Anti-interference inkjet printer control system and compensation method for shipboard environment

Abstract

The application relates to a marine environment-oriented anti-interference inkjet printer control system and a compensation method, which comprises a main control system, a driving module, a sensor group and an actuator. The main control system adopts a combination of SOC and FPGA, is used for running a sensor fusion algorithm and a multi-axis motion control algorithm, the driving module comprises an X-axis scanning motor for driving a nozzle carriage, a Y-axis paper feeding motor and corresponding driving circuits, the sensor group comprises a grating encoder and an IMU module, the grating encoder is used for realizing nozzle position detection, the IMU module adopts a combination of an accelerometer and a gyroscope, is fixed on the center of the nozzle carriage and is used for detecting the pitch angle and roll angle of the printer, and the actuator comprises a nozzle carriage, a paper feeding roller and a tension adjusting roller. The application realizes high-precision cooperation between the nozzle and paper movement, and improves the printing quality and efficiency.

Description

Technical Field

[0001] This invention relates to the field of inkjet printing control technology, and in particular to an anti-interference inkjet printer control system and compensation method for shipboard environments. Background Technology

[0002] Inkjet printers are commonly used drawing output devices on ships, operating in a tilted and swaying environment within the ship's cabin. Printing drawings in this environment presents the following drawbacks: 1) Insufficient mechanical motion control precision: Insufficient precision in the printhead's lateral scanning (X-axis) and longitudinal paper feeding (Y-axis) motion control leads to image misalignment; 2) Lack of effective compensation measures for tilting and swaying conditions: When encountering large tilt angles, the accuracy of printed lines decreases significantly. Existing technologies sometimes improve accuracy by adding encoder feedback, but these solutions do not address the issues of multi-physical quantity coupling interference and robustness under complex operating conditions. Therefore, a motion control system that combines high precision, high stability, and environmental adaptability is urgently needed. Summary of the Invention

[0003] This invention addresses the shortcomings of existing technologies by proposing an anti-interference inkjet printer control system and compensation method for shipboard environments. This system enables high-precision coordination between printhead and paper movement, compensates for interferences such as vibration and temperature changes, and improves print quality and efficiency.

[0004] One of the above-mentioned objectives of the present invention is achieved by the following technical solution:

[0005] An anti-interference inkjet printer control system for shipboard environments includes a main control system, a drive module, a sensor group, and an actuator.

[0006] The main control system adopts a combination of SOC and FPGA to run sensor fusion algorithms and multi-axis motion control algorithms;

[0007] The drive module includes an X-axis scanning motor, a Y-axis paper feed motor, and corresponding drive circuits; the X-axis scanning motor is used to drive the printhead carriage to achieve reciprocating lateral movement; the Y-axis paper feed motor is used to drive the paper feed roller to rotate and achieve paper feeding action;

[0008] The sensor group includes a grating encoder and an IMU module; the grating encoder is mounted on the guide rail of the printhead carriage motion axis and is used to detect the position of the printhead; the IMU module adopts a combination of accelerometer and gyroscope, and is fixed at the center of the printhead carriage to detect the pitch angle and roll angle of the printer.

[0009] The actuator includes a printhead carriage, a paper feed roller, and a tension adjusting roller; the printhead carriage is driven and connected to an X-axis scanning motor and is used to fix the printhead; the paper feed roller is driven and connected to a Y-axis paper feed motor; the tension adjusting roller is installed between the paper feed roller and the printing platform and is used to apply axial force to the paper so that the paper remains taut during travel, thereby eliminating the effect of the ship's tilt and sway on the paper tension.

[0010] Furthermore, the X-axis scanning motor is a high-precision linear motor with an accuracy of ±5μm; the Y-axis paper feed motor is a closed-loop stepper motor.

[0011] Furthermore, the IMU module uses a nine-axis sensor with a sampling frequency of 1kHz.

[0012] The second objective of this invention is achieved through the following technical solution:

[0013] A compensation method for an anti-interference inkjet printer control system for a shipboard environment, characterized by the following steps:

[0014] Step 1: Perform initial calibration to establish the tilt compensation reference coordinate system and the system's preset safety compensation threshold;

[0015] Step 2: During the printing process, the absolute position of the printhead is calculated in real time using a multi-sensor fusion positioning method;

[0016] Step 3: Perform real-time attitude correction on the printer to obtain the target position of the printhead and the target position of the paper feed, so as to counteract the effects of the inkjet printer's rolling, tilting and other interferences during the ship's movement.

