Jitter compensation method of printing equipment, electronic equipment, printing system and medium

Abstract

The invention discloses a jitter compensation method of printing equipment, electronic equipment, a printing system and a medium, relates to the technical field of ink-jet printing, and discloses the jitter compensation method of the printing equipment, which comprises the following steps: in a process of controlling a spraying vehicle to move, acquiring raster data of a grating ruler read by a reading head, the raster data comprises raster position information and the number of clocks between grids; determining a position curve and a speed curve of the spraying vehicle according to the raster data; and according to the position curve and the speed curve, the jitter position of the spraying vehicle is determined, and jitter compensation is conducted on the jitter position. According to the method, the jitter position of the spraying vehicle is determined, jitter compensation is carried out on the jitter position, jitter of the spraying vehicle of the printing equipment is avoided, the accuracy of control over movement of the spraying vehicle is improved, and therefore the printing effect is improved.

Description

Technical Field

[0001] This application relates to the field of inkjet printing technology, and particularly to a jitter compensation method for a printing device, an electronic device, a printing system, and a medium. Background Art

[0002] The jitter of the print head of a printing device will seriously affect the printing quality. For example, it will cause image blurring and distortion, color deviation, stripes and bands in the picture, printing alignment and ink waste, etc., ultimately resulting in poor printing effects. Summary of the Invention

[0003] The main purpose of this application is to provide a jitter compensation method for a printing device, an electronic device, a printing system, and a medium, aiming to solve the technical problem of poor printing effects caused by the jitter of the print head.

[0004] To achieve the above object, this application proposes a jitter compensation method for 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. The reading head is provided on the carriage and is used to read the grating signal of the grating. The method includes:

[0005] During the process of controlling the movement of the carriage, obtain the grating data of the grating scale read by the reading head. The grating data includes grating position information and the number of clocks between gratings.

[0006] According to the grating data, determine the position curve and speed curve of the carriage.

[0007] According to the position curve and the speed curve, determine the jitter position of the carriage to perform jitter compensation on the jitter position.

[0008] In one embodiment, the step of determining the position curve and speed curve of the carriage according to the grating data includes:

[0009] According to the number of clocks between gratings, determine the time corresponding to each grating position information.

[0010] According to the grating position information and the corresponding time, determine the position curve.

[0011] According to the distance between the grating position information and the number of clocks between gratings, determine the speed corresponding to each time to obtain the speed curve.

[0012] In one embodiment, the step of determining the jitter position and jitter time of the carriage according to the position curve and the speed curve includes:

[0013] Extract the high-frequency position part in the position curve and extract the high-frequency speed part in the speed curve;

[0014] Determine the jitter position of the spraying vehicle according to the high-frequency position part and the high-frequency speed part.

[0015] In one embodiment, the step of extracting the high-frequency position part in the position curve includes:

[0016] Convert the position curve from the time domain dimension to the frequency domain dimension to obtain a position frequency domain curve;

[0017] Filter the position frequency domain curve to determine the high-frequency position curve in the position frequency domain curve;

[0018] Convert the high-frequency position curve from the frequency domain dimension to the time domain dimension to obtain the high-frequency position part;

[0019] And / or

[0020] The extraction of the high-frequency speed part in the speed curve includes:

[0021] Convert the speed curve from the time domain dimension to the frequency domain dimension to obtain a speed frequency domain curve;

[0022] Filter the speed frequency domain curve to determine the high-frequency speed curve in the speed frequency domain curve;

[0023] Convert the high-frequency speed curve from the frequency domain dimension to the time domain dimension to obtain the high-frequency position part.

[0024] In one embodiment, the step of determining the jitter position of the spraying vehicle according to the high-frequency position part and the high-frequency speed part includes:

[0025] Align the high-frequency position part and the high-frequency speed part in the time domain dimension;

[0026] Determine the first abnormal time point at which the high-frequency position part is greater than a preset position amplitude threshold, and determine the second abnormal time point at which the high-frequency speed part is greater than a preset speed amplitude threshold;

[0027] Determine the common abnormal time point according to the first abnormal time point and the second abnormal time point;

[0028] Map the common abnormal time point to the position curve, and obtain the position of the spraying vehicle corresponding to the common abnormal time point as the jitter position of the spraying vehicle.

[0029] In one embodiment, after the step of determining the jitter position of the spraying vehicle according to the position curve and the speed curve, the following steps are further included:

[0030] According to the speed curve, determine the actual speed of the spraying vehicle at the jitter position;

[0031] Determine the speed error parameter between the actual speed and the set speed;

[0032] Compensate the speed of the spraying vehicle based on the speed error parameter.

[0033] In one embodiment, the step of compensating the speed of the spraying vehicle based on the speed error parameter includes:

[0034] If the actual speed is greater than the set speed, control the spraying vehicle to decelerate before the jitter position of the spraying vehicle based on the speed error parameter;

[0035] If the actual speed is less than the set speed, control the spraying vehicle to accelerate before the jitter position of the spraying vehicle based on the speed error parameter.

[0036] In one embodiment, after the step of determining the jitter position of the spraying vehicle according to the position curve and the speed curve, the following steps are further included:

[0037] Query a preset speed adjustment strategy based on the jitter position to obtain a speed compensation value corresponding to the jitter position; the speed adjustment strategy includes the corresponding relationship between the jitter position of the spraying vehicle and the speed compensation value;

[0038] Compensate the speed of the spraying vehicle based on the speed compensation value.

