Position compensation method, device and equipment for inkjet printing, and storage medium

Abstract

The application discloses a position compensation method, device and equipment for inkjet printing and a storage medium, and relates to the technical field of inkjet printing.The method comprises the following steps: acquiring array planning data of a printing point and a moving deviation angle of an actual moving direction of a nozzle; determining a cumulative moving amount of the nozzle to a planning position of a target printing point according to the array planning data; calculating a first error accumulation amount in a first direction and a second error accumulation amount in a second direction according to the moving deviation angle and the cumulative moving amount; judging whether an actual printing position of the target printing point matches a corresponding foundation pit; if not, adjusting the planning position of the target printing point and then controlling relative movement between the nozzle and a target substrate; and if yes, controlling the relative movement between the nozzle and the target substrate based on the planning position of the target printing point. Whether the printing point will not match the corresponding foundation pit is judged according to the error accumulation amount, so that a compensation operation of the relative movement of the nozzle is selected to be performed, and unnecessary calculation and error compensation are avoided.

Description

Technical Field

[0001] This application relates to the field of inkjet printing technology, specifically to a position compensation method, apparatus, equipment, and storage medium for inkjet printing. Background Technology

[0002] In precision manufacturing fields such as flat panel displays and semiconductor packaging, inkjet printing technology is widely used for the deposition of functional materials on substrate surfaces. Especially in the processing of RGB substrates, a specific number of functional ink droplets must be precisely ejected into pre-defined pixel pits on the substrate surface. This type of process requires the ink droplets to fall precisely into the pit area with micron-level accuracy; any positional deviation can lead to defects such as color mixing, light leakage, or short circuits, directly affecting the color accuracy and yield of the device. With the development of high-resolution display panels, the pixel pit size continues to shrink, making the requirements for printing positioning accuracy increasingly stringent.

[0003] Current mainstream technology employs a linkage-based motion control scheme: the substrate moves along the X-axis via a conveying device, and its parallelism with the X-axis is corrected by a positioning mechanism; the printhead moves along a Y-axis guide rail that is theoretically perpendicular to the X-axis. The inkjet printing trigger command from the printhead is linked to an encoder responsible for X-axis motion, ensuring that each inkjet print is accompanied by a movement of the substrate in the X-axis. To achieve automatic printing and ensure accurate printhead placement, the printheads must be pre-arranged in a rectangular array, with the X-axis representing the row direction and the Y-axis representing the column direction.

[0004] When the Y-axis guide rail containing the printhead has a small installation angle (θ) with the X-axis due to installation errors, a positioning error will accumulate with the travel distance during the printhead's movement across rows (i.e., Y-axis movement). This error exhibits a non-linear growth characteristic in the XY plane, especially during the processing of long substrates, ultimately causing ink droplets to deviate outside the pixel pits. To suppress this problem, existing technologies employ a real-time error compensation strategy to compensate for the movement error that occurs during each movement.

[0005] However, when the movement error is small, the printed ink droplets are still within the pixel pits and do not affect the quality of the substrate. Performing calculations and movement error compensation control at this time would lead to a waste of computing power and time, which would affect the inkjet printing efficiency of the substrate. Therefore, further improvements are needed. Summary of the Invention

[0006] This application provides a position compensation method, apparatus, device, and storage medium for inkjet printing, which can solve the problem of low efficiency caused by moving and compensating the position of each printing point in inkjet printing in the prior art.

[0007] In a first aspect, embodiments of this application provide a position compensation method for inkjet printing, employing the following technical solution:

[0008] A position compensation method for inkjet printing includes the following steps:

[0009] The array planning data of the printing points involved in each pit on the target substrate and the movement angle between the actual movement direction of the nozzle and the standard movement direction are obtained; wherein, the printing points in the array planning data are arranged at intervals along a first direction and a second direction that are perpendicular to each other, the first direction is parallel to the standard movement direction of the nozzle, and the second direction is parallel to the transport direction of the substrate, and the array planning data includes the planned position of each printing point, the pit to which it belongs, and the printing sequence.

[0010] The cumulative movement amount when the printhead moves relative to the planned position of the target printing point is determined based on the array planning data;

[0011] Based on the movement angle and the cumulative movement, calculate the first error accumulation in the first direction and the second error accumulation in the second direction;

[0012] Based on the first error accumulation, the second error accumulation, and the array planning data, determine whether the actual printing position of the target printing point matches its corresponding pit;

[0013] If there is a mismatch, the planned position of the target printing point is adjusted according to the first error accumulation amount and / or the second error accumulation amount, and the relative movement between the printhead and the target substrate is controlled based on the adjusted planned position.