[0017] Step 4: Based on the absolute position of the printhead obtained in Step 2 and the target position of the printhead and the target position of the paper feed obtained in Step 3, perform dynamic trajectory planning.

[0018] Furthermore, in step 1, when the printer is started, the zero-point data of the IMU module is collected in a horizontal state to establish a tilt compensation reference coordinate system; then the user inputs the typical tilt range of the cabin, such as ±20°, and the system presets a safety compensation threshold.

[0019] Furthermore, in step 2, extended Kalman filtering is used to fuse the grating encoder position and IMU sensor data. The weight of the grating encoder is increased during low-speed, low-frequency motion, and the weight of the IMU is increased during high-speed, high-frequency motion, so as to calculate the absolute position of the nozzle in real time.

[0020] Furthermore, in step 3, the target position on the Y-axis = original coordinate + dy; when | |≤2°, dy takes a value of ±240um, when When the compensation is positive, it is negative. When the value is negative, the compensation is positive; when 2° < | |≤5°, dy takes a value of ±1800um, when When the compensation is positive, it is negative. When the value is negative, the compensation is positive; when 5° < | |≤8°, dy takes a value of ±3200um, when When the compensation is positive, it is negative. When the value is negative, the compensation is positive; Let dy be the hull roll angle, and dy be the Y-axis compensation.

[0021] X-axis target position = original coordinates + dx. When |θ|≤2°, dx is ±35um, and the compensation is negative when θ is positive and positive when θ is negative. When 2°<|θ|≤5°, dx is ±140um, and the compensation is negative when θ is positive and positive when θ is negative. When 5°<|θ|≤8°, dx is ±350um, and the compensation is negative when θ is positive and positive when θ is negative. θ is the ship's pitch angle, and dx is the X-axis compensation.

[0022] Furthermore, in step 4, based on the control method of "X-axis stepped uniform acceleration and deceleration curve and Y-axis segmented uniform feed", the X-axis scanning speed and Y-axis paper feed speed are dynamically adjusted by judging the printer tilt and sway amplitude. When the absolute value of the sway amplitude is ≤5°, the position compensation of the printhead relative to the paper is completed by precisely controlling the X-axis scanning motor and the Y-axis paper feed motor. When 5° < absolute value of sway amplitude ≤8°, in addition to normal compensation, the print head scanning speed is reduced to 60%. When the absolute value of sway amplitude is >8°, printing is paused.

[0023] The advantages and positive effects of this invention are as follows:

[0024] This invention discloses a motion control system and method for a high-precision inkjet printer adapted to dynamic tilting environments. By real-time detection of sensor data such as the position, speed, and acceleration of the printhead carriage, the system dynamically controls the drive parameters of the X-axis scanning motor and the Y-axis paper feed motor to achieve multi-dimensional dynamic compensation. For swaying scenarios such as those involving ships, the system automatically corrects printhead position deviations and attitude inaccuracies caused by tilting. Simultaneously, it optimizes paper feeding and printhead movement trajectory through adaptive control strategies to ensure chart printing accuracy under complex conditions. Attached Figure Description

[0025] Figure 1 This is a hardware architecture diagram of the system of this invention;

[0026] Figure 2 This is a flowchart of the multi-sensor fusion control algorithm of the present invention;

[0027] Figure 3This is a schematic diagram illustrating the dynamic attitude compensation principle of the present invention. Detailed Implementation

[0028] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.

[0029] For an anti-interference inkjet printer control system designed for marine environments, please refer to [link / reference]. Figures 1-3 The invention comprises an active system, a drive module, a sensor group, and an actuator.

[0030] The main control system adopts a combination of SOC and FPGA to run sensor fusion algorithms and multi-axis motion control algorithms.

[0031] The drive module includes an X-axis scanning motor, a Y-axis paper feed motor, and corresponding drive circuits. The X-axis scanning motor drives the printhead carriage to achieve reciprocating lateral movement; it is a high-precision linear motor with an accuracy of ±5μm. The Y-axis paper feed motor drives the paper feed roller to rotate, achieving paper feeding; it is a closed-loop stepper motor.

