motion state of the inkjet carriage according to the grating signal; if the motion state of the inkjet carriage is uniform motion, obtain the actual time interval between two adjacent grating signals; based on the actual time interval and the preset time interval, correct the speed of the motor.

[0059] In this embodiment, for the convenience of description, the following will be described with an electronic device as the execution subject.

[0060] Since in the field of inkjet printing, motor jitter is one of the key factors affecting printing quality. Since the core components of the printer, such as the print head, transmission system, etc., rely on the motor for driving, motor jitter will cause problems such as reduced printing accuracy, uneven inkjet, blurred lines, etc., and even error accumulation, resulting in poor printing effects.

[0061] The present application provides a solution to correct the speed of the motor through the actual time interval and the preset time interval in the uniform state, thereby reducing the error caused by the speed jitter of the inkjet carriage, avoiding error accumulation during printing, greatly improving the accuracy of the image imaging position and the image quality during printing, and improving the printing effect.

[0062] It should be noted that the execution subject of this embodiment can be 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 electronic device, a printing device or a printing system that can implement the above functions. The following will take an electronic device as an example to illustrate this embodiment and the following embodiments.

[0063] ReferenceFigure 1 , the printing device includes an inkjet carriage 200, a motor 401, a rail 403, and a grating scale 300. The motor 401 drives the inkjet carriage 200 to move on the rail 403. The grating scale 300 includes a reading head 301 and a grating 302. The grating 302 is parallel to the rail 403. A print head is provided on the inkjet carriage 200, and the reading head 301 is provided on the inkjet carriage 200. The reading head 301 is used to read the grating signals of the grating 302.

[0064] Optionally, the rail 403 can be a rail for linear motion or a rail for curvilinear motion, and the shape of the rail 403 is not limited. Optionally, the grating 302 is arranged parallel to the rail 403. When the inkjet carriage 200 moves on the rail 403, the reading head 301 provided on the inkjet carriage 200 can read the signals of the grating.

[0065] In some embodiments, a field-programmable gate array 201 (FPGA, Field-Programmable Gate Array) main control board and a double data rate synchronous dynamic random access memory 202 (DDR, Double Data Rate SDRAM) are provided on the inkjet carriage 200. Among them, the FPGA is used as the core device to achieve the real-time performance and high-precision requirements of data processing, while the DDR realizes fast and complete data storage and sends the data to the host computer as needed. This application is not only applicable to single-axis jitter detection. Due to the synchronous characteristics of the FPGA, the jitter conditions of multiple axes can be detected simultaneously. Since there is no additional device, the device cost does not increase after adding the detection function. In other embodiments, other types of processors and memories can also be used, not limited to FPGA and DDR.

[0066] Optionally, the inkjet carriage 200 is communicatively connected to the host computer 100, for example, through a network cable, and the host computer 100 can control the movement of the inkjet carriage.

[0067] Referring to Figure 2 , a conveyor belt 402 is provided on the rail 403. The FPGA main control controls the movement of the motor 401. The motor 401 drives the inkjet carriage 200 to move on the rail 403 through the conveyor belt 402. When the inkjet carriage 200 moves, it triggers the grating scale pulse. After detecting the pulse signal of the grating scale 300, that is, the grating signal, the pulse signal is sent to the FPGA main control.

[0068] Optionally, the inkjet carriage 200 is controlled to reciprocate along the rail 403 to achieve full-path jitter detection. Exemplarily, the inkjet carriage 200 is controlled to reciprocate along the x-axis. During the process of controlling the movement of the inkjet carriage 200, the reading head 301 reads the grating signals of the grating 302 and sends the read grating signals to the FPGA. The FPGA processes or preliminarily processes the grating signals.

[0069] In some embodiments, the grating 302 consists of a series of parallel stripes with very small widths and spacings, and the precision can reach the sub-micron level. When the light source irradiates the grating 302, the light passes through the grating slits, undergoes diffraction and interference, and forms sinusoidal interference fringes with bright and dark intervals, which are also called Moiré fringes. The photodetector in the reading head 301 receives the interference fringes and converts them into electrical signals that vary in a sinusoidal wave. In other words, the grating signal of the grating scale 300 is an electrical signal generated by the grating structure on the grating and obtained through conversion and processing by the reading head 301 and the circuit, and the electrical signal can be used to measure the speed of the spraying vehicle 200. By using the grating scale on the printing device itself, the system complexity is low and the device cost is low. The printing device or printing system directly controls the rotation of the motor 401 through the feedback signal, without a complex debugging process and with high stability.

[0070] The printing device can be a digital heat transfer printer such as a direct to film (DTF) printer, or a common inkjet printer, without specific limitations here.

[0071] Based on this, the embodiments of the present application provide a method for jitter correction of a printing device. Refer to Figure 3 , Figure 3 which is a schematic flowchart of the first embodiment of the method for jitter correction of the printing device of the present application.

[0072] In this embodiment, the method for jitter correction of the printing device includes steps S10 to S40:

[0073] Step S10, during the process of the motor driving the spraying vehicle to move, obtain the grating signal collected by the reading head.

[0074] In this embodiment, the grating signal refers to a periodic electrical signal generated through photoelectric conversion when the grating scale is working, and is used to reflect the moving amount, direction, and speed of the position of the spraying vehicle.

