Computer printer multi-angle printing direction control system

Abstract

The invention discloses a multi-angle printing direction control system for a computer printer. The multi-angle printing direction control system comprises an environment monitoring module, a visual guidance module, an injection control module and a central control unit, the environment monitoring module monitors the printing environment in real time through various sensors, and the stability of the environment condition is ensured. The visual guidance module adopts a high-definition camera and an advanced image processing technology to accurately identify the target position and direction of a printing material; the injection control module accurately controls the movement of an injection head through a stepping motor and a servo motor, and dynamically adjusts injection parameters through a pressure adjusting unit and a micro-fluidic control unit, so that high precision and high stability are ensured; the central control unit integrates the functions of data processing, control signal generation, state management, communication management and the like, and efficient cooperative work of the system is achieved. The system further comprises an error compensation unit, a multi-task processing unit and a user interaction unit, and the precision, the stability and the user operation convenience of the system are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of computer printers, and particularly to a multi-angle printing direction control system for a computer printer. Background Art

[0002] With the rapid development of information technology, the printing industry is undergoing a transformation from traditional printing to digital printing. In the field of digital printing, as a key output device, the printing quality and efficiency of computer printers directly affect the market competitiveness of the final products. Especially in high-precision printing applications, such as label printing, packaging printing, and art reproduction, higher requirements are put forward for the printing direction control of printers.

[0003] Traditional printers usually adopt one-way or two-way printing. This printing method has limitations when dealing with complex patterns or multi-angle printing. During multi-angle printing, due to the lack of precise printing direction control, it often leads to misalignment, distortion, or uneven color of the printed pattern, which seriously affects the overall quality of the printed matter. In addition, environmental factors during the printing process, such as temperature, humidity, light, and the physical properties of materials, also have a significant impact on the printing quality. However, existing printers often ignore the monitoring and compensation of these environmental factors, resulting in inconsistent printing quality under different environmental conditions.

[0004] Therefore, a new multi-angle printing direction control system for a computer printer is proposed, which can monitor and compensate for environmental changes in real time, and achieve multi-angle printing through precise image processing and motion control technologies. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems in the prior art that during multi-angle printing, due to the lack of precise printing direction control, it often leads to misalignment, distortion, or uneven color of the printed pattern, which seriously affects the overall quality of the printed matter. In addition, environmental factors during the printing process, such as temperature, humidity, light, and the physical properties of materials, also have a significant impact on the printing quality. However, existing printers often ignore the monitoring and compensation of these environmental factors, resulting in inconsistent printing quality under different environmental conditions, and to propose a multi-angle printing direction control system for a computer printer.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A multi-angle printing direction control system for a computer printer, comprising:

[0008] An environmental monitoring module for monitoring the temperature, humidity, light, air quality, vibration, and noise of the printing environment;

[0009] A vision guidance module for capturing images of printed materials and identifying the target position and orientation;

[0010] An injection control module for generating control signals to control the movement and injection parameters of the injection head;

[0011] A central control unit for processing data, generating control signals, and performing error compensation;

[0012] Among them, the environmental monitoring module is connected to the central control unit for transmitting the monitored environmental data to the central control unit; the vision guidance module is connected to the central control unit for transmitting the identified target position and orientation information to the central control unit; the injection control module is connected to the central control unit for receiving the control signals generated by the central control unit and controlling the movement and injection parameters of the injection head.

[0013] Preferably, the environmental monitoring module includes:

[0014] A temperature sensor for measuring the environmental temperature;

[0015] A humidity sensor for measuring the environmental humidity;

[0016] A light sensor for measuring the environmental light;

[0017] An air quality sensor for measuring the environmental air quality;

[0018] A vibration sensor for measuring the environmental vibration;

[0019] A noise sensor for measuring the environmental noise;

[0020] An infrared sensor for measuring the temperature distribution of the printed material.

[0021] Preferably, the vision guidance module includes:

[0022] A high-definition camera for capturing images of printed materials;

[0023] An image processing unit for processing the images to identify the target position and orientation. The image processing unit uses edge detection, template matching, and deep learning techniques for image processing.