[0014] If a match is found, the relative movement between the printhead and the target substrate is controlled based on the planned position of the target printing point.

[0015] In conjunction with the first aspect, in one embodiment, the step of adjusting the planned position of the target printing point based on the first error accumulation amount and / or the second error accumulation amount, and controlling the relative movement between the printhead and the target substrate based on the adjusted planned position,

[0016] If the actual printing position of the target printing point does not match its corresponding pit in the first direction or the second direction, the planned position of the target printing point in the first direction or the second direction is adjusted only according to the first error accumulation amount or the second error accumulation amount.

[0017] In conjunction with the first aspect, in one embodiment, the step of calculating a first accumulated error in the first direction and a second accumulated error in the second direction based on the movement angle and the cumulative movement amount...

[0018] The first error accumulation is the difference between the component of the accumulated movement in the first direction and the cosine value of that component;

[0019] The second error accumulation is the cumulative movement amount based on the sine value of the movement angle.

[0020] In conjunction with the first aspect, in one implementation, determining whether the actual printing position of the target printing point matches its corresponding pit based on the first accumulated error, the second accumulated error, and the array planning data includes the following steps:

[0021] The actual printing position of the target printing point is calculated based on the first error accumulation, the second error accumulation, and the planned position of the target printing point in the array planning data.

[0022] Based on the actual printing position of the target printing point, the ink droplet parameters corresponding to the target printing point, and the range data of the pit to which it belongs, it is determined whether it matches the pit to which it belongs.

[0023] In conjunction with the first aspect, in one implementation, determining whether a target print point matches its corresponding pit based on the actual printing position of the target print point, the ink droplet parameters corresponding to the target print point, and the range data of the pit to which it belongs includes the following steps:

[0024] Based on the ink droplet parameters and the range data of the pit, determine the printable area within each pit;

[0025] Based on whether the actual printing position of the target printing point is within the printable area, it is determined whether the actual printing position of the target printing point exceeds the printable area;

[0026] If the number of occurrences exceeds the limit, the target printing point will not be matched with the corresponding pit; otherwise, the corresponding pit will be matched.

[0027] In conjunction with the first aspect, in one implementation, the step of determining the printable area within each pit based on the ink droplet parameters and the pit's range data...

[0028] The dotting area is determined by connecting the center points of multiple ink droplets whose edges coincide with the boundary of the pit.

[0029] In conjunction with the first aspect, in one embodiment, the target substrate involves one or more pits with different areas.

[0030] Secondly, embodiments of this application provide a position compensation device for inkjet printing, employing the following technical solution:

[0031] A position compensation device for inkjet printing, comprising:

[0032] The acquisition module is configured to acquire array planning data of printing points involved in each pit on the target substrate and the movement angle between the actual movement direction of the nozzle and the standard movement direction; wherein, the printing points in the array planning data are arranged at intervals along a first direction and a second direction that are perpendicular to each other, the first direction is parallel to the standard movement direction of the nozzle, and the second direction is parallel to the transport direction of the substrate, and the array planning data includes the planned position of each printing point, the pit to which it belongs, and the printing sequence.

[0033] The judgment module is configured to determine the cumulative movement amount when the printhead moves relative to the planned position of the target printing point according to the array planning data; calculate the first error accumulation amount in the first direction and the second error accumulation amount in the second direction according to the movement angle and the cumulative movement amount; and determine whether the actual printing position of the target printing point matches its corresponding pit according to the first error accumulation amount, the second error accumulation amount and the array planning data.

[0034] The execution module is configured to adjust the planned position of the target printing point according to the first error accumulation amount and / or the second error accumulation amount if the actual printing position of the target printing point does not match its corresponding pit, and control the relative movement between the printhead and the target substrate based on the adjusted planned position; if they match, control the relative movement between the printhead and the target substrate based on the planned position of the target printing point.

[0035] Thirdly, embodiments of this application provide a position compensation device for inkjet printing, employing the following technical solution:

[0036] An inkjet printing position compensation device includes a processor, a memory, and an inkjet printing position compensation program stored in the memory and executable by the processor, wherein when the inkjet printing position compensation program is executed by the processor, it implements the steps of the inkjet printing position compensation method as described above.

