Focusing method, device and equipment for ink droplet observation and storage medium

Abstract

The invention discloses a focusing method and device for ink droplet observation, equipment and a storage medium. The focusing method comprises the steps that the relative position relation between a mark point position on the side wall of a spray head module and a spray hole unit is obtained; adjusting the position of the nozzle module according to the mark point of the nozzle module at the initial mounting position in the picture shot by the observation camera until a first image with the mark point meeting the clear requirement is obtained; according to the form position of the mark point position in the first image, the deviation angle of the nozzle module is determined; and the position adjustment amount of the spray head module and the observation sequence of the spray hole units are determined according to the size of the deviation angle. According to the scheme, after the ink jet equipment is started subsequently, the image of the ink droplet can be quickly shot, and the problem that the spray hole unit of the spray head module is difficult to quickly finish preliminary focusing with the observation camera in the prior art is effectively solved.

Description

Technical Field

[0001] This application relates to the field of inkjet printing droplet observation technology, specifically to a focusing method, apparatus, device, and storage medium for droplet observation. Background Technology

[0002] In inkjet printing, microfluidic control, or other technologies involving the generation and observation of tiny droplets, accurately acquiring parameters such as the morphology, size, and velocity of ink droplets is crucial. This typically requires imaging equipment such as high-speed cameras to capture and analyze ink droplets in flight. A fundamental prerequisite for obtaining clear, analyzable images of ink droplets is ensuring that the droplets are accurately within the depth of field of the camera lens.

[0003] Currently, before commencing formal ink droplet observation, operators need to manually adjust the position of the camera or nozzle module (primarily the distance between the nozzle unit and the camera along the optical axis) to complete the focusing process. This adjustment relies heavily on the operator's visual judgment: by observing the image of the flying droplets captured by the camera, the operator manually assesses the sharpness of the ink droplets in the image and repeatedly adjusts accordingly until the ink droplet image is deemed sufficiently clear, thus determining the appropriate focusing distance. The adjustment process is actually divided into two stages. The first stage involves adjusting the relative positions of both until a partially clear image of the ink droplets appears in the observation camera, i.e., controlling the ink droplets to initially enter the focusing range of the observation camera. The second stage involves fine-tuning the position of the nozzle unit or observation camera within the focusing range, ultimately ensuring the ink droplets are completely within the focusing range, resulting in a complete and sufficiently clear image of the ink droplets.

[0004] However, in actual implementation, due to the installation accuracy error between the printhead module's position and the standard position after installation, there is a deviation between the actual position of the nozzle unit on the printhead module and the relative position of the observation camera. Furthermore, because the focusing range of the observation camera is relatively small, when the nozzle unit is outside the focusing range, the image formed by the ink droplets in the observation camera appears completely blurry. As a result, before the relative position of the ink droplets is adjusted to the focusing range of the observation camera, the captured image has no relative position reference. Consequently, in the first stage of the adjustment process, the operator needs to repeatedly adjust the position of the camera or the printhead module through trial and error. This process is very time-consuming and significantly affects the ink droplet observation efficiency of the inkjet equipment, which needs further improvement. Summary of the Invention

[0005] This application provides a focusing method, apparatus, device, and storage medium for ink droplet observation, which can solve the problem in the prior art that it is difficult to quickly complete the initial focusing of the observation camera on the ink droplet.

[0006] In a first aspect, embodiments of this application provide a focusing method for ink droplet observation, employing the following technical solution:

[0007] A focusing method for observing ink droplets, comprising the following steps:

[0008] Obtain the relative positional relationship between the marker points on the side wall of the nozzle module and the multiple nozzle units on the mounting surface of the nozzle module;

[0009] The camera captures the image of the nozzle module in its initial installation position. Based on whether the marker point that meets the clarity requirement appears in the captured image, the position of the nozzle module is adjusted until a first image with the marker point that meets the clarity requirement is obtained.

[0010] Based on the shape and position of the marker points in the first image, determine the deviation angle of the nozzle module relative to the set direction;

[0011] Determine whether the deviation angle is greater than the set angle;

[0012] If the deviation angle is lower than the set angle, preliminary focusing is performed on each nozzle unit on the printhead module according to the first ink droplet observation order and the relative position relationship;

[0013] If the deviation angle is greater than the set angle, preliminary focusing is performed on each nozzle unit on the printhead module according to the second ink drop observation sequence which is different from the first ink drop observation sequence, the relative position relationship, and the deviation angle; wherein, in the second ink drop observation sequence, the interval between adjacent nozzle units in both the length and width directions is greater than the set value.

[0014] In conjunction with the first aspect, in one embodiment, the marker position includes a basic marker position, a first marker position, and a second marker position. The basic marker position is located on the side edge where one corner of the nozzle module is located. The first marker position and the second marker position are respectively located on the side wall of the nozzle module on both sides of the basic marker position, and both the first marker position and the second marker position are spaced apart from the basic marker position on the mounting surface.