[0024] Preferably, the injection control module includes:

[0025] A stepper motor for controlling the horizontal and vertical movement of the injection head;

[0026] A servo motor for controlling the rotation and tilt of the injection head;

[0027] A pressure regulating unit for dynamically adjusting the injection pressure;

[0028] A microfluidic control unit for precisely controlling the size and shape of ink droplets;

[0029] An error compensation unit for performing position, direction, pressure, temperature, and vibration compensation.

[0030] Preferably, the error compensation unit includes:

[0031] A position compensation unit that uses a Kalman filter to filter position data and reduce errors;

[0032] A direction compensation unit that uses a gyroscope sensor to measure the direction change of the ejection head and performs direction correction through a PID controller;

[0033] A pressure compensation unit that uses a pressure sensor to monitor the ejection pressure in real time and performs pressure correction through a PID controller;

[0034] A temperature compensation unit that uses a temperature sensor to monitor the temperature of the ejection head in real time and performs temperature correction through a PID controller;

[0035] A vibration compensation unit that uses a vibration sensor to monitor the vibration condition in real time and performs vibration compensation through an adaptive filter.

[0036] Preferably, the central control unit includes:

[0037] A data processing unit for receiving and processing data from the environmental monitoring module and the vision guidance module;

[0038] A control signal generation unit for generating control signals;

[0039] A state management unit for managing the state transition of the system using a finite state machine model;

[0040] A communication management unit for supporting Zigbee, Wi-Fi, and Ethernet communication protocols;

[0041] A storage management unit for storing data and operation logs;

[0042] A user interaction unit for providing a user operation interface;

[0043] A multitasking processing unit for implementing multitasking scheduling and load balancing.

[0044] Preferably, the environmental monitoring module filters the collected data through a low-pass filter to reduce noise interference and transmits the filtered data to the central control unit through a Zigbee wireless communication module.

[0045] Preferably, the vision guidance module captures images of the printed material through a high-definition camera and uses edge detection, template matching, and deep learning techniques for image processing to identify the target position and orientation, so as to improve the accuracy and robustness of recognition.

[0046] Preferably, the central control unit generates a control signal according to the target position and orientation information provided by the vision guidance module and transmits the control signal to the jet control module through the Zigbee wireless communication module. The jet control module controls the movement of the jet head according to the control signal to ensure that the jet head can accurately align with the target position and orientation.

[0047] Preferably, the jet control module controls the movement of the jet head through a stepper motor and a servo motor according to the control signal generated by the central control unit, and dynamically adjusts the jet pressure and droplet size through a pressure regulating unit and a microfluidic control unit to ensure that the jet head maintains high precision and high stability under different environmental conditions. The central control unit realizes the coordinated operation of multiple jet heads through a multi-task processing unit.

[0048] The present invention has the following beneficial effects:

[0049] 1. In the present invention, the environmental monitoring module ensures the stability of environmental conditions by real-time monitoring of temperature, humidity, light, air quality, vibration, and noise, and reduces noise interference through a low-pass filter, providing accurate data support for subsequent error compensation. The vision guidance module uses a high-definition camera and advanced image processing techniques to accurately identify the target position and orientation of the printed material, ensuring the accuracy and consistency of printing. The error compensation unit compensates for various errors such as position, orientation, pressure, temperature, and vibration through a Kalman filter and a PID controller, further improving the accuracy and stability of the system. In addition, the dynamic pressure regulation and microfluidic control technologies precisely control the jet pressure and droplet size according to environmental changes and preset parameters, ensuring high-precision printing output under different environmental conditions, and solving the problems of poor environmental adaptability and error accumulation in the prior art.

