A printing and cutting integrated processing method, device and storage medium

Abstract

This application discloses an integrated printing and cutting processing method, equipment, and storage medium, applied to an integrated printing and cutting machine. It drives the printing component to output the printed layer of the material to be cut based on material processing parameters; obtains the actual and theoretical coordinates of the positioning mark in a unified machine coordinate system, and calculates the nonlinear offset of the printed layer based on the actual and theoretical coordinates; determines the fixed position offset of the printing and cutting components in the unified machine coordinate system, and generates a compensated cutting path through the fixed position offset and the nonlinear offset; controls the cutting component to cut the material along the compensated cutting path; during processing, iteratively updates the compensation parameters of the nonlinear offset based on real-time collected cutting feedback data and visual feedback data until the printing and cutting of the material pattern are completed. This application achieves high-precision integrated printing and cutting by calibrating system errors in a unified coordinate system, compensating for material deformation nonlinearly, and implementing closed-loop real-time correction, significantly improving yield.

Description

Technical Field

[0001] This application relates to the field of materials processing, and in particular to a printing and cutting integrated processing method, equipment and storage medium. Background Technology

[0002] In the field of flexible material processing, especially in the processing of materials such as garment fabrics, shoe materials, bag components, and advertising banners, it is usually necessary to complete two processes simultaneously: pattern printing and shape cutting. The traditional processing method separates printing and cutting into two independent stages: first, the pattern is printed on a batch of materials on printing equipment, and then the printed materials are transferred to cutting equipment for shape cutting. This separate processing mode results in materials undergoing two loading processes, two positioning processes, and manual handling and stacking in between. This is not only cumbersome and inefficient, but also prone to introducing positional deviations during material transfer. When faced with small-batch, multi-variety, personalized orders, the frequent material changes and machine adjustments can even exceed the actual processing time, severely restricting production efficiency and flexible response capabilities.

[0003] To address this issue, the industry has developed solutions that integrate printing and cutting onto a single machine. These solutions connect the two processes via a conveyor belt or a common motion platform, allowing for a single loading and cutting operation. However, such integrated solutions still face a core challenge: although the printing and cutting processes are physically close, they move independently without a unified coordinate system. This results in the cutting process failing to accurately follow the actual position of the printed pattern. Even slight shifts or rotations in the material placement can cause misalignment between the cutting contour and the printed pattern, leading to a large number of defective products.

[0004] Therefore, how to achieve true integration of printing and cutting on flexible materials and solve the printing and cutting misalignment problem caused by nonlinear deformation of materials has become a technical problem that urgently needs to be solved in this field.

[0005] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of this application is to provide an integrated printing and cutting processing method, equipment and storage medium, which aims to solve the technical problem of printing and cutting misalignment caused by nonlinear deformation in the existing flexible material printing and cutting processing.

[0007] To achieve the above objectives, this application proposes an integrated printing and cutting processing method, applied to an integrated printing and cutting machine. The integrated printing and cutting machine includes a printing component and a cutting component, which are mounted on the same motion mechanism and driven by the same servo motor, establishing a unified machine coordinate system. The method includes:

[0008] The printing component is driven to output a printed layer of the material to be cut according to the material processing parameters. The printed layer includes positioning marks and material patterns.

[0009] Obtain the actual and theoretical coordinates of the positioning mark in the unified machine coordinate system, and calculate the nonlinear offset of the printed layer based on the actual and theoretical coordinates;

[0010] Determine the fixed position offset of the printing component and the cutting component in the unified machine coordinate system, and dynamically compensate the preset cutting path by using the fixed position offset and the nonlinear offset to generate a compensated cutting path.

[0011] The cutting assembly is controlled to cut the material to be cut along the compensated cutting path;

[0012] During the processing, the compensation parameters of the nonlinear offset are iteratively updated based on the real-time collected cutting feedback data and visual feedback data until the printing and cutting of the material pattern are completed.

[0013] In one embodiment, the step of obtaining the actual coordinates and theoretical coordinates of the positioning mark in the unified machine coordinate system, and calculating the nonlinear offset of the printed layer based on the actual coordinates and the theoretical coordinates, includes:

[0014] The material is divided into multiple local regions, and the actual coordinates and theoretical coordinates of the positioning marks in each local region are obtained respectively;

[0015] Calculate the local offset vector between the theoretical coordinates and the actual coordinates of the printed pattern in each of the aforementioned local regions;

[0016] Based on the local offset vector, a nonlinear offset field of the printed layer is constructed using an interpolation algorithm, and the nonlinear offset amount is determined based on the offset vector of each position point in the nonlinear offset field.

[0017] In one embodiment, the step of constructing the nonlinear offset field of the printed layer using an interpolation algorithm based on the local offset vector includes:

[0018] The local offset vectors of each local region are obtained as control points;

[0019] The control points are fitted to generate a continuous nonlinear migration field using bicubic spline interpolation or thin-plate spline interpolation algorithms.

[0020] The nonlinear offset field is represented as a two-dimensional continuous function of the material plane coordinates, and the nonlinear offset field for point-by-point offset compensation of any point on the cutting path is determined based on the two-dimensional continuous function.

[0021] In one embodiment, the step of iteratively updating the compensation parameters of the nonlinear offset based on real-time acquired cutting feedback data and visual feedback data includes:

[0022] During the cutting process, images of the cutting edges of the cut area are acquired in real time, and the actual coordinates of the cutting edges are extracted.

[0023] The actual coordinates of the cut edge are compared with the theoretical cutting path to calculate the cutting deviation;

[0024] The cutting deviation is fused with the current nonlinear offset, and the fusion result is input into a Kalman filter or a particle filter to dynamically correct the parameters of the nonlinear offset field.

[0025] The compensation parameters of the nonlinear offset are updated based on the corrected parameters of the nonlinear offset field.

[0026] In one embodiment, before the step of driving the printing component to output the printed layer of the material to be cut according to the material processing parameters, the method further includes:

[0027] Obtain the physical property parameters of the material to be processed, including material type, thickness, elastic modulus and surface characteristics;

[0028] Based on the physical property parameters, the corresponding printing parameter set and cutting parameter set are matched from the preset process database. The printing parameter set includes ink type, inkjet waveform, and curing power. The cutting parameter set includes blade type, vibration frequency, cutting depth, and feed speed.