[0015] In determining the deviation angle of the nozzle module relative to the set direction based on the shape and position of the marker points in the first image,

[0016] Based on whether a first marker and a second marker appear on both sides of the basic marker in the first image, and the interval length between the first marker and the second marker located at the basic marker, the deviation angle of the nozzle module relative to the set direction is determined.

[0017] In conjunction with the first aspect, in one embodiment, determining the deviation angle of the nozzle module relative to the set direction based on whether a first marker and a second marker appear on both sides of the marker point in the first image, and the interval length between the first marker and the second marker located at the base marker, includes the following steps:

[0018] If a first marker and a second marker appear on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined according to the interval length between the first marker and the second marker and the basic marker.

[0019] If only the first marker appears on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined according to the interval length between the first marker and the basic marker.

[0020] In conjunction with the first aspect, in one embodiment, if a first marker and a second marker appear on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined based on the interval length between each of the first and second markers and the basic marker.

[0021] The deviation angle is calculated using the arctangent function of the ratio between the interval length between the first flag bit and the base flag bit in the first image and the interval length between the second flag bit and the base flag bit in the first image.

[0022] In conjunction with the first aspect, in one embodiment, if only the first marker appears on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined based on the interval length between the first marker and the basic marker.

[0023] The deviation angle is calculated using the inverse cosine function of the ratio between the interval length between the first marker and the base marker in the first image and the interval distance between the first marker and the base marker on the nozzle module.

[0024] In conjunction with the first aspect, in one embodiment, the preliminary focusing of each nozzle unit on the printhead module based on a second ink droplet observation order different from the first ink droplet observation order, the relative positional relationship, and the deviation angle includes the following steps:

[0025] Based on the relative positional relationship, determine the first distance in the length direction and the second distance in the width direction between the next nozzle unit to be focused and the marker point or the current nozzle unit in the second ink droplet observation sequence, and determine the angle between the line connecting the next nozzle unit to be focused and the marker point or the current nozzle unit and the width direction of the mounting surface.

[0026] Based on the first spacing, the second spacing, the included angle, and the deviation angle, the first adjustment amount and the second adjustment amount of the nozzle module in the first direction and the second direction are determined;

[0027] The position of the nozzle module is adjusted according to the first adjustment amount and the second adjustment amount to achieve initial focusing of the nozzle unit.

[0028] In conjunction with the first aspect, in one embodiment, determining the first adjustment amount and the second adjustment amount of the nozzle module in the first direction and the second direction based on the first spacing, the second spacing, the included angle, and the deviation angle includes the following steps:

[0029] The first adjustment amount is calculated based on the first spacing, the second spacing, and the cosine of the sum of the included angle and the deviation angle;

[0030] The second adjustment amount is calculated based on the sine value of the sum of the first spacing, the second spacing, the included angle, and the deviation angle.

[0031] Secondly, embodiments of this application provide a focusing device for observing ink droplets, employing the following technical solution:

[0032] A focusing device for observing ink droplets, comprising:

[0033] The acquisition module is configured to acquire the relative positional relationship between the marker points on the sidewall of the nozzle module and multiple nozzle units on the mounting surface of the nozzle module.

[0034] The initial positioning module is configured to acquire the image captured by the nozzle module in the observation camera at the initial installation position, and adjust the position of the nozzle module according to whether the marker point that meets the clarity requirement appears in the image until a first image with the marker point that meets the clarity requirement is obtained.

[0035] The deviation angle calculation module is configured to determine the deviation angle of the nozzle module relative to a set direction based on the shape and position of the marker point in the first image.

[0036] The focusing module is configured to determine whether the deviation angle is greater than a set angle; if the deviation angle is less than the set angle, perform preliminary focusing on each nozzle unit on the printhead module according to the first droplet observation sequence and the relative position relationship; if the deviation angle is greater than the set angle, perform preliminary focusing on each nozzle unit on the printhead module according to a second droplet observation sequence different from the first droplet observation sequence, the relative position relationship, and the deviation angle; wherein, in the second droplet observation sequence, the interval between adjacent nozzle units in both the length and width directions is greater than a set value.

[0037] Thirdly, embodiments of this application provide a focusing device for observing ink droplets, employing the following technical solution:

[0038] A focusing device for ink droplet observation includes a processor, a memory, and an ink droplet observation focusing program stored in the memory and executable by the processor, wherein when the ink droplet observation focusing program is executed by the processor, the steps of the ink droplet observation focusing method as described above are implemented.

[0039] Fourthly, embodiments of this application provide a storage medium, employing the following technical solution:

[0040] A storage medium storing a focusing program for ink droplet observation, wherein when the focusing program for ink droplet observation is executed by a processor, the steps of the focusing method for ink droplet observation as described above are implemented.