[0037] Fourthly, embodiments of this application provide a storage medium, employing the following technical solution:

[0038] A storage medium storing an inkjet printing position compensation program, wherein when the inkjet printing position compensation program is executed by a processor, it implements the steps of the inkjet printing position compensation method as described above.

[0039] The beneficial effects of the technical solutions provided in this application include:

[0040] The inkjet printing position compensation method, apparatus, device, and storage medium provided in this application calculate the error accumulation amount of the actual printing position in the first and second directions when printing a target printing point according to the planned position by combining the movement angle between the actual movement direction of the printhead and the standard movement direction. By further clarifying whether the error accumulation amount will cause the actual printing position to mismatch with the pit to which the printing point belongs, it is determined whether it is necessary to perform the movement compensation operation between the printhead and the target substrate during printing. For target positions that require error compensation, the actual printing position can be corrected by combining the error accumulation amount to ensure that the target printing point can successfully complete the ink droplet printing in its pit. For cases where it still matches the pit, printing can still be performed according to the original planned position, avoiding forced unnecessary error compensation, and ultimately achieving efficient and fast ink droplet printing of the target substrate. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall process of an embodiment of the inkjet printing position compensation method of this application;

[0042] Figure 2 This is a schematic diagram of the target substrate in the inkjet printing position compensation method of this application;

[0043] Figure 3 This is a schematic diagram of the dottable area of ​​any pit on the target substrate in the inkjet printing position compensation method of this application.

[0044] Figure 4 This is a schematic diagram of the functional modules in one embodiment of the inkjet printing position compensation device of this application;

[0045] Figure 5 This is a schematic diagram of the hardware structure of the inkjet printing position compensation device involved in the embodiments of this application;

[0046] Figure label:

[0047] 1. Foundation pit; 2. Area that can be marked. Detailed Implementation

[0048] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0049] The inkjet printing position compensation method, apparatus, device, and storage medium provided in this application have the following key features: By combining the movement angle between the actual movement direction of the printhead and the standard movement direction, the method calculates the accumulated error in the first and second directions of the actual printing position when printing a target printing point according to the planned position. Furthermore, by determining whether the accumulated error will cause a mismatch between the actual printing position and the pit to which the printing point belongs, the method determines whether a movement compensation operation between the printhead and the target substrate is needed during printing. For target positions requiring error compensation, the accumulated error can be used to correct the actual printing position, ensuring that the target printing point can successfully complete the ink droplet printing within its pit. For cases where the target printing point still matches its pit, printing can still proceed according to the original planned position, avoiding unnecessary forced error compensation. Ultimately, this achieves efficient and rapid ink droplet printing of the target substrate.

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0051] In a first aspect, embodiments of this application provide a position compensation method for inkjet printing.

[0052] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the inkjet printing position compensation method of this application. The inkjet printing position compensation method includes:

[0053] S100: Obtain the array planning data of the printing points involved in each pit 1 on the target substrate and the movement angle θ between the actual movement direction of the printhead and the standard movement direction; wherein, the printing points in the array planning data are arranged at intervals along a first direction and a second direction that are perpendicular to each other, and the first direction is parallel to the standard movement direction of the printhead, i.e. Figure 2 The y-direction shown is the second direction, which is parallel to the substrate transport direction. Figure 2 In the x-direction shown, the array planning data includes the planned location of each printing point, its corresponding pit 1, and the printing order;

[0054] Specifically, the target substrate may involve one or more pits 1 with different areas in different embodiments. For example, in this embodiment, the target substrate is an RGB type substrate with three types of pits 1, R, G, and B, with different area sizes. How to plan the array of printing points based on the target substrate is existing technology in the art and is not within the scope of this application; therefore, it will not be discussed here. However, it should be noted that all planned printing point positions are located within their respective pits 1.

[0055] The deviation angle between the actual movement direction of the printhead and the standard movement direction will be determined in advance by technicians. This application does not limit the specific determination method; different technical means can be used in different embodiments. For example, this application provides a determination method that involves performing a trial printing process on a test substrate with a planned print dot array, and comparing the error between the actual printed dots and the planned printed dot positions to calculate and derive the deviation angle of the actual movement direction of the printhead relative to the first direction.