[0032] The sensor group includes a grating encoder and an IMU module. The grating encoder is mounted on the guide rail of the printhead carriage's motion axis to provide X-axis position feedback, thereby enabling printhead position detection. The IMU module is a combination of an accelerometer and a gyroscope. Fixed to the center of the printhead carriage, the IMU module uses a nine-axis sensor with a sampling frequency of 1kHz to detect the printer's pitch and roll angles, supporting real-time attitude calculation.

[0033] The actuator includes a printhead carriage, a paper feed roller, and a tension adjusting roller. The printhead carriage is driven and connected to the X-axis scanning motor and is used to fix the printhead in place. The paper feed roller is driven and connected to the Y-axis paper feed motor. The tension adjusting roller is installed between the paper feed roller and the printing platform to apply axial force to the paper, keeping the paper taut throughout its journey and thus eliminating the impact of the ship's tilting and swaying on the paper tension.

[0034] A compensation method for an anti-interference inkjet printer control system for shipboard environments, as described above, includes the following steps:

[0035] Step 1: Perform initial calibration, including:

[0036] When the printer starts up, the zero-point data of the IMU module is collected in a horizontal position to establish a tilt compensation reference coordinate system;

[0037] Then the user inputs the typical tilt range of the cabin, such as ±20°, and the system presets a safety compensation threshold.

[0038] Step 2: During the printing process, the absolute position of the printhead is calculated in real time using a multi-sensor fusion positioning method. Specifically:

[0039] An extended Kalman filter (EKF) is used to fuse grating encoder position data and IMU sensor data to calculate the printhead absolute position in real time. The high-precision grating encoder provides low-frequency, high-precision position feedback with a resolution of 1μm, but it cannot capture high-frequency movements. The IMU module provides high-frequency dynamic motion information. The two are fused using an extended Kalman filter (EKF) to output a smooth printhead absolute position. During low-speed, low-frequency movements, the grating encoder weight is increased; during high-speed, high-frequency movements, the IMU weight is increased, ultimately outputting a smooth printhead absolute position, providing accurate positional basis for inkjet printing.

[0040] Step 3: Perform real-time attitude correction on the printer to obtain the target position of the printhead and the target position of the paper feed. Specifically:

[0041] According to calculations, the ship's roll angle The relationship with Y-axis compensation is shown in the table below.

[0042]

[0043] The relationship between the ship's pitch angle θ and the X-axis compensation, based on calculations, is shown in the table below.

[0044]

[0045] Therefore, under normal compensation mode, the formula for correcting the ink carriage relative to the paper trajectory is as follows:

[0046] X-axis target position = original coordinates + dx;

[0047] Y-axis target position = original coordinate + dy;

[0048] Step 4: Based on the absolute position of the printhead obtained in Step 2 and the target position of the printhead and the target position of the paper feed obtained in Step 3, perform dynamic trajectory planning. Specifically:

[0049] Building upon the traditional strategy of "uniform acceleration / deceleration curve on the X-axis and segmented uniform feed on the Y-axis," this approach dynamically adjusts the X-axis scanning speed and Y-axis paper feed speed by judging the printer's tilt and sway amplitude. Printing is even paused when the device's tilt and sway amplitude exceeds a threshold, resuming only when the amplitude returns to within the threshold, ensuring the accuracy of nautical chart printing. The specific strategy is shown in the table below. Here, the sway amplitude represents the pitch angle θ or roll angle. .

[0050]

[0051] In summary, the main technical features of this invention are as follows:

[0052] 1. Multi-sensor fusion positioning: Multi-physical quantity fusion compensation: Simultaneously handles interference from position, acceleration, attitude, etc., improving robustness under complex working conditions.

[0053] 2. Dynamic trajectory planning: Based on the traditional strategy of "X-axis stepped uniform acceleration and deceleration curve and Y-axis segmented uniform feed", the X-axis scanning speed and Y-axis paper feed speed are dynamically adjusted by judging the tilt and sway amplitude of the equipment. Printing is even paused when the tilt and sway amplitude of the equipment exceeds the threshold, and printing continues after the amplitude returns to within the threshold, so as to ensure the accuracy of nautical chart printing.