[0041] The beneficial effects of the technical solutions provided in this application include:

[0042] The droplet observation control method, apparatus, device, and storage medium provided in this application utilize the image presented on the observation camera by the marker points on the printhead module. This allows the operator to move the printhead module relative to the marker points so that they are within the focus area of ​​the observation camera without turning on the inkjet equipment. Subsequently, by using the relative positional relationship between the multiple nozzle units on the printhead module and the marker points, the position of the printhead module can be further adjusted so that one of the nozzle units can be quickly moved to the focus area of ​​the corresponding observation camera. This allows the ink droplets ejected after the inkjet equipment is turned on to achieve initial focus with the observation camera. On the other hand, when there is a deviation in the installation angle of the printhead module, the deviation angle of the printhead module can be determined based on the shape and position of the marker points in the first image. Then, by further combining the magnitude of the deviation angle, a suitable droplet observation sequence can be selected to adjust the position of the printhead module, so that each nozzle unit can accurately achieve initial focus with the observation camera even when there is an error in the installation angle of the printhead module. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the overall process of an embodiment of the focusing method for ink droplet observation in this application;

[0044] Figure 2 This is a schematic diagram of the structural state of the nozzle module in the initial installation position and in accordance with the set direction in step S200 of the focusing method for droplet observation in this application.

[0045] Figure 3 This is a schematic diagram of the structural state of the printhead module in the initial installation position and when it deviates from the set direction in step S200 of the focusing method for droplet observation in this application.

[0046] Figure 4 This is a schematic diagram of the first and second adjustment amounts in the focusing method for ink droplet observation in this application;

[0047] Figure 5 This diagram illustrates the calculation principle of the deviation angle under different conditions in the focusing method for ink droplet observation in this application.

[0048] Figure 6 This is a schematic diagram of the functional modules in one embodiment of the focusing device for ink droplet observation in this application;

[0049] Figure 7 This is a schematic diagram of the hardware structure of the focusing device for ink droplet observation involved in the embodiments of this application;

[0050] Figure label:

[0051] 1. Nozzle module; 2. Observation camera; 3. Nozzle unit; 4. Basic marker position; 5. First marker position; 6. Second marker position; 7. Focusing area; 8. Mounting surface. Detailed Implementation

[0052] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0053] The present application provides a focusing method, apparatus, device, and storage medium for ink droplet observation. The key feature of this invention is that, by utilizing the image presented on the observation camera using marker points on the printhead module, the operator can quickly control the relative movement of the printhead module until the marker points are within the focusing area of ​​the observation camera. Subsequently, using the acquired first relative positional relationship between the nozzle units on the printhead module and the marker points, the position of the printhead module relative to the observation camera can be further adjusted so that the position of the nozzle units corresponds to the focusing area of ​​the observation camera, ensuring that the ejected ink droplets can complete the focusing process with the observation camera. The system performs initial focusing. Simultaneously, when the printhead module's installation angle deviates, it can determine the deviation angle of the printhead module's installation based on the shape and position of the marker points in the first image. Furthermore, by combining the first relative positional relationship with the deviation angle, the relative position of the nozzle unit is adjusted. This ensures that the observation camera can quickly complete the initial focusing process of the ink droplets ejected by the nozzle unit even when there is an error in the printhead module's installation angle. Consequently, after the inkjet equipment is turned on, the camera can quickly capture images of the ink droplets, effectively solving the problem in existing technologies where the printhead module's nozzle unit cannot quickly complete the initial focusing with the observation camera.

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0055] In a first aspect, embodiments of this application provide a focusing method for observing ink droplets.

[0056] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the focusing method for ink droplet observation in this application. Figure 1 As shown, the focusing methods for ink droplet observation include:

[0057] S100: Obtain the relative positional relationship between the marker points on the side wall of the nozzle module 1 and the multiple nozzle units 3 on the mounting surface 8 of the nozzle module 1;

[0058] The marker point is an actual marker that is preset on the side wall of the printhead module 1. The side wall is perpendicular to the mounting surface 8 of the printhead module 1, so that the observation camera 2 located on one side can directly capture the marker point in the optical axis direction, and can also capture ink droplet images after the inkjet equipment is turned on.

[0059] The relative positional relationship between the marker point and the nozzle unit 3 installed on the nozzle module 1 is determined in advance. Specifically, this involves determining the coordinate information of the marker point and the nozzle unit 3 in the length direction (x) and width direction (y) on the bottom surface of the nozzle module 1. In this embodiment, to obtain the first relative positional relationship, the following steps are taken before step S100:

[0060] Before obtaining the first relative positional relationship between the marker point on the side wall of the nozzle module 1 and the nozzle unit 3 on the mounting surface 8 of the nozzle module 1, the following steps are included:

[0061] S010. Obtain the relative positional relationship between each nozzle unit 3 on the mounting surface 8 of the nozzle module 1 and the marker point on the mounting surface 8 through visual image;

[0062] Specifically, the visual images are captured by relevant visual acquisition equipment before the nozzle module 1 is installed, so as to understand the relative positional relationship between each nozzle unit 3 and the marker point on the mounting surface 8 through visual images.