[0029] The operating parameters of the printing component and the cutting component are automatically configured based on the matching results to complete the adaptive configuration of process parameters before processing.

[0030] In one embodiment, after the step of controlling the cutting assembly to cut the material to be cut along the compensated cutting path, the method further includes:

[0031] Images of the finished product after cutting are captured using a vision system;

[0032] The finished product image is compared with a preset finished product template to identify the edge deviation between the cutting contour and the printed pattern;

[0033] When the edge deviation exceeds a preset threshold, the edge deviation is set as the initial parameter of the nonlinear offset for the next batch of processing.

[0034] In one embodiment, the integrated printing and cutting machine is further provided with a vibration isolation mechanism, and the integrated printing and cutting processing method further includes:

[0035] When the cutting component performs a cutting operation, the real-time motion status information of the printing component and the cutting component is acquired;

[0036] When the relative distance between the printing component and the cutting component is detected to be less than a preset safety threshold, the vibration isolation mechanism lifts the printing component to a clearance position and locks the printing component in the clearance position.

[0037] After the cutting component completes its current cutting task and moves to a safe area, the vibration isolation mechanism is controlled to reset the printing component to its working position.

[0038] In one embodiment, the integrated printing and cutting processing method further includes:

[0039] During the processing, the ambient temperature and humidity of the material, as well as the real-time load current of the cutting components, are monitored in real time.

[0040] The curing power of the printing components and the ink drying time are dynamically adjusted according to the ambient temperature and humidity.

[0041] Based on the real-time load current of the cutting component, the thickness or hardness change of the material is determined, and the cutting depth and feed speed are dynamically adjusted.

[0042] In addition, to achieve the above objectives, this application also proposes an integrated printing and cutting processing device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the integrated printing and cutting processing method described above.

[0043] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the integrated printing and cutting processing method described above.

[0044] One or more technical solutions proposed in this application have at least the following technical effects:

[0045] The technical solution of this application is applied to an integrated printing and cutting machine. The integrated printing and cutting machine includes a printing component and a cutting component, which are mounted on the same motion mechanism and driven by the same servo motor to establish a unified machine coordinate system. Based on material processing parameters, the printing component is driven to output a printed layer of the material to be cut. The printed layer includes positioning marks and a material pattern. The actual and theoretical coordinates of the positioning marks in the unified machine coordinate system are obtained, and the nonlinear offset of the printed layer is calculated based on the actual and theoretical coordinates. The fixed position offsets of the printing component and the cutting component in the unified machine coordinate system are determined. The preset cutting path is dynamically compensated using the fixed position offset and the nonlinear offset to generate a compensated cutting path. The cutting component is controlled to cut the material along the compensated cutting path. During processing, the compensation parameters of the nonlinear offset are iteratively updated based on real-time collected cutting feedback data and visual feedback data until the printing and cutting of the material pattern are completed.

[0046] This application achieves high-precision closed-loop control for machine printing and cutting through the deep integration of unified coordinate system calibration, nonlinear offset compensation, and real-time feedback iteration. Specifically, firstly, a unified machine coordinate system is established between the printing and cutting components via the same servo motor drive, and their fixed position offsets are calibrated to eliminate inherent system errors. Based on this, the printing component is driven to print a layer containing positioning marks on the material, obtaining the actual and theoretical coordinates of the positioning marks, and calculating the nonlinear offset caused by the nonlinear deformation of the material. The preset cutting path is dynamically compensated based on the fixed position offset and the nonlinear offset, generating a compensated cutting path and controlling the cutting component to execute the cutting. Simultaneously, cutting feedback data and visual feedback data are collected in real time during processing, and the compensation parameters for the nonlinear offset are iteratively updated using a Kalman filter or particle filter, forming a closed-loop adaptive control until processing is complete. Through these technical means, this application significantly improves printing and cutting accuracy while ensuring processing efficiency, and provides an effective technical solution to the technical difficulties of existing technologies that cannot handle the nonlinear deformation of flexible materials and lack real-time closed-loop control. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a flowchart illustrating the first embodiment of the integrated printing and cutting processing method of this application;

[0050] Figure 2 This is a detailed process diagram based on step S20 in the first embodiment;

[0051] Figure 3 This is a detailed process diagram based on step S50 in the first embodiment;

[0052] Figure 4 This is a flowchart illustrating the second embodiment of the integrated printing and cutting processing method of this application;

[0053] Figure 5 This is a flowchart illustrating the third embodiment of the integrated printing and cutting processing method of this application;

[0054] Figure 6 This is a flowchart illustrating the fourth embodiment of the integrated printing and cutting processing method of this application;

[0055] Figure 7 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the integrated printing and cutting processing method in the embodiments of this application.

[0056] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0057] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0058] In related technologies, the integrated processing of flexible material printing and cutting mainly follows the technical path of separate processes or simple integrated processing, but it has inherent defects and is difficult to meet the dual requirements of processing accuracy and production efficiency.

[0059] This type of method employs an integrated strategy of offline separation or conveyor belt connection, dividing printing and cutting into independent workstations before processing, relying on mechanical positioning or manual alignment to achieve process connection. This method is applicable to situations with small material deformation and low positioning accuracy requirements, enabling basic printing and cutting processes to be sequentially connected. However, this method is essentially an open-loop control, unable to dynamically adjust according to the actual deformation state of the material. When flexible materials undergo nonlinear deformation during printing due to ink wetting, drying and curing, or tension changes, static mechanical positioning or simple rigid body compensation often cannot accurately follow the actual position of the pattern, leading to misalignment between the cutting contour and the printed pattern, resulting in increased scrap rates. Practical applications show that in the processing of flexible materials such as clothing pieces, shoe materials, and bags, material deformation has highly nonlinear characteristics, making it difficult for static planning to predict deformation differences in local areas, resulting in difficulty in guaranteeing printing and cutting registration accuracy. Furthermore, this type of method lacks a real-time perception and feedback correction mechanism for the actual position of the cutting edge during processing, making it difficult to actively adjust when deformation continues to change, forcing reliance on manual intervention or machine shutdown for resetting, further sacrificing processing efficiency and yield.