[0050] 2. In the present invention, the coordinated operation of multiple jet heads is supported through a multi-task processing unit, significantly improving the production efficiency and automation level. The multi-task processing unit dynamically adjusts the workload of each jet head through a priority queue and a time slice rotation algorithm, avoiding overload and idleness, and ensuring the efficient operation of the system. The automatic task allocation and synchronization control mechanism enables the central control unit to allocate tasks according to the current task list and the status of the jet heads and synchronize the actions of each jet head through network communication, ensuring the coordinated operation of multiple jet heads in multi-angle printing tasks and improving the printing quality and efficiency. Description of the Drawings

[0051] Figure 1System architecture diagram of a multi - angle printing direction control system for a computer printer proposed by the present invention;

[0052] Figure 2 Central control unit diagram in the present invention

[0053] Figure 3 Injection control module diagram in the present invention;

[0054] Figure 4 Flowchart of a multi - angle printing direction control system for a computer printer proposed by the present invention. Detailed implementation manners

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] As Figures 1 - 4 shown, a multi - angle printing direction control system for a computer printer proposed by the present invention includes:

[0057] An environmental monitoring module, used to monitor the temperature, humidity, light, air quality, vibration and noise of the printing environment;

[0058] A visual guidance module, used to capture images of printing materials and identify the target position and direction;

[0059] An injection control module, used to generate control signals to control the movement and injection parameters of the injection head;

[0060] A central control unit, used to process data, generate control signals and perform error compensation.

[0061] 1.1 Environmental monitoring

[0062] Purpose: To ensure the stability of the printing environment and avoid printing quality problems caused by environmental changes.

[0063] Implementation method:

[0064] 1. Data acquisition

[0065] Temperature sensor: NTC thermistor sensor, measurement range - 20°C to 80°C, accuracy ±0.5°C.

[0066] Humidity sensor: Capacitive humidity sensor, measurement range 0% to 100%, accuracy ±3%.

[0067] Light sensor: A photodiode sensor with a measurement range of 0 to 100,000 lux and an accuracy of ±5%.

[0068] Air quality sensor: A laser particle counter that measures the concentrations of PM2.5 and PM10 particulate matter with an accuracy of ±10%.

[0069] Vibration sensor: A piezoelectric acceleration sensor with a measurement range of 0 to 100 g and an accuracy of ±1%.

[0070] Noise sensor: An electret microphone with a measurement range of 30 to 120 dB and an accuracy of ±2 dB.

[0071] Infrared sensor: A thermopile sensor that measures the temperature distribution of printed materials, with a measurement range of -40°C to 120°C and an accuracy of ±1°C.

[0072] 2. Data filtering

[0073] Low-pass filter: Performs low-pass filtering on the collected data to reduce noise interference.

[0074] y[n] = αx[n] + (1 - α)y[n - 1]

[0075] Where y[n] is the filtered data, x[n] is the original data, and α is the filtering coefficient (usually taking a value of 0.1).

[0076] 3. Data transmission

[0077] Wireless communication: Transmits the filtered data to the central control unit through a Zigbee wireless communication module.

[0078] Uses the serial communication protocol of the Zigbee module to package and send the data to the central control unit.

[0079] 1.2 Visual guidance

[0080] Purpose: Capture images of printed materials and identify the target position and orientation to ensure printing accuracy and consistency.

[0081] Implementation method:

[0082] 1. Image capture

[0083] High-definition camera: A CMOS image sensor with a resolution of 1920x1080 and a frame rate of 30 fps.

[0084] The camera captures 30 frames of images per second and transmits them to the image processing module through a USB interface.

[0085] 2. Image processing

[0086] Edge detection:

[0087] 1. Gaussian filtering: Reduce image noise and smooth the image.

[0088]

[0089] 2. Gradient calculation: Detect edges in the image.

[0090]

[0091] 3. Gradient magnitude and direction: Determine the direction and intensity of the edges.

[0092]

[0093] 4. Non-maximum suppression: Refine the edges and remove non-edge points.

[0094] 5. Double-threshold detection: Further refine the edges to ensure the continuity and integrity of the edges.

[0095] Template matching: Find the target position through template matching to improve the accuracy of recognition.

[0096] Deep learning: Use YOLOv3 for object detection and localization.

[0097] Training process:

[0098] 1. Collect high-resolution images of printed materials and their annotation data.

[0099] 2. Use a deep learning framework (such as Darknet or PyTorch) for model training.

[0100] 3. Evaluate the model performance and adjust the hyperparameters.

[0101] 4. Deploy the model to the central control unit to identify the target position and direction in real time.