[0056] S200. Determine the cumulative movement amount when the printhead moves relative to the planned position of the target printing point according to the array planning data; it should be noted that the cumulative movement amount is the actual movement amount of the printhead during the relative movement between the printhead and the target substrate, and not the relative movement amount of the printhead relative to the target substrate.

[0057] S300: Calculate the first error accumulation in the first direction and the second error accumulation in the second direction based on the movement angle and the cumulative movement amount;

[0058] Specifically, refer to Figure 2 The first error accumulation is the difference between the component of the cumulative movement in the first direction and the cosine value of that component, i.e., Δy=SS*cosθ, where S is the cumulative movement of the nozzle relative to the planned position of the target printing point.

[0059] The second error accumulation is the cumulative movement based on the sine of the movement angle, i.e., Δx = S*sinθ.

[0060] S400. Based on the first error accumulation, the second error accumulation, and the array planning data, determine whether the actual printing position of the target printing point matches its corresponding pit 1.

[0061] Specifically, in this embodiment, step S300 includes the following steps:

[0062] S410. Calculate the actual printing position of the target printing point based on the first error accumulation, the second error accumulation, and the planned position of the target printing point in the array planning data.

[0063] The actual printing position can be obtained directly from the planned position in the first and second directions, combined with the first and second accumulated error amounts. Specifically, the planned position coordinates are (x1, y1), the first accumulated error amount is Δx, and the second accumulated error amount is Δy. The x-coordinate of the actual printing position will be calculated based on the direction of the movement angle. When the movement angle is positive, i.e., the actual movement direction of the printhead is clockwise from the standard movement direction, the x-coordinate of the actual printing position is x1 + Δx. When the movement angle is negative, i.e., the actual movement direction of the printhead is counterclockwise from the standard movement direction, the x-coordinate of the actual printing position is x1 - Δx. The y-coordinate of the actual printing position is equal to y1 - Δy. Finally, the coordinates of the actual printing position are determined to be (x1 + Δx, y1 - Δy) or (x1 - Δx, y1 - Δy).

[0064] S420. Based on the actual printing position of the target printing point, the ink droplet parameters corresponding to the target printing point, and the range data of the pit 1 to which it belongs, determine whether it matches the pit 1 to which it belongs.

[0065] Step S420 includes the following steps:

[0066] S421. Based on the ink droplet parameters and the range data of the pit 1, determine the dottable area 2 within each pit 1;

[0067] When determining the printable area 2 within each pit 1, the printable area 2 is determined by connecting the center points of multiple ink droplets whose edges coincide with the boundary of the pit 1. (Refer to...) Figure 3 In this embodiment, taking a rectangular pit 1 as an example, the boundary of the printable area 2 is formed by connecting the center points of the four ink droplets that are printed in the pit 1 and are tangent to the four corners of the pit 1. When the printing position is within the printable area 2, it means that the ink droplet is within the pit 1, which meets the ink droplet printing requirements of the pit 1.

[0068] S422. Determine whether the actual printing position of the target printing point exceeds the printable area 2 based on whether the actual printing position of the target printing point is within the printable area 2.

[0069] S423. If the target printing point is not matched, the corresponding pit 1 is not matched; otherwise, the corresponding pit 1 is matched.

[0070] Finally, through steps S410~S423, combined with the printable area 2, it can be determined whether the actual printing position of the target printing point matches the corresponding pit 1, that is, whether the ink droplet printed at the target printing point can completely fall into the corresponding pit 1. When it can fall into the corresponding pit 1, even if there is an error from the planned position, it will not affect the inkjet printing effect of the pit 1, so there is no need to perform position compensation for the relative movement of the printhead. However, when it cannot fall into the corresponding pit 1, it means that the ink droplet printed at that point cannot fall into the corresponding pit 1, and position compensation for the relative movement of the printhead must be performed, that is, the following steps:

[0071] S510. If there is a mismatch, adjust the planned position of the target printing point according to the first error accumulation amount and / or the second error accumulation amount, and control the relative movement between the printhead and the target substrate based on the adjusted planned position.

[0072] Specifically, if the actual printing position of the target printing point does not match its corresponding pit 1 in either the first or second direction, the planned position of the target printing point in either the first or second direction will be adjusted only based on the first or second error accumulation amount. More specifically, if the x-coordinate or y-coordinate of the actual printing position of the target printing point still falls within the x-coordinate or y-coordinate range of the printable area 2 of the pit 1, the planned position of the target printing point in either the first or second direction will be adjusted only based on the first or second error accumulation amount.