[0060] Comprehensive analysis reveals that the core dilemma faced by the aforementioned technical approaches lies in the fact that while separate or simple integrated processing methods are simple to implement and have clear control logic, their offline and open-loop characteristics fundamentally contradict the inherent requirements of flexible material printing and cutting integration for deformation adaptation and real-time closed-loop control. This makes it impossible to achieve a balance between printing and cutting accuracy and processing efficiency in complex deformation scenarios, and it is difficult to adapt to the development requirements of high-precision and personalized flexible material processing.

[0061] Based on the aforementioned deficiencies in related technologies, this application proposes an integrated printing and cutting processing method. This method addresses the core problem of existing technologies' inability to respond in real-time to printing and cutting misalignment caused by nonlinear material deformation. It achieves high-precision closed-loop control of machine printing and cutting through deep integration of unified coordinate system calibration, nonlinear offset compensation, and real-time feedback iteration. Specifically, the method first establishes a unified machine coordinate system by driving the printing and cutting components with the same servo motor, and calibrates their fixed position offsets to eliminate inherent system errors. Based on this, the printing component prints a layer containing positioning marks on the material, obtains the actual and theoretical coordinates of the positioning marks, and calculates the nonlinear offset caused by nonlinear material deformation. The preset cutting path is dynamically compensated based on the fixed position offset and the nonlinear offset, generating a compensated cutting path and controlling the cutting component to execute the cutting. Simultaneously, cutting feedback data and visual feedback data are collected in real-time during processing, and the compensation parameters for the nonlinear offset are iteratively updated using a Kalman filter or particle filter to form a closed-loop adaptive control until processing is complete. Through the above-mentioned technical means, this application significantly improves printing and cutting accuracy while ensuring processing efficiency, and provides an effective technical solution to the technical problem that the prior art cannot handle the nonlinear deformation of flexible materials and lacks real-time closed-loop control.

[0062] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0063] Based on this, the embodiments of this application provide an integrated printing and cutting processing method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the integrated printing and cutting processing method of this application. In this embodiment, the integrated printing and cutting processing method includes steps S10 to S60:

[0064] Step S10: Drive the printing component to output a printed layer of the material to be cut according to the material processing parameters. The printed layer includes positioning marks and material patterns.

[0065] In the integrated printing and cutting process, the printing step is executed. Before processing begins, the control system drives the printing component to output a printed layer on the material based on the material processing parameters. The material processing parameters include information such as material type, thickness, elastic modulus, and surface properties; these parameters determine the operating mode of the printing component. The printing and cutting components are mounted on the same motion mechanism and are driven by the same servo motor, establishing a unified machine coordinate system. Within this unified machine coordinate system, the printing component can precisely control the movement trajectory of the inkjet printhead on the material plane.

[0066] The printed layer consists of two parts: positioning marks and material patterns. Positioning marks are specially designed visual identification symbols, typically in the form of crosses, circles, or squares, distributed in specific locations on the printed layer, such as the four corners. These positioning marks have defined theoretical coordinates in a unified machine coordinate system, which are ideal positions pre-set according to the design drawings. The material patterns are the actual graphics, text, QR codes, barcodes, and other variable data information that needs to be presented on the material. The printing assembly adjusts printing parameters such as inkjet waveform and curing power according to the material processing parameters to ensure that the positioning marks and material patterns are clearly and accurately attached to the material surface.

[0067] For flexible materials, the printing process can be affected by factors such as ink wetting, drying and curing, and tension changes, leading to non-uniform expansion, contraction, or torsional deformation. Therefore, although the printed layer output by the printing component is printed according to the design positions, the actual position of the positioning marks attached to the material may deviate from the theoretical coordinates. This deviation is precisely what subsequent steps need to detect and compensate for. After printing, the control system stores the design information of the printed layer, including the theoretical coordinates of each positioning mark, the outline data of the material pattern, and the preset cutting path template, in memory for subsequent visual positioning and cutting compensation steps. Through this method, the basic data preparation for machine printing and cutting is achieved, providing a unified coordinate system reference and traceable positioning marks for subsequent precise registration.

[0068] Step S20: Obtain the actual coordinates and theoretical coordinates of the positioning mark in the unified machine coordinate system, and calculate the nonlinear offset of the printed layer based on the actual coordinates and the theoretical coordinates;

[0069] After the printed layer is output, the visual positioning and offset calculation stage begins. The core task of this step is to obtain the actual coordinates of the positioning mark in a unified machine coordinate system, and by comparing the actual coordinates with the theoretical coordinates, to determine the nonlinear offset of the printed layer caused by material deformation.

[0070] The vision system consists of an industrial camera, lens, and image processing module, mounted on the same motion mechanism, sharing a unified machine coordinate system with the printing and cutting components. Once the material has finished printing and moved to the vision inspection area, the control system drives the vision system to sequentially acquire images of each positioning mark. The image processing module extracts features from the acquired images, identifies the center point or feature corner points of the positioning marks, and calculates the actual coordinates of these feature points in the unified machine coordinate system.

[0071] After obtaining the actual coordinates of each positioning mark, the control system compares them with the pre-stored theoretical coordinates. Because flexible materials may undergo non-uniform deformation during printing, the offset direction and amount of the positioning marks vary in different areas. For example, positioning marks located at the edges of the material may have larger offsets, while those in the center may have smaller offsets. This local difference reflects the non-linear characteristics of material deformation.

[0072] To accurately describe this nonlinear deformation, the control system divides the material into multiple local regions, each corresponding to a set of positioning markers. For each local region, a local offset vector is calculated between the actual and theoretical coordinates of the positioning markers within that region. These local offset vectors represent the differences in material deformation across different regions. Subsequently, the control system uses an interpolation algorithm with the local offset vectors of each local region as control points to construct a nonlinear offset field covering the entire printed layer. This nonlinear offset field can be understood as a mapping table recording the offset relationship between the theoretical and actual coordinates of any point on the printed layer. Through this nonlinear offset field, the nonlinear offset amount caused by material deformation at any point on the printed layer can be determined. By accurately identifying the positioning markers and interpolating the local offset vectors, the complex nonlinear deformation of the flexible material is transformed into calculable mathematical parameters, providing precise input data for the dynamic compensation of the subsequent cutting path.

