Prejudgment type nozzle protection method and equipment for printer and storage medium

Abstract

The invention discloses a pre-judgment type nozzle protection method and equipment for a printer, and relates to the technical field of printers, and the method comprises the steps: arranging non-contact distance measuring devices at two sides of an X-axis direction of a nozzle moving mechanism, obtaining a distance measurement value sequence generated by the distance measuring devices in real time, and obtaining a preset safety threshold value according to the dynamic comparison relation between the measurement values and the preset safety threshold value; whether the obstacle invasion risk exists on the surface of the printing medium or not is judged, and when the obstacle invasion risk is detected, a motion control instruction is generated to enable the spray head to execute the parking or avoiding action; in addition, the method further comprises a distance measuring device calibration step, a three-dimensional safety envelope region establishment step, a multi-stage distance threshold comparison mechanism step, an exception handling step, an optimal avoidance path generation step and the like, factors such as nozzle quality, motor torque parameters, guide rail friction coefficients and the like are considered in generation of the dynamic safety threshold, and the scheme can effectively prevent nozzle collision and improve the reliability of the system. And the printing efficiency and the intelligent level of nozzle protection are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of printers, and more specifically, to a predictive nozzle protection method, device and storage medium for a printer. Background Art

[0002] In the field of modern industrial printing, as the core component of a printer, the stability and durability of the nozzle directly affect the printing quality and the overall performance of the device. The value of the nozzle usually accounts for a relatively large proportion of the total cost of the printer. Therefore, the protection of the nozzle is particularly important. However, traditional industrial printers face great challenges in terms of the diversity of consumables and the irregularity of printing media, which significantly increases the risk of nozzle crashing. Existing anti-collision technologies mainly rely on passive anti-collision methods. For example, a microswitch is installed in the forward direction of the nozzle along the X-axis, and a on-off infrared ray sensor is installed in the Y-axis direction. Although these methods can reduce the collision of the nozzle to a certain extent, they usually trigger when the nozzle has already contacted an obstacle and cannot achieve true preventive protection, thus unable to completely avoid damage to the nozzle.

[0003] In addition, due to the relatively fast moving speed of the nozzle, even if the nozzle is immediately stopped after detecting an obstacle, due to inertia, the nozzle may still cause damage to the obstacle or itself. Therefore, there are obvious deficiencies in the existing technology for nozzle protection, and a more proactive and intelligent nozzle protection method is needed to improve the reliability of the printer and the service life of the nozzle.

[0004] Therefore, the existing nozzle protection technology has a slow response and cannot effectively prevent nozzle collisions. Summary of the Invention

[0005] In order to overcome the problems of slow response and inability to effectively prevent nozzle collisions in the existing nozzle protection technology, the present invention discloses a predictive nozzle protection method, device and storage medium for a printer, which can effectively solve the above technical problems.

[0006] To solve the above technical problems, the technical solution of the present invention is as follows:

[0007] A predictive nozzle protection method for a printer, comprising the following steps:

[0008] Non-contact ranging devices are arranged on both sides in the X-axis direction of the nozzle moving mechanism, and the detection direction of the ranging devices is parallel to the printing medium conveying direction;

[0009] The distance measurement value sequence generated by the ranging devices during the movement of the nozzle is obtained in real time;

[0010] According to the dynamic comparison relationship between the distance measurement value sequence and a preset safety threshold, it is judged whether there is a risk of obstacle intrusion on the surface of the printing medium;

[0011] When a risk of obstacle intrusion is detected, a motion control instruction is generated to make the nozzle execute a parking or avoidance action; wherein, the dynamic comparison relationship includes a dynamic safety threshold calculated in real time according to the current position of the nozzle and the edge coordinates of the printing medium.

[0012] Preferably, the non-contact ranging device includes:

[0013] A first laser rangefinder, arranged on the front side of the X-axis positive moving direction of the nozzle moving assembly;

[0014] A second laser rangefinder, arranged on the front side of the X-axis reverse moving direction of the nozzle moving assembly;

[0015] The installation position of the laser rangefinder satisfies that the vertical distance error between its detection plane and the bottom surface of the nozzle is within a predetermined range.

[0016] Preferably, it further includes a ranging device calibration step:

[0017] Under the no-load state of the printing medium conveying mechanism, control the nozzle to reciprocate along the X-axis;

[0018] Synchronously collect the distance measurement values of each ranging unit;

[0019] When it is detected that the fluctuation amplitude of the measurement value exceeds the preset threshold, automatically generate ranging device position calibration parameters.

