Ink-jet printing method and device adaptive to object surface and computer equipment

Abstract

The invention relates to a self-adaptive object surface ink-jet printing method and device and computer equipment. The method comprises the following steps: acquiring to-be-printed image data corresponding to an ink-jet printer and object surface scanning data; performing curved surface projection mapping on the object surface scanning data by using the to-be-printed image data to obtain object surface printing data; according to the coordinate difference between the object surface printing data and the to-be-printed image data, an ink droplet steering electric field of the ink-jet printer is reversely solved, and an ink droplet printing deflection electric field is obtained; according to the ink droplet printing deflection electric field, the ink jet precision of the ink jet printer is calculated, and ink jet compensation power data are obtained; and fusing the ink droplet printing deflection electric field and the ink-jet compensation power data to obtain surface three-dimensional printing data of the ink-jet printer. By adopting the method, the printing effect of the ink-jet printer on a complex curved surface can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to an inkjet printing method, apparatus and computer equipment for adaptive object surface printing. Background Technology

[0002] In traditional technology, inkjet printers are mainly based on thermal inkjet or piezoelectric inkjet principles. By controlling the volume, ejection frequency, and path of ink droplets, they achieve high-resolution image printing and are widely used in output scenarios for planar media, exhibiting good performance in 2D image reproduction. However, current inkjet technology is still in its early stages in 3D printing applications. Although some high-end devices attempt to project images onto the surface of 3D objects, they generally lack the ability to perceive and adapt to curved surface morphology, failing to achieve accurate printing on irregular or multi-curvature surfaces. Problems such as pattern distortion, droplet misalignment, and uneven adhesion exist, resulting in poor printing effects of inkjet printers on complex curved surfaces. Summary of the Invention

[0003] Therefore, it is necessary to provide an inkjet printing method, apparatus, and computer device that can effectively improve the printing effect of inkjet printers on complex curved surfaces, thereby addressing the aforementioned technical problems.

[0004] In a first aspect, this application provides an inkjet printing method for adaptive object surfaces, comprising:

[0005] Acquire the image data to be printed and the object surface scan data corresponding to the inkjet printer;

[0006] The image data to be printed is used to perform surface projection mapping on the object surface scan data to obtain the object surface printing data.

[0007] Based on the coordinate difference between the printed data on the object surface and the image data to be printed, the ink droplet deflection electric field of the inkjet printer is solved in reverse to obtain the ink droplet printing deflection electric field.

[0008] Based on the ink droplet printing bias electric field, the inkjet printing accuracy of the inkjet printer is calculated to obtain inkjet compensation power data.

[0009] By integrating the ink droplet printing bias electric field and the inkjet compensation dynamic data, the surface three-dimensional printing data of the inkjet printer is obtained.

[0010] Secondly, this application also provides an inkjet printing apparatus for adaptive object surfaces, comprising:

[0011] The print data acquisition module is used to acquire the image data to be printed and the object surface scan data corresponding to the inkjet printer.

[0012] The print data projection module is used to perform surface projection mapping on the object surface scan data using the image data to be printed, so as to obtain the object surface print data.

[0013] The control electric field calculation module is used to solve the droplet orientation electric field of the inkjet printer in reverse based on the coordinate difference between the printed data on the object surface and the image data to be printed, so as to obtain the droplet printing bias electric field.

[0014] The compensation electric field calculation module is used to calculate the inkjet accuracy of the inkjet printer based on the ink droplet printing deflection electric field, and obtain inkjet compensation power data.

[0015] The printing data determination module is used to fuse the ink droplet printing bias electric field and the inkjet compensation dynamic data to obtain the surface three-dimensional printing data of the inkjet printer.

[0016] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any step in an inkjet printing method for an adaptive object surface.

[0017] The aforementioned adaptive inkjet printing method, apparatus, and computer equipment for object surfaces combine the image data to be printed with high-precision scan data of the object surface. Using surface projection mapping technology, a two-dimensional image is precisely mapped onto a complex three-dimensional surface, thereby generating printing data matching the object surface. Further analysis of the spatial coordinate differences between the printing data allows for the inverse calculation of the deflection electric field required by the ink droplets during the ejection process. This yields electric field control parameters that can correct the droplet flight path, and based on these parameters, compensation dynamic data during the inkjet process is calculated to achieve active correction of ejection deviations. Finally, the ink droplet printing deflection electric field and the inkjet compensation dynamic data are fused to obtain three-dimensional printing control data suitable for surfaces with different morphologies. This not only effectively improves the printing effect of inkjet printers on complex curved surfaces but also significantly enhances the accuracy and consistency of inkjet printing on uneven surfaces, significantly improving printing quality, robustness, and application value in the field of high-precision three-dimensional surface manufacturing. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is an application environment diagram of an inkjet printing method for adaptive object surfaces in one embodiment;

[0020] Figure 2 This is a flowchart illustrating an inkjet printing method for adapting to an object surface in one embodiment.

[0021] Figure 3 This is a flowchart illustrating the method for obtaining the bias electric field during ink droplet printing in one embodiment.

[0022] Figure 4 This is a flowchart illustrating the second method for obtaining the deflection electric field during ink droplet printing in one embodiment.

[0023] Figure 5 This is a flowchart illustrating the method for obtaining the first ink droplet deflection trajectory in one embodiment;

[0024] Figure 6 This is a flowchart illustrating the second method for obtaining the trajectory of ink droplet deflection in one embodiment;

[0025] Figure 7 This is a flowchart illustrating the first method for obtaining inkjet compensation power data in one embodiment;

[0026] Figure 8 This is a flowchart illustrating the second method for obtaining inkjet compensation power data in one embodiment;

[0027] Figure 9 This is a flowchart illustrating the method for calculating the escape electric field of an ink droplet in one embodiment;

[0028] Figure 10 This is a structural block diagram of an inkjet printing apparatus for adapting to an object surface in one embodiment;

[0029] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] This application provides an inkjet printing method for adapting to object surfaces, which can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104, or it can be located in the cloud or on other network servers. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0032] In one exemplary embodiment, such as Figure 2 As shown, an inkjet printing method that adapts to the surface of an object is provided, which can be applied to... Figure 1 Taking the server in the example, the explanation includes the following steps 202 to 210. Wherein:

[0033] Step 202: Obtain the image data to be printed and the object surface scan data corresponding to the inkjet printer.

[0034] Step 204: Use the image data to be printed to perform surface projection mapping on the object surface scan data to obtain the object surface printing data.

[0035] Step 206: Based on the coordinate difference between the printed data on the object surface and the image data to be printed, the ink droplet orientation electric field of the inkjet printer is solved in reverse to obtain the ink droplet printing bias electric field.

[0036] Step 208: Calculate the inkjet printing accuracy of the inkjet printer based on the ink droplet printing bias electric field to obtain inkjet compensation power data.

[0037] Step 210: Combine the ink droplet printing bias electric field and inkjet compensation dynamic data to obtain the surface three-dimensional printing data of the inkjet printer.