[0073] Step S30: Determine the fixed position offset of the printing component and the cutting component in the unified machine coordinate system; dynamically compensate the preset cutting path using the fixed position offset and the nonlinear offset to generate a compensated cutting path.

[0074] After obtaining the nonlinear offset of the printed layer, the cutting path compensation stage begins. This step requires fusing the system's inherent fixed position offset with the nonlinear offset generated by material deformation, and applying them together to the preset cutting path to generate a compensated cutting path.

[0075] Fixed position offset is the inherent positional difference between the printing and cutting components in a unified machine coordinate system. Because the printing and cutting components are mounted on the same motion mechanism but in different physical positions, there is a fixed relative displacement between them. This offset is precisely measured during the equipment calibration phase through a calibration procedure and stored in the control system. Fixed position offset represents the transformation relationship between the printing and cutting positions under ideal conditions without material deformation.

[0076] The nonlinear offset is the printed layer deformation parameter calculated in the above process, reflecting the non-uniform stretching and twisting of the material during printing. This offset varies with the batch of material, material type, and environmental conditions, and is dynamic and nonlinear.

[0077] The control system uses a preset cutting path as the base path. The preset cutting path is an ideal cutting trajectory pre-planned based on the design outline of the material pattern and stored in the control system's database. For each cutting point on the preset cutting path, the control system first queries the nonlinear offset amount caused by material deformation at that point using a nonlinear offset field, and then superimposes it onto the coordinates of the cutting point to compensate for the pattern position shift caused by material deformation. Then, the control system superimposes a fixed position offset amount, transforming the deformation-compensated cutting point coordinates from the coordinate system of the printing component to the coordinate system of the cutting component.

[0078] This fusion compensation process can be expressed as: Compensated Cutting Path = Preset Cutting Path + Nonlinear Offset + Fixed Position Offset. The nonlinear offset compensates for pattern position deviations caused by material deformation, while the fixed position offset compensates for the inherent positional difference between the printing and cutting components. Through this dual compensation mechanism, the control system converts the preset cutting path point-by-point into the motion trajectory required by the actual cutting component, generating a complete compensated cutting path. By separating and compensating for inherent system errors and dynamic material deformation errors, the system ensures that the cutting path accurately follows the actual position of the printed pattern, providing precise trajectory data for subsequent cutting execution.

[0079] Step S40: Control the cutting component to cut the material to be cut along the compensated cutting path;

[0080] After generating the compensated cutting path, the cutting execution phase begins. The core task of this step is to control the cutting component to precisely cut the material along the compensated cutting path, separating the printed material pattern from the flexible material.

[0081] The cutting assembly, including a vibrating cutter head and its drive unit, is mounted on the same motion mechanism and shares a unified machine coordinate system with the printing assembly. Under the command of the control system, the cutting assembly moves according to a generated compensated cutting path. Because the compensated cutting path integrates fixed position offsets and nonlinear offsets, the actual motion trajectory of the cutting assembly precisely matches the actual position of the printed pattern, ensuring that the cutting contour and the edge of the pattern are highly coincident.

[0082] During the cutting process, the vibrating cutter head adjusts the vibration frequency and cutting depth according to the physical properties of the material. For thinner, flexible materials, a higher vibration frequency and a shallower cutting depth can achieve a clean cut; for thicker materials such as multi-layered leather or bag components, it is necessary to reduce the vibration frequency, increase the cutting depth, and decrease the feed speed to ensure a complete cut without damaging the blade. The cutting assembly is also equipped with a cutter head lifting drive, which performs the cutting and lifting actions at the beginning and end of the cutting path to prevent the cutter head from scratching the material during its idle stroke.

[0083] Meanwhile, the vacuum adsorption table plays an auxiliary role in this process. The vacuum adsorption table is divided into multiple independently controlled adsorption zones. During the cutting stage, the control system activates vacuum adsorption in the adsorption zones within a preset range around the cutting path, fixing the material on the table and preventing material displacement during cutting. For areas that have been cut, the control system deactivates the vacuum adsorption in the corresponding adsorption zone in a timely manner, facilitating the subsequent removal of the finished product. After cutting, the finished product and waste naturally separate. The finished product can be collected and sorted by a collection device, while the waste is recycled through a receiving mechanism. This embodiment achieves precise alignment between the printed pattern and the cutting contour by executing a compensated cutting path, ensuring the processing quality of each product.

[0084] Step S50: During the processing, the compensation parameters of the nonlinear offset are iteratively updated based on the real-time collected cutting feedback data and visual feedback data until the printing and cutting of the material pattern are completed.

[0085] While performing the cutting operation, a closed-loop control mechanism with real-time feedback and iterative parameter updates is also established. This allows for the continuous acquisition of cutting feedback data and visual feedback data during processing, and the use of this data to dynamically correct the compensation parameters for nonlinear offsets, achieving adaptive optimization.

[0086] During the cutting process, the vision system continuously acquires images of the cutting edges of the cut area in real time. The image processing module extracts the actual coordinates of the cutting edges from these images and compares them with the theoretical cutting path to calculate the cutting deviation. This cutting deviation reflects the difference between the current compensation parameters and the actual situation. If the cutting edge completely coincides with the edge of the printed pattern, the cutting deviation is zero, indicating that the current nonlinear offset compensation parameters are accurate and effective; if there is a deviation between the cutting edge and the edge of the printed pattern, the cutting deviation is non-zero, indicating that the compensation parameters need to be adjusted.

[0087] Meanwhile, real-time motion status information of the cutting components is continuously collected, including the actual position of the cutter head, its movement speed, and load current. This data, together with the cutting edge information collected by the vision system, constitutes the cutting feedback data.

[0088] The control system fuses the cutting deviation with the current nonlinear offset, and dynamically corrects the parameters of the nonlinear offset field using a Kalman filter or a particle filter. The Kalman filter can optimally estimate the system state based on historical data and current observations, effectively filtering out measurement noise and providing smooth and stable parameter updates. The particle filter is suitable for estimating the state of nonlinear, non-Gaussian systems and can handle more complex deformation modes. Through iterative calculations using the filter, the control system obtains the corrected nonlinear offset field parameters and uses these parameters to update the current nonlinear offset for subsequent cutting path compensation.