[0075] Optionally, the grating signal includes two-phase signals or three-phase signals, etc. Exemplarily, the two-phase signal is the AB phase signal.

[0076] Optionally, the grating signal can be a sine wave signal or a square wave signal. Exemplarily, the read electrical signal is amplified and shaped by the circuit to obtain two sine wave or square wave signals A and B with a 90-degree phase difference. The number of cycles of the sine wave or square wave signal is proportional to the moving distance. When moving forward relative to the scale body, the A signal leads the B signal by 90 degrees, and when moving backward relative to the scale body, the A signal lags the B signal by 90 degrees.

[0077] In an alternative embodiment, the printing device receives a detection instruction sent by the host computer; controls the movement of the spraying vehicle based on the detection instruction, and acquires the grating signal collected by the reading head during the movement of the spraying vehicle driven by the motor. The host computer initiates the movement detection of the spraying vehicle to correct the speed of the motor, improving the flexibility of correcting the motor speed of the printing device.

[0078] In another alternative embodiment, when the printing device enables the detection mode, the printing device directly controls the movement of the spraying vehicle, and acquires the grating signal collected by the reading head during the movement of the spraying vehicle driven by the motor. For example, the FPGA main control board of the printing device sends a control command to control the rotation of the motor, and the motor drives the spraying vehicle to move on the track, and acquires the grating signal during the movement of the spraying vehicle.

[0079] Step S20: Determine the movement state of the spraying vehicle according to the grating signal.

[0080] Optionally, the movement states of the spraying vehicle include states such as uniform motion, accelerated motion, decelerated motion, uniformly accelerated motion, uniformly decelerated motion, etc.

[0081] In an alternative embodiment, obtain the actual time interval between every two adjacent grating signals; obtain the interval difference between two consecutive actual time intervals; if the interval difference is less than a preset difference, determine that the movement state of the spraying vehicle is uniform motion. When the interval difference is greater than or equal to the preset difference threshold, determine that the movement state of the spraying vehicle is non-uniform motion. By the change amount of every two actual time intervals in the grating signal, the movement state of the spraying vehicle is determined, without the need for speed calculation, reducing the calculation amount and improving the efficiency of determining the movement state. Among them, the step of obtaining the actual time interval between two adjacent grating signals includes: obtaining the number of clocks between every two adjacent grating signals, and determining the actual time interval between every two adjacent grating signals according to the number of clocks.

[0082] Optionally, perform spectral analysis on the grating signal through discrete Fourier transform to identify the periodic components in the signal, thereby analyzing the movement state of the spraying vehicle. In the state of uniform motion, the spectrum of the signal will show stable periodic components, while non-uniform motion will cause changes in the spectral components.

[0083] Optionally, the acceleration of the spraying vehicle is measured by an acceleration estimation method based on the grating signal. Exemplarily, a grating scale is used as a position sensor to convert position information into discrete pulse signals. The pulse signals are processed by optoelectronic devices and differential amplifiers to obtain two square-wave signals with a phase difference of π / 2 for direction discrimination and pulse counting. By collecting and processing the discrete position signals, the movement position information of the spraying vehicle can be obtained. Based on the acceleration estimation method of constrained least-squares curve fitting, the least-squares curve fitting is performed on the historical positions of the spraying vehicle, and it is required that the fitting curve passes through the latest position, and then the acceleration is obtained according to the fitted quadratic curve. In acceleration control, an acceleration signal with a small phase lag is obtained. If the acceleration estimation result is close to zero, it can be determined that the spraying vehicle is in a uniform motion state.

[0084] Step S30, if the motion state of the spraying vehicle is a uniform motion, obtain the actual time interval between two adjacent grating signals.

[0085] In this embodiment, when the motion state of the spraying vehicle is a uniform motion, it means that the spraying vehicle is in a stable motion state. At this time, it is necessary to maintain the stability of the spraying vehicle's motion to ensure the printing effect of the print head.

[0086] Since the calculation of the motion state of the spraying vehicle is measured over a period of time, there may be jitter in the instantaneous motion process of the spraying vehicle. If there is jitter in the uniform motion state of the spraying vehicle, the print head will jitter with the spraying vehicle, resulting in a deviation of the printing position and reducing the printing accuracy. Therefore, it is necessary to further detect whether there is jitter in the spraying vehicle during uniform motion.

[0087] The physical distance between two adjacent grids on the grating scale is called the grating pitch, and the grating pitch is fixed, usually in micrometers. The moving speed of the spraying vehicle relative to the grating scale determines the time interval for the read head to detect adjacent grids. Among them, the faster the spraying vehicle speed, the shorter the actual time interval. Conversely, the slower the spraying vehicle speed, the longer the actual time interval.

[0088] In an optional embodiment, the step of obtaining the actual time interval between two adjacent grating signals includes: obtaining the number of clocks between two adjacent grating signals; determining the actual time interval between two adjacent grating signals according to the number of clocks.

[0089] Optionally, connect the grating signal to the input pin of the counter and configure it to be triggered by the rising edge or the falling edge. Optionally, between the edges of two adjacent grating signals, the counter accumulates clock pulses and records the number of clocks N. Exemplarily, if the counter records N = 500 clock pulses between the adjacent rising edges of the A-phase of the grating signal, then the number of clocks is 500.