[0039] In addition, to achieve the above object, the present application further provides a jitter compensation device for a printing device. The printing device includes a spraying vehicle, a motor, a track, and a grating ruler. The motor drives the spraying vehicle to move on the track. The grating ruler includes a reading head and a grating. The grating is parallel to the track. A printing head is provided on the spraying vehicle. The reading head is provided on the spraying vehicle. The reading head is used to read the grating signal of the grating. The device includes:

[0040] An acquisition module, configured to acquire the grating data of the grating ruler read by the reading head during the process of controlling the movement of the spraying vehicle. The grating data includes grating position information and the number of clock cycles between gratings;

[0041] A determination module, configured to determine the position curve and the speed curve of the spraying vehicle according to the grating data;

[0042] A compensation module, configured to determine the jitter position of the spraying vehicle according to the position curve and the speed curve, so as to perform jitter compensation on the jitter position.

[0043] In addition, to achieve the above object, the present application further provides an electronic device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program is configured to implement the steps of the jitter compensation method for the printing device as described above.

[0044] In addition, to achieve the above object, the present application further provides a printing system, which includes a host computer and a printing device, and the host computer is communicatively connected to the printing device;

[0045] The printing device includes a spraying vehicle, a motor, a track, and a grating ruler. The motor drives the spraying vehicle to move on the track. The grating ruler includes a reading head and a grating. The grating is parallel to the track. A print head is provided on the spraying vehicle, and the reading head is provided on the spraying vehicle. The reading head is configured to read the grating signal of the grating, and the printing device is configured to control the movement of the spraying vehicle based on a detection instruction and collect grating data;

[0046] The host computer is configured to: send the detection instruction to the printing device, receive the grating data, and obtain the jitter position of the spraying vehicle based on the jitter compensation method for the printing device as described above.

[0047] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the jitter compensation method for the printing device as described above are implemented.

[0048] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the jitter compensation method for the printing device as described above are implemented.

[0049] One or more technical solutions provided by the present application have at least the following technical effects:

[0050] By reading the grating data of the grating ruler to determine the position curve and speed curve of the spraying vehicle, and then determining the jitter position of the spraying vehicle, jitter compensation is performed on the jitter position, avoiding the jitter of the spraying vehicle of the printing device, improving the control accuracy of the movement of the spraying vehicle, reducing repeated printing or printing failure caused by position deviation, thereby improving the printing accuracy and quality. Especially during high-speed printing or long-time printing, the consistency of printing quality can be maintained. The control parameters of the printing device for the spraying vehicle are corrected by the jitter compensation parameters. Description of the Drawings

[0051] The accompanying drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with this application, and are used together with the description to explain the principles of this application.

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or in 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.

[0053] Figure 1 Schematic diagram of a partial structure of the printing device of this application;

[0054] Figure 2 Schematic flowchart provided by Embodiment 1 of the jitter compensation method for the printing device of this application;

[0055] Figure 3 Schematic flowchart provided by Embodiment 2 of the jitter compensation method for the printing device of this application;

[0056] Figure 4 Schematic diagram of the position curve in the jitter compensation method for the printing device of this application;

[0057] Figure 5 Schematic diagram of the speed curve in the jitter compensation method for the printing device of this application;

[0058] Figure 6 Schematic flowchart provided by Embodiment 3 of the jitter compensation method for the printing device of this application;

[0059] Figure 7 Schematic flowchart provided by Embodiment 4 of the jitter compensation method for the printing device of this application;

[0060] Figure 8 Schematic flowchart provided by the embodiments of the jitter compensation method for the printing device of this application;

[0061] Figure 9 Schematic diagram of the device structure of the hardware operating environment involved in the jitter compensation method for the printing device in the embodiments of this application;

[0062] Figure 10 Schematic diagram of the logical structure involved in the jitter compensation method for the printing device in the embodiments of this application.

[0063] The realization of the purpose, functional features, and advantages of this application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0064] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not used to limit the present application.

[0065] To better understand the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0066] The main solution of the embodiments of the present application is: during the process of controlling the movement of the spraying vehicle, obtain the grid data of the grating ruler read by the reading head, where the grid data includes grating position information and the number of clocks between grids; determine the position curve and speed curve of the spraying vehicle according to the grid data; determine the jitter position of the spraying vehicle according to the position curve and speed curve, so as to perform jitter compensation on the jitter position.

[0067] In this embodiment, for the convenience of description, the following will be described with an electronic device as the execution subject.

[0068] Since the jitter of the nozzle of the printing device will have a serious impact on the printing quality, for example, it will cause image blurring and distortion, color deviation, stripes and bands in the picture, printing alignment and ink waste, etc., ultimately resulting in poor printing effects.

[0069] The present application provides a solution. By reading the grid data of the grating ruler to determine the position curve and speed curve of the spraying vehicle, and then determining the jitter position of the spraying vehicle, jitter compensation is performed on the jitter position to avoid the jitter of the spraying vehicle of the printing device, improve the accuracy of controlling the movement of the spraying vehicle, reduce repeated printing or printing failure caused by position deviation, thereby improving the printing accuracy and quality. Especially during high-speed printing or long-time printing, the consistency of printing quality can be maintained. The control parameters of the printing device for the spraying vehicle are corrected through jitter compensation parameters.

[0070] 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 capable of implementing the above functions, or a printing device (such as an internal controller). The following will take the host computer as an example to illustrate this embodiment and the following embodiments.

[0071] Refer to Figure 1 , the printing device includes a spraying vehicle 200, a motor 401, a track 403, and a grating ruler 300. The motor 401 drives the spraying vehicle 200 to move on the track 403. The grating ruler 300 includes a reading head 301 and a grating 302. The grating 302 is parallel to the track 403. A printing head is provided on the spraying vehicle 200, and the reading head 301 is provided on the spraying vehicle 200. The reading head 301 is used to read the grid signal of the grating 302.