[0063] Furthermore, the specific form of the actual identifier may vary in different embodiments, and this application does not impose any specific restrictions.

[0064] S200: Obtain the image captured by the nozzle module 1 in the observation camera 2, and adjust the position of the nozzle module 1 / the observation camera 2 according to whether the marker point that meets the clarity requirement appears in the image until a first image with the marker point that meets the clarity requirement is obtained.

[0065] Specifically, in this embodiment, the observation camera 2 is preset in a fixed position, while the printhead module 1 can be repositioned via a control device after installation. Furthermore, by capturing images of the printhead module 1 with the observation camera 2, it is possible to determine whether the marker points on the printhead module 1 are within the focus range of the observation camera 2 based on the clarity of the captured image. If not, the position of the printhead module 1 can be adjusted to quickly align the marker points with the focus area 7 of the observation camera 2. It can be seen that even without activating the inkjet printer, the clarity of the marker points on the side wall of the printhead module 1 in the captured image can be used to quickly determine whether the marker points correspond to the focus area 7 of the observation camera 2, making the entire process fast and efficient. Regarding the clarity requirements of the marker point image in this embodiment, they can be set according to the specific form of the marker point. For example, when the marker point is a planar feature, it can be considered to meet the clarity requirements when the outline of the marker point appears in the shooting image. Or, for example, when the marker point extends along the optical axis of the observation camera 2, it can be judged whether it meets the clarity requirements based on the shape and area of ​​the clear outline of the marker point in the shooting image. This application does not impose any restrictions here.

[0066] S300. Based on the shape and position of the marker points in the first image, determine the deviation angle of the nozzle module 1 relative to the set direction.

[0067] Specifically, after adjusting the focus area 7 of the observation camera 2 to correspond to the marker point based on the first image, the shape and position of the marker point will be used to determine whether there is a deviation in the current setting direction of the nozzle module 1 relative to the standard. In this embodiment, this means the deviation angle of the width direction y of the mounting surface 8 of the nozzle module 1 relative to the setting direction. If it is determined that there is a deviation, when further adjusting the position of the nozzle unit 3 to enter the focus area 7 of the observation camera 2, the deviation angle of the nozzle module 1 needs to be further considered to ensure that the nozzle unit 3 can smoothly enter the focus area 7 of the observation camera 2.

[0068] S400: Determine whether the deviation angle is greater than the set angle;

[0069] S410. If the deviation angle is lower than the set angle, perform preliminary focusing on each nozzle unit 3 on the printhead module 1 according to the first ink droplet observation sequence and the relative position relationship.

[0070] S420. If the deviation angle is greater than the set angle, perform preliminary focusing on each nozzle unit 3 on the printhead module 1 according to the second ink drop observation sequence which is different from the first ink drop observation sequence, the relative position relationship and the deviation angle; wherein, in the second ink drop observation sequence, the interval between adjacent nozzle units 3 in the length direction and the width direction is greater than the set value.

[0071] Specifically, refer to Figure 2 When the printhead module 1 has no deviation angle, or the deviation angle is less than the set angle and at a low level, even if the deviation angle is ignored, the printhead module 1 can be directly adjusted horizontally (perpendicular to the set direction) and vertically (parallel to the set direction) on its moving surface according to the relative position relationship and the first ink droplet observation sequence. The error between the final position of the nozzle unit 3 and the target position is also small. The corresponding nozzle unit 3 can still move smoothly to the target position or near the target position, that is, move into the focusing area 7, ensuring that the next nozzle unit 3 can achieve preliminary focusing. The value of the set angle is proportional to the length of the focusing area 7 in the vertical direction of the set direction. It is set by technicians according to the actual situation, and this application does not impose specific restrictions.

[0072] When the deviation angle of nozzle module 1 is greater than the set angle and is at a higher level, refer to Figure 3When the deviation angle causes the nozzle module 1 to move laterally and longitudinally within the moving plane according to the relative positional relationship, a large positional error will occur between the actual position and the target position of the nozzle unit 3. Therefore, it is necessary to combine the relative positional relationship and the deviation angle to comprehensively calculate the adjustment amount of the nozzle module 1 in the next step. Since the error caused by the deviation angle needs to be eliminated during the adjustment process, the nozzle module 1 will inevitably have adjustment amounts in both the lateral and longitudinal directions within its moving plane when it moves. Therefore, when the coordinates of the nozzle module 1 before and after the position adjustment are too close in the lateral or longitudinal direction of the moving plane, the adjustment amount (△X) or the adjustment amount (△Y) of the nozzle module 1 in the lateral direction will be extremely small. For the mechanical or manual adjustment of the nozzle module 1, this extremely small compensation amount is not easy to execute accurately.