[0038] The image data to be printed can be user-inputted or system-generated target printing content, typically existing in the form of a two-dimensional image. It contains information such as color, grayscale, or functional layers, used to represent the desired pattern or structure on the object's surface. This type of data usually comes from image files, CAD designs, functional coating distribution maps, etc., serving as the source image input in the inkjet printing process.

[0039] The object surface scanning data can be the geometric information of the object's outer surface acquired through 3D scanning equipment (such as laser scanners, structured light systems, or depth cameras). It is usually represented in the form of point clouds or meshes and includes attributes such as 3D coordinates, surface normals, and height variations. This data reflects the actual spatial shape of the printed object and is the basis for achieving image-object matching projection.

[0040] Surface projection mapping is the process of accurately mapping two-dimensional planar image data onto the surface of a three-dimensional object, taking into account factors such as the spatial coordinates, curvature, and normal direction of the object's surface. Commonly used methods include normal projection, nearest-point projection, or parametric mapping, with the goal of seamlessly integrating the image content with the surface morphology while preserving its geometric relationships.

[0041] The object surface printing data can be a set of 3D printing points generated by projecting a 2D image onto a curved surface. Each point not only contains its spatial coordinates on the object surface, but also retains information such as color, intensity, or functional values ​​from the original image.

[0042] Among them, the droplet deflection electric field can be an electric field system set up to control the spatial deflection of charged ink droplets during flight, which is usually formed by the combined action of a multi-electrode array around the nozzle.

[0043] Inverse solving can be a calculation process that, given the initial state of the ink droplet ejection (such as the ejection position and velocity) and the target printing point, reverses the process to deduce the electric field or control conditions that need to be applied so that the ink droplet can reach the target point along the expected trajectory.

[0044] Among them, the ink droplet printing bias electric field can be the electric field configuration obtained by inverse solution. Its function is to guide the ink droplet to generate a spatial deflection of a specified direction and amplitude during flight, so as to ensure that it accurately hits the 3D printing point after projection.

[0045] Among them, the inkjet compensation dynamic data can be a dynamic adjustment command calculated based on the sensitivity of ink droplet trajectory disturbance and path tension analysis. It is used to further correct the flight trajectory in addition to electric field control. This data may correspond to parameters such as voltage adjustment, speed correction or jet angle change.

[0046] Among them, the surface 3D printing data can be a comprehensive control dataset that integrates object surface printing data, ink droplet printing bias electric field and inkjet compensation dynamic data. It includes the spatial position, image attributes and precise control parameters of each printing point, and is a complete instruction output that drives the inkjet printer to achieve high-precision 3D printing on complex curved surfaces.

[0047] Specifically, the user-defined two-dimensional image (such as texture map, logo pattern, functional layer, etc.) is input into the computer controlling the inkjet printer via the terminal as the image data to be printed. At the same time, a high-precision three-dimensional scanning device (such as structured light, laser scanner or stereo vision system) is used to perform three-dimensional modeling of the actual surface of the object to be printed, generating surface point cloud data or mesh model (including surface normal and elevation information) as the object surface scanning data.

[0048] The two-dimensional image data to be printed is registered with the three-dimensional object surface scan data in a spatial coordinate system to ensure that they are located within the same projection reference frame. Furthermore, based on the three-dimensional mesh structure and surface normal information in the object surface scan data, a surface projection algorithm (such as nearest point projection, normal projection, or parametric unfolding projection) is used to map each pixel of the two-dimensional image data to the actual coordinate point of the object surface, thereby generating the corresponding point set of the printed image on the three-dimensional surface. During this process, the correspondence between image pixels and three-dimensional surface points, projection distortion error, surface normal angle deviation, and other information are recorded simultaneously for subsequent trajectory control and deflection electric field solution. Finally, object surface printing data containing three-dimensional coordinates, color / functional attributes, and surface geometric information is obtained.

[0049] Since the spatial coordinates of the nozzle are the same as or have a mapping relationship with the image data to be printed, the spatial coordinates of the nozzle on the reference plane can be determined by the transformation relationship between the image data to be printed and the nozzle. Therefore, by extracting the spatial coordinate differences of each 3D printing point in the printing data of the object surface relative to the reference plane where the nozzle is located, including horizontal offset, vertical drop, and curvature direction changes, and combining the initial ejection parameters of the ink droplets in the inkjet printer (such as initial velocity, initial position, charge, etc.), with the printing point as the target, the inverse particle tracking method is used to calculate the set of possible trajectories of the ink droplets "flying back" to the nozzle from the target point through inverse dynamic integration. After selecting the optimal trajectory based on the curvature, offset path, and flight time characteristics of these trajectories in 3D space, the dynamic electric field distribution required to control the trajectory is solved in reverse, and the electric field is fitted and optimized to minimize peak energy and energy consumption; finally, the multi-directional deflection electric field that the ink droplets need to experience during flight (i.e., the ink droplet printing deflection electric field) is generated.

[0050] First, the flight trajectory of the ink droplet under the bias electric field during ink droplet printing is analyzed to assess its dynamic stability throughout the flight process. This involves using a trajectory perturbation sensitivity function to evaluate the amplification effect of small changes in initial velocity and charge perturbation. Then, by combining the changes in the second derivative of the trajectory, a trajectory tension function is calculated to measure regions in the ink droplet's flight path where curvature changes drastically or acceleration abruptly—these are the critical segments that may lead to a decrease in accuracy. The trajectory perturbation sensitivity function and the trajectory tension function are fused to construct a trajectory stability potential energy function, and its time derivative is analyzed to derive the bias compensation force of the ink droplet during flight. Mapping the bias compensation force to a compensation electric field requires modifying specific inkjet control parameters, including jet speed correction, charge adjustment, and nozzle ejection angle fine-tuning. Finally, these inkjet control parameters are used to generate inkjet compensation dynamic data corresponding to the compensation electric field.

[0051] The electric field for ink droplet printing and the inkjet compensation dynamic data are registered in the time and spatial domains to ensure that the electric field control information and dynamic compensation parameters corresponding to each 3D printing point are sequentially matched. Then, by establishing an ink droplet flight control model, the electric field deflection effect and the inkjet compensation force are superimposed into a unified control vector field, which reflects the dynamic trajectory control requirements of the ink droplet from the nozzle to the 3D target point. Combined with the spatial coordinates, surface normal, and projection image information of each point in the object surface printing data, a comprehensive control dataset for driving the inkjet printer is generated, namely, surface 3D printing data.

[0052] In the aforementioned adaptive inkjet printing method for object surfaces, by combining the image data to be printed with high-precision scan data of the object surface, a surface projection mapping technique is used to accurately map the two-dimensional image onto a complex three-dimensional surface, thereby generating printing data that matches the object surface. Further analysis of the spatial coordinate differences between the printing data is conducted to inversely solve the deflection electric field required by the ink droplets during the ejection process, obtaining electric field control parameters that can correct the droplet flight path. Based on these parameters, compensation dynamic data during the inkjet process is calculated, achieving active correction of ejection deviation. Finally, the ink droplet printing deflection electric field and the inkjet compensation dynamic data are fused to obtain three-dimensional printing control data suitable for surfaces with different morphologies. This method not only effectively improves the printing effect of inkjet printers on complex curved surfaces but also significantly enhances the accuracy and consistency of inkjet printing on uneven surfaces, significantly improving printing quality, robustness, and application value in the field of high-precision three-dimensional surface manufacturing.