[0072] The printing device can be a digital heat transfer printer such as a direct to film (DTF) printer, or an ordinary inkjet printer, and no specific limitation is made here.

[0073] Optionally, the track 403 can be a track for linear motion or a track for curvilinear motion, and the shape of the track 403 is not limited. Optionally, the grating 302 is arranged parallel to the track 403. When the spraying vehicle 200 moves on the track 403, the reading head 301 arranged on the spraying vehicle 200 can read the grating signal.

[0074] Optionally, the spraying vehicle 200 is provided with 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). Among them, the FPGA is used as the core device to achieve the real-time 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, it can also be other types of processors and memories, not limited to FPGA and DDR.

[0075] Optionally, the spraying vehicle 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 spraying vehicle.

[0076] A conveyor belt 402 is arranged on the track 403. The FPGA main control controls the movement of the motor 401. The motor 401 drives the spraying vehicle 200 to move on the track 403 through the conveyor belt 402. When the spraying vehicle 200 moves, it triggers the grating ruler pulse, and after detecting the pulse signal of the grating 300, that is, the grating signal, the pulse signal is sent to the FPGA main control.

[0077] Optionally, the spraying vehicle 200 is controlled to reciprocate along the track 403 to achieve full-path jitter detection. Exemplarily, the spraying vehicle 200 is controlled to reciprocate along the x-axis. During the process of controlling the movement of the spraying vehicle 200, the reading head 301 reads the grating signal of the grating 302 and sends the read grating signal to the FPGA. The FPGA processes or preliminarily processes the grating signal.

[0078] 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. The stripes are also the periodic rulings formed by the grating 302 on the grating scale 300 or the encoder. The width of one stripe and one slit is called the grating pitch. When the light source irradiates the grating 302, the light passes through the grating slits, undergoes diffraction and interference, and forms bright and dark sinusoidal interference fringes, which are also called Moiré fringes. The photodetector in the read head 301 receives the interference fringes and converts them into electrical signals with sinusoidal wave variations. In other words, the grating signal of the grating scale 300 is the electrical signal generated by the grating structure on the grating 302 and obtained through conversion and processing by the read head 301 and the circuit. The electrical signal can be used to measure the speed of the spraying vehicle 200. By using the grating scale sensor, the system complexity is low and the equipment 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.

[0079] Based on this, the embodiments of the present application provide a jitter compensation method for a printing device. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of the jitter compensation method for the printing device of the present application.

[0080] In this embodiment, the jitter compensation method for the printing device includes steps S10 to S30:

[0081] Step S10, during the process of controlling the movement of the spraying vehicle, obtain the grid data of the grating scale read by the read head. The grid data includes grating position information and the number of clocks between grids.

[0082] In this embodiment, the read head of the grating scale obtains the grid signal of the grating, and the host computer obtains the grid data of the grating scale read by the read head. The grid data is generated from the grating signal.

[0083] The grating signal refers to the periodic electrical signal generated by photoelectric conversion when the grating scale is working, which is used to reflect the moving amount, direction and speed of the spraying vehicle. Optionally, the grating signal includes two-phase signals or three-phase signals, etc. Exemplarily, the two-phase signal is the AB phase signal.

[0084] Optionally, the grating signal can be sinusoidal wave information or square wave signal. After the read electrical signal is amplified and shaped by the circuit, two sinusoidal or square wave signals A and B with a 90-degree phase difference are obtained. The number of cycles of the sinusoidal or square wave 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.

[0085] Optionally, the grating signal is subdivided by an electronic circuit to improve the resolution. For example, for a grating scale with a grating pitch of 20 μm, after 50-fold subdivision, a periodic signal represents a movement of 0.4 μm, which is the resolution of the grating scale.

[0086] As an alternative embodiment, the host computer sends a detection instruction to the printing device, and the detection instruction includes at least one of detecting the start and end positions, acceleration, deceleration, and speed of the print head carriage; the printing device controls the movement of the print head carriage based on the detection instruction, and the host computer controls the printing device to perform position and speed detection, which improves the flexibility of jitter compensation of the printing device.

[0087] Optionally, in the set detection mode, the printing device directly controls the movement of the print head carriage to detect the position information and speed information.

[0088] Step S20: Determine the position curve and speed curve of the print head carriage according to the grid data.

[0089] Optionally, each time the read head scans a grating pitch, a sine wave signal period is generated, and the generated signal is subdivided by an electronic circuit to improve the resolution. The number of periods of the sine wave or square wave signal is proportional to the moving distance. When the scale body moves forward relative to the print head carriage, the A signal leads the B signal by 90 degrees; when the scale body moves backward relative to the print head carriage, the A signal lags the B signal by 90 degrees. If it is converted into a square wave signal and 4-fold frequency subdivision is performed, there are 4 rising edges in one period, and the resolution at this time corresponds to one rising edge, that is, 1 / 4 period, namely a pulse.

[0090] By calculating the number of pulses output by the read head, the position information of the print head carriage can be determined. Each pulse represents the movement of one grating pitch. By accumulating the number of pulses, the position information of the print head carriage can be obtained. According to the time corresponding to each position information, the position curve is determined. The speed information can be determined by measuring the change in the number of pulses per unit time. According to the speed information and the corresponding time, the speed curve is determined. If the time required for the read head to scan one grating pitch is known, then by calculating the number of pulses per unit time, the speed information of the print head carriage can be obtained.