[0073] Therefore, refer to Figure 4 In this application, a second observation sequence, distinct from the first observation sequence, is used to determine the next nozzle unit 3 that needs to be adjusted into the focusing area 7 of the observation camera 2. In this second observation sequence, the next nozzle unit 3 must satisfy the requirement that the interval between adjacent nozzle units 3 in both the length and width directions is greater than a set value. Based on this requirement, when the printhead module 1 moves to the position of the corresponding next nozzle unit 3, the required displacement adjustment in the lateral or longitudinal direction of the moving surface reaches a considerable level. At this point, the position adjustment of the printhead module 1 can be achieved through mechanical or manual adjustment. The specific value of the set value can be matched by technicians based on the minimum precision required for controlled movement of the printhead module 1. This application does not impose specific limitations. After clarifying the set value, the second droplet observation sequence, which meets the composite requirements, can be further formed by combining the interval distance between each nozzle unit 3 in the length and width directions on the mounting surface 8. For example, in an embodiment where multiple nozzle units 3 are arranged in a rectangular array, the adjacent nozzle unit 3 in the first ink droplet observation sequence is the next nozzle unit 3 in the length or width direction, while in the second ink droplet observation sequence, the adjacent nozzle units 3 are located in different length directions and different width directions, that is, they are not in the same row or column in the matrix, so as to ensure that the distance between them in the length or width direction of the mounting surface 8 of the printhead module 1 is greater than the set value.

[0074] Finally, by combining the relative positional relationship between the marker point and the nozzle unit 3 and the deviation angle of the printhead module 1 relative to the set direction, the position of the printhead module 1 is further calculated and adjusted. This allows the nozzle units 3 on the printhead module 1 to be moved one by one into the focus area 7 of the observation camera 2. When the inkjet equipment is turned on, the initial adjustment of the relative position between the ink droplet and the observation camera 2 in the ink droplet observation can be completed, that is, the initial focusing of the observation camera 2 on the ink droplet can be achieved.

[0075] Furthermore, referring to Figure 2 and Figure 3 In some embodiments, the marker positions include a basic marker position 4, a first marker position 5, and a second marker position 6. The basic marker position 4 is located on the side ridge where one corner of the nozzle module 1 is located, and the side ridge is perpendicular to the mounting surface 8 of the nozzle module 1. The first marker position 5 and the second marker position 6 are respectively located on the side walls of the nozzle module 1 perpendicular to the mounting surface 8 on both sides of the basic marker position 4, and both the first marker position 5 and the second marker position 6 are spaced apart from the basic marker position 4 on the mounting surface 8. In this embodiment, the intervals are equal and less than half the depth of field of the focusing area 7 of the observation camera 2, so that the three marker positions can be more easily placed within the focusing area 7 of the observation camera 2 at the same time, which facilitates the overall adjustment of the marker positions into the focusing area 7 of the observation camera 2. In this embodiment, the basic marker point, the first marker point, and the second marker point are all lines coated on the side wall of the nozzle module 1 that can be distinguished by color, and the extension direction is perpendicular to the mounting surface 8 of the nozzle module 1. In order to ensure that the three are more obvious in the shooting image, all three are coated with reflective paint.

[0076] Furthermore, in step S300, when determining the deviation angle of the nozzle module 1 relative to the set direction based on the shape and position of the marker points in the first image, the deviation angle of the nozzle module 1 relative to the set direction is determined based on whether the first marker 5 and the second marker 6 appear on both sides of the basic marker 4 in the first image and the interval length between the first marker 5, the second marker 6 and the basic marker 4. Specifically, this includes the following steps:

[0077] S310. If a first marker 5 and a second marker 6 appear on both sides of the basic marker 4, the deviation angle of the nozzle module 1 relative to the set direction is determined according to the interval length between the first marker 5 and the second marker 6 and the basic marker 4.

[0078] S320. If only the first marker 5 appears on both sides of the basic marker 4, the deviation angle of the nozzle module 1 relative to the set direction is determined according to the interval length between the first marker 5 and the basic marker 4.