[0053] In one exemplary embodiment, such as Figure 3 As shown, based on the coordinate difference between the printed data on the object surface and the image data to be printed, the droplet orientation electric field of the inkjet printer is solved in reverse to obtain the droplet printing bias electric field, including steps 302 to 306. Wherein:

[0054] Step 302: Based on the curvature change information and drop change information of the object surface scanning data, the object surface printing data is divided into partitions to obtain the surface printing data of each partition.

[0055] Step 304: For any partition surface printing data, determine the start and end position information of ink droplets between the partition surface printing data and the image data to be printed based on the surface projection mapping relationship of the partition surface printing data on the image data to be printed.

[0056] Step 306: Based on the initial and final position information of the ink droplets, the reverse solution is performed on the ink droplet deflection electric field of the inkjet printer to obtain the ink droplet printing deflection electric field.

[0057] Among them, curvature change information can be a quantitative description of the degree of curvature of the object's surface in local geometry as it changes with spatial position. It is usually represented by Gaussian curvature, mean curvature or principal curvature difference. This information reflects the concave and convex shape of the surface in different regions.

[0058] Among them, the information on elevation changes can be the difference in elevation between different points on the surface of an object along the normal direction or the Z-axis direction, which is used to measure the degree of unevenness of the surface in the vertical direction.

[0059] Specifically, the partitioned surface printing data can be a subset of printing data generated in each local area after the entire object surface is partitioned according to curvature and elevation changes. The data within each partition is relatively geometrically continuous and has consistent complexity, which is beneficial for local trajectory calculation, electric field solution, and fine control.

[0060] Among them, the surface projection mapping relationship can be a mapping correspondence established between two-dimensional image data and three-dimensional object surface, which is used to accurately project image pixels onto the spatial coordinates of the surface model. This relationship can be established by methods such as normal projection, parameter mapping or minimum distance fitting.

[0061] Among them, the droplet's initial and final position information can be a three-dimensional coordinate pair between the droplet's emission point (starting point) from the nozzle and the final printing target point (ending point), which clarifies the expected flight path boundary of the droplet in space.

[0062] Inverse solving can be a method that, given the target landing point and ejection starting point of the ink droplet, deduces the external control conditions (such as electric field distribution, ejection parameters, etc.) required throughout the entire flight process. By constructing a flight dynamics model of the ink droplet, the system can calculate its required trajectory from the endpoint backwards and use this to deduce the control strategy for achieving that trajectory.

[0063] Specifically, curvature and elevation change information are extracted from the object's surface scan data. Furthermore, by calculating the normal difference of the surface mesh, local curvature (such as Gaussian curvature and average curvature), and the Z-axis coordinate changes of adjacent points, regions with significant surface geometric changes are identified. Subsequently, the entire printing area is spatially partitioned according to set thresholds (such as curvature critical values, elevation gradients, curvature change intervals, and height change intervals), dividing the object's surface scan data into several printing partitions. This ensures high geometric continuity and relatively consistent complexity within each partition, resulting in the surface printing data for each partition.

[0064] For each partitioned surface printing data, the source of each printing point in the two-dimensional image data to be printed is traced through the inverse operation of surface projection mapping, and the corresponding two-dimensional image pixel in the two-dimensional image data to be printed is restored. Combined with the position of the inkjet printer nozzle before inkjet, the spatial displacement, angle deviation and height difference information of each ink droplet from the nozzle exit point (starting point) to the corresponding printing target point (ending point) are calculated, thereby clarifying the starting point and ending point of the actual flight path of the ink droplet in three-dimensional space, that is, forming the ink droplet starting and ending position information.

[0065] Based on the initial and final position information of the ink droplets, combined with the initial emission parameters of the ink droplets (velocity, charge, mass, etc.) and air environment parameters (density, drag coefficient, etc.), the inverse particle dynamics integral method is used to simulate the set of possible flight paths of the ink droplets in the opposite direction starting from the endpoint (printing target point). After obtaining multiple feasible trajectories and optimizing them, the electric field configuration that can accurately guide the ink droplets to deflect along a specific trajectory during inkjet printing is fitted by inverse physical model. Then, the voltage or charge required to be applied to each control electrode in space is deduced, and the corresponding ink droplet printing deflection electric field is generated.

[0066] In this embodiment, by introducing a surface partitioning strategy based on curvature and drop variation information, the complex curved surface is effectively divided into local regions with relatively consistent geometric features, significantly reducing the computational complexity of trajectory solving and electric field control. Based on this, by accurately establishing the surface projection mapping relationship between the printing point and the image to be printed within each partition, the spatial path boundary of the ink droplet from the nozzle to the target point can be accurately obtained, providing high-quality input data for subsequent reverse solving of the ink droplet turning electric field. The final printed bias electric field not only matches the surface deformation characteristics but also possesses higher controllability and energy efficiency stability, thereby improving printing accuracy, control response speed, and adaptability to complex surface morphologies, demonstrating significant practical engineering value.

[0067] In one exemplary embodiment, such as Figure 4 As shown, based on the initial and final position information of the ink droplets, the electric field for the ink droplet orientation in the inkjet printer is solved in reverse to obtain the ink droplet printing deflection electric field, including steps 402 to 404. Wherein:

[0068] Step 402: Based on the initial and final position information of the ink droplets, reverse particle tracking is performed on the ink droplets in the partition surface printing data to obtain the ink droplet deflection trajectory corresponding to the ink droplets.

[0069] Step 404: Based on the ink droplet deflection trajectory, fit the ink droplet turning electric field of the inkjet printer to obtain the ink droplet printing deflection electric field.

[0070] Among them, reverse particle tracking can be a physical simulation method that reverses the possible flight path of the ink droplet from the target position to the nozzle direction. Its core idea is to generate a set of flight trajectories that may lead the ink droplet to the target point by performing time-reverse integration based on the ink droplet dynamics model (considering factors such as electric field, gravity, and air resistance) under the premise of knowing the expected landing point and initial launch conditions of the ink droplet.

[0071] Among them, the deflection trajectory of the ink droplet can be the actual or preset spatial trajectory of the ink droplet after being ejected from the nozzle under the control of a specific electric field during the simulated printing process, flying along a non-linear path and finally landing on the three-dimensional target printing point. This trajectory reflects the force changes, directional deflection and stabilization adjustment process experienced by the ink droplet during flight.