[0102] 3. Data transmission

[0103] Wireless communication: Transmit the processed image data and target position information to the central control unit through the Zigbee wireless communication module.

[0104] Use the serial communication protocol of the Zigbee module to pack and send the data to the central control unit.

[0105] 1.3 Jet control

[0106] Purpose: Generate control signals according to the target position and direction provided by the vision guidance module, control the movement and jet parameters of the jet head, and ensure the printing accuracy and quality.

[0107] Implementation method:

[0108] 1. Control Signal Generation

[0109] Central Control Unit: Receives the target position and direction information provided by the vision guidance module and generates control signals.

[0110] Assume the target position is (100, 150), the direction is 45°, and the surface angle is 30°.

[0111] Control Signal Format:

[0112] 2. Motor Control

[0113] Stepper Motor: Controls the horizontal and vertical movements of the spray head.

[0114] Servo Motor: Controls the rotation and tilt of the spray head.

[0115] Assume the stepper motor moves 0.1 mm per step and the servo motor rotates 0.1° per step.

[0116] Horizontal Movement: 1000 steps

[0117] Vertical Movement: 1500 steps

[0118] Rotation Angle: 450 steps

[0119] Tilt Angle: 300 steps

[0120] 3. Pressure Regulation

[0121] Dynamic Adjustment: Dynamically adjusts the spraying pressure according to environmental data.

[0122] Pressure Regulation Model

[0123] Pressure regulation is a key factor that directly affects the stability and consistency of inkjet spraying. Let the pressure inside the nozzle be P (unit: Pascal, Pa), and the environmental humidity be H (unit: %RH, relative humidity). The ideal spraying pressure P ideal is related to humidity and can be obtained through empirical formulas or model fitting. For example:

[0124] P ideal = k1·H 2 + k2·H + k3

[0125] where k1, k2, and k3 are constants obtained by fitting experimental data, reflecting the influence of humidity on the ideal spraying pressure. To ensure stable spraying, the real-time control system needs to adjust the actual pressure P of the nozzle according to the current environmental humidity to make it as close as possible to P ideal . The adjustment process can be achieved through a pressure feedback control system, and is expressed formulaically as:

[0126] P adjust = Pmeasured +k p ·(P ideal -P measured )

[0127] Here, P measured is the currently measured nozzle pressure, and k p is the proportional adjustment coefficient, reflecting the sensitivity of the adjustment.

[0128] 4. Microfluidic Control

[0129] Microfluidic control model: By precisely controlling the fluid channels, the formation and release of ink droplets are controlled to achieve extremely high printing accuracy. The size D (unit: micrometer, μm) and shape of the ink droplets are affected by the channel geometry, hydrodynamic parameters, and pressure. A simplified microfluidic control model can be described based on dimensionless numbers such as the Reynolds number Re and the Weber number We, which respectively reflect the ratio of the inertial force to the viscous force of fluid flow, and the ratio of the surface tension to the inertial force. For ink droplet formation, an important parameter is the critical condition for ink droplet splitting at the nozzle outlet, which can be described by the following simplified model:

[0130]

[0131] Where: ρ is the ink density. U is the ejection velocity. σ is the ink surface tension. We crit is the critical Weber number for ink droplet splitting.

[0132] Precisely control the formation of ink droplets through the microfluidic chip, and precisely adjust U and D to meet specific printing quality and resolution requirements.

[0133] In pressure regulation and microfluidic control, first, dynamically adjust the ejection pressure P adjust according to the environmental humidity to ensure the stability and reliability of the ejection process. Subsequently, the microfluidic system uses precise flow control technology to adjust the ink droplet formation conditions according to the preset ejection parameters (such as We crit ), achieving high-precision printing output. The combination of the two not only improves the printing quality but also enhances the adaptability of the system to changes in the external environment, ensuring consistent high-quality printing effects under different conditions.

[0134] 5. Error Compensation

[0135] Position compensation: Use a Kalman filter to filter the position data to reduce errors.

[0136]

[0137] Where, is the estimated position, and K k is the Kalman gain, and zk is the measured value, and H is the observation matrix.