[0089] This iterative update process runs throughout the entire manufacturing process. As processing progresses, the compensation parameters are continuously optimized, and the cutting deviation gradually converges to within the allowable range. Even if material deformation continues to change during processing, or if there is accumulated error, the closed-loop control mechanism can respond in a timely manner and adjust the compensation parameters to ensure that each cutting path accurately follows the actual position of the printed pattern. This embodiment, through real-time feedback and iterative update closed-loop control, elevates the printing and cutting process from static compensation to dynamic adaptation, significantly improving the consistency and reliability of the process.

[0090] Furthermore, the integrated printing and cutting processing method also includes:

[0091] During the processing, the ambient temperature and humidity of the material, as well as the real-time load current of the cutting components, are monitored in real time.

[0092] The curing power of the printing components and the ink drying time are dynamically adjusted according to the ambient temperature and humidity.

[0093] Based on the real-time load current of the cutting component, the thickness or hardness change of the material is determined, and the cutting depth and feed speed are dynamically adjusted.

[0094] In the integrated processing, an adaptive process adjustment mechanism based on environmental perception and load feedback has also been established. This mechanism operates continuously during processing, dynamically adjusting the operating parameters of the printing and cutting components by monitoring the ambient temperature and humidity of the material's environment and the real-time load current of the cutting components. This enables the equipment to adapt to the impact of environmental changes and batch-to-batch material variations on processing quality.

[0095] To achieve this adaptive adjustment, the printer-cutter combo machine is equipped with multiple sensors. Environmental temperature and humidity sensors are installed near the work platform to collect real-time temperature and humidity data of the material's environment. Temperature sensors typically use thermocouples or thermistors, while humidity sensors use capacitive or resistive humidity-sensitive elements. A current detection module is installed on the cutting assembly to monitor the load current of the vibrating cutter head drive motor in real time. Changes in the load current reflect the resistance experienced by the cutter head during cutting; when the material thickness increases, its hardness increases, or the cutter wears, the load current increases accordingly; conversely, when the material becomes thinner or softer, the load current decreases. This sensor data is transmitted to the control system in real time via the data acquisition module, forming the input basis for adaptive adjustment.

[0096] The control system dynamically adjusts the curing power and ink drying time of the printing components based on real-time collected ambient temperature and humidity data. This adjustment is based on the correlation between ink drying characteristics and environmental parameters: in low-temperature or high-humidity environments, ink drying speed slows down significantly, making it prone to contamination or blurry patterns when ink is not fully dried before subsequent processes. To address this, the control system appropriately increases the curing power, for example, by increasing the intensity of the LED-UV curing lamp to 120% of its rated power, while extending the curing time or increasing the number of curing cycles to ensure the ink is fully cured before entering the cutting process. Conversely, when the ambient temperature is high and humidity is low, the ink dries faster, and the control system appropriately reduces the curing power to avoid over-curing that could lead to ink brittleness or increased material shrinkage, while also shortening the drying time to improve production efficiency. Through this adjustment mechanism, the printing components can maintain consistent printing quality and curing effects under different environmental conditions.

[0097] The control system also determines changes in material thickness or hardness based on the real-time load current of the cutting components and dynamically adjusts the cutting depth and feed rate. Fluctuations in the load current reflect changes in material characteristics: a sudden increase in load current may indicate an increase in the thickness or hardness of the material in the current cutting area, such as uneven thickness areas in leather or reinforcing layers in shoe materials. Upon detecting an increase in load current, the control system immediately adjusts the cutting depth parameters accordingly, increasing the cutter head's downward pressure to ensure complete material cut, while appropriately reducing the feed rate to alleviate cutter head load and prevent tool overload damage. Conversely, a sudden decrease in load current may indicate that the material has become thinner or softer. The control system accordingly reduces the cutting depth to avoid overcutting and damaging the table surface, and may appropriately increase the feed rate to improve processing efficiency. This dynamic adjustment process is continuous, with the control system fine-tuning the cutting parameters with a millisecond-level response speed to ensure the cutter head remains in optimal working condition throughout the entire cutting process.

[0098] Through the adaptive adjustment of ambient temperature and humidity and cutting load, the equipment's adaptability to different environmental conditions and batch-to-batch material variations is significantly enhanced. Even under conditions such as seasonal temperature and humidity fluctuations, differences in the physical properties of different batches of materials, and even uneven thickness on the same sheet of material, printing and cutting quality remain highly consistent. This adaptive adjustment mechanism, together with the aforementioned unified coordinate system calibration, nonlinear offset compensation, and real-time feedback iterative updates, forms a complete integrated printing and cutting closed-loop control system, ensuring processing accuracy, stability, and production efficiency from multiple dimensions.

[0099] Furthermore, you can also view Figure 2 , Figure 2 This is a detailed process diagram based on step S20 in the first embodiment. Figure 2 The steps of obtaining the actual and theoretical coordinates of the positioning mark in the unified machine coordinate system, and calculating the nonlinear offset of the printed layer based on the actual and theoretical coordinates, include S21~23:

[0100] Step S21: Divide the material into multiple local regions, and obtain the actual coordinates and theoretical coordinates of the positioning marks in each local region;

[0101] Step S22: Calculate the local offset vector between the theoretical coordinates and the actual coordinates of the printed pattern in each local area;

[0102] Step S23: Based on the local offset vector, construct the nonlinear offset field of the printed layer using an interpolation algorithm, and determine the nonlinear offset amount based on the offset vector of each position point in the nonlinear offset field.

[0103] During visual positioning and offset calculation, the control system executes a sophisticated data processing flow, decomposing the overall offset calculation into two sub-stages: partitioned calculation and interpolation reconstruction. The core of this processing logic lies in decomposing the non-uniform deformation that may occur in the flexible material into offset vectors of multiple local regions, and then reconstructing these discrete local offset vectors into a continuous offset field through an interpolation algorithm.