[0091] Step S30: Determine the jitter position of the print head carriage according to the position curve and the speed curve, so as to perform jitter compensation on the jitter position.

[0092] It should be noted that a high jitter value of the print head carriage may induce load oscillation. The high jitter value adds more frequencies to the motion curve spectrum, which may match the natural resonance of the printing device.

[0093] Determine the current actual position information or predicted actual position information according to the position curve and speed curve. By comparing the actual position information of the inkjet vehicle with the expected position information, determine the position deviation value, and then determine the jitter position of the inkjet vehicle. Among them, the expected position information is the ideal printing position of the printing device, and the position deviation value represents the difference between the actual position of the inkjet vehicle and the ideal printing position.

[0094] Optionally, compensate for the jitter position of the inkjet vehicle, including: compensating the speed of the inkjet vehicle at the jitter position, and / or compensating the position of the inkjet vehicle at the jitter position. Exemplarily, control the acceleration of the inkjet vehicle to compensate for the speed at the jitter position. Another example is to control the step distance of the inkjet vehicle to compensate for the distance difference at the jitter position.

[0095] Optionally, generate a motion curve according to the position curve and speed curve. In motion control, the jitter can be reduced by adjusting the motion curve, so that the printed image gradient and curve are more smoothly replicated, improving the quality of the printed image. For example, using an S-shaped motion curve can achieve a more gentle transition between start and stop, reducing the load oscillation caused by acceleration changes, i.e., jitter.

[0096] In the technical solution of this embodiment, during the process of controlling the movement of the inkjet vehicle, obtain the grid data of the grating ruler read by the read head. The grid data includes grating position information and the number of clocks between grids; according to the grid data, determine the position curve and speed curve of the inkjet vehicle; according to the position curve and speed curve, determine the jitter position of the inkjet vehicle to perform jitter compensation on the jitter position. By reading the grid data of the grating ruler to determine the position curve and speed curve of the inkjet vehicle, and then determine the jitter position of the inkjet vehicle, perform jitter compensation on the jitter position, avoid the jitter of the inkjet vehicle of the printing device, improve the accuracy of the control of the movement of the inkjet vehicle, reduce the repeated printing or printing failure caused by position deviation, thereby improving the printing accuracy and quality. Especially during high-speed printing or long-time printing, the consistency of the printing quality can be maintained. Modify the control parameters of the printing device for the inkjet vehicle through the jitter compensation parameters.

[0097] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as the above embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , step S20 includes:

[0098] Step S21, determine the time corresponding to each of the grating position information according to the number of clocks between the grids;

[0099] Step S22, determine the position curve according to the grating position information and the corresponding time;

[0100] Step S23: Determine the speed corresponding to each of the times according to the distance between the grating position information and the number of clocks between the grids, so as to obtain the speed curve.

[0101] It should be noted that the grating position information refers to the data on the position of the spraying vehicle obtained through the grating ruler. The grating position information is directly related to the printing accuracy and quality and affects the precise positioning of the printing position. The grating position information can ensure the accurate relative position between the paper and the print head during the printing process, thereby ensuring the clarity and accuracy of the printed image.

[0102] The printing device accumulatively counts according to the grid signal, determines the grating position information according to the number of grid signals and the grid pitch, and the host computer obtains the grating position information. Exemplarily, after the FPGA of the printing device obtains the grid signal, it accumulates the grid signal, adds 1 for forward movement and subtracts 1 for reverse movement to obtain the grating position information.

[0103] In this application, the number of clocks between the grids is the number of periods or the number of clock signals between two grid signals. Among them, the clock signal is usually a periodic pulse signal. In the field of digital circuits and signal processing, the number of clocks between the grids is used to describe the time interval between two grating signals or the number of clock cycles occurring within a specific time period.

[0104] The number of clocks between the grids is the number of periods of the internal clock of the FPGA between the changes of two grid signals, and the host computer obtains the number of clocks of the grid obtained by the printing device. For example, if the FPGA uses a clock frequency of 200M, then each clock cycle is 5ns. Between two grid signals, the FPGA can count how many 5ns clock cycles have passed between these two grid signals, and the number of clock cycles, that is, the number of clocks, can be used to calculate the time of the spraying vehicle between two grid signals.

[0105] The FPGA of the printing device uses the internal phase-locked loop to generate a 200M clock to start counting the number of clocks. The unit time is 5ns. Until the next grid signal comes, restart the timing. If the count reaches 4294967295, that is, 21s, and the next grid signal is still not triggered, the counting stops. A clock frequency of 200M Hz means that there are 200000000 clock cycles per second. The FPGA starts counting from the first grid signal obtained until the next grid signal comes. If no next grid signal is received during this period, the counting will continue until the maximum count value of 4294967295 is reached. This value is the maximum value of a 32-bit counter, equivalent to 2 32-1. Since each clock cycle is 5 ns, the time corresponding to the maximum count value of 4,294,967,295 is: 4,294,967,295 × 5 ns = 21,474,836,475 ns = 21.474836475 seconds, approximately 21 seconds. Each time a new grid signal is received, the counter is reset and starts counting again. If no new grid signal is received after a preset duration, such as 21 seconds, a detection end signal is triggered to avoid wasting computing resources due to long-term continuous detection.

[0106] Determine the time corresponding to each grating position information according to the number of clocks between grids; generate a position curve according to the grating position information and the corresponding time. Exemplarily, the generated position curve can be as Figure 4 shown, where the solid orange part is a forward uniformly accelerated linear motion, the solid green part is a forward uniform linear motion, the solid black part is a forward uniformly decelerated linear motion, the dashed black part is a reverse accelerated linear motion, the dashed green part is a reverse uniform linear motion, and the dashed orange part is a reverse uniformly decelerated linear motion.