[0020] Preferably, the determination of the existence of a risk of obstacle intrusion on the surface of the printing medium includes:

[0021] Establish a three-dimensional safety envelope area for the nozzle movement path, and the envelope area is dynamically generated according to the printing medium thickness parameter and the nozzle sinking amount;

[0022] Judge whether the obstacle enters the critical range of the envelope area through a multi-level distance threshold comparison mechanism;

[0023] When the obstacle enters the first-level warning area, reduce the nozzle movement speed;

[0024] When the obstacle enters the second-level warning area, stop the nozzle movement.

[0025] Preferably, it further includes an exception handling step:

[0026] Generate an obstacle position coordinate mapping diagram;

[0027] Calculate an obstacle distribution probability heat map according to the historical movement path data;

[0028] When the same area continuously triggers a warning more than the set number of times, automatically adjust the printing path planning parameters.

[0029] Preferably, the generation of the motion control instruction includes:

[0030] Calculate the optimal avoidance path based on the vector relationship between the current position of the nozzle and the coordinates of the obstacle;

[0031] The optimal avoidance path satisfies: the length of the avoidance path is the shortest and the moving direction is opposite to the expansion trend of the obstacle.

[0032] Preferably, the generation of the dynamic safety threshold includes obtaining the nozzle mass, motor torque parameters, and guide rail friction coefficient, and through the formula:

[0033] D = V^2 / 2a + k·δ to calculate the minimum braking distance

[0034] where V is the current speed, a is the maximum braking acceleration, k is the redundancy coefficient, and δ is the ranging error compensation value.

[0035] Preferably, an electronic device includes:

[0036] A ranging module, including at least two groups of non-contact ranging sensors, symmetrically distributed along the moving direction of the nozzle;

[0037] A path analysis module, used to construct a three-dimensional dynamic model including the surface topography of the printing medium;

[0038] A risk judgment module, calculating the collision probability based on the three-dimensional dynamic model and real-time ranging data;

[0039] A control execution module, hierarchically outputting control instructions according to the collision probability value, and the control instructions include deceleration instructions, stop instructions, and path replanning instructions;

[0040] The ranging module further includes:

[0041] A calibration compensation unit, used to dynamically adjust ranging parameters according to the material characteristics of the printing medium;

[0042] A data fusion unit, performing multi-source information fusion on laser ranging data and printing platform pressure sensing data.

[0043] A printer pre-judgment type nozzle protection device includes: at least one processor; a memory, storing executable instructions; wherein when the processor executes the instructions, the steps of the printer pre-judgment type nozzle protection method as described above are implemented.

[0044] A computer-readable storage medium stores a computer program, and when the program is executed by a processor, the steps of the printer pre-judgment type nozzle protection method as described above are implemented.

[0045] Compared with the prior art, the beneficial effects of the present invention are as follows: By arranging non-contact ranging devices on both sides of the X-axis direction of the nozzle moving mechanism in this technical method, the distance between the nozzle and the printing medium is monitored in real time. According to the dynamic comparison relationship between the distance measurement value sequence and the preset safety threshold, the possible collision risks are predicted and responded to in a timely manner. When the system detects the risk of obstacle intrusion, it can quickly generate motion control instructions to make the nozzle execute a parking or avoidance action, thereby avoiding the collision between the nozzle and the obstacle. It also includes the generation of a dynamic safety threshold, which comprehensively considers the nozzle mass, motor torque parameters, guide rail friction coefficient, and the minimum braking distance calculated by a formula, further improving the accuracy of collision prediction. By establishing a three-dimensional safety envelope area for the nozzle moving path and a multi-level distance threshold comparison mechanism, corresponding deceleration or stop measures can be taken when the obstacle enters different warning areas, realizing the active protection of the nozzle. The present invention can not only reduce the risk of nozzle damage due to collision, extend the service life of the nozzle, but also improve the continuity and stability of the printing operation, reduce production interruptions and maintenance costs caused by nozzle damage, thereby bringing higher economic benefits to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained by extension based on the provided drawings without creative efforts.

[0047] Figure 1 Schematic diagram of the pre-judgment anti-collision structure of the present invention;

[0048] Figure 2 Method step diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The drawings are only for exemplary illustration and should not be construed as a limitation of this patent;

[0050] In order to better illustrate this embodiment, some components in the drawings will be omitted, enlarged or reduced, which does not represent the size of the actual product;

[0051] For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0052] The following will further describe the technical solutions of the present invention in conjunction with the drawings and embodiments.