[0073] This configuration, in this embodiment, eliminates the need for calculation and position compensation during the calculation and judgment process of each printing point for errors that accumulate slowly in the first direction. This effectively reduces computing power requirements, shortens calculation time, and thus improves the inkjet printing efficiency of the target substrate.

[0074] S520. If matched, control the relative movement between the printhead and the target substrate based on the planned position of the target printing point.

[0075] During the process of moving the printhead relative to the target substrate, so that the printhead can move relative to the target printing point, the movement of the printhead and the target substrate is controlled by the relative position between the two printing points.

[0076] Secondly, embodiments of this application also provide a position compensation device for inkjet printing.

[0077] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the inkjet printing position compensation device of this application. Figure 4 As shown, the inkjet printing position compensation device includes:

[0078] The acquisition module is configured to acquire array planning data of printing points involved in each pit on the target substrate and the movement angle between the actual movement direction of the nozzle and the standard movement direction; wherein, the printing points in the array planning data are arranged at intervals along a first direction and a second direction that are perpendicular to each other, the first direction is parallel to the standard movement direction of the nozzle, and the second direction is parallel to the transport direction of the substrate, and the array planning data includes the planned position of each printing point, the pit to which it belongs, and the printing sequence.

[0079] The judgment module is configured to determine the cumulative movement amount when the printhead moves relative to the planned position of the target printing point according to the array planning data; calculate the first error accumulation amount in the first direction and the second error accumulation amount in the second direction according to the movement angle and the cumulative movement amount; and determine whether the actual printing position of the target printing point matches its corresponding pit according to the first error accumulation amount, the second error accumulation amount and the array planning data.

[0080] The execution module is configured to adjust the planned position of the target printing point according to the first error accumulation amount and / or the second error accumulation amount if the actual printing position of the target printing point does not match its corresponding pit, and control the relative movement between the printhead and the target substrate based on the adjusted planned position; if they match, control the relative movement between the printhead and the target substrate based on the planned position of the target printing point.

[0081] The functions of each module in the above-mentioned inkjet printing position compensation device correspond to the steps in the above-mentioned inkjet printing position compensation method embodiment, and their functions and implementation processes will not be described in detail here.

[0082] Thirdly, embodiments of this application provide a position compensation device for inkjet printing. The position compensation device for inkjet printing can be a device with data processing capabilities, such as a personal computer (PC), a laptop computer, or a server.

[0083] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the inkjet printing position compensation device involved in the embodiments of this application. In the embodiments of this application, the inkjet printing position compensation device may include a processor, a memory, a communication interface, and a communication bus.

[0084] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0085] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the inkjet printing position compensation device, as well as interfaces used for interconnecting the inkjet printing position compensation device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0086] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0087] The processor can be a general-purpose processor, which can call the inkjet printing position compensation program stored in the memory and execute the inkjet printing position compensation method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the inkjet printing position compensation program is called can be referred to the various embodiments of the inkjet printing position compensation method of this application, and will not be repeated here.

[0088] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0089] Fourthly, embodiments of this application also provide a storage medium.

[0090] The present application stores an inkjet printing position compensation program on a storage medium, wherein when the inkjet printing position compensation program is executed by a processor, it implements the steps of the inkjet printing position compensation method described above.

[0091] The method implemented when the inkjet printing position compensation program is executed can be referred to in various embodiments of the inkjet printing position compensation method of this application, and will not be repeated here.