[0090] Optionally, calculate the actual time interval as shown in the following formula:

[0091]

[0092] Among them, T clock represents the time of a single clock cycle, which is determined by the clock frequency f clock . N represents the number of clocks between adjacent signal edges.

[0093] Exemplarily, if the clock frequency f clock = 10 MHZ, that is, T clock = 0.1 μs, and N = 500 is measured, the actual time interval is as shown in the following formula:

[0094] ΔT = 500 × 0.1 μs = 50 μs.

[0095] Optionally, use the 100 M clock generated by the internal phase-locked loop of the FPGA to time the time interval of the grating signal, and the minimum time unit is 10 ns. Exemplarily, configure the internal phase-locked loop (PLL, Phase Locked Loop) of the FPGA to generate a 100 MHz clock signal, where the PLL can multiply or divide the input clock frequency to generate the required output frequency. In this case, the PLL is configured to output a 100 MHz clock signal. Since the clock frequency output by the PLL is 100 MHz and the period is 10 ns, where, 1 second / 100 MHz = 10 ns, at this time the clock can be directly used to measure the time interval of the grating signal. If finer-grained timing is required, it can be further divided by a frequency divider. Use the I / O pins of the FPGA to receive the grating signal, and design edge detection logic inside the FPGA to capture the rising edge or falling edge of the grating signal. Whenever an edge is detected, the current clock cycle number is recorded. By comparing the time points detected by two consecutive edges, the time interval of the grating signal can be calculated.

[0096] Step S40, correct the speed of the motor based on the actual time interval and the preset time interval.

[0097] In this embodiment, the preset time threshold is the time interval corresponding to theoretical uniform motion, that is to say, the preset time threshold is the reference value of the standard time interval.

[0098] In an optional embodiment, the preset time interval is the grid distance between two adjacent grids of the grating scale divided by the target speed of the spraying vehicle. Optionally, obtain the grid distance between two adjacent grids of the grating scale; determine the preset time threshold according to the grid distance and the target speed of the spraying vehicle.

[0099] It should be noted that the target speed of the spraying vehicle, i.e., the spraying vehicle speed, refers to how fast the spraying vehicle moves relative to the grating scale, usually measured in meters per second (m / s). If the target speed of the spraying vehicle is known, the time required for the spraying vehicle to pass through a specific distance can be calculated.

[0100] The grating distance is the physical distance between two adjacent engraved lines on the grating scale. For example, if the grating pitch of the grating is 40 micrometers (μm), then the change of the grating signal is triggered every time it moves 40 μm. The grating distance between two adjacent gratings refers to the actual distance that the spraying vehicle moves from one grating engraved line to the next grating engraved line, and the speed is the moving speed of the spraying vehicle relative to the grating scale. Exemplarily, as shown in the following formula:

[0101] Preset time threshold = grating distance / target speed;

[0102] Exemplarily, if the grating distance of the grating scale is 0.02 millimeters, i.e., 0.00002 meters, and the speed of the spraying vehicle is 1 m / s, then the preset time threshold is as follows:

[0103] Preset time threshold = 0.00002m / 1m / s = 0.00002s = 20 μs;

[0104] In theory, the spraying vehicle will pass through a grating engraved line every 20 microseconds, thus generating a grating signal. By continuously monitoring the change of the grating signal, the precise position of the spraying vehicle can be determined.

[0105] In this embodiment, the preset time threshold is determined according to the grating distance and the target speed of the spraying vehicle. Based on the preset time threshold, the movement of the spraying vehicle can be controlled more effectively, thereby improving the stability and efficiency of the printing process. By setting accurate speed information and time threshold, it helps to reduce the printing error caused by speed change and improve the printing quality. By real-time monitoring the speed of the spraying vehicle and dynamically adjusting the preset time threshold, the system can respond faster to the movement change of the spraying vehicle, reduce the influence caused by response delay, and achieve efficient printing.

[0106] It should be noted that according to the comparison between the actual time interval and the theoretical time interval of uniform motion, the motor movement is adjusted in real time to keep the speed of the spraying vehicle constant when it is at the printing position. When the actual time interval of the grating signal is equal to or approximately equal to the preset time threshold, that is, when the difference between the actual time interval of the grating signal and the preset time threshold is less than or equal to the preset difference threshold, it means that the speed jitter of the spraying vehicle is small, or even without jitter, and no speed correction is required. When the difference between the actual time interval of the grating signal and the preset time threshold is greater than the preset difference threshold, it means that the speed jitter of the spraying vehicle is large and speed correction is required, otherwise it will affect the printing effect of the printing device.

[0107] By correcting the speed of the motor, the errors caused by changes in the motor or load characteristics (such as temperature changes, wear, or load fluctuations) can be effectively addressed, and the influence of external factors (such as mechanical errors and changes in motor performance) can be avoided, thereby improving the printing quality.