[0053] Embodiment [[ID=ID=31]]

[0054] A pre-judgment nozzle protection method for a printer includes the following steps:

[0055] A non-contact ranging device is provided on both sides of the X-axis direction of the nozzle moving mechanism, and the detection direction of the ranging device is parallel to the printing medium conveying direction;

[0056] Obtain the sequence of distance measurement values generated by the ranging device during the movement of the nozzle in real time;

[0057] Judge whether there is a risk of obstacle intrusion on the surface of the printing medium according to the dynamic comparison relationship between the sequence of distance measurement values and the preset safety threshold;

[0058] When detecting the risk of obstacle intrusion, generate a motion control instruction to make the nozzle execute a parking or avoidance action; wherein, the dynamic comparison relationship includes a dynamic safety threshold calculated in real time according to the current position of the nozzle and the edge coordinates of the printing medium.

[0059] The non-contact ranging device includes:

[0060] A first laser rangefinder, which is arranged on the front side of the forward movement direction of the X-axis of the nozzle moving assembly;

[0061] A second laser rangefinder, which is arranged on the front side of the reverse movement direction of the X-axis of the nozzle moving assembly;

[0062] The installation position of the laser rangefinder satisfies that the vertical distance error between its detection plane and the bottom surface of the nozzle is within a predetermined range.

[0063] It also includes a ranging device calibration step:

[0064] Under the no-load state of the printing medium conveying mechanism, control the nozzle to reciprocate along the X-axis;

[0065] Synchronously collect the distance measurement values of each ranging unit;

[0066] When detecting that the fluctuation amplitude of the measurement value exceeds the preset threshold, automatically generate the ranging device position calibration parameter.

[0067] The judgment that there is a risk of obstacle intrusion on the surface of the printing medium includes:

[0068] Establish a three-dimensional safety envelope area for the nozzle movement path, and the envelope area is dynamically generated according to the printing medium thickness parameter and the nozzle sinking amount;

[0069] Judge whether the obstacle enters the critical range of the envelope area through a multi-level distance threshold comparison mechanism;

[0070] When the obstacle enters the first-level warning area, reduce the nozzle movement speed;

[0071] When the obstacle enters the second-level warning area, stop the nozzle movement.

[0072] It also includes an exception handling step:

[0073] Generate a mapping diagram of the obstacle position coordinates;

[0074] Calculate the heat map of the obstacle distribution probability based on the historical movement path data;

[0075] When the same area continuously triggers warnings exceeding the set number of times, automatically adjust the printing path planning parameters.

[0076] The generation of the motion control instruction includes:

[0077] Calculate the optimal avoidance path according to the vector relationship between the current position of the nozzle and the obstacle coordinates;

[0078] The optimal avoidance path satisfies: the length of the avoidance path is the shortest and the moving direction is opposite to the expansion trend of the obstacle.

[0079] The generation of the dynamic safety threshold includes obtaining the nozzle mass, the motor torque parameter, and the guide rail friction coefficient, and through the formula:

[0080] D = V^2 / 2a + k·δ to calculate the minimum braking distance

[0081] Where V is the current speed, a is the maximum braking acceleration, k is the redundancy coefficient, and δ is the ranging error compensation value.

[0082] An electronic device, comprising:

[0083] A ranging module, including at least two groups of non-contact ranging sensors, symmetrically distributed along the moving direction of the nozzle;

[0084] A path analysis module, used to construct a three-dimensional dynamic model including the surface topography of the printing medium;

[0085] A risk judgment module, calculating the collision probability based on the three-dimensional dynamic model and the real-time ranging data;

[0086] A control execution module, grading and outputting control instructions according to the collision probability value, and the control instructions include deceleration instructions, stop instructions, and path replanning instructions;

[0087] The ranging module further includes:

[0088] A calibration compensation unit, used to dynamically adjust the ranging parameters according to the material characteristics of the printing medium;

[0089] A data fusion unit, performing multi-source information fusion on the laser ranging data and the printing platform pressure sensing data.

[0090] A predictive nozzle protection device for a printer, comprising: at least one processor; a memory storing executable instructions; wherein when the processor executes the instructions, the steps of the printer predictive nozzle protection method as described above are implemented.

[0091] A computer-readable storage medium stores a computer program, and when the program is executed by a processor, the steps of the printer predictive nozzle protection method as described above are implemented.

[0092] In a specific implementation, refer to Figure 1-2 , install a first laser rangefinder XP1 on the front side (lower left corner) in the positive X-axis moving direction of the nozzle moving assembly, and install a second laser rangefinder XP2 on the front side (lower right corner) in the negative X-axis moving direction, ensuring that the vertical distance error between the detection planes of the two laser rangefinders and the bottom surface of the nozzle is within a predetermined range of ±1 mm, making the direction of the ranging rays generated by them opposite to the Y-axis paper feeding direction, and the horizontal position consistent with the horizontal plane of the nozzle.