[0072] Specifically, based on the initial and final position information of ink droplets in the printing data of each partition surface, that is, the spatial coordinate difference between the initial nozzle position (starting point) and the target printing point (ending point) of the ink droplet, a model of the reverse flight problem of the ink droplet in space is constructed. The reverse flight problem model is solved using the known physical parameters of the ink droplet (including initial velocity, charge, mass, etc.) and environmental parameters (such as air resistance, gravitational acceleration, etc.), that is, the reverse dynamics integral method is used to simulate the particle-level tracking of the ink droplet, and the possible trajectory path is derived in reverse from the endpoint to the starting point. By generating trajectory clusters under different initial perturbation conditions (such as initial velocity perturbation, charge perturbation) and evaluating their trajectory stability and deviation, the trajectory that best matches the physical feasibility and path rationality is finally selected as the deflection trajectory of the ink droplet.

[0073] Using the deflection trajectory of ink droplets as the target trajectory, and combining the motion and dynamic equations of charged ink droplets under the action of an electric field in an inkjet printing system, an electric field-trajectory inverse mapping model is constructed. The electric field-trajectory inverse mapping model discretizes the trajectory into multiple time step segments, calculates the spatial acceleration required by the ink droplet at each moment, and then deduces the electric field strength and direction corresponding to the acceleration. Combining the known multi-electrode arrangement structure around the printhead, numerical optimization methods (such as least squares fitting, gradient descent, or multi-objective constraint solution) are used to solve the electrode voltage distribution inversely, and finally fits the three-dimensional time-varying electric field configuration that enables the ink droplets to deflect stably along the trajectory in actual space, which is the ink droplet printing deflection electric field.

[0074] In this embodiment, by implementing reverse particle tracking based on the initial and final position information of the ink droplets, the feasible flight path of the ink droplets in complex surface environments can be accurately reconstructed, taking into full account the initial state of the nozzle and the position of the target printing point, thereby obtaining a real and controllable ink droplet deflection trajectory. Furthermore, by fitting the ink droplet turning electric field in combination with this trajectory, the electric field control strategy can fit the actual flight dynamics of the ink droplets, avoiding the landing point error caused by the mismatch between the electric field control and the actual path in traditional methods. The overall process significantly improves the accuracy and personalized adaptability of the electric field solution, effectively enhancing the spatial control accuracy and imaging consistency of the inkjet printing system on non-planar surfaces.

[0075] In one exemplary embodiment, such as Figure 5 As shown, based on the initial and final position information of the ink droplets, reverse particle tracking is performed on the ink droplets in the printed data of the partitioned surface to obtain the deflection trajectory of the corresponding ink droplets, including steps 502 to 506. Wherein:

[0076] Step 502: Based on the initial force information of the ink droplet on the nozzle of the inkjet printer, set the initial parameters of the reverse force integral corresponding to the ink droplet.

[0077] Step 504: Based on the initial parameters of the reverse dynamic integration and the initial and final position information of the ink droplets, perform reverse dynamic integration on the ink droplets to obtain the ink droplet deflection trajectory cluster.

[0078] Step 506: Select the candidate ink droplet deflection trajectory with the lowest trajectory complexity from the candidate ink droplet deflection trajectories in the ink droplet deflection trajectory cluster as the ink droplet deflection running trajectory.

[0079] The initial force information can be a comprehensive description of the various forces that the ink droplet experiences at the moment it is ejected from the nozzle. It typically includes the initial velocity in the ejection direction, the initial electric field force applied by the nozzle electrode, the influence of gravity, and the initial component of ambient air resistance.

[0080] The initial parameters for the inverse dynamic integration can be the starting input variables used for inverse integration calculation during the inverse particle tracking process. They typically include the three-dimensional coordinates of the target printing point, the estimated terminal velocity direction, the droplet mass, the charge, and the inkjet environment parameters.

[0081] Among them, the reverse dynamic integration can be a method of deriving the possible flight path of an ink droplet based on the known droplet landing point. The system inverts the flight time according to the dynamic model and calculates the particle trajectory step by step from the target point along the preset conditions towards the nozzle. This process can accurately simulate the reverse motion behavior of ink droplets in a multi-force field environment.

[0082] Among them, the droplet deflection trajectory cluster can be a large set of alternative flight trajectories generated within a set parameter range by the inverse dynamic integration method. Each trajectory represents a possible droplet deflection path, which can hit the target printing point under various starting speeds, force disturbances or control conditions.

[0083] Trajectory complexity is an indicator that measures the degree of variation in the droplet's flight path in space. It is typically evaluated based on factors such as path curvature changes, number of turnarounds, trajectory length, and turning frequency. Higher complexity means greater control difficulty, higher electric field energy consumption, and worse system stability. Therefore, in trajectory optimization, the path with the lowest trajectory complexity is usually selected as the target trajectory to achieve the optimal balance between control efficiency and system robustness.

[0084] Specifically, the physical initial conditions when the nozzle ejects ink droplets are obtained, including the mass of the ink droplets, the initial velocity vector, the amount of charge, the nozzle position, the ejection direction, and the initial time point; combined with the working mode of the inkjet printer, the initial forces acting on the ink droplets at the moment of ejection are calculated, including piezoelectric ejection force, gravity, and the initial electric field force; based on this, the initial parameters of the reverse dynamic integration required for reverse particle tracking are set, such as the reverse velocity direction (opposite to the ejection direction), the reverse flight starting point (the target printing point), the time step, the air resistance model, the Lorentz force model, etc.

[0085] By sampling multiple sets of perturbations on the initial parameters of the reverse dynamic integration, the amount of data for the initial parameters of the reverse dynamic integration before calculation is enriched. The initial parameters of the reverse dynamic integration after enriching the data and the target position (end point) of the ink droplet are used as the starting point for reverse particle tracking. The motion differential equation with air resistance and gravity terms is used for reverse time integration to simulate multiple possible trajectories of the ink droplet flying from the endpoint towards the nozzle under no electric field or assumed unit electric field. A cluster of ink droplet deflection trajectories covering different flight conditions is generated. The ink droplet deflection trajectory cluster has a set of deflection trajectory candidates. Each trajectory retains its flight time, path curvature, velocity change and acceleration information.

[0086] Using a hybrid geometric and physical index, such as the total curvature integral of the trajectory, the second derivative fluctuation, and the path length change rate, the complexity of all candidate ink droplet deflection trajectories in the ink droplet deflection trajectory cluster is evaluated, quantifying the flight complexity of each trajectory. At the same time, auxiliary factors such as energy consumption estimation and stability sensitivity analysis are combined to perform weighted scoring. Finally, the trajectory with the smoothest trajectory change and the least control burden while meeting the arrival accuracy requirement is selected as the current ink droplet deflection trajectory.

[0087] In this embodiment, by setting the initial parameters of the reverse dynamic integration based on the initial force information of the ink droplet at the nozzle, the physical initial state of the ink droplet under specific control conditions can be more realistically reflected. By combining the initial and final position information of the ink droplet with the reverse dynamic integration, a large number of deflection trajectory clusters that conform to actual flight constraints can be generated under the support of a precise dynamic model. On this basis, by selecting the alternative path with the lowest trajectory complexity as the final deflection trajectory, not only is the execution burden and energy consumption of the control system effectively reduced, but the stability and robustness of the flight path are also significantly improved, thereby achieving a more precise and more reliable complex curved surface inkjet printing process.