[0108] In the technical solution of this embodiment, during the process of the motor driving the spraying vehicle to move, the grating signal collected by the reading head is obtained; the motion state of the spraying vehicle is determined according to the grating signal; if the motion state of the spraying vehicle is uniform motion, the actual time interval between two adjacent grating signals is obtained; based on the actual time interval and the preset time interval, the speed of the motor is corrected, thereby reducing the error caused by the speed jitter of the spraying vehicle, avoiding the accumulation of errors during printing, greatly improving the accuracy of the image imaging position and the image quality during printing, and enhancing the printing effect.

[0109] Based on any of the first or second embodiments of the present application, in the third embodiment of the present application, the same or similar content as the above embodiments can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 4 , step S40 includes:

[0110] Step S41, determining the time difference between the actual time interval and the preset time interval;

[0111] Step S42, determining the speed correction parameter of the motor according to the time difference, the current position and the target position of the spraying vehicle;

[0112] Step S43, correcting the speed of the motor according to the speed correction parameter.

[0113] Usually, the jitter situation of the nozzle is tested by laser and the jitter position is recorded, and the influence of jitter is reduced by position compensation in the later stage. However, the compensation parameter is a fixed value. When mechanical errors or performance degradation occur in the motor, the position compensation will fail, resulting in the speed jitter of the motor of the printing device.

[0114] In this embodiment, the speed correction parameter of the motor is used to adjust the speed of the motor so that the spraying vehicle remains stable during movement, improve the accuracy of the printing position, and enhance the printing effect.

[0115] Optionally, when the time difference is less than the preset threshold, the speed of the motor is not corrected. When the time difference is greater than or equal to the preset threshold, the speed of the motor is corrected according to the speed correction parameter to reduce the frequency of speed adjustment of the motor and reduce the calculation amount. At the same time, appropriate setting of the speed correction parameter can reduce printing defects caused by sudden direction changes, such as protrusions or depressions at the corners, and improve the surface quality and accuracy of the printed parts.

[0116] In an alternative embodiment, based on the time difference, the current position and the target position of the spraying vehicle, the speed correction parameter is directly determined, that is, there is a mapping relationship between the time difference and the speed correction parameter.

[0117] It should be noted that the speed correction parameter is usually proportional to the time difference. That is to say, the larger the time difference, the larger the speed correction parameter; the smaller the time difference, the smaller the speed correction parameter. The specific relationship is determined by experimental data. For example, the proportional coefficient is determined by experimental data to convert the time difference into the speed correction parameter.

[0118] In another alternative embodiment, the speed difference is determined based on the time difference, and the speed correction parameter is determined based on the speed difference, the current position and the target position of the spraying vehicle. There is a mapping relationship between the speed difference and the speed correction parameter.

[0119] The speed correction parameter is usually proportional to the speed difference, that is, the larger the speed difference, the larger the speed correction parameter; the smaller the speed difference, the smaller the speed correction parameter. The specific relationship is determined by experimental data. For example, the proportional coefficient is determined by experimental data to convert the speed difference into the speed correction parameter.

[0120] In an alternative embodiment, the steps of determining the speed correction parameter of the motor according to the time difference, the current position and the target position of the spraying vehicle include: calculating the distance between the current position and the target position of the spraying vehicle; calculating the acceleration of the spraying vehicle according to the distance and the time difference, and the speed correction parameter includes the acceleration.

[0121] Optionally, the acceleration of the spraying vehicle is calculated according to the distance and the time difference to adjust the position of the spraying vehicle and the speed at the target position.

[0122] Optionally, the photodetector of the reading head converts the sine interference fringes into an electrical signal with a sine wave change, and after amplification and shaping by the circuit, two sine wave or square wave signals A and B with a 90-degree phase difference are obtained. When the scale body moves forward, the A signal leads the B signal by 90 degrees, and when the scale body moves backward, the A signal lags behind the B signal by 90 degrees. Optionally, the moving direction of the spraying vehicle can be determined by comparing the phase relationship between these two signals. Optionally, for each grating pitch scanned by the reading head, a sine wave signal period is generated, and this signal is further subdivided by an electronic circuit, such as 5, 10, 50, 100 times of subdivision, to achieve a very high resolution. The current position of the spraying vehicle can be calculated by counting the number of pulses and measuring the time interval of the pulses.

[0123] In an alternative embodiment, the moving direction of the spraying vehicle is determined according to the high and low level change sequence of the two-phase signals; the current position of the spraying vehicle is determined according to the number of level changes of the two-phase signals.

[0124] It should be noted that the movement of the spraying vehicle triggers the grating scale to emit AB-phase signals, and the FPGA processes the signals to obtain the movement direction and position. By counting the level changes of the AB-phase signals, the position of the spraying vehicle is obtained in real time. When the high and low level change sequence of the AB-phase signals is 10→01→00→10→11, it indicates that the motor is moving forward. If the high and low level change sequence of the AB-phase signals is 11→10→00→01→11, it indicates that the motor is moving backward. The movement direction of the spraying vehicle is determined by the movement direction of the motor. Among them, 10, 01, 00, and 11 are the combined states of two binary signals, usually represented by A and B. Binary signals usually come from incremental encoders and are used to provide information about the motor position and movement direction. Specifically, 10 means that the A signal is at a high level (1) and the B signal is at a low level (0). 01 means that the A signal is at a low level (0) and the B signal is at a high level (1). 00 means that both the A and B signals are at a low level (0). 11 means that both the A and B signals are at a high level (1).