[0138] Use a PID controller for error compensation to ensure precise control and stable operation of the injection head:

[0139]

[0140] where u(t) is the control signal, e(t) is the error, and K p is the proportional coefficient, K i is the integral coefficient, and K d is the derivative coefficient.

[0141] Direction compensation: Use a gyroscope sensor to measure the direction change and perform direction correction through a PID controller.

[0142] Pressure compensation: Use a pressure sensor to measure the injection pressure and perform pressure correction through a PID controller.

[0143] Temperature compensation: Use a temperature sensor to measure the temperature of the injection head and perform temperature correction through a PID controller.

[0144] Other compensations: Similarly, they can be applied to other parameters that need to be corrected

[0145] 6. Data transmission

[0146] Wireless communication: Transmit the generated control signal to the injection control module through a Zigbee wireless communication module.

[0147] 1.4 Central control unit

[0148] Purpose: Process the data from the environmental monitoring module and the vision guidance module, generate control signals, and perform error compensation to ensure the stability and response speed of the system.

[0149] Implementation method:

[0150] 1. Data processing

[0151] Receive data: Receive the data from the environmental monitoring module and the vision guidance module.

[0152] Data fusion: Process the data to generate control signals.

[0153] The central control unit uses an embedded processor (such as ARM Cortex-M4), runs a real-time operating system (RTOS), processes data, and generates control signals.

[0154] 2. State management

[0155] Finite state machine: Use a finite state machine (FSM) model to manage the state transitions of the system.

[0156] Status Definition: The state machine includes states such as initialization, data acquisition, image processing, control signal generation, motor control, pressure regulation, microfluidic control, and error compensation.

[0157] State Transition: Perform state transition according to the current state of the system and the input data.

[0158] 3. Communication Management

[0159] Supported Protocols: Support Zigbee, Wi-Fi, and Ethernet communication protocols.

[0160] Real-time Communication: Transmit data and control signals in real time.

[0161] Use the Zigbee module for short-range wireless communication, the Wi-Fi module for long-range wireless communication, and the Ethernet module for wired communication.

[0162] 4. Storage Management

[0163] Data Storage: Store data and operation logs for subsequent analysis and troubleshooting.

[0164] Storage Medium: Use an SD card or flash memory to store data and log files.

[0165] Use the FAT32 file system to save data and log files regularly.

[0166] 5. Cloud Computing Interface

[0167] Remote Analysis: Support remote data analysis and optimization algorithm updates.

[0168] Perform big data analysis through the cloud platform to optimize system parameters and algorithms.

[0169] 6. User Interaction

[0170] Touch Screen: Provide a touch screen and a voice assistant to support users to operate in multiple ways.

[0171] Display Information: Display system status information and operation prompts.

[0172] Status Display: Display the current state and operation results of the system to facilitate user monitoring and operation.

[0173] 7. Multitasking

[0174] Task Scheduling Algorithms: Priority queue and round-robin algorithm.

[0175] Priority Calculation:

[0176]

[0177] Task allocation: Allocate tasks according to the current status of the spray head and the task priority.

[0178] Synchronization control: Use a distributed control system to synchronize the actions of each spray head through network communication.

[0179] Communication protocol: Zigbee or CAN bus

[0180] Synchronization mechanism: Master-slave synchronization, and the master controller is responsible for task allocation and synchronization control

[0181] Load balancing: Dynamically adjust the working load of each spray head through a load balancing algorithm to avoid overload and idleness.

[0182] Load balancing algorithm: Dynamic adjustment based on task completion time and spray head status

[0183] Adjustment period: Perform load balancing adjustment every 5 seconds

[0184] Specific steps:

[0185] 1. Monitor the status of each spray head and the task queue in real time.

[0186] 2. Allocate tasks according to task priority and spray head status.

[0187] 3. Synchronize the actions of each spray head through network communication.

[0188] 4. Regularly perform load balancing adjustment to ensure the balanced working load of each spray head.

[0189] Example: Practical application scenario of a multi-angle printing direction control system

[0190] Scenario description

[0191] Suppose in an industrial production line, high-precision printing tasks at multiple angles are required. The environmental conditions (such as temperature, humidity, vibration, etc.) on the production line may change frequently, which has a significant impact on printing quality and efficiency. To ensure high-quality printing, a multi-angle printing direction control system for computer printers is used.