[0088] In one exemplary embodiment, such as Figure 6 As shown, the process involves selecting the candidate ink droplet deflection trajectory with the lowest trajectory complexity from among the candidate ink droplet deflection trajectories in the ink droplet deflection trajectory cluster as the ink droplet deflection running trajectory, including steps 602 to 608. Wherein:

[0089] Step 602: Construct a three-dimensional flight channel cloud based on each candidate ink droplet deflection trajectory in the ink droplet deflection trajectory cluster.

[0090] Step 604: Remove overlapping three-dimensional channel clouds from the flight three-dimensional channel cloud to obtain the target three-dimensional channel cloud.

[0091] Step 606: Perform deflection energy analysis on the deflection trajectories of each candidate ink droplet in the target three-dimensional channel cloud to obtain the peak deflection energy and deflection energy consumption information corresponding to each candidate ink droplet deflection trajectory.

[0092] Step 608: Optimize the deflection peak energy and deflection energy consumption information corresponding to each candidate ink droplet deflection trajectory using topological persistence guidance to determine the optimal ink droplet deflection trajectory.

[0093] The three-dimensional flight channel cloud can be a collection of spatial orbital regions formed by clusters of ink droplet deflection trajectories in three-dimensional space, usually expressed in the form of voxels, envelope surfaces, or point clouds. The spatial region occupied by each ink droplet trajectory during flight is transformed into a "channel unit," and the collection of multiple trajectories constitutes a three-dimensional channel cloud, which is used to intuitively describe the possible flight space corridors of ink droplets, facilitating trajectory selection, conflict detection, and path optimization.

[0094] Among them, the target three-dimensional channel cloud can be the set of trajectory channels retained after removing trajectories that have spatial overlap or interference with other printing partitions, based on the flight three-dimensional channel cloud.

[0095] Deflection energy analysis is a process of quantitatively assessing the energy consumed by an ink droplet under electric field guidance along a specific trajectory. This analysis considers factors such as electric field strength, deflection angle, and duration of action to evaluate the energy resource consumption of each trajectory during execution.

[0096] Among them, the deflection peak energy can be the maximum instantaneous value of the electric field energy required when the ink droplet flies along a certain deflection trajectory. It usually occurs during the period when the trajectory changes sharply or the curvature changes abruptly. This indicator reflects the highest load risk that the control system may encounter when executing the trajectory.

[0097] Among them, the deflection energy consumption information can be the total energy consumption data required for the ink droplet to complete a deflection trajectory, which is usually obtained by integrating the power of the electric field applied during flight over time.

[0098] Among them, topology persistence-guided optimization can be a method based on topological data analysis to identify trajectory clusters that are stable at different scales in the energy feature space of multiple trajectories. By constructing persistence bar charts or topological skeleton charts, the system can screen out those trajectories that simultaneously possess low energy consumption, low peak values, and stable structures, and use these as guidance to select the optimal deflection path.

[0099] Specifically, each candidate ink droplet deflection trajectory in the ink droplet deflection trajectory cluster is discretized and sampled in three-dimensional space, and its position point, velocity vector, and corresponding timestamp during flight are recorded to achieve point set reconstruction processing. Subsequently, the trajectory envelope construction method is used to map all candidate ink droplet deflection trajectories after point set reconstruction processing into a dense flight channel volume in space, forming a "flying three-dimensional channel cloud" covering the distance from the nozzle to the target printing point. This flying three-dimensional channel cloud contains the possible deflection path distribution of different trajectories in space.

[0100] By constructing a spatial index (such as an octree or KD tree), voxel-level or spatial grid-level overlap analysis is performed on the flight 3D channel cloud of the current partition surface printing data and the flight 3D channel clouds generated in other partition surface printing data. Based on the overlap analysis results, the overlapping parts of other partition surface printing data and the current partition surface printing data are removed, that is, the channel parts in the flight 3D channel cloud that may cause cross interference, flight channel overlap, jet mis-touch and other problems are removed, and the target 3D channel cloud of the current partition surface printing data is obtained.

[0101] For each trajectory within the target three-dimensional channel cloud, based on the flight acceleration, direction change, and relationship with the Lorentz force in the electric field interaction model of its discrete points in the time domain, the instantaneous deflection electric field intensity required to be applied to the ink droplet along the trajectory is calculated; from this, the deflection power curve per unit time is further derived, and the corresponding peak energy (instantaneous control peak) and total energy consumption (accumulated electric field work during flight) are obtained, forming energy expenditure data for each trajectory.

[0102] Using the peak deflection energy and energy consumption information corresponding to each candidate droplet deflection trajectory within the target 3D channel cloud, a two-dimensional energy feature space is constructed, where the horizontal axis represents energy consumption and the vertical axis represents peak energy. Topological data analysis is performed on all trajectory points within this two-dimensional energy feature space. Persistent homology analysis is used to analyze the topological morphology of each trajectory in this space, identifying low-energy-consumption and low-peak-energy trajectory clusters that persist across multiple scales. By analyzing the structural stability and disturbance resistance of these trajectory clusters in the energy space, candidate trajectories possessing low peak load, low overall energy consumption, and stable topological morphology are selected, ultimately determining the optimal droplet deflection trajectory.

[0103] In this embodiment, by spatializing the ink droplet deflection trajectory cluster into a three-dimensional flight channel cloud, all possible trajectories are concretely represented in space, facilitating visualization management and conflict analysis. By eliminating overlapping three-dimensional channel clouds, spatial path interference between multiple partition printing tasks is effectively avoided, ensuring the independence of trajectory planning and the non-interference of the printing process. Furthermore, deflection energy analysis is performed on each candidate trajectory in the target three-dimensional channel cloud to accurately obtain the energy consumption characteristics and peak load risk corresponding to each trajectory, providing an energy constraint basis for the control system. Finally, a topology persistence-guided optimization strategy is introduced to select the optimal trajectory path with both stability and energy efficiency advantages in the multi-scale energy space, significantly improving the system's dynamic adaptability to complex printing environments and overall energy efficiency.

[0104] In one exemplary embodiment, such as Figure 7 As shown, the inkjet printing accuracy of the inkjet printer is calculated based on the ink droplet printing bias electric field to obtain inkjet compensation power data, including steps 702 to 706.

[0105] in:

[0106] Step 702: Based on the electric field biased by the ink droplet printing, perform flight path stability analysis on the inkjet printer's inkjet accuracy to obtain trajectory disturbance sensitivity analysis data.

[0107] Step 704: Based on the electric field biased by the ink droplet printing, perform trajectory tension analysis on the inkjet printer's inkjet accuracy to obtain trajectory tension energy analysis data.

[0108] Step 706: Based on the trajectory disturbance sensitivity analysis data and trajectory tension energy analysis data, perform ink droplet flight adjustment analysis on the inkjet printer to obtain inkjet compensation power data.