[0079] Reference Figure 5Since the observation camera 2 is located on one side of the nozzle module 1, and its optical axis is aligned with the side wall of the nozzle module 1 under the set standard, when the nozzle module 1's orientation conforms to the set direction, only the basic marker 4 and the first marker 5 / second marker 6 should appear in the first image, and the interval between them should conform to the set interval. However, when the installation orientation of the nozzle module 1 deviates from the first side, such as from the left, three markers will appear simultaneously in the first image, and the distance between the markers on both sides and the basic marker 4 will change. In this case, the distance can be calculated using the arctangent function of the ratio between the interval length between the first marker 5 and the basic marker 4 in the first image and the interval length between the second marker 6 and the basic marker 4 in the first image, as shown in the following formula:

[0080] θ2 = arc Tan(X2 / X1)

[0081] In the formula, θ2 is the deviation angle, X1 is the interval length between the first flag bit 5 and the base flag bit 4 in the first image, and X2 is the interval length between the second flag bit 6 and the base flag bit 4 in the first image.

[0082] When the nozzle module 1 is installed in the second direction, such as when there is a deviation to the right, although only the basic marker 4 and the first marker 5 are still visible in the first image, the interval between them will be shortened. At this time, the deviation angle can also be calculated by the inverse cosine function of the ratio between the interval length between the first marker 5 and the basic marker 4 in the first image and the interval distance between the first marker 5 and the basic marker 4 on the nozzle module 1, as shown in the following formula:

[0083] θ2 = arc Cos(X1 / D),

[0084] In the formula, θ2 is the deviation angle, X1 is the interval length between the first marker 5 and the basic marker 4 in the first image, and D is the interval distance between the first marker 5 and the basic marker 4 on the nozzle module 1.

[0085] Ultimately, this embodiment enables the rapid determination of the deviation direction and angle of the printhead module 1 using only one camera and three markers at different positions, which helps to quickly adjust the position of the subsequent nozzle unit 3, thereby enabling the nozzle unit 3 to quickly enter the diagonal area of ​​the observation camera 2 and complete the initial focusing of the ink droplets ejected by the nozzle unit 3.

[0086] Furthermore, in some embodiments, the second ink droplet observation order is a pre-set observation order, or the second ink droplet observation order is generated according to a preset order generation model and a set generation rule after determining that the deviation angle is greater than a set angle. Specifically, the generation rule is that the intervals between adjacent nozzle units 3 in both the length and width directions are greater than a set value, and the intervals between adjacent nozzle units 3 in both the length and width directions are minimized in the ink droplet observation order.

[0087] This configuration ensures that when the printhead module 1 performs multiple position adjustments for multiple nozzle units 3, it can accurately adjust the position of the next nozzle unit 3 while quickly completing the position adjustment for multiple nozzle units 3 with a relatively small average displacement amplitude, ultimately ensuring that the printhead module 1 as a whole can quickly complete ink droplet observation.

[0088] Furthermore, in some embodiments, step S420, performing preliminary focusing of each nozzle unit 3 on the printhead module 1 based on a second ink droplet observation order different from the first ink droplet observation order, the relative positional relationship, and the deviation angle, includes the following steps:

[0089] S421. Based on the relative positional relationship, determine the first distance in the length direction and the second distance in the width direction between the next nozzle unit 3 to be focused and the marker point or the current nozzle unit 3 in the second ink droplet observation sequence, and determine the angle between the line connecting the next nozzle unit 3 to be focused and the marker point or the current nozzle unit 3 and the width direction of the mounting surface 8.

[0090] Reference Figure 4 The first spacing and the second spacing are determined by the position coordinates of each nozzle unit 3 and the marker point on the mounting surface 8, and the angle between the line connecting the next nozzle unit 3 to be focused and the marker point or the current nozzle unit 3 and the width direction of the mounting surface 8 is determined. For example, in this embodiment, with one corner of the mounting surface 8 as the origin, the coordinates of the marker point or the current nozzle unit 3 are (x1, y1), and the next nozzle unit 3 to be focused is (x2, y2), then:

[0091] d x =|x1-x2|

[0092] d y =|y1-y2|

[0093]

[0094] In the formula, dx is the first spacing; dy is the second spacing; θ1 is the angle between the line connecting the next nozzle unit 3 and the marker point or the current nozzle unit 3 and the width direction of the mounting surface 8.

[0095] S422. Based on the first spacing, the second spacing, the included angle, and the deviation angle, determine the first adjustment amount and the second adjustment amount of the nozzle module 1 in the first direction and the second direction;

[0096] Specifically, it includes the following steps:

[0097] S4211. Calculate the first adjustment amount based on the first spacing, the second spacing, and the cosine of the sum of the included angle and the deviation angle;

[0098] S4210. Calculate the second adjustment amount based on the first spacing, the second spacing, and the sine value of the sum of the included angle and the deviation angle.

[0099] In this embodiment, refer to Figure 3 The specific calculation process for the first and second adjustment amounts uses the following formula:

[0100]

[0101]

[0102] In the formula, θ2 is the deviation angle; △X is the first adjustment amount of the nozzle module 1, and △Y is the second adjustment amount of the nozzle module 1; wherein, the first adjustment amount is perpendicular to the set direction, and the second adjustment amount is parallel to the set direction.