[0104] First, the material is partitioned. The control system divides the entire printed layer into multiple local regions based on the distribution of positioning marks. Positioning marks are typically distributed in an array around the perimeter and center of the printed layer; for example, one positioning mark is placed at each of the four corners of the printed layer, and several auxiliary positioning marks are placed in the central area. These positioning marks have definite theoretical coordinates in a unified machine coordinate system, and their distribution density determines the accuracy of the nonlinear offset field construction. The control system uses these positioning marks as partitioning nodes to divide the printed layer into several rectangular or triangular sub-regions. For example, when the positioning marks are distributed in a rectangular array, the control system divides the grid formed by connecting adjacent positioning marks into multiple rectangular local regions; when the positioning marks are irregularly distributed, the Delaunay triangulation algorithm is used to divide the printed layer into multiple triangular local regions. Each local region contains a set of positioning marks, which constitute the deformation control points of that region. For each local region, the control system acquires the actual coordinates and theoretical coordinates of the positioning marks within the region. The actual coordinates are acquired by the vision system, while the theoretical coordinates are retrieved from pre-stored design data. Through this partitioning process, the control system decomposes the complex deformation problem of the entire printed layer into simple deformation problems of multiple local regions, laying the foundation for subsequent offset vector calculation.

[0105] After entering the local offset vector calculation stage, for each local region, the control system calculates the local offset vector between the theoretical and actual coordinates of the printed pattern within that region. This calculation process uses positioning marks as reference points. Taking a rectangular local region as an example, the positioning marks at the four corners of the region constitute the boundary control points of the region. The control system calculates the difference between the actual and theoretical coordinates of these four positioning marks, obtaining four local offset vectors. These four local offset vectors represent the direction and magnitude of material deformation at the four corner points of the region, respectively. Since the deformation of flexible materials is continuous, the deformation within the region can be regarded as a certain interpolation combination of the deformations at the four corner points. Therefore, these local offset vectors not only reflect the overall deformation trend of the region but also provide control point data for the subsequent construction of a continuous offset field. For local regions of different shapes, the control system uses corresponding coordinate transformation methods to calculate the local offset vectors. The control system quantifies the deformation information at each positioning mark discretely distributed on the printed layer into a set of local offset vectors, forming the basic data for constructing the nonlinear offset field.

[0106] In the process of constructing the nonlinear offset field and determining the nonlinear offset, the control system uses an interpolation algorithm to construct a nonlinear offset field covering the entire printed layer based on the obtained local offset vectors of each local region. The choice of interpolation algorithm depends on the complexity of the deformation and the accuracy requirements. Commonly used interpolation methods include radial basis function interpolation, Kriging interpolation, and bilinear interpolation. Taking radial basis function interpolation as an example, the control system uses the local offset vectors of each local region as control points, selects the Gaussian kernel function as the basis function, and determines the weight coefficients of each control point by solving a system of linear equations, thereby constructing a continuous function that can describe the deformation at any position of the printed layer. This continuous function is the mathematical expression of the nonlinear offset field. For any point on the printed layer, the control system substitutes the theoretical coordinates of that point into the nonlinear offset field function to calculate the actual coordinate offset caused by the material deformation. This offset is the nonlinear offset of that point. The control system reconstructs the discrete local offset vectors into a continuous nonlinear offset field, realizing a complete mathematical description of the nonlinear deformation of the flexible material, and providing accurate offset data for point-by-point compensation of the subsequent cutting path.

[0107] Through the aforementioned refined processing, the control system overcomes the limitation of traditional rigid body compensation in handling localized non-uniform deformation. Whether the material deformation is simple stretching or compression, or complex twisting or wrinkling, this zonal interpolation method can accurately capture the local differences in deformation and quantify them into calculable mathematical parameters. This data processing logic constitutes one of the core technological foundations for solving the problem of misalignment during printing and cutting of flexible materials.

[0108] The above step S23 is further refined, namely, the step of constructing the nonlinear offset field of the printed layer based on the local offset vector using an interpolation algorithm, including S23-1 to S23-3:

[0109] Step S23-1: Obtain the local offset vector of each local region as a control point;

[0110] Step S23-2: Using bicubic spline interpolation or thin-plate spline interpolation algorithms, the control points are fitted to generate a continuous nonlinear offset field.

[0111] Step S23-3: The nonlinear offset field is represented as a two-dimensional continuous function of the independent variable of the material plane coordinates, and the nonlinear offset field for point-by-point offset compensation of any point on the cutting path is determined based on the two-dimensional continuous function.

[0112] In the process of constructing the nonlinear offset field, a spline interpolation algorithm is further employed to achieve high-precision fitting of the nonlinear deformation of the flexible material. This processing logic uses the local offset vector as control points and generates a continuous and smooth nonlinear offset field through bicubic spline interpolation or thin-plate spline interpolation algorithms. The offset field is then expressed as a function of the material's planar coordinates, thereby achieving point-to-point offset compensation for any point on the cutting path.

[0113] During the preparation of control point data, the calculated local offset vectors of each local region are used as control points to construct the nonlinear offset field. These control points contain deformation information at key locations on the printed layer. Each control point consists of three elements: the theoretical coordinates of the point on the printed layer, the actual coordinate offset vector at that point, and the offset confidence weight at that point. The distribution density of the control points depends on the density of the positioning markers; the more positioning markers and the denser the control points, the higher the accuracy of the constructed nonlinear offset field. In practical applications, positioning markers are usually distributed in a grid pattern on the printed layer, and the control points form a regular array accordingly. The control system uses the theoretical coordinates of these control points as the input parameter space and the corresponding offset vectors as the output response values ​​to establish a dataset for subsequent spline interpolation calculations.

[0114] The control system employs either bicubic spline interpolation or thin-plate spline interpolation algorithms to fit control points and generate a continuous nonlinear offset field. Bicubic spline interpolation is suitable for control points with a regular grid distribution. This algorithm constructs cubic spline functions along the X and Y directions in a two-dimensional plane. By solving the coefficient matrix of the spline functions, the generated surface accurately passes through each control point and possesses continuous first and second derivatives at those points, ensuring the smoothness of the offset field. The nonlinear offset field generated by bicubic spline interpolation is characterized by its concise mathematical expression and high computational efficiency, making it suitable for compensating for flexible materials with relatively regular deformation. Thin-plate spline interpolation, on the other hand, is suitable for cases with irregularly distributed control points. This algorithm simulates the bending deformation of an infinitely thin metal plate under control point constraints. By solving the linear equations of the radial basis functions, it generates a smooth surface that accurately passes through all control points. The advantage of thin-plate spline interpolation lies in its ability to handle arbitrarily distributed control points and its strong robustness to outliers, making it suitable for compensating for flexible materials with complex deformation and uneven distribution of positioning markers. Regardless of the algorithm used, the control system will eventually generate a continuous function that can describe the offset at any position on the printed layer. This function is the mathematical expression of the nonlinear offset field.