[0109] Flight path stability analysis is a process of evaluating the dynamic robustness of the trajectory followed by the ink droplet throughout its flight. It is mainly used to determine the sensitivity of the ink droplet trajectory to various disturbances (such as electric field fluctuations, air turbulence, and slight differences in initial velocity).

[0110] Among them, the trajectory disturbance sensitivity analysis data can be the quantitative results of how the ink droplet flight trajectory responds to external disturbances (such as velocity shift, charge fluctuation, spatial displacement, etc.) under simulated or measured conditions.

[0111] Trajectory tension analysis can be used to assess the continuity and smoothness of the ink droplet's flight path in its spatial geometry. It typically focuses on the curvature change, deflection rate, and acceleration abrupt change points of the trajectory per unit length. This analysis can identify high-tension regions in the path, i.e., positions that require more control force to maintain stability during flight.

[0112] Among them, trajectory tension energy analysis data can be energy indicators quantified based on trajectory tension analysis, used to describe the geometric tension cost that an ink droplet needs to overcome in maintaining its current flight path shape. This data can reveal the magnitude of the control load corresponding to the changes in the direction of different trajectories in space.

[0113] Ink droplet flight adjustment analysis is a comprehensive analytical process that dynamically corrects the actual or expected flight trajectory of an ink droplet based on trajectory disturbance sensitive data and trajectory tension energy data. This process aims to generate a set of control strategies to compensate for flight deviations, such as adjusting the electric field distribution, voltage pulses, or ejection angle, to ensure that the ink droplet can still fly stably along the expected trajectory in complex or dynamic environments.

[0114] Specifically, based on the biased electric field of ink droplet printing, and considering the influence of multiple factors such as gravity, electric force, air resistance, and initial velocity disturbance on the flight path, a flight dynamics model of ink droplets under the control of the biased electric field of ink droplet printing is constructed. Furthermore, a disturbance simulation method is introduced to apply small disturbances to the initial state of the ink droplet (such as velocity, charge, and ejection angle), analyze the flight dynamic information of the ink droplet under the control of the biased electric field of ink droplet printing, simulate its influence on the final landing point deviation and flight trajectory deformation, and statistically analyze the amplitude, trend, and instability index of trajectory deviation under disturbance. The "trajectory disturbance sensitivity analysis data" is output to characterize the amplification effect of the flight path on external micro-disturbances.

[0115] For the trajectory of ink droplets under the control of a printing bias electric field, indices such as the rate of change of trajectory curvature, path acceleration fluctuation, and spatial curvature are calculated to construct a "tension function" for the trajectory to measure abrupt turns or acceleration segments. Integrating the tension function on the time axis, the tension energy density per unit flight path is calculated, thus obtaining trajectory tension energy analysis data. This data reflects the additional energy consumption and control difficulty required due to non-stationary motion in the flight trajectory.

[0116] Based on trajectory perturbation sensitivity analysis data and trajectory tension energy analysis data, a trajectory stability potential energy function is constructed for each discrete moment in the droplet's flight path. This function is typically a weighted combination of perturbation sensitivity and tension function, used to quantify the instability of the flight path at that moment. The time derivative of this potential energy function is then calculated to obtain the corresponding trajectory bias compensation force. This compensation force reflects the dynamic correction direction and intensity required by the droplet to approach a stable trajectory at that moment. This bias compensation force is converted into specific control commands through a system mapping relationship, such as adjusting nozzle voltage, correcting ejection speed, or fine-tuning charge, generating the final inkjet compensation dynamic data.

[0117] In this embodiment, by conducting flight path stability analysis based on the biased electric field of ink droplet printing, the sensitivity of the ink droplet trajectory to disturbance factors during controlled flight can be comprehensively evaluated, generating trajectory disturbance sensitivity analysis data with practical control guidance significance. Furthermore, by combining trajectory tension analysis, the degree of geometric deformation in the ink droplet path and the energy input required to maintain stability are quantified, generating trajectory tension energy analysis data. Finally, based on this, ink droplet flight adjustment analysis is performed, which can dynamically optimize the control strategy and output inkjet compensation dynamic data that takes into account both stability and energy efficiency. This significantly improves the flight accuracy and electric field control robustness of ink droplets in complex curved surface printing tasks, achieving high-precision and high-consistency three-dimensional inkjet printing results.

[0118] In one exemplary embodiment, such as Figure 8 As shown, based on trajectory disturbance sensitivity analysis data and trajectory tension energy analysis data, ink droplet flight adjustment analysis is performed on the inkjet printer to obtain inkjet compensation dynamic data, including steps 802 to 806. Wherein:

[0119] Step 802: Based on the trajectory perturbation sensitivity analysis data and trajectory tension energy analysis data, construct the trajectory stability potential energy function corresponding to the ink droplet.

[0120] Step 804: Calculate the time derivative of the trajectory stability potential energy function to obtain the trajectory bias compensation force of the ink droplet.

[0121] Step 806: Set the compensation electric field of the inkjet printer according to the trajectory offset compensation force to obtain inkjet compensation power data.

[0122] The trajectory stability potential energy function is a mathematical model used to measure the stability of an ink droplet at various positions along its flight path. It comprehensively considers factors such as trajectory disturbance sensitivity and trajectory tension; the higher the potential energy value at a given position, the more susceptible that segment of the trajectory is to disturbances, instability, or deviation. This function forms a continuous stability distribution along the entire flight path, guiding the control system to identify and prioritize compensation for potentially risky areas.

[0123] Among them, the trajectory bias compensation force can be a correction force vector derived by analyzing the time derivative (i.e., the rate of change of stability) of the trajectory stability potential energy function based on the changing trend of the trajectory stability potential energy function. It is used to guide the ink droplet back to the stable path in real time during flight.

[0124] The compensation electric field can be a dynamic adjustment of the electric field applied in the inkjet system to achieve trajectory bias compensation force. It guides the ink droplets to fly along the corrected path by controlling the voltage distribution of the electrodes around the nozzle. This electric field is not used for the main trajectory deflection, but rather for real-time correction of minor disturbances and deviation trends.

[0125] Specifically, the trajectory disturbance sensitivity analysis data and trajectory tension energy analysis data are normalized, and then fused according to the corresponding weights reflecting the ink droplet's response to changes in initial conditions and the instability caused by path curvature and acceleration fluctuations during flight. This results in a trajectory stability potential energy function that spans the entire flight process. This function describes the stability of the ink droplet at each position on its flight trajectory. Positions with high disturbance sensitivity or abrupt changes in trajectory tension are assigned higher potential energy values, indicating that these regions are more prone to flight deviation or control instability. Furthermore, the construction of this potential energy function comprehensively considers the combined effects of internal and external disturbances experienced by the ink droplet.

[0126] The time derivative of the trajectory stability potential energy function is calculated, and the change of potential energy over time is analyzed based on the result. This identifies the time periods during the ink droplet's flight that are at risk of weakening stability, i.e., which locations may experience trajectory deviation due to disturbances or curvature changes. Based on these trends, the direction and magnitude of trajectory correction required by the ink droplet at specific moments are determined, thereby generating a series of trajectory bias compensation forces corresponding to the flight time. These compensation forces are essentially proactive adjustment measures applied after predicting the possibility of the ink droplet "deviating from its stable flight trajectory," aiming to fine-tune the trajectory through control before a substantial deviation occurs.

