Ink-jet printer trolley collision processing method, device and equipment and storage medium

Abstract

The invention discloses an ink-jet printer trolley collision processing method, device and equipment and a storage medium, and relates to the technical field of ink-jet printing. The method comprises the steps that when a printing trolley collides, the printing trolley is controlled to stop ink-jet printing; after the factors causing the collision fault of the printing trolley are processed, the printing trolley is controlled to move in the first direction according to the preset rollback distance, and the first direction is opposite to the printing direction; according to a preset speed curve, the printing trolley is controlled to move in the printing direction; and when the printing trolley moves to the ink-jet stop position, the printing trolley is controlled to conduct ink-jet printing, and the speed of the printing trolley at the collision occurrence position is equal to the preset speed. The technical problem that an existing ink-jet printer trolley collision processing method cannot correctly print images can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of inkjet printing technology, and in particular to an inkjet printer trolley collision processing method, device, equipment and storage medium. BACKGROUND

[0002] The printer outputs image data by installing a digital inkjet nozzle. The digital inkjet nozzle is composed of multiple nozzles arranged in one or more columns in the longitudinal direction, which determines the inherent resolution of the inkjet nozzle. In order to improve the resolution of the printed image without changing the inherent resolution of the inkjet nozzle, the current method is to print back and forth multiple times. For example, a nozzle with a longitudinal resolution of 300 DPI can print a 600 resolution image through two printing.

[0003] In the prior art, if the printing trolley collides during a scan printing, after processing the collision reason, the collision reason is usually removed in a manual or automatic manner, and then the printing is directly continued at the printing stop point. However, due to the large difference in the movement speed of the trolley at the splicing position of the two prints, a splicing seam will appear in the image at the anti-collision position, which will cause the printed image to be printed incorrectly, thereby reducing the quality of the printed image. SUMMARY

[0004] The present application provides an inkjet printer trolley collision processing method, device, equipment and storage medium to solve the technical problem that the existing inkjet printer trolley collision processing method cannot correctly print the image.

[0005] In a first aspect, the present application provides an inkjet printer trolley collision processing method, comprising:

[0006] When the printing trolley collides, the printing trolley is controlled to stop inkjet printing;

[0007] After processing the factors causing the collision fault of the printing trolley, the printing trolley is controlled to move in a first direction according to a preset back-off distance, wherein the first direction is opposite to the printing direction;

[0008] According to a preset speed curve, the printing trolley is controlled to move in the printing direction;

[0009] When the printing trolley moves to an inkjet stop position, the printing trolley is controlled to perform inkjet printing, wherein the speed of the printing trolley at the collision position is equal to a preset speed.

[0010] Preferably, a collision sensor is arranged on the printing trolley, which is used to send a collision signal to the FPGA control system when the printing trolley collides.

[0011] Preferably, the step of controlling the print carriage to stop moving and stop inkjet printing when the print carriage collides comprises:

[0012] In response to the collision signal, the FPGA control system controls the print carriage to stop inkjet and record the inkjet stop position;

[0013] Meanwhile, the FPGA control system controls the print carriage to brake.

[0014] Preferably, the step of controlling the print carriage to stop inkjet and record the inkjet stop position when the print carriage collides comprises:

[0015] When the print carriage collides, the print carriage is controlled to stop inkjet;

[0016] The grating scale value of the print carriage when stopping inkjet is obtained;

[0017] The inkjet stop position is obtained according to the grating scale value.

[0018] Preferably, the step of controlling the print carriage to move in a first direction according to a preset back-off distance after processing the factor causing the collision fault of the print carriage comprises:

[0019] A preset speed is obtained according to the moving speed of the print carriage before the collision occurs;

[0020] A preset back-off distance is obtained according to the preset speed, a preset acceleration and a braking distance;

[0021] The print carriage is controlled to move in the first direction by the preset back-off distance.

[0022] Preferably, the collision sensor is an inertial measurement unit.

[0023] Preferably, after the step of controlling the print carriage to stop moving and stop inkjet printing when the print carriage collides, the method further comprises:

[0024] According to the inertial measurement data of the inertial measurement unit, the motion state information of the print carriage is obtained, wherein the motion state information comprises speed information, acceleration information and angle information;

[0025] According to the motion state information, the type of the collision fault is determined, wherein the type of the collision fault comprises a first type of fault and a second type of fault;

[0026] When the type of the collision fault is the first type of fault, the collision fault is automatically processed according to a preset processing method;

[0027] When the type of the collision fault is the second type of fault, an alarm information is sent.