[0107] Determine the speed corresponding to each time according to the distance between the grating position information and the number of clocks between grids to obtain a speed curve. Exemplarily, the speed curve is as Figure 5 shown. At the beginning, the spraying vehicle is in uniformly accelerated motion, then in uniform motion, and finally in uniformly decelerated motion.

[0108] In the technical solution of this embodiment, the position curve and speed curve of the spraying vehicle are accurately determined through the grating position information and the number of clocks between grids, which facilitates the subsequent determination of the jitter position of the spraying vehicle, improves the accuracy of the control of the spraying vehicle movement, reduces repeated printing or printing failure caused by position deviation, and thus improves the printing efficiency.

[0109] Based on the first or second embodiment 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 6 , step S30 includes:

[0110] Step S31, extract the high-frequency part of the position in the position curve, and extract the high-frequency part of the speed in the speed curve;

[0111] Step S32, determine the jitter position of the spraying vehicle according to the high-frequency part of the position and the high-frequency part of the speed.

[0112] Optionally, statistical methods such as a TIE (Time Interval Error) histogram are used to statistically analyze the offset of the speed jitter in the speed information, directly presenting the distribution of different jitters. By visually observing the distribution of the speed jitter, the jitter position of the spraying vehicle is analyzed.

[0113] In an alternative embodiment, the steps of extracting the high-frequency position part of the position curve include: converting the position curve from the time domain dimension to the frequency domain dimension to obtain a position frequency domain curve; filtering the position frequency domain curve to determine the high-frequency position curve in the position frequency domain curve; converting the high-frequency position curve from the frequency domain dimension to the time domain dimension to obtain the high-frequency position part.

[0114] And / or, extracting the high-frequency speed part of the speed curve includes: converting the speed curve from the time domain dimension to the frequency domain dimension to obtain a speed frequency domain curve; filtering the speed frequency domain curve to determine the high-frequency speed curve in the speed frequency domain curve; converting the high-frequency speed curve from the frequency domain dimension to the time domain dimension to obtain the high-frequency position part.

[0115] Optionally, based on Fourier transform, the position curve is converted from the time domain dimension to the frequency domain dimension to obtain a position frequency domain curve; the position frequency domain curve is filtered to determine the high-frequency position curve in the position frequency domain curve. The high-frequency position curve is converted from the frequency domain dimension to the time domain dimension through inverse Fourier transform to obtain the high-frequency position part.

[0116] Optionally, based on Fourier transform, the speed curve is converted from the time domain dimension to the frequency domain dimension to obtain a speed frequency domain curve; the speed frequency domain curve is filtered to determine the high-frequency speed curve in the speed frequency domain curve. The high-frequency speed curve is converted from the frequency domain dimension to the time domain dimension through inverse Fourier transform to obtain the high-frequency position part.

[0117] In another alternative embodiment, the steps of determining the jitter position of the spraying vehicle according to the high-frequency position part and the high-frequency speed part include: aligning the high-frequency position part and the high-frequency speed part in the time domain dimension; determining a first abnormal time point where the high-frequency position part is greater than a preset position amplitude threshold, and determining a second abnormal time point where the high-frequency speed part is greater than a preset speed amplitude threshold; determining a common abnormal time point according to the first abnormal time point and the second abnormal time point; mapping the common abnormal time point to the position curve to obtain the spraying vehicle position corresponding to the common abnormal time point as the jitter position of the spraying vehicle.

[0118] That is, when both the high-frequency part of the position and the high-frequency part of the speed exceed their respective thresholds, the information of both is combined to determine the jitter position of the print head. The phase information of the high-frequency part of the position and the high-frequency part of the speed is combined. If at a certain moment, the phases of the high-frequency part of the position and the high-frequency part of the speed are both in a specific interval, it can be determined that the print head is in a jitter state at this moment, and the specific jitter position is determined according to the position information.

[0119] By aligning the position and the high-frequency speed signal in the time domain dimension, the strict synchronization of the two physical quantities on the time axis is ensured. This time-domain synchronization mechanism can eliminate the phase deviation caused by the sensor sampling delay and provide an accurate time reference for subsequent abnormal correlation analysis. By finding the intersection of the abnormal time points of the position and the speed, the false triggering of a single sensor can be effectively excluded.

[0120] The jitter phenomenon is essentially the high-frequency micro-amplitude vibration of the mechanical system. The high-frequency part of the position and the high-frequency part of the speed are extracted through wavelet packet decomposition or high-pass digital filtering, effectively filtering out the low-frequency main signal of the normal movement of the inkjet vehicle, and focusing the analysis target on the abnormal vibration characteristics.

[0121] In some embodiments, a state space model can be established, taking the high-frequency part of the position, the high-frequency part of the speed, and other related parameters as state variables, and estimating the jitter position of the print head through model prediction and filtering algorithms. For example, methods such as the Kalman filter are used to estimate and update the state of the print head, so as to more accurately determine the jitter position.

[0122] In the technical solution of this embodiment, the high-frequency part of the position in the position curve and the high-frequency part of the speed in the speed curve are extracted; the jitter position of the inkjet vehicle is determined according to the high-frequency part of the position and the high-frequency part of the speed. By extracting the high-frequency part of the position and the high-frequency part of the speed, the low-frequency main signal of the normal movement of the inkjet vehicle is effectively filtered out, and the analysis target is focused on the abnormal vibration characteristics.