[0127] Using the trajectory bias compensation force as input, and combining it with the droplet's charge, flight direction, and spatial position, the electric field distribution required to achieve the trajectory bias compensation force is calculated. Then, based on the physical layout and driving capability of the internal electrode array of the inkjet printer, the theoretical electric field distribution is mapped into practically applicable control commands, mainly including the voltage or pulse adjustment parameters that should be applied to each electrode at a specific moment. In this process, the delay in electric field application, spatial coupling effects, and device response characteristics are also considered to ensure that the compensation electric field is both accurate and executable; the final result is inkjet compensation dynamic data.

[0128] In this embodiment, by fusing trajectory disturbance sensitivity analysis data and trajectory tension energy analysis data to construct the trajectory stability potential energy function corresponding to the ink droplet, the stability distribution of the ink droplet flight path in the spatial and temporal dimensions can be comprehensively quantified. Further calculation of the time derivative of this potential energy function allows for accurate prediction of potential instability trends in the trajectory, and the generation of an actively corrected trajectory bias compensation force to achieve feedforward control of unstable segments. Finally, a compensation electric field is set based on this compensation force, enabling the inkjet printer to have real-time adjustment capabilities. This significantly improves the dynamic response speed and anti-disturbance capability during ink droplet flight, effectively ensuring printing accuracy and significantly enhancing the system's adaptability and control robustness on non-planar complex curved surfaces.

[0129] In one exemplary embodiment, such as Figure 9 As shown, after fusing the ink droplet printing bias electric field and inkjet compensation dynamic data to obtain the surface three-dimensional printing data of the inkjet printer, the method further includes steps 902 to 906. Wherein:

[0130] Step 902: Monitor the flight trajectory of the ink droplet in real time to obtain ink droplet flight coordinate data and ink droplet flight speed data.

[0131] Step 904: If the ink droplet flight coordinate data is detected to deviate from the ink droplet deflection trajectory, search for the ink droplet escape trajectory in the object surface scan data based on the ink droplet flight coordinate data and ink droplet flight speed data.

[0132] Step 906: Calculate the corresponding ink droplet escape electric field based on the ink droplet escape trajectory.

[0133] Among them, the ink droplet flight coordinate data can be the position coordinate information of the ink droplet in three-dimensional space collected in real time by the system through sensors during the entire flight process of the ink droplet from the nozzle to hitting the target or deviating from the trajectory.

[0134] Among them, the ink droplet flight speed data can be the speed and direction information of the ink droplet at each moment in space during its flight, which is usually obtained by optical velocimetry, high-speed photography or calculation of position difference.

[0135] The droplet escape trajectory is a safe guiding path replanned based on the current position and velocity of the droplet when it deviates significantly during flight and cannot be effectively returned to the target printing trajectory by the control system. This trajectory avoids the effective printing area and structural interference zone, prioritizing the path to the preset recycling tank or fault-tolerant area, ensuring that the deviating droplet does not cause printing contamination or equipment interference.

[0136] The droplet escape electric field is a dynamic electric field control scheme specifically designed to guide droplets that deviate from the printing trajectory along the escape path and ultimately achieve safe recovery. Based on the droplet's current flight state and escape path requirements, the voltage configuration of the electrodes around or along the nozzle is adjusted in real time to ensure the electric field direction aligns with the escape trajectory. This controls the droplet to detach from the printing process and enter the recovery tank, achieving controlled removal and containment of runaway droplets.

[0137] Specifically, real-time tracking devices such as high-speed imaging sensors, laser velocimetry modules, or capacitor array monitors in inkjet printers are used to continuously observe the actual trajectory of ink droplets from the nozzle to their flight path. The monitoring records the spatial position changes and instantaneous velocity changes of ink droplets during flight with microsecond-level time precision, forming complete ink droplet flight coordinate data and ink droplet flight velocity data. These data are compared in real time with the calculated ink droplet deflection trajectory to determine whether the ink droplet has deviated from its original path.

[0138] If the droplet's flight coordinates are detected to deviate from its trajectory, indicating that the droplet's actual flight state has deviated from its trajectory and cannot be recovered within the current electric field compensation range, the escape trajectory search module will be immediately invoked. This module combines the droplet's current flight coordinates and velocity data to analyze the possibility of the droplet recovering to normal after minor adjustments. If the droplet cannot recover through minor adjustments, the module determines the non-printing areas the droplet can reach based on its flight coordinates, velocity, and three-dimensional surface scan data, ensuring it avoids effective printing areas and structural edges. Finally, it calculates and plans a preset droplet recovery path based on all the above data. As the droplet escape trajectory, its calculation is mainly based on the principle of the shortest safe path guidance under the condition of irreversible flight deviation. That is, when the droplet deviates from the predetermined trajectory and cannot return to the target printing point through conventional compensation electric field, a flight channel that does not intersect with the effective printing area and has sufficient guidance space is quickly searched in the surface scanning data of the object according to the droplet's current position and velocity direction. This channel should avoid areas of curvature change, structural edges or nozzle obstruction areas as much as possible, and should preferentially point in the direction of the preset ink recovery tank. During the trajectory generation process, the range of electric field that can be applied and the real-time response capability are considered to ensure that the calculated escape trajectory is not only physically reachable, but can also be guided and executed by the existing inkjet control system in a very short time.

[0139] Using the droplet escape trajectory as the control target, and combining the current physical state of the droplet (position, velocity, charge) with the electrode layout of the inkjet system, the distribution of the control electric field that needs to be applied is calculated in reverse, and an droplet escape electric field is generated to guide the droplet away from the printing area. This electric field applies a guiding force at the key turning point of the escape trajectory to ensure that the droplet flies into the ink recovery tank or fault tolerance zone set by the system in a controlled manner.

[0140] In this embodiment, by monitoring the ink droplet flight trajectory in real time, the system can obtain the ink droplet's flight coordinate data and velocity information with high precision, realizing dynamic perception of the flight status. When the ink droplet is detected to deviate from the preset deflection trajectory, it can immediately calculate an ink droplet escape trajectory that avoids the printing area based on the current flight status and object surface scanning data, and generate a corresponding ink droplet escape electric field in real time to guide the runaway ink droplet into a dedicated ink recovery tank, thereby effectively preventing ink droplets from contaminating the printing surface or interfering with other inkjet channels, and greatly improving the system's fault tolerance, safety and continuous printing stability.

[0141] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0142] Based on the same inventive concept, this application also provides an adaptive object surface inkjet printing apparatus for implementing the aforementioned adaptive object surface inkjet printing method. For example... Figure 10 As shown, the device includes: a print data acquisition module 1002, a print data projection module 1004, a control electric field calculation module 1006, a compensation electric field calculation module 1008, and a print data determination module 1010. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more inkjet printing device embodiments for adaptive object surfaces provided below can be found in the limitations of an inkjet printing method for adaptive object surfaces described above, and will not be repeated here.