[0028] In a second aspect, the present application provides a device for handling collision of an inkjet printer carriage, comprising:

[0029] a movement stopping module configured to control the printer carriage to stop moving and stop inkjet printing when the printer carriage collides;

[0030] a back-off module configured to control the printer carriage to move in a first direction according to a preset back-off distance after handling a factor causing the collision of the printer carriage, wherein the first direction is opposite to a printing direction;

[0031] a forward module configured to control the printer carriage to move in the printing direction according to a preset speed curve;

[0032] a printing module configured to control the printer carriage to perform inkjet printing when the printer carriage moves to an inkjet stopping position, wherein a speed of the printer carriage at a position where the collision occurs is equal to a preset speed.

[0033] In a third aspect, the present application provides a printing device for outputting an arbitrary amount of ink, comprising at least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the method of the first aspect.

[0034] In a fourth aspect, the present application provides a storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the method of the first aspect.

[0035] In summary, the present application has the following advantages:

[0036] The method for handling collision of an inkjet printer carriage according to the present application stops printing immediately after the collision occurs, thereby avoiding the printer to continue running in an unstable state, which may cause more serious faults and damages. The carriage backs off by a distance, thereby preventing the carriage from directly moving forward, which may cause a re-collision. Meanwhile, the back-off also allows the carriage to have enough distance to accelerate forward. When the carriage moves to a position where the collision stops printing, the speed of the carriage has reached a preset printing speed, thereby avoiding the printing image to have a splicing seam and improving the printing effect of the printing image at the collision position, and thus improving the printing quality. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. For those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0038] Figure 1is the schematic diagram of the principle of the present application using multiple scanning printing to improve image resolution.

[0039] Figure 2 is the flow chart of the present application of inkjet printer carriage collision processing method.

[0040] Figure 3 is the structure schematic diagram of the present application of inkjet printer carriage collision processing device.

[0041] Figure 4 is the structure schematic diagram of the present application of printing equipment. DETAILED DESCRIPTION

[0042] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application, and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0043] It should be noted that in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0044] Embodiment 1

[0045] The inkjet nozzle of the printing equipment is composed of a plurality of nozzles arranged in one or more columns longitudinally, which determines that the inkjet nozzle has a fixed resolution, i.e. inherent resolution. For example, the resolution of a certain nozzle is 300 DPI, etc., i.e. there are 300 nozzles per inch.

[0046] As Figure 1As shown, the printing of high resolution image can be accomplished by multiple back-and-forth printing of inkjet printhead. For example, if a 600DPI image is printed by using a 300DPI nozzle, the printhead needs to print twice to complete the printing of the image data. As shown in the figure, Figure 1 As shown, the printing of high resolution image can be accomplished by multiple back-and-forth printing of inkjet printhead. For example, if a 600DPI image is printed by using a 300DPI nozzle, the printhead needs to print twice to complete the printing of the image data. As shown in the figure,

[0047] In the process of each reciprocating scanning printing of the printhead, the printing carriage has undergone the process of acceleration, uniform motion and deceleration. In the process of ink ejection of the printhead on the printing carriage, in order to ensure that the ejected ink droplets can fall on the correct position of the printing material, the printing carriage is in uniform motion at this time. If the printing carriage is in acceleration or deceleration motion, due to the existence of acceleration, it is impossible to ensure that the ink droplets fall on the correct position of the printing material.

[0048] If the speed value of the uniform motion of the printing carriage in the scanning printing is V, and the printing carriage collides in a scanning printing, after processing the collision reason, the printing directly continues at the printing stop point. At this time, the printing carriage needs to start acceleration motion from the static state to reach the speed value V of the uniform motion. Therefore, the speed of the printing carriage at the collision point is not equal to V, so that there is a large difference in the motion speed of the printing carriage. The image at the position of the anti-collision will have a splicing seam, which causes the printing image to be unable to be correctly printed, thereby reducing the printing image quality.