[0103] S423. Adjust the position of the nozzle module 1 according to the first adjustment amount and the second adjustment amount to achieve initial focusing of the nozzle unit 3.

[0104] Ultimately, it is possible to quickly calculate, based on the relative positional relationship, the deviation angle, and the relevant calculation formulas in the above steps, the first adjustment amount of displacement required in the length direction and the second adjustment amount of displacement required in the width direction when the printhead module 1 performs position adjustment to the next nozzle unit 3 to be focused according to the second inkjet observation sequence.

[0105] Secondly, embodiments of this application also provide a focusing device for observing ink droplets.

[0106] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of a focusing device for ink droplet observation according to an embodiment of this application. Figure 4 As shown, the focusing device for ink droplet observation includes:

[0107] The acquisition module is configured to acquire the relative positional relationship between the marker points on the sidewall of the nozzle module and multiple nozzle units on the mounting surface of the nozzle module.

[0108] The initial positioning module is configured to acquire the image captured by the nozzle module in the observation camera at the initial installation position, and adjust the position of the nozzle module according to whether the marker point that meets the clarity requirement appears in the image until a first image with the marker point that meets the clarity requirement is obtained.

[0109] The deviation angle calculation module is configured to determine the deviation angle of the nozzle module relative to a set direction based on the shape and position of the marker point in the first image.

[0110] The focusing module is configured to determine whether the deviation angle is greater than a set angle; if the deviation angle is less than the set angle, perform preliminary focusing on each nozzle unit on the printhead module according to the first droplet observation sequence and the relative position relationship; if the deviation angle is greater than the set angle, perform preliminary focusing on each nozzle unit on the printhead module according to a second droplet observation sequence different from the first droplet observation sequence, the relative position relationship, and the deviation angle; wherein, in the second droplet observation sequence, the interval between adjacent nozzle units in both the length and width directions is greater than a set value.

[0111] The functions of each module in the focusing device for ink droplet observation correspond to the steps in the focusing method embodiment for ink droplet observation, and their functions and implementation processes will not be described in detail here.

[0112] Thirdly, embodiments of this application provide a focusing device for ink droplet observation. The focusing device for ink droplet observation can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0113] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the focusing device for ink droplet observation involved in the embodiments of this application. In the embodiments of this application, the focusing device for ink droplet observation may include a processor, a memory, a communication interface, and a communication bus.

[0114] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0115] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting devices within the focusing equipment used to achieve ink droplet observation, as well as interfaces for interconnecting the focusing equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0116] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0117] The processor can be a general-purpose processor, which can call the focusing program for ink droplet observation stored in the memory and execute the focusing method for ink droplet observation provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the focusing program for ink droplet observation is called can be referred to in the various embodiments of the focusing method for ink droplet observation in this application, and will not be repeated here.

[0118] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0119] Fourthly, embodiments of this application also provide a storage medium.

[0120] The present application stores a focusing program for ink droplet observation on a storage medium, wherein when the focusing program for ink droplet observation is executed by a processor, the steps of the focusing method for ink droplet observation as described above are implemented.

[0121] The method implemented when the focusing procedure for ink droplet observation is executed can be referred to in the various embodiments of the focusing method for ink droplet observation in this application, and will not be repeated here.

[0122] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0123] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0124] In the description of the embodiments in this application, terms such as "exemplary," "for example," or "by way of example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary," "for example," or "by way of example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of "exemplary," "for example," etc., is intended to convey the intended meaning. ” Or, phrases like "for example" are intended to present related concepts in a specific way.

[0125] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0126] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0127] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0128] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A focusing method for ink droplet observation, characterized in that, It includes the following steps: Obtain the relative positional relationship between the marker points on the side wall of the nozzle module and the multiple nozzle units on the mounting surface of the nozzle module; The camera captures the image of the nozzle module in its initial installation position. Based on whether the marker point that meets the clarity requirement appears in the captured image, the position of the nozzle module is adjusted until a first image with the marker point that meets the clarity requirement is obtained. Based on the shape and position of the marker points in the first image, determine the deviation angle of the nozzle module relative to the set direction; Determine whether the deviation angle is greater than the set angle; If the deviation angle is lower than the set angle, preliminary focusing is performed on each nozzle unit on the printhead module according to the first ink droplet observation order and the relative position relationship; If the deviation angle is greater than the set angle, preliminary focusing is performed on each nozzle unit on the printhead module according to the second ink drop observation sequence which is different from the first ink drop observation sequence, the relative position relationship, and the deviation angle; wherein, in the second ink drop observation sequence, the interval between adjacent nozzle units in both the length and width directions is greater than the set value.