[0143] The modules in the aforementioned adaptive inkjet printing device for object surfaces can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0144] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores server data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements an adaptive inkjet printing method for object surfaces.

[0145] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0146] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0147] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0148] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in the above method embodiments.

[0149] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0150] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0151] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0152] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An inkjet printing method for adapting to the surface of an object, characterized in that, The method includes: Acquire the image data to be printed and the object surface scan data corresponding to the inkjet printer; The image data to be printed is used to perform surface projection mapping on the object surface scan data to obtain the object surface printing data. Based on the coordinate difference between the printed data on the object surface and the image data to be printed, the ink droplet deflection electric field of the inkjet printer is solved in reverse to obtain the ink droplet printing deflection electric field. Based on the ink droplet printing bias electric field, the inkjet printing accuracy of the inkjet printer is calculated to obtain inkjet compensation power data. By integrating the ink droplet printing bias electric field and the inkjet compensation dynamic data, the surface three-dimensional printing data of the inkjet printer is obtained.

2. The method according to claim 1, characterized in that, The step of inversely solving the droplet deflection electric field of the inkjet printer based on the coordinate difference between the printed data on the object surface and the image data to be printed, to obtain the droplet printing deflection electric field, includes: Based on the curvature change information and drop change information of the object surface scanning data, the object surface printing data is divided into partitions to obtain the surface printing data of each partition. For any of the partition surface printing data, the ink droplet start and end position information between the partition surface printing data and the image data to be printed is determined according to the surface projection mapping relationship of the partition surface printing data to the image data to be printed; Based on the initial and final position information of the ink droplets, the ink droplet deflection electric field of the inkjet printer is solved in reverse to obtain the ink droplet printing deflection electric field.

3. The method according to claim 2, characterized in that, The step of inversely solving the ink droplet deflection electric field of the inkjet printer based on the initial and final position information of the ink droplets to obtain the ink droplet printing deflection electric field includes: Based on the initial and final position information of the ink droplets, reverse particle tracking is performed on the ink droplets in the printed data of the partition surface to obtain the deflection trajectory of the ink droplets. Based on the deflection trajectory of the ink droplets, the electric field of the ink droplet deflection of the inkjet printer is fitted to obtain the printing deflection electric field of the ink droplets.

4. The method according to claim 3, characterized in that, The step of performing reverse particle tracking on the ink droplets in the partitioned surface printing data based on the initial and final position information of the ink droplets to obtain the deflection trajectory of the corresponding ink droplets includes: Based on the initial force information of the ink droplet on the nozzle of the inkjet printer, the initial parameters of the reverse force integral corresponding to the ink droplet are set. Based on the initial parameters of the reverse dynamic integration and the initial and final position information of the ink droplet, the reverse dynamic integration of the ink droplet is performed to obtain the ink droplet deflection trajectory cluster. The candidate ink droplet deflection trajectory with the lowest trajectory complexity is selected from the candidate ink droplet deflection trajectories in the ink droplet deflection trajectory cluster as the ink droplet deflection running trajectory.

5. The method according to claim 4, characterized in that, The step of selecting the candidate ink droplet deflection trajectory with the lowest trajectory complexity from each candidate ink droplet deflection trajectory in the ink droplet deflection trajectory cluster as the ink droplet deflection running trajectory includes: Based on each of the candidate ink droplet deflection trajectories in the ink droplet deflection trajectory cluster, a three-dimensional flight channel cloud is constructed; The overlapping three-dimensional channel clouds are removed from the flight three-dimensional channel cloud to obtain the target three-dimensional channel cloud; the overlapping three-dimensional channel cloud is the part that overlaps with the current partition surface printing data from other partition surface printing data. Deflection energy analysis is performed on the deflection trajectories of each candidate ink droplet in the target three-dimensional channel cloud to obtain the peak deflection energy and deflection energy consumption information corresponding to each candidate ink droplet deflection trajectory; The deflection peak energy and deflection energy consumption information corresponding to each of the candidate ink droplet deflection trajectories are optimized by topological persistence guidance to determine the ink droplet deflection trajectory.

6. The method according to claim 1, characterized in that, The step of calculating the inkjet printer's inkjet accuracy based on the ink droplet printing deflection electric field to obtain inkjet compensation power data includes: Based on the ink droplet printing bias electric field, the inkjet printer's inkjet accuracy is analyzed for flight path stability to obtain trajectory disturbance sensitivity analysis data. Based on the ink droplet printing bias electric field, the inkjet printer's inkjet accuracy is analyzed by trajectory tension to obtain trajectory tension energy analysis data. Based on the trajectory disturbance sensitivity analysis data and the trajectory tension energy analysis data, the ink droplet flight adjustment analysis is performed on the inkjet printer to obtain the inkjet compensation power data.

7. The method according to claim 6, characterized in that, The step of performing droplet flight adjustment analysis on the inkjet printer based on the trajectory disturbance sensitivity analysis data and the trajectory tension energy analysis data to obtain the inkjet compensation dynamic data includes: Based on the trajectory perturbation sensitivity analysis data and the trajectory tension energy analysis data, construct the trajectory stability potential energy function corresponding to the ink droplet; The time derivative of the trajectory stability potential energy function is calculated to obtain the trajectory bias compensation force of the ink droplet. The compensation electric field of the inkjet printer is set according to the trajectory bias compensation force to obtain the inkjet compensation power data.

8. The method according to claim 1, characterized in that, After the step of fusing the ink droplet printing bias electric field and the inkjet compensation dynamic data to obtain the surface three-dimensional printing data of the inkjet printer, the method further includes: The flight trajectory of the ink droplets is monitored in real time to obtain ink droplet flight coordinate data and ink droplet flight speed data; If the ink droplet flight coordinate data is detected to deviate from the ink droplet deflection trajectory, the ink droplet escape trajectory is searched in the object surface scan data based on the ink droplet flight coordinate data and the ink droplet flight speed data. The escape electric field of the ink droplet is calculated based on the escape trajectory of the ink droplet; the escape electric field of the ink droplet is used to control the ink droplet to enter the ink recycling tank.

9. An inkjet printing device that adapts to the surface of an object, characterized in that, The device includes: The print data acquisition module is used to acquire the image data to be printed and the object surface scan data corresponding to the inkjet printer. The print data projection module is used to perform surface projection mapping on the object surface scan data using the image data to be printed, so as to obtain the object surface print data. The control electric field calculation module is used to solve the droplet orientation electric field of the inkjet printer in reverse based on the coordinate difference between the printed data on the object surface and the image data to be printed, so as to obtain the droplet printing bias electric field. The compensation electric field calculation module is used to calculate the inkjet accuracy of the inkjet printer based on the ink droplet printing deflection electric field, and obtain inkjet compensation power data. The printing data determination module is used to fuse the ink droplet printing bias electric field and the inkjet compensation dynamic data to obtain the surface three-dimensional printing data of the inkjet printer.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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