[0115] By applying a functional representation of the nonlinear offset field and point-by-point compensation, the control system represents the generated nonlinear offset field as a two-dimensional continuous function of the material plane coordinates. This function can be denoted as: offset = f(x, y), where x and y represent the theoretical coordinates of a point on the printed layer, and the function value f(x, y) is the actual offset vector at that point. The offset vector contains offset components in the X and Y directions; therefore, the nonlinear offset field is actually composed of two two-dimensional continuous functions: offset vector = [fx(x, y), fy(x, y)]. Through this functional representation, the control system transforms the nonlinear offset field from a discrete set of control points into a continuously computable mathematical model.

[0116] In the subsequent cutting path compensation process, the control system determines a nonlinear offset field for point-by-point offset compensation of any point on the cutting path based on this two-dimensional continuous function. For each cutting point on the preset cutting path, the control system substitutes the theoretical coordinates of that point into the nonlinear offset field function to directly calculate the actual offset caused by material deformation. This calculation process is continuous and real-time, unrestricted by the number of cutting points or the complexity of the cutting path. Regardless of whether the cutting path is a straight line, a curve, or a complex contour, the control system can independently calculate the required offset compensation for each point on the path. This point-by-point compensation mechanism is fundamentally different from traditional overall translation or rotation compensation, and can accurately match the differential deformation of flexible materials in different areas of the printing layer, ensuring that the cutting contour and the printed pattern can accurately coincide in every local area.

[0117] Through the aforementioned refined processing, the control system constructs a mathematically rigorous nonlinear offset field model, which is then applied to point-by-point compensation of the cutting path. The introduction of bicubic spline interpolation and thin-plate spline interpolation algorithms ensures the smoothness and continuity of the nonlinear offset field, avoiding abrupt changes in the cutting path caused by discontinuous interpolation functions. This processing logic, together with the aforementioned partitioned interpolation method, forms a complete hierarchical progression, from discrete control point acquisition to continuous offset field construction, and from the overall interpolation framework to specific algorithm implementation, collectively constituting the complete technical solution for handling nonlinear deformation of flexible materials in this application.

[0118] You can also view Figure 3 , Figure 3 This is a detailed process diagram based on step S50 in the first embodiment. Figure 3 The step of iteratively updating the compensation parameters of the nonlinear offset based on the real-time collected cutting feedback data and visual feedback data includes S51~54:

[0119] Step S51: During the cutting process, the cutting edge image of the cut area is acquired in real time, and the actual coordinates of the cutting edge are extracted.

[0120] Step S52: Compare the actual coordinates of the cutting edge with the theoretical cutting path to calculate the cutting deviation;

[0121] Step S53: Fuse the cutting deviation with the current nonlinear offset, and input the fusion result into a Kalman filter or a particle filter to dynamically correct the parameters of the nonlinear offset field.

[0122] Step S54: Update the compensation parameters of the nonlinear offset based on the corrected parameters of the nonlinear offset field.

[0123] During real-time feedback and parameter iterative updates, the control system executes a complete closed-loop data processing flow, transforming real-time observation data during the cutting process into dynamic corrections of nonlinear offset compensation parameters. The core of this processing logic lies in using a vision system to monitor the actual position of the cutting edge in real time, comparing it with the theoretical cutting path, calculating the cutting deviation, and then using a filtering algorithm to fuse the deviation information into the nonlinear offset field parameters, thereby achieving online optimization of the compensation parameters.

[0124] During the cutting process, as the cutting assembly cuts the material along the compensated cutting path, the vision system continuously operates, acquiring real-time images of the cut edges of the already cut area. The industrial camera of the vision system is mounted on the same motion mechanism, maintaining a fixed relative position with the cutting assembly, and can synchronously acquire images following the movement of the cutting assembly. The timing of image acquisition is precisely controlled by the control system according to the cutting progress. Typically, the edge image of each cutting segment is acquired immediately after completion, or continuously at set time intervals during the cutting process. The acquired cutting edge images are transmitted in real-time to the image processing module for processing. The image processing module first preprocesses the original image, including grayscale conversion, filtering and denoising, and binarization, to enhance the feature contrast of the cutting edges. Then, edge detection algorithms such as the Canny or Sobel operators are used to extract the pixel-level contours of the cutting edges, and further, sub-pixel positioning technology is used to refine the edge position to the sub-pixel level. Finally, the edge coordinates in the image coordinate system are converted to actual coordinates in a unified machine coordinate system using camera calibration parameters. This coordinate transformation process uses camera intrinsic and extrinsic parameter matrices to map the pixel positions in the image to the physical positions on the material plane, ensuring that the actual coordinates of the extracted cutting edge are consistent with the motion coordinate system of the cutting component.

[0125] The control system compares the extracted actual coordinates of the cutting edge with the theoretical cutting path point by point to calculate the cutting deviation. The theoretical cutting path is a generated compensated cutting path, representing the trajectory that the control system expects the cutting component to execute. Due to various interference factors that may exist during the actual cutting process, such as local deformation of the material, vibration interference, and tool wear, there is a slight deviation between the actual cutting edge and the theoretical cutting path. The control system pairs the sampling points on the cutting edge with the corresponding points on the theoretical cutting path, calculates the deviation value of each sampling point in the X and Y directions, and forms a set of cutting deviation vectors. In order to obtain stable and reliable deviation data, the control system usually performs statistical analysis on the deviations of multiple sampling points, calculates the mean, variance, and confidence interval of the deviation, removes outliers, and finally obtains the core deviation index representing the current cutting quality. The sign and magnitude of the cutting deviation reflect the difference between the compensation parameter and the actual deformation: if the cutting deviation is positive, it means that the actual cutting position is located on one side of the theoretical path, indicating that the current nonlinear offset may have undercompensation or overcompensation problems.