[0049] To solve the above technical problems, as shown in Figure 2 The present application provides a kind of inkjet printer carriage collision processing method, comprising:

[0050] S1, when the printing carriage collides, control the printing carriage to stop inkjet printing;

[0051] Specifically, when the print carriage collides, in order to avoid the printer continuing to run in an unstable state, which may cause more serious faults and damage, first control the print carriage to stop inkjet printing, the occurrence of the collision can be monitored in various ways, for example, when the printer collides, it usually produces abnormal sound, vibration or displacement, etc., by observing these abnormal conditions, it can be preliminarily judged whether a collision has occurred, or by monitoring the running data of the printer, it can be judged whether a collision has occurred, the running data of the printer includes printing speed, coordinate position, nozzle state and other information, by monitoring these data, the abnormal behavior of the printer can be found, such as deviation of the motion trajectory, sudden change of the speed, etc., the occurrence of the collision can be judged;

[0052] In an embodiment, a collision sensor is arranged on the print carriage, which is used to send a collision signal to the FPGA control system when the print carriage collides, wherein the FPGA control system includes an FPGA control circuit for controlling the print carriage to move, the FPGA is a programmable logic device, which can realize a custom logic circuit on the FPGA to complete a specific task, compared with the traditional CPU, the FPGA has a higher clock frequency and a lower clock cycle, so it can realize higher real-time performance and faster response speed.

[0053] For example, but not limited to, the collision sensor includes one or more of a piezoelectric sensor, a photoelectric sensor, an acceleration sensor, and an inertial monitoring unit, the piezoelectric sensor can measure the pressure or impact force generated when the print carriage collides with the obstacle, and convert these signals into electrical signals output; the photoelectric sensor can measure the distance between the print carriage and the obstacle by using the photoelectric effect, and judge whether a collision has occurred;

[0054] In a specific embodiment, the collision sensor is an inertial detection unit, through which the motion state and position information of the print carriage can be recorded in real time. When the printer collides, the inertial detection unit can detect the moment of collision and the motion state after the collision, so as to judge whether a collision has occurred.

[0055] In an embodiment, the step S1 specifically includes:

[0056] S11, in response to the collision signal, the FPGA control system controls the print carriage to stop inkjet and records the inkjet stop position;

[0057] S12, at the same time, the FPGA control system controls the print carriage to brake;

[0058] Specifically, after the collision occurs, the collision sensor transmits a spraying signal to the FPGA control system, the FPGA control system controls the printing trolley to stop spraying ink, and records the current position as the ink spraying stop position. Since the response time of the FPGA is within 1us, it can be considered that the collision occurs and the ink spraying stops at the same time. At the same time, the printing trolley is controlled to brake. Due to inertia, the printing trolley will still move forward for a distance after braking, so the ink spraying stop position and the printing trolley stop position are different.

[0059] In an embodiment, the step of controlling the printing trolley to stop spraying ink and recording the ink spraying stop position when the printing trolley collides includes:

[0060] S111, when the printing trolley collides, controlling the printing trolley to stop spraying ink;

[0061] S112, obtaining the grating scale value of the printing trolley when the ink spraying stops;

[0062] S113, obtaining the ink spraying stop position according to the grating scale value;

[0063] Specifically, in the inkjet printer, the nozzle is installed on the printing trolley, and the nozzle is driven by the printing trolley to reciprocate along the guide rail beam relative to the printing medium. The grating is installed on the guide rail beam, and the position of the printing trolley movement and the position of the printing head ink spraying can be determined through the grating. The grating provided by the printer can realize high-precision measurement of the position of the printing trolley, and the measurement accuracy can usually reach several microns. This can ensure the accuracy of the position of the printing trolley, thereby avoiding the problem of position deviation or drift.

[0064] S2, after the factor causing the collision fault of the printing trolley is processed, controlling the printing trolley to move in a first direction according to a preset back-off distance, wherein the first direction is opposite to the printing direction;

[0065] Specifically, after the factor causing the collision fault of the printing trolley is removed by an automatic or manual method, the printing trolley is controlled to move in a direction opposite to the printing direction according to a preset back-off distance. The effect of back-off by a first preset distance is to make the printing trolley have enough distance to accelerate, so that the acceleration process is completed in the preset back-off distance, so that the speed of the printing trolley when reaching the ink spraying stop position is the same as the speed before the collision, thereby ensuring that the ink droplets can fall on the correct position of the printing medium and avoiding the generation of a splicing seam.