[0054] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. An anti-interference inkjet printer control system for shipboard environments, characterized in that: Includes the main control system, drive module, sensor group and actuator; The main control system adopts a combination of SOC and FPGA to run sensor fusion algorithms and multi-axis motion control algorithms; The drive module includes an X-axis scanning motor, a Y-axis paper feed motor, and corresponding drive circuits; the X-axis scanning motor is used to drive the printhead carriage to achieve reciprocating lateral movement; the Y-axis paper feed motor is used to drive the paper feed roller to rotate and achieve paper feeding action; The sensor group includes a grating encoder and an IMU module; the grating encoder is mounted on the guide rail of the printhead carriage motion axis and is used to detect the position of the printhead; the IMU module adopts a combination of accelerometer and gyroscope, and is fixed at the center of the printhead carriage to detect the pitch angle and roll angle of the printer. The actuator includes a printhead carriage, a paper feed roller, and a tension adjusting roller; the printhead carriage is driven and connected to an X-axis scanning motor and is used to fix the printhead; the paper feed roller is driven and connected to a Y-axis paper feed motor; the tension adjusting roller is installed between the paper feed roller and the printing platform and is used to apply axial force to the paper so that the paper remains taut during its travel. The compensation method based on the anti-interference inkjet printer control system includes the following steps: Step 1: Perform initial calibration to establish the tilt compensation reference coordinate system and the system's preset safety compensation threshold; Step 2: During the printing process, the absolute position of the printhead is calculated in real time using a multi-sensor fusion positioning method; Step 3: Perform real-time attitude correction on the printer to obtain the target position of the printhead and the target position of the paper feed. Step 4: Based on the absolute position of the printhead obtained in Step 2 and the target position of the printhead and the target position of the paper feed obtained in Step 3, perform dynamic trajectory planning. In step 2, extended Kalman filtering is used to fuse the position data of the grating encoder and the IMU sensor data. The weight of the grating encoder is increased during low-speed, low-frequency motion, and the weight of the IMU is increased during high-speed, high-frequency motion, so as to calculate the absolute position of the nozzle in real time. In step 3: Y-axis target position = original coordinate + dy; when | |≤2°, dy takes a value of ±240um, when When the compensation is positive, it is negative. When the value is negative, the compensation is positive; when 2° < | |≤5°, dy takes a value of ±1800um, when When the compensation is positive, it is negative. When the value is negative, the compensation is positive; when 5° < | |≤8°, dy takes a value of ±3200um, when When the compensation is positive, it is negative. When the value is negative, the compensation is positive; Let dy be the hull roll angle, and dy be the Y-axis compensation. X-axis target position = original coordinates + dx. When |θ|≤2°, dx is ±35um, and the compensation is negative when θ is positive and positive when θ is negative. When 2°<|θ|≤5°, dx is ±140um, and the compensation is negative when θ is positive and positive when θ is negative. When 5°<|θ|≤8°, dx is ±350um, and the compensation is negative when θ is positive and positive when θ is negative. θ is the ship's pitch angle, and dx is the X-axis compensation.

2. The anti-interference inkjet printer control system for shipboard environments according to claim 1, characterized in that: The X-axis scanning motor is a high-precision linear motor with an accuracy of ±5μm; the Y-axis paper feed motor is a closed-loop stepper motor.

3. The anti-interference inkjet printer control system for shipboard environments according to claim 1, characterized in that: The IMU module uses a nine-axis sensor with a sampling frequency of 1kHz.

4. The anti-interference inkjet printer control system for shipboard environments according to claim 1, characterized in that: In step 1, when the printer is started, the zero-point data of the IMU module is collected in a horizontal state to establish a tilt compensation reference coordinate system; then the user inputs the typical tilt range of the cabin, and the system presets the safety compensation threshold.

5. The anti-interference inkjet printer control system for shipboard environments according to claim 1, characterized in that: In step 4, based on the control method of "X-axis stepped uniform acceleration and deceleration curve and Y-axis segmented uniform feed", the X-axis scanning speed and Y-axis paper feed speed are dynamically adjusted by judging the printer tilt and sway amplitude. When the absolute value of the sway amplitude is ≤5°, the position compensation of the printhead relative to the paper is completed by precisely controlling the X-axis scanning motor and the Y-axis paper feed motor. When 5° < absolute value of sway amplitude ≤8°, in addition to normal compensation, the print head scanning speed is reduced to 60%. When the absolute value of sway amplitude is >±8°, printing is paused.

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