[0125] Optionally, each time the level of the two-phase signals changes, the grating is counted. When the motor is moving forward, the counting is addition, and when the motor is moving backward, the counting is subtraction, so as to obtain the specific position of the spraying vehicle. Exemplarily, the current position is determined according to the number of grating signals, and the number of grating signals is +1 for forward movement and -1 for backward movement.

[0126] In the technical solution of this embodiment, by determining the time difference between the actual time interval and the preset time interval, the movement state of the spraying vehicle can be monitored more precisely, which helps to identify and correct the irregularity of the spraying vehicle during movement, reduce the jitter caused by unstable operation of the motor, reduce the printing error caused by the speed jitter of the spraying vehicle, and improve the reliability and stability of the printing device.

[0127] Based on any one of the first to third embodiments of this application, in the fourth embodiment of this application, the same or similar content as the above embodiments can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 5 and step S40 includes:

[0128] Step S44, determining the actual movement speed of the spraying vehicle according to the grating distance between adjacent gratings and the actual time interval of the grating signals;

[0129] Step S45, determining the target movement speed of the spraying vehicle according to the grating distance and the preset time interval;

[0130] Step S46, determining the speed correction parameter of the motor according to the actual movement speed, the target movement speed, the current position and the target position of the spraying vehicle;

[0131] Step S47, correct the speed of the motor according to the speed correction parameter.

[0132] When the speed difference of the spraying vehicle is less than the preset speed threshold, the speed of the motor is not corrected. When the speed difference of the spraying vehicle is greater than or equal to the preset speed threshold, the speed correction parameter of the motor is determined according to the speed difference and the current position and target position of the spraying vehicle, so as to reduce the frequency of speed adjustment of the motor and reduce the calculation amount. At the same time, appropriate jitter speed setting can reduce printing defects caused by sudden direction changes, such as bumps or depressions at the corners, and improve the surface quality and accuracy of the printed parts.

[0133] In this embodiment, the speed difference between the target motion speed and the actual motion speed is determined. The greater the speed difference, the greater the speed correction parameter of the motor; conversely, the smaller the speed difference, the smaller the speed correction parameter of the motor. Therefore, the speed correction parameter of the motor is determined according to the speed difference to adjust the speed of the motor and improve the accuracy of speed control of the motor.

[0134] Use a grating ruler to read the actual time interval of the spraying vehicle, that is, the time required for the spraying vehicle to pass through one grid. If the grid distance of the grating ruler is known, for example, the actual motion speed of the spraying vehicle is as shown in the following formula:

[0135] Actual motion speed = grid distance / actual time interval;

[0136] For example, if the grid distance is 0.02 mm (i.e., 0.00002 m) and the actual time interval is 20 μs (i.e., 0.00002 s), then the actual motion speed of the spraying vehicle is as shown in the following formula:

[0137] Actual motion speed = 0.00002 m / 0.00002 s = 1 m / s;

[0138] According to the preset time threshold, that is, the time required for the spraying vehicle to pass through one grid in the ideal state, the target motion speed of the spraying vehicle is as shown in the following formula:

[0139] Target motion speed = grid distance / preset time threshold;

[0140] Determine the speed difference between the target motion speed and the actual motion speed. The speed difference is used to evaluate whether the motion of the spraying vehicle meets the expectation and is used to adjust the speed of the motor. For example, the speed difference is as shown in the following formula:

[0141] Speed difference = target motion speed - actual motion speed;

[0142] In an optional embodiment, the step of determining the speed correction parameter of the motor according to the actual movement speed, the target movement speed, and the current position and the target position of the spraying vehicle includes: calculating the distance between the current position and the target position of the spraying vehicle; calculating the acceleration of the spraying vehicle according to the distance, the actual movement speed, and the target movement speed, and the speed correction parameter includes the acceleration.

[0143] In one embodiment, according to the grating information and the internal counting of the FPGA, the speed V1 of the spraying vehicle at the current position can be known, and the target speed at the target position is V2, and it is known that the distance from the spraying vehicle to the target position at this time is X. According to the acceleration a in the next step can be obtained. By setting the acceleration of the motor movement, the adjustment of the motor speed can be realized, and further the speed of the spraying vehicle can be made V2 when it moves to the target position.

[0144] Optionally, in some embodiments, the acceleration of the spraying vehicle is calculated according to the distance and the speed difference to realize the adjustment of the position of the spraying vehicle and the speed at the target position.

[0145] Optionally, the photodetector of the reading head converts the sine interference fringes into an electrical signal with a sine wave change, and after being amplified and shaped by the circuit, two sine wave or square wave signals A and B with a 90-degree phase difference are obtained. When the scale body moves forward, the A signal leads the B signal by 90 degrees, and when the scale body moves backward, the A signal lags behind the B signal by 90 degrees. Optionally, by comparing the phase relationship of these two signals, the movement direction of the spraying vehicle can be determined. Optionally, for each grating pitch scanned by the reading head, a sine wave signal period is generated, and this signal is further subdivided by an electronic circuit, such as 5, 10, 50, 100 times of subdivision, to achieve a very high resolution. By counting the number of pulses and measuring the time interval of the pulses, the current position of the spraying vehicle can be calculated.