[0066] Specifically, the step of controlling the printing trolley to move in a first direction according to a preset back-off distance after the factor causing the collision fault of the printing trolley is processed includes:

[0067] S21, obtaining a preset speed according to the moving speed of the printing trolley before the collision occurs;

[0068] S22, obtaining a preset back-off distance according to the preset speed, preset acceleration, and brake distance;

[0069] S23, controlling the printing carriage to move in the first direction by the preset back-off distance.

[0070] Specifically, to ensure the printing carriage has the same speed at the ink ejection stop position before and after the collision, the preset speed is the same as the moving speed of the printing carriage before the collision, and then the preset back-off distance is obtained according to the preset speed, preset acceleration, and brake distance, wherein the preset back-off distance is equal to the sum of the brake distance and the acceleration distance, and the brake distance can be calculated by the braking ability and the motion state of the printing carriage. Generally, the shorter the brake distance, the shorter the back-off distance, and the printing carriage can return to the safe distance faster. The acceleration distance is obtained according to the preset acceleration and the preset speed of the printing carriage.

[0071] S3, controlling the printing carriage to move in the printing direction according to a preset speed curve;

[0072] Specifically, the preset speed curve is a control strategy that guides the acceleration and deceleration process of the printing carriage when resuming printing. Generally, the speed curve can be linear acceleration, nonlinear acceleration (such as a quadratic curve), gradient acceleration, or a speed change curve designed based on a specific algorithm, which is used to prevent the carriage from reaching the printing speed directly from a stationary state, causing unstable printing or damage to the nozzle. By smoothly adjusting the speed of the carriage, seamless resumption of printing can be achieved.

[0073] The starting speed is the initial speed of the printing carriage when it is restarted after the collision, which is usually zero or a small recovery speed. The target speed is the set printing speed when resuming printing, i.e., the nominal speed (such as 50 mm / s or 100 mm / s) before the collision occurs, which ensures the stability of the ink ejection quality.

[0074] In a specific embodiment, the step S3 comprises:

[0075] S31, obtaining a preset speed curve according to the moving speed of the printing carriage when the collision occurs and the preset back-off distance;

[0076] Specifically, when the printing carriage moves to the collision point after back-off, its speed must be the target printing speed, i.e., the moving speed of the printing carriage before the collision, and the acceleration process has been completed within the back-off distance. The acceleration of the printing carriage can be obtained using the acceleration formula, and then the acceleration time can be obtained according to the acceleration and the target printing speed.

[0077] In the process of accelerating the printing carriage from a stationary state to a target speed, an applicable acceleration curve can be selected to optimize the smoothness of the motion trajectory. Common acceleration curves include a uniform acceleration curve, i.e., an acceleration constant acceleration curve, which is relatively simple but will cause impact at the start and end of acceleration; and an S-shaped acceleration curve, which controls the rate of change of acceleration to make the acceleration process smoother, thereby avoiding sharp speed changes at the beginning and end of acceleration.

[0078] In a preferred embodiment, the preset speed curve is an S-shaped acceleration curve, which controls the rate of change of acceleration to generate a speed curve a(t) = J x t, where a(t) is the change of acceleration value over time, and J is the jerk. By integrating the jerk, a speed change curve can be obtained, and then by integrating the speed, a displacement change curve can be obtained.

[0079] S32, controlling the printing carriage to move in the printing direction according to the preset speed curve;

[0080] Specifically, the FPGA control system decomposes the speed curve into a series of speed control instructions to control the speed change of the printing carriage at a microsecond level. By monitoring the speed and position feedback information of the printing carriage in real time, the speed control signal in the acceleration curve is dynamically adjusted to ensure that the speed of the printing carriage is equal to the target printing speed when it reaches the "ink jet stop point".

[0081] S4, when the printing carriage moves to the ink jet stop position, controlling the printing carriage to perform ink jet printing, wherein the speed of the printing carriage at the collision occurrence position is equal to the preset speed.