[0192] System configuration

[0193] Environmental monitoring module: Includes temperature sensors, humidity sensors, vibration sensors, noise sensors, and infrared sensors.

[0194] Vision guidance module: Includes high-definition cameras and image processing units.

[0195] Spray control module: Includes stepper motors, servo motors, pressure regulation units, and microfluidic control units.

[0196] Central control unit: It includes a data processing unit, a control signal generation unit, a status management unit, a communication management unit, a storage management unit, and a user interaction unit.

[0197] Workflow

[0198] 1. System initialization

[0199] The user starts the system, and the central control unit conducts a self-check to ensure that all modules are working properly.

[0200] The central control unit enters the initialization state, ready to receive and process data.

[0201] 2. Environmental monitoring

[0202] Data acquisition: The environmental monitoring module collects environmental data in real time through various sensors.

[0203] The temperature sensor measures the environmental temperature as 25 °C.

[0204] The humidity sensor measures the environmental humidity as 50%.

[0205] The vibration sensor measures the environmental vibration as 0.5 g.

[0206] The noise sensor measures the environmental noise as 60 dB.

[0207] The infrared sensor measures the temperature distribution of the printed material as a uniform distribution.

[0208] Data filtering: Use a low-pass filter to filter the collected data to reduce noise interference.

[0209] Data transmission: Transmit the filtered data to the central control unit through the Zigbee wireless communication module.

[0210] 3. Visual guidance

[0211] Image capture: The visual guidance module captures an image of the printed material through a high-definition camera.

[0212] Image processing: Process the captured image to identify the target position and direction.

[0213] Use YOLOv3 for target detection, and the identified target position is (100, 150), and the direction is 45°.

[0214] Data transmission: Transmit the processed image data and target position information to the central control unit through the Zigbee wireless communication module.

[0215] 4. Control signal generation

[0216] Data processing: The central control unit receives data from the environmental monitoring module and the vision guidance module, and performs data fusion and processing.

[0217] Control signal generation: Generate control signals according to the target position and direction information provided by the vision guidance module.

[0218] The generated control signals are: horizontal movement of 1000 steps, vertical movement of 1500 steps, rotation angle of 450 steps, and tilt angle of 300 steps.

[0219] 5. Spray control

[0220] Motor control: Control the movement of the spray head according to the generated control signals.

[0221] The stepper motor controls the horizontal and vertical movements of the spray head, with the number of steps being 1000 steps and 1500 steps respectively.

[0222] The servo motor controls the rotation and tilt of the spray head, with the number of steps being 450 steps and 300 steps respectively.

[0223] Pressure regulation model

[0224] Parameter setting

[0225] Initial spray head pressure P initial = 100 Pa

[0226] Current environmental humidity H = 60% RH

[0227] Reference humidity H baseline = 50% RH

[0228] Proportionality coefficient k p = 0.1

[0229] Calculate the ideal spray pressure

[0230] Assume that the constants obtained by fitting experimental data are:

[0231] k1 = 0.01, k2 = 0.1, k3 = 100

[0232] Then the ideal spray pressure P ideal Can be calculated as:

[0233] P ideal = 0.01·60 2 + 0.1·60 + 100 = 142 Pa

[0234] Calculate the adjusted pressure

[0235] The currently measured spray head pressure P measured = 100 Pa, proportional regulation coefficient k p= 0.1, the adjusted pressure P adjust can be calculated as:

[0236] P adjust = 100 + 0.1·(142 - 100) = 104.2 Pa

[0237] Microfluidic control model

[0238] Parameter setting

[0239] The ink density ρ = 1000 kg / m 3

[0240] The ejection speed U = 10 m / s

[0241] The droplet size D = 10 μm = 10×10 -6 m

[0242] The ink surface tension σ = 0.072 N / m

[0243] Critical Weber number

[0244] Calculating the Weber number

[0245] The Weber number We can be calculated as:

[0246]

[0247] Adjusting the ejection speed

[0248] To make the Weber number We close to the critical value the ejection speed U can be adjusted. Let the new ejection speed be U new , then:

[0249]

[0250] Comprehensive application

[0251] First, dynamically adjust the ejection pressure according to the environmental humidity (e.g., from 100 Pa to 104.2 Pa) to ensure the stability and reliability of the ejection process. Subsequently, the microfluidic system uses precise flow control technology to adjust the droplet formation conditions according to the preset ejection parameters (e.g., adjust the ejection speed from 10 m / s to 8.49 m / s) to achieve high-precision printing output. The combination of the two not only improves the printing quality but also enhances the adaptability of the system to external environmental changes, ensuring consistent high-quality printing effects under different conditions.

[0252] Error compensation: Reduce various errors to ensure precise control of the ejection head.

[0253] Use a Kalman filter to filter the position data and reduce errors.

[0254] The gyroscope sensor is used to measure the direction change of the spray head, and the direction correction is carried out through a PID controller.

[0255] The pressure sensor is used to monitor the spray pressure in real time, and the pressure correction is carried out through a PID controller.

[0256] The temperature sensor is used to monitor the temperature of the spray head in real time, and the temperature correction is carried out through a PID controller.

[0257] 6. Multitasking and Synchronous Control

[0258] Task Assignment: The central control unit assigns tasks according to the current task list and the status of the spray head.

[0259] Synchronous Control: Synchronous control is carried out through Zigbee or CAN bus to ensure the coordinated actions of each spray head.

[0260] Load Balancing: Through the load balancing algorithm, the working load of each spray head is dynamically adjusted to avoid overload and idleness.

[0261] 7. Data Transmission and Storage

[0262] Data Transmission: The generated control signal is transmitted to the spray control module through the Zigbee wireless communication module.

[0263] Using the serial communication protocol of the Zigbee module, the control signal is packaged and sent to the spray control module.

[0264] Data Storage: The central control unit stores the collected data and operation logs in the SD card or flash memory for subsequent analysis and troubleshooting.

[0265] Using the FAT32 file system, data and log files are saved regularly.

[0266] 8. User Interaction

[0267] User Operations: Users operate through the touch screen and voice assistant to select printing tasks and set parameters.

[0268] Status Display: The system displays the current status information and operation prompts through the touch screen to help users monitor and operate.

[0269] Remote Monitoring: Through the cloud platform, remote data analysis and optimization algorithm update are carried out to improve the performance and reliability of the system.

[0270] 9. System Shutdown

[0271] Task Completion: When the printing task is completed, the user can manually shut down the system.

[0272] System self-check: The system performs a self-check before shutdown to ensure that all modules return to a normal state and avoid damage.

[0273] Data backup: The system automatically backs up the current data and log files to ensure data security.

[0274] In this embodiment, the environmental data provided by the environmental monitoring module helps to improve the image processing accuracy of the vision guidance module. For example, humidity changes may affect the surface properties of the printing material, thereby affecting the accuracy of image recognition. By monitoring the humidity in real time, the central control unit can adjust the parameters of the image processing algorithm to improve the robustness of recognition.

[0275] The target position and orientation information provided by the vision guidance module helps to optimize the sensor layout of the environmental monitoring module. For example, based on the target position identified by the vision guidance module, the sensor position of the environmental monitoring module can be adjusted more precisely to ensure the accuracy of sensor data.

[0276] The central control unit generates precise control signals based on the target position and orientation information provided by the vision guidance module to control the movement of the jet control module. For example, the central control unit can generate control signals to enable the stepper motor and servo motor to precisely control the horizontal, vertical, rotational, and tilting movements of the jet head.

[0277] The feedback data (such as actual position, orientation, and pressure) of the jet control module helps the central control unit perform error compensation. For example, by monitoring the jet pressure in real time using a pressure sensor, the central control unit can use a PID controller to perform pressure correction to ensure that the jet head maintains high precision and high stability under different environmental conditions.