[0093] Install an electronic control main board inside the printer. The main board integrates a ranging module, a path analysis module, a risk judgment module, and a control execution module. Among them, the ranging module includes a calibration compensation unit and a data fusion unit, and is also equipped with a memory for storing executable instructions, and is connected to devices such as a print medium conveying mechanism and a nozzle driving motor.

[0094] Preset safety thresholds: According to the characteristics of the printer nozzle and the printing accuracy requirements, set the distance threshold for the first-level warning area to 20 mm, the distance threshold for the second-level warning area to 10 mm, set the print medium thickness parameter to 5 mm, the nozzle sinking amount to 3 mm, and at the same time obtain the nozzle mass of 0.5 kg, the motor torque parameter of 2 N·m, the guide rail friction coefficient of 0.1, set the redundancy coefficient k to 1.2, and the ranging error compensation value δ to 0.5 mm.

[0095] Under the no-load state of the print medium conveying mechanism, control the nozzle to reciprocate along the X-axis through the electronic control main board, and the speed is set to 50 mm / s.

[0096] Synchronously collect the distance measurement values of the first laser rangefinder XP1 and the second laser rangefinder XP2. During the movement, if it is detected that the fluctuation amplitude of the measurement value exceeds the preset threshold, such as ±2 mm, the calibration compensation unit automatically generates ranging device position calibration parameters and finely adjusts the position of the laser rangefinder to ensure the measurement accuracy.

[0097] When the printer starts printing and the nozzle moves along the X-axis, the first laser rangefinder XP1 and the second laser rangefinder XP2 continuously obtain a sequence of distance measurement values simultaneously. For example, during the process of the nozzle moving from right to left, XP1 continuously measures the distance to the obstacle in front.

[0098] According to the current position of the nozzle and the edge coordinates of the printing medium, combined with the nozzle mass, motor torque parameters, and the guide rail friction coefficient, the dynamic safety threshold is calculated in real time through the formula D = V^2 / 2a + k·δ. Assuming the current speed V of the nozzle is 30 mm / s, the maximum braking acceleration a is calculated to be 50 mm / s according to the motor torque and the guide rail friction coefficient 2 , then the minimum braking distance D = 30^2 / (2×50) + 1.2×0.5 = 9 + 0.6 = 9.6 mm.

[0099] The path analysis module establishes a three-dimensional safety envelope area for the nozzle movement path based on the printing medium thickness parameter of 5 mm and the nozzle sinking amount of 3 mm. The range of the envelope area is 3 - 8 mm below the bottom surface of the nozzle, considering the nozzle sinking amount, the printing medium thickness, and a certain area in front of the nozzle movement direction.

[0100] The risk judgment module judges whether the obstacle enters the critical range of the envelope area through a multi-level distance threshold comparison mechanism. When the distance value measured by the laser rangefinder is less than the distance threshold of the first-level warning area of 20 mm, it is judged that the obstacle enters the first-level warning area; when the distance value is less than the distance threshold of the second-level warning area of 10 mm, it is judged that the obstacle enters the second-level warning area.

[0101] When the obstacle enters the first-level warning area, the control execution module generates a deceleration instruction to reduce the nozzle movement speed from the current 30 mm / s to 15 mm / s, reducing the collision risk.

[0102] When the obstacle enters the second-level warning area, the control execution module generates a stop instruction to immediately stop the nozzle movement. At the same time, according to the vector relationship between the current position of the nozzle and the coordinates of the obstacle, the optimal avoidance path is calculated. For example, if the obstacle is on the left front of the nozzle and its expansion trend is to move to the right, the calculated optimal avoidance path is for the nozzle to move upward and to the right, and ensure that the length of the avoidance path is the shortest. Then, the nozzle is controlled to move according to the optimal avoidance path to complete the avoidance action.

[0103] After detecting the obstacle intrusion risk and triggering the warning, the system generates a coordinate mapping diagram of the obstacle position, recording the specific position of the obstacle on the printing medium.

[0104] According to the historical movement path data, the obstacle distribution probability heat map is calculated. For example, if an obstacle is detected multiple times in a certain area, that area is displayed as a high-probability area on the heat map.

[0105] When the same area continuously triggers the warning more than the set number of times, such as 5 times, the control execution module automatically adjusts the printing path planning parameters. For example, that area is marked as a dangerous area, and in subsequent printing tasks, the nozzle is planned to automatically avoid the printing path of that area to ensure the smooth progress of the printing process.