[0082] Specifically, after step S3 is performed, the print carriage is accelerated in the printing direction and reaches the target printing speed. When the print carriage moves to the preset ink ejection stop position (i.e., the exact position where the collision occurred before), the system detects that the current position has matched the ink ejection stop position, i.e., the current raster scale value is the same as or within a set tolerance range of the scale value of the ink ejection stop position. When the print carriage moves to the ink ejection stop point, the control system needs to ensure that the speed of the print carriage at this moment is exactly matched with the target printing speed, i.e., the speed of the carriage at this position has reached the preset uniform printing speed; after the above two conditions are met, the control system sends a command to the ink ejection control unit to resume ink ejection, so that the ink head starts to print again. After the ink ejection is resumed, the carriage needs to maintain uniform motion throughout the printing process to ensure the positioning accuracy of the ink droplets and the image quality. Through FPGA control, the speed and position of the carriage can be monitored in real time to ensure that the speed fluctuation in the printing process is within the allowable range, thereby avoiding slight deviation of the ink droplet position. The ink head will continue to print until the printing task of the current pass is completed (i.e., the set pass end position is reached), at which time the system will determine whether the current carriage has reached the end position of the pass according to the set scanning path. If the end position is reached, the system stops ink ejection and records the current carriage position as the end point of the printing.

[0083] In an embodiment, when the ink ejection is resumed, it is necessary to ensure that the speed of the carriage at the ink ejection resumption point is stable and consistent with the preset speed. Any speed deviation will cause the landing point of the ink droplets to deviate, resulting in misalignment or splicing seams in the image. To further improve the accuracy of ink ejection resumption, the following method can be used:

[0084] According to the feedback data in the actual motion process, the speed of the carriage is fine-tuned before reaching the resumption point to ensure that there is no fluctuation in the speed at the ink ejection resumption point. Specifically, according to the feedback data of the speed and position of the actual print carriage during the motion process, the acceleration curve is corrected and calibrated to ensure that the speed curve of the print carriage during acceleration to the target speed can accurately reach the set value, and the actual speed at the ink ejection resumption point is consistent with the target speed.

[0085] After the ink ejection is resumed, the image splicing algorithm can be used to detect the quality of the printing result. If misalignment or seams are found, the speed control strategy can be further optimized.

[0086] In summary, the inkjet printer carriage collision processing method of the embodiment stops printing immediately when a collision occurs, avoiding the printer continuing to run in an unstable state, which can cause more serious faults and damage; the carriage is backed up by a certain distance, preventing the carriage from driving straight ahead, which can cause a collision again. At the same time, the back-up also allows the carriage to have enough distance to accelerate forward. When the carriage moves to the position where printing is stopped due to a collision, the carriage speed has reached the set printing speed, avoiding the generation of a splicing seam in the printed image and improving the printing effect of the printed image at the collision position, thereby improving the printing quality.

[0087] Embodiment 2

[0088] Preferably, after the step of controlling the printing carriage to stop moving and stopping inkjet printing when the printing carriage collides, the method further comprises:

[0089] S02, obtaining motion state information of the printing carriage according to inertial measurement data of the inertial measurement unit, wherein the motion state information includes speed information, acceleration information, and angle information;

[0090] Specifically, the inertial measurement unit can obtain the motion state information of the carriage through a gyroscope and an accelerometer. By measuring the angular velocity and acceleration of the carriage, the current position, speed, and acceleration information of the carriage can be calculated. At the same time, the attitude angle information of the carriage can also be obtained through the inertial measurement unit;

[0091] S03, determining the type of collision fault according to the motion state information, wherein the collision fault type includes a first type of fault and a second type of fault;

[0092] Specifically, according to the obtained motion state information, whether a collision fault has occurred can be determined by judging the speed, acceleration, and other parameters of the carriage. According to specific conditions, the collision fault can be divided into a first type of fault and a second type of fault. The first type of fault refers to a slight collision of the carriage, which can be automatically processed by a preset processing method. The second type of fault refers to a more serious collision of the carriage, which requires sending an alarm message to allow the user to repair;

[0093] S04, when the type of the collision fault is the first type of fault, automatically processing the collision fault according to a preset processing method;

[0094] Specifically, one type of fault refers to a slight collision of the trolley, which can be automatically handled by a preset handling method. For example, a collision between the trolley and an obstacle causes a deviation of the position of the nozzle, which can be solved by automatically retreating a certain distance and then re-running the printing program. Or, an abnormal lifting or lowering of the printing head causes an error, which can be solved by automatically resetting the position of the printing head. By way of example and not limitation, the preset method includes: by controlling the speed and direction of the printing trolley, the trolley retreats a certain distance to avoid more serious faults caused by the trolley continuing to move forward after the collision; or, when the trolley collides, the trolley automatically stops and recalculates the position to ensure that the position of the trolley and the position of the printing head correspond accurately. At this time, the actual position of the trolley needs to be calculated according to the position, speed and acceleration information before the collision, and the inertia measurement data at the time of the collision, and calibrated. Retry printing: or, when the trolley collides, the trolley automatically stops and attempts to re-print. At this time, the position at which the printing head needs to start printing again is calculated according to the position and speed information before the collision, and a printing instruction is re-sent.