[0278] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-angle printing direction control system for a computer printer, characterized in that, It includes: An environmental monitoring module for monitoring the temperature, humidity, light, air quality, vibration and noise of the printing environment; A vision guidance module for capturing images of printing materials and identifying the target position and orientation; An injection control module for generating control signals to control the movement and injection parameters of the injection head; A central control unit for processing data, generating control signals and performing error compensation; Among them, the environmental monitoring module is connected to the central control unit for transmitting the monitored environmental data to the central control unit; the vision guidance module is connected to the central control unit for transmitting the identified target position and orientation information to the central control unit; the injection control module is connected to the central control unit for receiving the control signals generated by the central control unit and controlling the movement and injection parameters of the injection head.

2. The multi-angle printing direction control system of a computer printer according to claim 1, characterized in that, The environmental monitoring module includes: A temperature sensor for measuring the environmental temperature; A humidity sensor for measuring the environmental humidity; A light sensor for measuring the environmental light; An air quality sensor for measuring the environmental air quality; A vibration sensor for measuring the environmental vibration; A noise sensor for measuring the environmental noise; An infrared sensor for measuring the temperature distribution of the printing materials.

3. The multi-angle printing direction control system of a computer printer according to claim 1, wherein, The vision guidance module includes: A high-definition camera for capturing images of printing materials; An image processing unit for processing the images to identify the target position and orientation. The image processing unit uses edge detection, template matching and deep learning technologies for image processing.

4. A multi-angle printing direction control system for a computer printer according to claim 1, wherein The injection control module includes: A stepper motor for controlling the horizontal and vertical movement of the injection head; A servo motor for controlling the rotation and tilt of the injection head; A pressure regulating unit for dynamically adjusting the injection pressure; A microfluidic control unit for precisely controlling the size and shape of ink droplets; An error compensation unit for performing position, orientation, pressure, temperature and vibration compensation.

5. A multi-angle printing direction control system for a computer printer according to claim 4, wherein The error compensation unit includes: A position compensation unit that uses a Kalman filter to filter the position data and reduce errors; An orientation compensation unit that uses a gyroscope sensor to measure the orientation change of the injection head and performs orientation correction through a PID controller; A pressure compensation unit that uses a pressure sensor to monitor the injection pressure in real time and performs pressure correction through a PID controller; A temperature compensation unit that uses a temperature sensor to monitor the temperature of the injection head in real time and performs temperature correction through a PID controller; A vibration compensation unit that uses a vibration sensor to monitor the vibration condition in real time and performs vibration compensation through an adaptive filter.

6. The multi-angle printing direction control system of a computer printer according to claim 1, wherein, The central control unit includes: A data processing unit for receiving and processing data from the environmental monitoring module and the vision guidance module; A control signal generation unit for generating control signals; A state management unit for managing the state transition of the system using a finite state machine model; A communication management unit for supporting Zigbee, Wi-Fi and Ethernet communication protocols; A storage management unit for storing data and operation logs; A user interaction unit for providing a user operation interface; A multi-task processing unit for implementing multi-task scheduling and load balancing.

7. A multi-angle printing direction control system for a computer printer according to claim 1, wherein, The environmental monitoring module filters the collected data through a low-pass filter to reduce noise interference, and transmits the filtered data to the central control unit through the Zigbee wireless communication module.

8. A multi-angle printing direction control system for a computer printer according to claim 3, characterized in that, The vision guidance module captures images of printed materials through a high-definition camera, and uses edge detection, template matching, and deep learning technologies for image processing to identify the target position and orientation, so as to improve the accuracy and robustness of recognition.

9. A multi-angle printing direction control system for a computer printer according to claim 1, characterized in that The central control unit generates control signals according to the target position and orientation information provided by the vision guidance module, and transmits the control signals to the jet control module through the Zigbee wireless communication module. The jet control module controls the movement of the jet head according to the control signals to ensure that the jet head can accurately align with the target position and orientation.

10. A multi-angle printing direction control system for a computer printer according to claim 4, characterized in that, The jet control module controls the movement of the jet head through a stepper motor and a servo motor according to the control signals generated by the central control unit, and dynamically adjusts the jet pressure and droplet size through a pressure regulating unit and a microfluidic control unit to ensure that the jet head maintains high precision and high stability under different environmental conditions. The central control unit realizes the coordinated operation of multiple jet heads through a multi-task processing unit.

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