[0092] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0093] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0094] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0095] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0096] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0097] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0098] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A position compensation method for inkjet printing, characterized in that, It includes the following steps: The array planning data of the printing points involved in each pit on the target substrate and the movement angle between the actual movement direction of the nozzle and the standard movement direction are obtained; wherein, the printing points in the array planning data are arranged at intervals along a first direction and a second direction that are perpendicular to each other, the first direction is parallel to the standard movement direction of the nozzle, and the second direction is parallel to the transport direction of the substrate, and the array planning data includes the planned position of each printing point, the pit to which it belongs, and the printing sequence. The cumulative movement amount when the printhead moves relative to the planned position of the target printing point is determined based on the array planning data; Based on the movement angle and the cumulative movement, calculate the first error accumulation in the first direction and the second error accumulation in the second direction; Based on the first error accumulation, the second error accumulation, and the array planning data, determine whether the actual printing position of the target printing point matches its corresponding pit; If there is a mismatch, the planned position of the target printing point is adjusted according to the first error accumulation amount and / or the second error accumulation amount, and the relative movement between the printhead and the target substrate is controlled based on the adjusted planned position. If a match is found, the relative movement between the printhead and the target substrate is controlled based on the planned position of the target printing point. The step of determining whether the actual printing position of the target printing point matches its corresponding pit based on the first accumulated error, the second accumulated error, and the array planning data includes the following steps: The actual printing position of the target printing point is calculated based on the first error accumulation, the second error accumulation, and the planned position of the target printing point in the array planning data. Based on the actual printing position of the target printing point, the ink droplet parameters corresponding to the target printing point, and the range data of the pit to which it belongs, determine whether it matches the pit to which it belongs. The step of determining whether a target print point matches its corresponding pit based on the actual printing position of the target print point, the ink droplet parameters corresponding to the target print point, and the range data of the pit to which it belongs includes the following steps: Based on the ink droplet parameters and the range data of the corresponding pit, determine the printable area within each pit; Based on whether the actual printing position of the target printing point is within the printable area, it is determined whether the actual printing position of the target printing point exceeds the printable area; If the number of occurrences exceeds the limit, the target printing point will not be matched with the corresponding pit; otherwise, the corresponding pit will be matched.

2. The inkjet printing position compensation method as described in claim 1, characterized in that, In the process of adjusting the planned position of the target printing point based on the first error accumulation amount and / or the second error accumulation amount, and controlling the relative movement between the printhead and the target substrate based on the adjusted planned position. If the actual printing position of the target printing point does not match its corresponding pit in the first direction or the second direction, the planned position of the target printing point in the first direction or the second direction is adjusted only according to the first error accumulation amount or the second error accumulation amount.

3. The inkjet printing position compensation method as described in claim 1, characterized in that, The calculation of the first accumulated error in the first direction and the second accumulated error in the second direction based on the movement angle and the cumulative movement amount... The first accumulated error is the difference between the accumulated movement and the cosine of the accumulated movement based on the movement angle; The second error accumulation is the cumulative movement amount based on the sine value of the movement angle.

4. The inkjet printing position compensation method as described in claim 1, characterized in that, The process involves determining the printable area within each pit based on the ink droplet parameters and the range data of the corresponding pit. The dotting area is determined by connecting the center points of multiple ink droplets whose edges coincide with the boundary of the pit.

5. The inkjet printing position compensation method as described in claim 1, characterized in that, The target substrate involves one or more pits with different areas.

6. A position compensation device for inkjet printing that implements the position compensation method for inkjet printing according to claim 1, characterized in that, It includes: The acquisition module is configured to acquire array planning data of printing points involved in each pit on the target substrate and the movement angle between the actual movement direction of the nozzle and the standard movement direction; wherein, the printing points in the array planning data are arranged at intervals along a first direction and a second direction that are perpendicular to each other, the first direction is parallel to the standard movement direction of the nozzle, and the second direction is parallel to the transport direction of the substrate, and the array planning data includes the planned position of each printing point, the pit to which it belongs, and the printing sequence. The judgment module is configured to determine the cumulative movement amount when the printhead moves relative to the planned position of the target printing point according to the array planning data; calculate the first error accumulation amount in the first direction and the second error accumulation amount in the second direction according to the movement angle and the cumulative movement amount; and determine whether the actual printing position of the target printing point matches its corresponding pit according to the first error accumulation amount, the second error accumulation amount and the array planning data. The execution module is configured to adjust the planned position of the target printing point according to the first error accumulation amount and / or the second error accumulation amount if the actual printing position of the target printing point does not match its corresponding pit, and control the relative movement between the printhead and the target substrate based on the adjusted planned position; if they match, control the relative movement between the printhead and the target substrate based on the planned position of the target printing point.

7. A position compensation device for inkjet printing, characterized in that, The inkjet printing position compensation device includes a processor, a memory, and an inkjet printing position compensation program stored in the memory and executable by the processor, wherein when the inkjet printing position compensation program is executed by the processor, it implements the steps of the inkjet printing position compensation method as described in claim 1.

8. A storage medium, characterized in that, The storage medium stores an inkjet printing position compensation program, wherein when the inkjet printing position compensation program is executed by the processor, it implements the steps of the inkjet printing position compensation method as described in claim 1.

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