[0095] S05, when the type of the collision fault is the second type of fault, an alarm information is sent out;

[0096] Specifically, when it is judged that the second type of fault occurs, an alarm information needs to be sent out to inform the relevant personnel to handle. For example, the relevant personnel can be informed by sending a sound alarm, sending a short message or an email, or the like.

[0097] The embodiment can quickly and accurately detect the motion state of the printing trolley, and handle different types of faults by judging the type of the collision fault, thereby improving the production efficiency and safety.

[0098] Embodiment 3

[0099] Please refer to Figure 3 , the embodiment of the present application provides a kind of ink-jet printer trolley collision processing device, comprising:

[0100] Motion stop module, for when printing trolley collides, control printing trolley stop motion and stop ink-jet printing;

[0101] Retreat module, for after handling the factor causing the collision fault of printing trolley, according to preset retreat distance, control printing trolley moves to first direction, wherein the first direction and printing direction are opposite;

[0102] Forward module, for according to preset speed curve, control the printing trolley moves in the printing direction;

[0103] The printing module is configured to control the printing trolley to perform inkjet printing when the printing trolley moves to the inkjet stopping position, wherein the speed of the printing trolley at the collision occurrence position is equal to the preset speed.

[0104] It should be noted that the modules and units in the inkjet printer trolley collision processing device in this embodiment are one-to-one corresponding to the steps in the inkjet printer trolley collision processing method in the foregoing embodiments, and therefore, the specific embodiments of this embodiment can refer to the embodiments of the foregoing inkjet printer trolley collision processing method, which will not be described here again.

[0105] Embodiment 4

[0106] In addition, in combination with Figure 4 The inkjet printer trolley collision processing method described in the embodiments of the present application can be implemented by a printing device. Figure 4 A hardware structure schematic diagram of the printing device provided by the embodiments of the present application is shown.

[0107] The printing device can include a processor 401 and a memory 402 having computer program instructions stored therein.

[0108] Specifically, the processor 401 described above can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured as one or more integrated circuits that implement the embodiments of the present application.

[0109] The memory 402 can include a mass storage for data or instructions. By way of example and not limitation, the memory 402 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 402 can include removable or non-removable (or fixed) media. Where appropriate, the memory 402 can be internal or external to the data processing apparatus. In certain embodiments, the memory 402 is a non-volatile solid-state memory. In certain embodiments, the memory 402 includes read-only memory (ROM). Where appropriate, this ROM can be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0110] The processor 401 implements the data addressing method of the area random printing in any of the above embodiments by reading and executing computer program instructions stored in the memory 402.

[0111] The printing device for any-multiple ink output in an example can also include the communication interface 403 and the bus 410. Wherein, as shown in the figure, the processor 401, the memory 402, the communication interface 403 are connected through the bus 410 and complete the communication between each other. Figure 4

[0112] The communication interface 403 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0113] The bus 410 includes hardware, software or both, and couples the components for any-multiple ink output to each other. By way of example and not limitation, the bus can include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or combination of two or more of these. Where appropriate, the bus 410 can include one or more buses. Although the embodiments of the present application describe and show a particular bus, the present application contemplates any suitable bus or interconnect.

[0114] Embodiment 5

[0115] In addition, in combination with the above-mentioned inkjet printer trolley collision processing method, the embodiments of the present application can provide a computer readable storage medium to realize. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by the processor to realize any of the above-mentioned inkjet printer trolley collision processing methods.

[0116] The above is a detailed introduction to the inkjet printer trolley collision processing method, device, equipment and storage equipment provided by the embodiments of the present application.