[0146] In an optional embodiment, the movement direction of the spraying vehicle is determined according to the high and low level change order of the two-phase signals; the current position of the spraying vehicle is determined according to the number of level changes of the two-phase signals.

[0147] It should be noted that the movement of the spraying vehicle triggers the grating scale to emit AB phase signals, and the FPGA processes the signals to obtain the movement direction and position. By counting the level changes of the AB phase signals, the position of the spraying vehicle is obtained in real time. When the order of the high and low level changes of the AB phase signals is 10→01→00→10→11, it indicates that the motor is moving forward. If the order of the high and low level changes of the AB phase signals is 11→10→00→01→11, it indicates that the motor is moving backward. The movement direction of the spraying vehicle is determined by the movement direction of the motor. Among them, 10, 01, 00, and 11 are the combined states of two binary signals, usually represented by A and B. Binary signals usually come from incremental encoders and are used to provide information about the motor position and movement direction. Specifically, 10 means that the A signal is at a high level (1) and the B signal is at a low level (0). 01 means that the A signal is at a low level (0) and the B signal is at a high level (1). 00 means that both the A and B signals are at a low level (0). 11 means that both the A and B signals are at a high level (1).

[0148] Optionally, every time the level of the two-phase signals changes once, the grating is counted. When the motor is moving forward, the count is an addition, and when the motor is moving backward, the count is a subtraction, so as to obtain the specific position of the spraying vehicle. Exemplarily, the current position is determined according to the number of grating signals, and the number of grating signals is +1 for forward movement and -1 for backward movement.

[0149] In the present application, the motor includes a stepper motor, a servo motor, a DC brushless motor, a DC motor, a linear motor, etc., but is not limited to the above motor types.

[0150] In an optional embodiment, if the motor is a stepper motor, the steps of correcting the speed of the motor according to the speed correction parameter include: correcting the frequency change value of the pulse signal according to the acceleration to control the acceleration or deceleration of the stepper motor.

[0151] It should be noted that the control parameters of the stepper motor include parameters such as pulse signals to adjust the moving distance of the spraying vehicle. Among them, the rotation of the stepper motor depends on the input pulse signal. For each input pulse signal, the rotor rotates a step angle. The acceleration of the motor can be changed by controlling the frequency of the pulse signal.

[0152] In an optional embodiment, if the motor is a servo motor, the steps of correcting the speed of the motor according to the speed correction parameter include: correcting the PID control parameter of the servo motor according to the acceleration to control the acceleration or deceleration of the stepper motor.

[0153] It should be noted that the control parameters of the servo motor include PID (Proportional-Integral-Derivative Control) control parameters. Among them, the servo motor uses the PID algorithm for the high-performance loop of current control to ensure accurate motor position or precise speed value. The acceleration of the motor can be corrected by modifying the PID control parameters of the servo motor.

[0154] In an optional embodiment, if the motor is a linear motor, the step of correcting the speed of the motor according to the speed correction parameter includes: correcting the working current and working voltage of the linear motor according to the acceleration to control the linear motor to accelerate or decelerate.

[0155] It should be noted that the control parameters of the linear motor include parameters such as working current and working voltage to adjust the moving distance of the spraying vehicle. Among them, the rotation of the linear motor depends on the working current and working voltage to control the stepping motor to accelerate or decelerate. The acceleration of the motor can be changed by adjusting the working current and working voltage of the linear motor.

[0156] In the technical solution of this embodiment, the speed correction parameter of the motor is determined by the speed difference between the actual movement speed and the target movement speed and the current position and the target position of the spraying vehicle, so that the printing device is smoother during the movement of the spraying vehicle, thereby improving the geometric accuracy and detail performance of the printed part.

[0157] In one embodiment, referring to Figure 6 , in the printing device, the motor rotation can be controlled by processors such as FPGA and MCU, and the grating signal is processed to obtain the AB phase information of the time interval and the spraying vehicle position. When it is determined that the spraying vehicle is in the uniform speed area according to the grating signal, the obtained time interval is compared with the theoretical time interval, and the AB phase information of the time interval and the spraying vehicle position is saved to the DDR. The DDR sends it to the host computer regularly, and the host computer records the AB phase information of the time interval and the spraying vehicle position. Before the printing ends, the step of controlling the motor rotation by the FPGA is returned to execute until the printing ends. By real-time monitoring the jitter of the spraying vehicle and giving timely feedback, the speed of the spraying vehicle is kept constant during inkjet printing by controlling the motor movement, avoiding the influence of external factors such as mechanical errors and motor performance changes, thereby improving the printing quality of the printing device.

[0158] In other embodiments, it can also be other memories, not limited to DDR.

[0159] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the jitter correction method of the printing device of this application. Based on this technical concept, more forms of simple transformation are within the protection scope of this application.