[0123] Based on any one of the first to third embodiments of the present application, in the fourth 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 7 , after step S30, it further includes:

[0124] Step S40, determining the actual speed of the inkjet vehicle at the jitter position according to the speed curve;

[0125] Step S50, determining the speed error parameter between the actual speed and the set speed;

[0126] Step S60, compensating the speed of the inkjet vehicle based on the speed error parameter.

[0127] In this embodiment, the speed error parameter includes the acceleration or acceleration curve of the spraying vehicle. Optionally, determine the speed difference between the actual speed and the set speed, determine the distance difference between the current position and the target position of the spraying vehicle, and determine the acceleration of the spraying vehicle according to the speed difference and the position difference, and control the spraying vehicle to accelerate or decelerate in advance.

[0128] Optionally, when the motion state of the spraying vehicle is uniform, if the actual speed is greater than the set speed, control the spraying vehicle to decelerate before the jitter position of the spraying vehicle based on the speed error parameter, so as to achieve early deceleration and reduce the speed deviation of the spraying vehicle at the jitter position. Optionally, if the actual speed is less than the set speed, control the spraying vehicle to accelerate before the jitter position of the spraying vehicle based on the speed error parameter, so as to achieve early acceleration and reduce the speed deviation of the spraying vehicle at the jitter position.

[0129] As an alternative embodiment, query a preset speed adjustment strategy based on the jitter position to obtain the speed compensation value corresponding to the jitter position; the speed adjustment strategy includes the corresponding relationship between the jitter position of the spraying vehicle and the speed compensation value; compensate the speed of the spraying vehicle based on the speed compensation value.

[0130] When the motion state of the spraying vehicle is non-uniform, control the spraying vehicle to move more or less before the jitter position. "Move more" means that when it is detected that the spraying vehicle is at a jitter position that may cause a position deviation, the control system will increase the speed of the spraying vehicle, so that the spraying vehicle moves an additional distance at this position to make up for the possible position lag or deviation; "move less" means that when the spraying vehicle is at some other jitter positions that may make the position ahead, the control system reduces the speed of the spraying vehicle, so that the distance moved by the spraying vehicle is reduced to prevent excessive position deviation.

[0131] Establish a table according to factors such as the motion characteristics and working environment of the spraying vehicle. This table usually contains relevant information such as different positions and the corresponding speed compensation amounts. For example, at certain specific positions, due to mechanical structure, ground conditions or other factors, the spraying vehicle may jitter, and these jitter positions and the speed adjustment strategies to be taken for each jitter position will be recorded in the table.

[0132] When the control system of the spraying vehicle obtains the current position information, it will compare and query this position information with the data in the table, find the speed compensation information corresponding to the current position from the table, and determine how to adjust the speed of the spraying vehicle at this position.

[0133] By adjusting the speed by looking up a table based on the position information, the ultimate goal is to enable the spraying vehicle to reach the target position more precisely during the entire movement process, avoid position deviations caused by various factors, ensure the spraying position accuracy of the spraying vehicle, improve the spraying quality, ensure that the spraying work is carried out according to the predetermined trajectory and position, and reduce problems such as uneven spraying, missed spraying, or spraying on unnecessary areas that may occur due to inaccurate positions.

[0134] In the technical solution of this embodiment, by determining the error parameter between the actual speed and the set speed and compensating based on this, the control accuracy of the spraying vehicle speed can be significantly improved. The real-time monitoring and compensation of the speed error can effectively reduce the system instability caused by speed fluctuations or errors. By dynamically adjusting the speed, the system can better adapt to different operating conditions, reduce the impact of motor jitter on the printing effect, and improve the printing effect.

[0135] In some embodiments, the jitter position of the spraying vehicle can also be compensated by other means. For example, adjusting the drive current and drive voltage of the voltage, or the drive waveform, or adjusting the processing of the printing data, etc., which are not limited here.

[0136] In one embodiment, referring to Figure 8 , the host computer sends a detection command to the FPGA of the printing device. During the process of controlling the movement of the spraying vehicle, the FPGA receives the data information of the grating ruler. The FPGA records the grating position and the grid time interval and saves them in the DDR. If no next grid signal is received after a preset time period, for example, 21s, the detection end signal is triggered and the detection result is sent to the host computer, and then the detection ends. When the grid time is less than the preset time period, the steps of the FPGA recording the grating position and the grid interval time and saving them in the DDR are continued. Among them, if there is data in the DDR, the data in the DDR is sent to the host computer in real time through the UDP (User Datagram Protocol) communication protocol during the detection process.

[0137] As an optional embodiment, the printing device determines the grating position information and the number of clocks between grids according to the grid signal; sends the grating position information and the number of clocks between grids to the host computer in real time through a preset communication protocol. The host computer is used to determine the jitter position of the spraying vehicle according to the grating position information and the number of clocks between grids; the printing device obtains the jitter position returned by the host computer.

[0138] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the jitter compensation method of the printing device of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0139] 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 dithering compensation method of the printing device in the first embodiment above.

[0140] Reference is made below Figure 9 FIG., 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), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc., or may also be a printing device. Figure 9 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.

[0141] As Figure 9 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 through 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 having various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be alternatively implemented or had.

[0142] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0143] The electronic device provided by the present application adopts the dither compensation method of the printing device in the above-mentioned embodiment, and can solve the technical problem of poor printing effect caused by the dither of the print head. 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 compensation 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.

[0144] It should be understood that the various parts disclosed in the present 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.