[0117] ​It is to be understood that the application is not limited to particular configurations and processes described herein and shown in the drawings, as such can include any alternatives, modifications, additions or omissions as is readily appreciated by one of ordinary skill in the art. For instance, the methods of the application can be implemented in software, hardware, firmware, or any combination thereof. For the sake of brevity, conventional techniques and methods related to making and using aspects of the application can or can not be described in detail herein. In the above embodiments, a number of specific steps are described and illustrated as examples. However, the methods of the application are not limited to the specific steps described and illustrated herein, but rather include any alternatives, modifications, additions or omissions as is readily appreciated by one of ordinary skill in the art.

[0118] The functional blocks shown in the block diagrams described above can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transfer information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0119] It is also to be understood that the example embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the steps described above, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0120] The above merely illustrates the specific implementation of the present application. Those skilled in the art can clearly understand that, for the sake of brevity and conciseness, the specific working processes of the above-described systems, modules and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited thereto, and any modifications or replacements within the technical scope disclosed by the present application can be easily conceived by those skilled in the art, and should be included in the protection scope of the present application.

Claims

1. A method for handling collisions of an inkjet printer carriage, characterized in that, include: When the printing carriage collides, control the printing carriage to stop inkjet printing; After addressing the factors causing the collision malfunction of the printing carriage, the printing carriage is controlled to move in a first direction according to a preset backtracking distance, wherein the first direction is opposite to the printing direction; According to the preset speed curve, the printing carriage is controlled to move in the printing direction; When the printing carriage moves to the inkjet stop position, the printing carriage is controlled to perform inkjet printing, wherein the speed of the printing carriage at the collision location is equal to the preset speed.

2. The inkjet printer carriage collision handling method according to claim 1, characterized in that, The printing carriage is equipped with a collision sensor, which sends a collision signal to the FPGA control system when the printing carriage collides.

3. The inkjet printer carriage collision handling method according to claim 2, characterized in that, The step of controlling the printing carriage to stop moving and stopping inkjet printing when the printing carriage collides includes: In response to a collision signal, the FPGA control system controls the printing carriage to stop ink ejection and records the ink ejection stop position; At the same time, the FPGA control system controls the printing carriage to brake.

4. The inkjet printer carriage collision handling method according to claim 3, characterized in that, The step of controlling the printing carriage to stop ink ejection and recording the ink ejection stop position when the printing carriage collides includes: When the printing carriage collides, control the printing carriage to stop spraying ink; Obtain the raster scale value of the printing carriage when inkjet printing stops; The inkjet stop position is obtained based on the grating scale value.

5. The inkjet printer carriage collision handling method according to claim 1, characterized in that, The step of controlling the printing carriage to move in the first direction according to a preset backtracking distance after handling the factors causing the collision failure of the printing carriage includes: Based on the speed at which the printed car was moving before the collision occurred, obtain the preset speed; Based on the preset speed, preset acceleration, and braking distance, obtain the preset retraction distance; The printing carriage is controlled to move the preset retraction distance in the first direction.

6. The inkjet printer carriage collision handling method according to claim 2, characterized in that, The collision sensor is an inertial measurement unit.

7. The inkjet printer carriage collision handling method according to claim 6, characterized in that, After the step of controlling the printing carriage to stop moving and stopping inkjet printing when the printing carriage collides, the method further includes: Based on the inertial measurement data from the inertial measurement unit, the motion state information of the printing trolley is obtained, wherein the motion state information includes velocity information, acceleration information, and angle information; Based on the motion state information, the type of collision fault is determined, wherein the collision fault type includes Class I fault and Class II fault; When the type of the collision fault is a Class I fault, the collision fault is automatically processed according to the preset processing method; When the type of collision fault is a Class II fault, an alarm message is issued.

8. A collision handling method for an inkjet printer carriage, characterized in that, The device includes: The motion stop module is used to control the printing carriage to stop moving and stop inkjet printing when the printing carriage collides with another object. The retraction module is used to control the printing carriage to move in a first direction according to a preset retraction distance after handling the factors that cause the collision failure of the printing carriage, wherein the first direction is opposite to the printing direction; The forward module is used to control the printing carriage to move in the printing direction according to a preset speed curve; The printing module is used to control the printing carriage to perform inkjet printing when the printing carriage moves to the inkjet stop position, wherein the speed of the printing carriage at the collision location is equal to a preset speed.

9. A printing device, characterized in that, It includes at least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the method as described in any one of claims 1-7.

10. A storage medium storing computer program instructions thereon, characterized in that, The method as described in any one of claims 1-7 is implemented when the computer program instructions are executed by the processor.

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