[0106] The above embodiments demonstrate the application of the printer's predictive nozzle protection method in the actual printing process. From device preparation, ranging device calibration, protection operations during printing to exception handling, active protection of the nozzle is fully realized, effectively avoiding collisions between the nozzle and obstacles, and improving the reliability of the printer and the service life of the nozzle.

[0107] The same or similar reference numerals correspond to the same or similar components;

[0108] The terms used to describe the positional relationship in the drawings are for illustrative purposes only and should not be construed as a limitation of this patent;

[0109] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A predictive nozzle protection method for a printer, characterized in that, It includes the following steps: Non-contact ranging devices are arranged on both sides of the X-axis direction of the nozzle moving mechanism, and the detection direction of the ranging device is parallel to the printing medium conveying direction; Obtain the sequence of distance measurement values generated by the ranging device in real time during the movement of the nozzle; Judge whether there is a risk of obstacle intrusion on the surface of the printing medium according to the dynamic comparison relationship between the sequence of distance measurement values and the preset safety threshold; When detecting the risk of obstacle intrusion, generate a motion control instruction to make the nozzle execute a parking or avoidance action; wherein, the dynamic comparison relationship includes a dynamic safety threshold calculated in real time according to the current position of the nozzle and the edge coordinates of the printing medium.

2. The printer predictive nozzle protection method according to claim 1, wherein The non-contact ranging device includes: The first laser rangefinder is arranged on the front side of the X-axis positive moving direction of the nozzle moving component; The second laser rangefinder is arranged on the front side of the X-axis reverse moving direction of the nozzle moving component; The installation position of the laser rangefinder satisfies that the vertical distance error between its detection plane and the bottom surface of the nozzle is within a predetermined range.

3. The printer pre-judgment type nozzle protection method according to claim 2, characterized in that, It also includes a ranging device calibration step: Under the no-load state of the printing medium conveying mechanism, control the nozzle to reciprocate along the X-axis; Synchronously collect the distance measurement values of each ranging unit; When detecting that the fluctuation amplitude of the measurement value exceeds the preset threshold, automatically generate ranging device position calibration parameters.

4. The printer pre-judgment type nozzle protection method according to claim 1, wherein The judgment that there is a risk of obstacle intrusion on the surface of the printing medium includes: Establish a three-dimensional safety envelope area for the nozzle movement path, and the envelope area is dynamically generated according to the printing medium thickness parameter and the nozzle sinking amount; Judge whether the obstacle enters the critical range of the envelope area through a multi-level distance threshold comparison mechanism; Reduce the nozzle movement speed when the obstacle enters the first-level warning area; Stop the nozzle movement when the obstacle enters the second-level warning area.

5. The printer pre-judgment type nozzle protection method according to claim 4, characterized in that, It also includes an exception handling step: Generate an obstacle position coordinate mapping diagram; Calculate the obstacle distribution probability heat map according to the historical movement path data; When the same area continuously triggers warnings more than the set number of times, automatically adjust the printing path planning parameters.

6. The printer pre-judgment type nozzle protection method according to claim 1, characterized in that, The generation of the motion control instruction includes: Calculate the optimal avoidance path according to the vector relationship between the current position of the nozzle and the obstacle coordinates; The optimal avoidance path satisfies that the length of the avoidance path is the shortest and the moving direction is opposite to the expansion trend of the obstacle.

7. The printer pre-judgment type nozzle protection method according to claim 1, characterized in that The generation of the dynamic safety threshold includes obtaining the nozzle mass, motor torque parameters and guide rail friction coefficient, and through the formula: D = V^2 / 2a + k·δ to calculate the minimum braking distance where V is the current speed, a is the maximum braking acceleration, k is the redundancy coefficient, and δ is the ranging error compensation value.

8. An electronic device, characterized in that, It includes: The ranging module includes at least two groups of non-contact ranging sensors, which are symmetrically distributed along the nozzle moving direction; The path analysis module is used to construct a three-dimensional dynamic model including the surface topography of the printing medium; The risk judgment module calculates the collision probability based on the three-dimensional dynamic model and real-time ranging data; The control execution module outputs control instructions in grades according to the collision probability value, and the control instructions include deceleration instructions, stop instructions and path replanning instructions; The ranging module also includes: The calibration compensation unit is used to dynamically adjust the ranging parameters according to the material characteristics of the printing medium; A data fusion unit that performs multi-source information fusion on laser ranging data and printing platform pressure sensing data.

9. A printer pre-judgment type nozzle protection device, characterized in that, It includes: At least one processor; A memory storing executable instructions; Wherein when the processor executes the instructions, the steps of the printer predictive nozzle protection method according to any one of claims 1-7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the program is executed by the processor, the steps of the printer predictive nozzle protection method according to any one of claims 1-7 are implemented.

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