[0145] As described above, only the specific embodiments of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0146] The present application also provides a dither compensation device for 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 arranged on the carriage, and the reading head is arranged on the carriage. The reading head is used to read the grating signal of the grating. Please refer to Figure 10 , the dither compensation device of the printing device includes:

[0147] An acquisition module 10, configured to acquire the grating data of the grating scale read by the reading head during the process of controlling the movement of the carriage, where the grating data includes grating position information and the number of clocks between gratings;

[0148] A determination module 20, configured to determine the position curve and speed curve of the carriage according to the grating data;

[0149] A compensation module 30 is configured to determine the jitter position of the spraying vehicle according to the position curve and the speed curve, so as to perform jitter compensation on the jitter position.

[0150] The printing device may refer to the printing device in the above related embodiments, which will not be elaborated here.

[0151] In one embodiment, the step of determining the position curve and the speed curve of the spraying vehicle according to the raster data includes:

[0152] Determine the time corresponding to each raster position information according to the number of clocks between the rasters;

[0153] Determine the position curve according to the raster position information and the corresponding time;

[0154] Determine the speed corresponding to each time according to the distance between the raster position information and the number of clocks between the rasters, so as to obtain the speed curve.

[0155] In one embodiment, the step of determining the jitter position and the jitter time of the spraying vehicle according to the position curve and the speed curve includes:

[0156] Extract the high-frequency position part in the position curve and the high-frequency speed part in the speed curve;

[0157] Determine the jitter position of the spraying vehicle according to the high-frequency position part and the high-frequency speed part.

[0158] In one embodiment, the step of extracting the high-frequency position part in the position curve includes:

[0159] Convert the position curve from the time domain dimension to the frequency domain dimension to obtain a position frequency domain curve;

[0160] Filter the position frequency domain curve to determine the high-frequency position curve in the position frequency domain curve;

[0161] Convert the high-frequency position curve from the frequency domain dimension to the time domain dimension to obtain the high-frequency position part;

[0162] And / or

[0163] The extraction of the high-frequency speed part in the speed curve includes:

[0164] Convert the speed curve from the time domain dimension to the frequency domain dimension to obtain a speed frequency domain curve;

[0165] Filter the speed frequency domain curve to determine the high-frequency speed curve in the speed frequency domain curve;

[0166] Convert the high-frequency speed curve from the frequency domain dimension to the time domain dimension to obtain the high-frequency part of the position.

[0167] In one embodiment, the step of determining the jitter position of the spraying vehicle according to the high-frequency part of the position and the high-frequency part of the speed includes:

[0168] Align the high-frequency part of the position and the high-frequency part of the speed in the time domain dimension;

[0169] Determine a first abnormal time point at which the high-frequency part of the position is greater than a preset position amplitude threshold, and determine a second abnormal time point at which the high-frequency part of the speed is greater than a preset speed amplitude threshold;

[0170] Determine a common abnormal time point according to the first abnormal time point and the second abnormal time point;

[0171] Map the common abnormal time point to the position curve, and obtain the position of the spraying vehicle corresponding to the common abnormal time point as the jitter position of the spraying vehicle.

[0172] In one embodiment, after the step of determining the jitter position of the spraying vehicle according to the position curve and the speed curve, it further includes:

[0173] Determine the actual speed of the spraying vehicle at the jitter position according to the speed curve;

[0174] Determine a speed error parameter between the actual speed and the set speed;

[0175] Compensate the speed of the spraying vehicle based on the speed error parameter.

[0176] In one embodiment, the step of compensating the speed of the spraying vehicle based on the speed error parameter includes:

[0177] If the actual speed is greater than the set speed, control the spraying vehicle to decelerate before the jitter position of the spraying vehicle based on the speed error parameter;

[0178] If the actual speed is less than the set speed, control the spraying vehicle to accelerate before the jitter position of the spraying vehicle based on the speed error parameter.

[0179] In one embodiment, after the step of determining the jitter position of the spraying vehicle according to the position curve and the speed curve, it further includes:

[0180] Query a preset speed adjustment strategy based on the jitter position to obtain a speed compensation value corresponding to the jitter position; the speed adjustment strategy includes the corresponding relationship between the jitter position of the spraying vehicle and the speed compensation value;

[0181] Compensate the speed of the spraying vehicle based on the speed compensation value.

[0182] The jitter compensation device of the printing device provided by this application adopts the jitter compensation 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 compensation device of the printing device provided by this application are the same as those of the jitter compensation method of the printing device provided by the above embodiment, and other technical features in the jitter compensation device of the printing device are the same as the features disclosed in the method of the above embodiment, which will not be elaborated here.

[0183] This application proposes a printing system, which includes a host computer and a printing device, and the host computer is communicatively connected to the printing device;

[0184] The printing device is used to control the movement of the spraying vehicle based on a detection instruction and collect raster data;

[0185] The host computer is used to: send a detection instruction to the printing device, receive raster data, and obtain the jitter position of the spraying vehicle based on the jitter compensation method of the printing device as described in the above embodiment.

[0186] In one embodiment, the printing device includes a spraying vehicle, a motor, a track, and a grating ruler. The motor drives the spraying vehicle to move on the track. The grating ruler includes a reading head and a grating. The grating is parallel to the track. A printing head is provided on the spraying vehicle, and the reading head is arranged on the spraying vehicle. The reading head is used to read the grating signal of the grating.

[0187] This application provides a computer-readable storage medium with computer-readable program instructions (i.e., computer programs) stored thereon. The computer-readable program instructions are used to execute the jitter compensation method of the printing device in the above embodiment.

[0188] The computer-readable storage medium provided by the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, 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 may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0189] The above computer-readable storage medium may be included in an electronic device; or may exist separately without being assembled into the electronic device.