[0160] The present application further provides a jitter correction device for a printing device. The printing device includes an inkjet carriage, a motor, a rail, and a grating scale. The motor drives the inkjet carriage to move on the rail. The grating scale includes a reading head and a grating. The grating is parallel to the rail. A print head is provided on the inkjet carriage, and the reading head is provided on the inkjet carriage. The reading head is used to read the grid signals of the grating. Please refer to Figure 7 , the jitter correction device of the printing device includes:

[0161] An acquisition module 10, configured to acquire the grating signals collected by the reading head during the process of the motor driving the inkjet carriage to move;

[0162] A determination module 20, configured to determine the motion state of the inkjet carriage according to the grating signals;

[0163] A calculation module 30, configured to, if the motion state of the inkjet carriage is a uniform motion, acquire the actual time interval between two adjacent grating signals;

[0164] A correction module 40, configured to correct the speed of the motor based on the actual time interval and a preset time interval.

[0165] The printing device may refer to the above embodiments and will not be elaborated herein.

[0166] In one embodiment, the step of acquiring the actual time interval between two adjacent grating signals includes:

[0167] Acquiring the number of clocks between two adjacent grating signals;

[0168] Determining the actual time interval between two adjacent grating signals according to the number of clocks.

[0169] In one embodiment, the preset time interval is the grid distance between two adjacent grids of the grating scale divided by the target speed of the inkjet carriage.

[0170] In one embodiment, the step of determining the motion state of the inkjet carriage according to the grating signals includes:

[0171] Acquiring the actual time interval between every two adjacent grating signals;

[0172] Acquiring the interval difference between two consecutive actual time intervals;

[0173] If the interval difference is less than a preset difference, determining that the motion state of the inkjet carriage is a uniform motion.

[0174] In one embodiment, the step of correcting the speed of the motor based on the actual time interval and a preset time interval includes:

[0175] Determine the time difference between the actual time interval and the preset time interval;

[0176] According to the time difference, the current position and the target position of the spraying vehicle, determine the speed correction parameter of the motor;

[0177] Correct the speed of the motor according to the speed correction parameter.

[0178] In one embodiment, the step of correcting the speed of the motor based on the actual time interval and the preset time interval includes:

[0179] According to the grid distance between adjacent grids and the actual time interval of the grating signal, determine the actual moving speed of the spraying vehicle;

[0180] According to the grid distance and the preset time interval, determine the target moving speed of the spraying vehicle;

[0181] According to the actual moving speed, the target moving speed, the current position and the target position of the spraying vehicle, determine the speed correction parameter of the motor;

[0182] Correct the speed of the motor according to the speed correction parameter.

[0183] In one embodiment, the step of determining the speed correction parameter of the motor according to the actual moving speed, the target moving speed, the current position and the target position of the spraying vehicle includes:

[0184] Calculate the distance between the current position and the target position of the spraying vehicle;

[0185] According to the distance, the actual moving speed and the target moving speed, calculate the acceleration of the spraying vehicle, and the speed correction parameter includes the acceleration.

[0186] In one embodiment, if the motor is a stepping motor, the step of correcting the speed of the motor according to the speed correction parameter includes:

[0187] According to the acceleration, correct the frequency change value of the pulse signal to control the acceleration or deceleration of the stepping motor;

[0188] If the motor is a servo motor, the step of correcting the speed of the motor according to the speed correction parameter includes:

[0189] According to the acceleration, correct the PID control parameter of the servo motor to control the acceleration or deceleration of the stepping motor;

[0190] If the motor is a linear motor, the step of correcting the speed of the motor according to the speed correction parameter includes:

[0191] According to the acceleration, correct the working current and working voltage of the linear motor to control the linear motor to accelerate or decelerate.

[0192] The jitter correction device of the printing device provided by the present application adopts the jitter correction method of the printing device in the above embodiment, and can solve the technical problem of the motor speed jitter of the printing device. Compared with the prior art, the beneficial effects of the jitter correction device of the printing device provided by the present application are the same as those of the jitter correction method of the printing device provided by the above embodiment, and other technical features in the jitter correction device of the printing device are the same as the features disclosed in the method of the above embodiment, and will not be elaborated here.

[0193] The present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the jitter correction method of the printing device in Embodiment 1 above.

[0194] Reference is made below to Figure 8 , which shows a schematic structural diagram of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), etc., and fixed terminals such as digital TVs, desktop computers, etc., or may also be a printing device. Figure 8 The electronic device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0195] As Figure 8As shown, the electronic device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which may 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 into a random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the electronic device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, 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 may allow the electronic device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an electronic device with various systems, it should be understood that it is not required to implement or have all the shown systems. Instead, more or fewer systems may be implemented or had.

[0196] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts may be implemented as computer software programs. 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 program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0197] The electronic device provided by the present application adopts the dither correction method of the printing device in the above-mentioned embodiment, and can solve the technical problem of the motor speed dither of the printing device. Compared with the prior art, the beneficial effects of the electronic device provided by the present application are the same as those of the dither correction method of the printing device provided in the above-mentioned embodiment, and other technical features in the electronic device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0198] It should be understood that each part 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 a suitable manner in any one or more embodiments or examples.

[0199] As described above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all of them should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0200] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the dithering correction method of the printing device in the above embodiments.

[0201] The computer-readable storage medium provided by this application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0202] The above computer-readable storage medium can be included in an electronic device; it can also exist separately without being assembled into the electronic device.

[0203] The above computer-readable storage medium carries one or more programs, which, when executed by an electronic device, cause the electronic device to: correct the speed of the motor by using the actual time interval in the uniform speed state and the preset time interval, thereby reducing the error caused by the speed jitter of the spraying vehicle, avoiding the error accumulation during printing, greatly improving the accuracy of the image imaging position and the image quality during printing, and enhancing the printing effect.