2. The focusing method for ink droplet observation as described in claim 1, characterized in that, The marker positions include a basic marker position, a first marker position, and a second marker position. The basic marker position is located on the side edge where one corner of the nozzle module is located. The first marker position and the second marker position are respectively located on the side walls of the nozzle module on both sides of the basic marker position, and both the first marker position and the second marker position are spaced apart from the basic marker position on the mounting surface. In determining the deviation angle of the nozzle module relative to the set direction based on the shape and position of the marker points in the first image, Based on whether a first marker and a second marker appear on both sides of the basic marker in the first image, and the interval length between the first marker and the second marker located at the basic marker, the deviation angle of the nozzle module relative to the set direction is determined.

3. The focusing method for ink droplet observation as described in claim 2, characterized in that, The step of determining the deviation angle of the nozzle module relative to the set direction based on whether a first marker and a second marker appear on both sides of the marker point in the first image, and the interval length between the first marker and the second marker located at the base marker, includes the following steps: If a first marker and a second marker appear on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined according to the interval length between the first marker and the second marker and the basic marker. If only the first marker appears on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined according to the interval length between the first marker and the basic marker.

4. The focusing method for ink droplet observation as described in claim 3, characterized in that, If a first marker and a second marker appear on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined based on the interval length between each of the first and second markers and the basic marker. The deviation angle is calculated using the arctangent function of the ratio between the interval length between the first flag bit and the base flag bit in the first image and the interval length between the second flag bit and the base flag bit in the first image.

5. The focusing method for ink droplet observation as described in claim 3, characterized in that, If only the first marker appears on both sides of the basic marker, the deviation angle of the nozzle module relative to the set direction is determined based on the interval length between the first marker and the basic marker. The deviation angle is calculated using the inverse cosine function of the ratio between the interval length between the first marker and the base marker in the first image and the interval distance between the first marker and the base marker on the nozzle module.

6. The focusing method for ink droplet observation as described in claim 1, characterized in that, The preliminary focusing of each nozzle unit on the printhead module based on a second ink droplet observation order different from the first ink droplet observation order, the relative positional relationship, and the deviation angle includes the following steps: Based on the relative positional relationship, determine the first distance in the length direction and the second distance in the width direction between the next nozzle unit to be focused and the marker point or the current nozzle unit in the second ink droplet observation sequence, and determine the angle between the line connecting the next nozzle unit to be focused and the marker point or the current nozzle unit and the width direction of the mounting surface. Based on the first spacing, the second spacing, the included angle, and the deviation angle, the first adjustment amount and the second adjustment amount of the nozzle module in the first direction and the second direction are determined; The position of the nozzle module is adjusted according to the first adjustment amount and the second adjustment amount to achieve initial focusing of the nozzle unit.

7. The focusing method for ink droplet observation as described in claim 6, characterized in that, The step of determining the first adjustment amount and the second adjustment amount of the nozzle module in the first direction and the second direction based on the first spacing, the second spacing, the included angle, and the deviation angle includes the following steps: The first adjustment amount is calculated based on the first spacing, the second spacing, and the cosine of the sum of the included angle and the deviation angle; The second adjustment amount is calculated based on the sine value of the sum of the first spacing, the second spacing, the included angle, and the deviation angle.

8. A focusing device for observing ink droplets, characterized in that, It includes: The acquisition module is configured to acquire the relative positional relationship between the marker points on the sidewall of the nozzle module and multiple nozzle units on the mounting surface of the nozzle module. The initial positioning module is configured to acquire the image captured by the nozzle module in the observation camera at the initial installation position, and adjust the position of the nozzle module according to whether the marker point that meets the clarity requirement appears in the image until a first image with the marker point that meets the clarity requirement is obtained. The deviation angle calculation module is configured to determine the deviation angle of the nozzle module relative to a set direction based on the shape and position of the marker point in the first image. A focusing module is configured to determine whether the deviation angle is greater than a set angle; If the deviation angle is lower than the set angle, preliminary focusing of each nozzle unit on the printhead module is performed according to the first ink droplet observation order and the relative position relationship; if the deviation angle is greater than the set angle, preliminary focusing of each nozzle unit on the printhead module is performed according to the second ink droplet observation order, which is different from the first ink droplet observation order, the relative position relationship, and the deviation angle; wherein, in the second ink droplet observation order, the interval between adjacent nozzle units in both the length and width directions is greater than the set value.

9. A focusing device for observing ink droplets, characterized in that, The focusing device for ink droplet observation includes a processor, a memory, and an ink droplet observation focusing program stored in the memory and executable by the processor, wherein when the ink droplet observation focusing program is executed by the processor, it implements the steps of the ink droplet observation focusing method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a focusing program for ink droplet observation, wherein when the focusing program for ink droplet observation is executed by a processor, it implements the steps of the focusing method for ink droplet observation as described in any one of claims 1 to 7.

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