[0190] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device is enabled to: determine the position curve and speed curve of the spraying vehicle by reading the grating data of the grating scale, and then determine the jitter position of the spraying vehicle, perform jitter compensation on the jitter position, avoid the jitter of the spraying vehicle of the printing device, improve the accuracy of the control of the movement of the spraying vehicle, reduce repeated printing or printing failure caused by position deviation, thereby improving the printing accuracy and quality. Especially during high-speed printing or long-time printing, the consistency of the printing quality can be maintained. Modify the control parameters of the printing device for the spraying vehicle through the jitter compensation parameters.

[0191] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned 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 kind of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0192] 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 this 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 that 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, as well as 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.

[0193] The modules described in the embodiments of this 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.

[0194] 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 performing the above-mentioned dithering compensation method of the printing device, and can solve the technical problem of poor printing effect caused by the dithering of the print head. 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 compensation method of the printing device provided by the above embodiments, and will not be elaborated here.

[0195] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the dither compensation method of the printing device as described above.

[0196] The computer program product provided by the present application can solve the technical problem of poor printing quality caused by the dither of the print head. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the dither compensation method of the printing device provided in the above embodiments, and will not be elaborated herein.

[0197] The above are only partial embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A dithering compensation 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 provided on the carriage. The reading head is used to read the grid signal of the grating. The method includes: During the process of controlling the movement of the carriage, obtaining the grid data of the grating scale read by the reading head, where the grid data includes grating position information and the number of clocks between grids; Determining the position curve and speed curve of the carriage according to the grid data; Determining the jitter position of the carriage according to the position curve and the speed curve to perform jitter compensation on the jitter position.

2. The method according to claim 1, wherein The step of determining the position curve and speed curve of the carriage according to the grid data includes: Determining the time corresponding to each grating position information according to the number of clocks between grids; Determining the position curve according to the grating position information and the corresponding time; Determining the speed corresponding to each time according to the distance between the grating position information and the number of clocks between grids to obtain the speed curve.

3. The method according to claim 1, wherein The step of determining the jitter position and jitter time of the carriage according to the position curve and the speed curve includes: Extracting the position high-frequency part in the position curve and extracting the speed high-frequency part in the speed curve; Determining the jitter position of the carriage according to the position high-frequency part and the speed high-frequency part.

4. The method according to claim 3, wherein The step of extracting the position high-frequency part in the position curve includes: Converting the position curve from the time domain dimension to the frequency domain dimension to obtain a position frequency domain curve; Filtering the position frequency domain curve to determine the high-frequency position curve in the position frequency domain curve; Converting the high-frequency position curve from the frequency domain dimension to the time domain dimension to obtain the position high-frequency part; And / or, The extraction of the speed high-frequency part in the speed curve includes: Converting the speed curve from the time domain dimension to the frequency domain dimension to obtain a speed frequency domain curve; Filtering the speed frequency domain curve to determine the high-frequency speed curve in the speed frequency domain curve; Converting the high-frequency speed curve from the frequency domain dimension to the time domain dimension to obtain the speed high-frequency part.

5. The method according to claim 3, wherein The step of determining the jitter position of the carriage according to the position high-frequency part and the speed high-frequency part includes: Aligning the position high-frequency part and the speed high-frequency part in the time domain dimension; Determining a first abnormal time point where the position high-frequency part is greater than a preset position amplitude threshold, and determining a second abnormal time point where the speed high-frequency part is greater than a preset speed amplitude threshold; Determining a common abnormal time point according to the first abnormal time point and the second abnormal time point; Mapping the common abnormal time point to the position curve to obtain the carriage position corresponding to the common abnormal time point as the jitter position of the carriage.

6. The method according to claim 1, wherein After the step of determining the jitter position of the carriage according to the position curve and the speed curve, it further includes: Determine the actual speed of the spraying vehicle at the jitter position according to the speed curve; Determine the speed error parameter between the actual speed and the set speed; Compensate the speed of the spraying vehicle based on the speed error parameter.

7. The method according to claim 6, characterized in that, The step of compensating the speed of the spraying vehicle based on the speed error parameter includes: If the actual speed is greater than the set speed, control the spraying vehicle to decelerate before the jitter position based on the speed error parameter; If the actual speed is less than the set speed, control the spraying vehicle to accelerate before the jitter position based on the speed error parameter.

8. The method according to claim 1, characterized in that, After the step of determining the jitter position of the spraying vehicle according to the position curve and the speed curve, it further includes: Query a preset speed adjustment strategy based on the jitter position to obtain the speed compensation value corresponding to the jitter position; the speed adjustment strategy includes the corresponding relationship between the jitter position of the spraying vehicle and the speed compensation value; Compensate the speed of the spraying vehicle based on the speed compensation value.

9. 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, and the computer program is configured to implement the steps of the jitter compensation method of the printing device according to any one of claims 1 to 8.

10. A printing system, characterized in that, The printing system includes a host computer and a printing device, and the host computer is communicatively connected to the printing device; The printing device includes a spraying vehicle, a motor, a track, and a grating scale. The motor drives the spraying 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 spraying vehicle. The reading head is provided on the spraying vehicle. The reading head is used to read the grid signal of the grating, and the printing device is used to control the movement of the spraying vehicle based on a detection instruction and collect grid data; The host computer is configured to: send the detection instruction to the printing device, receive the grid data, and obtain the jitter position of the spraying vehicle based on the jitter compensation 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, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the jitter compensation method of the printing device according to any one of claims 1 to 8.

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