[0204] Computer program code for performing the operations of the present application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent 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 can 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 it can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0205] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0206] The modules described in the embodiments of the present application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0207] The readable storage medium provided by this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for executing the dithering correction method of the above-mentioned printing device, and can solve the technical problem of motor speed dithering of the printing device. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this application are the same as those of the dithering correction method of the printing device provided by the above embodiment, and will not be elaborated here.

[0208] This application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the dithering correction method of the printing device as described above are implemented.

[0209] The computer program product provided by this application can solve the technical problem of motor speed dithering of the printing device. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as those of the dithering correction method of the printing device provided by the above embodiment, and will not be elaborated here.

[0210] The above are only partial embodiments of this application, and do not limit the patent scope of this application. Any equivalent structural transformation made by using the content of the specification and drawings of this application under the technical concept of this application, or direct / indirect application in other related technical fields, is included in the patent protection scope of this application.

Claims

1. A dithering correction method for a printing device, characterized in that, The printing device includes a carriage, a motor, a rail, and a grating scale. The motor drives the carriage to move on the rail. The grating scale includes a reading head and a grating. The grating is parallel to the rail. A print head is provided on the carriage, and the reading head is disposed on the carriage. The reading head is used to read the grating signals of the grating. The method includes: During the process of the motor driving the carriage to move, acquiring the grating signals collected by the reading head; Determining the motion state of the carriage according to the grating signals; If the motion state of the carriage is a uniform motion, acquiring the actual time interval between two adjacent grating signals; Based on the actual time interval and a preset time interval, correcting the speed of the motor.

2. The method according to claim 1, wherein The step of acquiring the actual time interval between two adjacent grating signals includes: Acquiring the number of clocks between two adjacent grating signals; According to the number of clocks, determining the actual time interval between two adjacent grating signals.

3. The method according to claim 1, wherein The preset time interval is the grating distance between two adjacent grids of the grating scale divided by the target speed of the carriage.

4. The method according to claim 1, wherein The step of determining the motion state of the carriage according to the grating signals includes: Acquiring the actual time interval between every two adjacent grating signals; Acquiring the interval difference between two consecutive actual time intervals; If the interval difference is less than a preset difference, determining that the motion state of the carriage is a uniform motion.

5. The method according to claim 1, characterized in that, The step of correcting the speed of the motor based on the actual time interval and the preset time interval includes: Determining the time difference between the actual time interval and the preset time interval; According to the time difference, the current position and the target position of the carriage, determining the speed correction parameter of the motor; Correcting the speed of the motor according to the speed correction parameter.

6. The method according to claim 1, wherein, The step of correcting the speed of the motor based on the actual time interval and the preset time interval includes: According to the grating distance between adjacent grids and the actual time interval of the grating signals, determining the actual motion speed of the carriage; According to the grating distance and the preset time interval, determining the target motion speed of the carriage; According to the actual motion speed, the target motion speed, the current position and the target position of the carriage, determining the speed correction parameter of the motor; Correcting the speed of the motor according to the speed correction parameter.

7. The method according to claim 6, characterized in that, The step of determining the speed correction parameter of the motor according to the actual motion speed, the target motion speed, the current position and the target position of the carriage includes: Calculating the distance between the current position and the target position of the carriage; According to the distance, the actual motion speed and the target motion speed, calculating the acceleration of the carriage. The speed correction parameter includes the acceleration.

8. The method according to claim 7, wherein If the motor is a stepper motor, the step of correcting the speed of the motor according to the speed correction parameter includes: According to the acceleration, correcting the frequency change value of the pulse signal to control the stepper motor to accelerate or decelerate; If the motor is a servo motor, the step of correcting the speed of the motor according to the speed correction parameter includes: Correcting the PID control parameter of the servo motor according to the acceleration to control the acceleration or deceleration of the stepping motor; If the motor is a linear motor, the step of correcting the speed of the motor according to the speed correction parameter includes: Correcting the working current and working voltage of the linear motor according to the acceleration to control the acceleration or deceleration of the linear motor.

9. A dithering correction device for a printing device, characterized in that, The printing device includes a spray vehicle, a motor, a track and a grating scale. The motor drives the spray vehicle to move on the track. The grating scale includes a reading head and a grating. The grating is parallel to the track. A printing head is provided on the spray vehicle. The reading head is arranged on the spray vehicle. The reading head is used for reading the grating signal of the grating. The device includes: An acquisition module, configured to acquire the grating signal collected by the reading head during the process of the motor driving the spray vehicle to move; A determination module, configured to determine the motion state of the spray vehicle according to the grating signal; A calculation module, configured to obtain the actual time interval between two adjacent grating signals if the motion state of the spray vehicle is a uniform motion; A correction module, configured to correct the speed of the motor based on the actual time interval and the preset time interval.

10. An electronic device, characterized in that, The electronic device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. The computer program is configured to implement the steps of the jitter correction method of the printing device according to any one of claims 1 to 8.

11. A storage medium, characterized in that, The storage medium is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the jitter correction method of the printing device according to any one of claims 1 to 8 are implemented.

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