[0126] The control system fuses the calculated cutting deviation with the current nonlinear offset, and inputs the fusion result into a Kalman filter or particle filter to dynamically correct the parameters of the nonlinear offset field. The core of this step lies in using a filtering algorithm to apply the cutting deviation, obtained from observations during the cutting process, to update the estimation of the nonlinear offset field parameters of the system state. Taking the Kalman filter as an example, the control system first establishes a state-space model of the nonlinear offset field parameters, using the parameters of the nonlinear offset field as system state variables and the cutting deviation as observation variables. Based on the state estimate from the previous moment and the system dynamic model, the Kalman filter predicts the prior state estimate for the current moment, while simultaneously calculating the prediction error covariance. Then, using the obtained cutting deviation as a new observation, the Kalman gain is calculated, and the Kalman gain is used to weight and correct the prior state estimate, resulting in a posterior state estimate. This correction process essentially involves optimally fusing the prediction and observation results based on the reliability of the observation data, minimizing the covariance of the state estimation error. The advantage of the Kalman filter is its ability to effectively filter out measurement noise, provide smooth and stable parameter updates, and is suitable for situations where deformation changes are relatively continuous. Particle filters are suitable for estimating the state of nonlinear, non-Gaussian systems. They approximate the posterior probability distribution of the state using a set of weighted particles, enabling them to handle more complex deformation modes, such as anomalous deformations like wrinkling or severe local twisting of materials. Regardless of the filtering algorithm used, the final output is dynamically corrected nonlinear offset field parameters, which are closer to the true state of the current material deformation than before the correction.

[0127] The control system updates the compensation parameters for the nonlinear offset based on the corrected nonlinear offset field parameters, which are then used to compensate for subsequent cutting paths. This update process is gradual; the control system does not completely discard the original compensation parameters but instead adds the parameter increments obtained from filtering and correction to the current parameters, forming a new set of compensation parameters. This gradual update method avoids parameter abrupt changes caused by single observation errors, ensuring the smoothness of the cutting process. The updated compensation parameters take effect immediately and are used for path compensation in subsequent uncut areas. As the cutting process progresses, the correction of the nonlinear offset field parameters and the compensation for subsequent cutting paths are cyclically executed, with each cycle bringing further optimization of the compensation parameters. In the early stages of cutting, the compensation parameters may have a large deviation due to insufficient initial estimation; as the cutting process proceeds, more and more observation data are incorporated, and the compensation parameters gradually converge to the optimal value, and the cutting deviation decreases and stabilizes within the allowable range. Even if the material deformation continues to change during the cutting process, such as due to the thermosetting process or tension release causing further deformation evolution, the closed-loop control mechanism can promptly sense and adjust the compensation parameters to ensure that the cutting path always follows the actual position of the printed pattern. Through this closed-loop control of iterative cycles, this application achieves a technological leap from static compensation to dynamic adaptation, significantly improving the processing accuracy and consistency of integrated printing and cutting.

[0128] Furthermore, you can also view Figure 4 , Figure 4 This is a flowchart illustrating a second embodiment of the integrated printing and cutting processing method of this application. In this embodiment, before the step of driving the printing component to output the printed layer of the material to be cut according to the material processing parameters, steps S60-80 are further included:

[0129] Step S60: Obtain the physical property parameters of the material to be processed, including material type, thickness, elastic modulus and surface characteristics;

[0130] Step S70: Based on the physical property parameters, match the corresponding printing parameter set and cutting parameter set from the preset process database. The printing parameter set includes ink type, inkjet waveform, and curing power. The cutting parameter set includes blade type, vibration frequency, cutting depth, and feed speed.

[0131] Step S80: Automatically configure the working parameters of the printing component and the cutting component according to the matching result to complete the adaptive configuration of process parameters before processing.

[0132] Before the printing step, the control system executes a complete adaptive configuration process for process parameters. The core of this process is to match the optimal printing and cutting parameters from a preset process database based on the physical properties of the material to be processed, thereby achieving automated parameter configuration before processing. This reduces reliance on operator experience, shortens changeover time, and ensures that different materials can achieve optimal processing results.

[0133] Before processing begins, the control system first acquires the physical property parameters of the material to be processed. These parameters include material type, thickness, elastic modulus, and surface characteristics. Material type distinguishes different types of base materials, such as leather, textiles, paper, and composite materials. Different material types correspond to different ink adhesion characteristics and cutting process requirements. Thickness directly affects the selection of cutting depth and vibration frequency. Thickness can be automatically measured using a laser rangefinder or contact thickness gauge, or manually entered by the operator through a human-machine interface. Elastic modulus reflects the material's flexibility and deformation recovery ability. High elastic modulus materials, such as hard leather, require greater cutting head pressure and lower feed speeds during cutting, while low elastic modulus materials, such as elastic knitted fabrics, require special tension control strategies to avoid stretching deformation. Surface characteristics include parameters such as material roughness, ink absorption, and surface energy. These parameters determine the ink's spread and adhesion on the material surface, affecting the stability of print quality. The control system acquires these parameters through multiple methods: some parameters, such as material type, can be automatically obtained by scanning the QR code or barcode on the material label with a barcode scanner; some parameters, such as thickness, can be measured in real time by sensors; and some parameters, such as surface characteristics, can be analyzed and identified by acquiring material surface images through a vision system. Through this step, the control system establishes a comprehensive understanding of the material being processed, providing basic data for subsequent process parameter matching.

[0134] The control system matches the corresponding printing and cutting parameter sets from a preset process database based on the acquired physical property parameters. The preset process database is a pre-built knowledge base that stores a large number of correspondences between material physical properties and optimal process parameters. This database is built upon the accumulation of extensive process experiment data. For each material type, thickness range, and surface characteristic combination, the printing and cutting parameters that achieve the best processing quality are determined through experimentation. The printing parameter set includes ink type, inkjet waveform, and curing power. The ink type is matched according to the material's surface characteristics. For highly absorbent materials such as cotton, water-based inks with good penetration are selected; for dense materials such as leather, UV inks with strong adhesion are selected. The inkjet waveform is set according to the ink's physical properties and printing accuracy requirements. Different inkjet waveforms determine the size, speed, and shape of ink droplets, affecting printing resolution and ink dot control accuracy. The curing power is adjusted according to the ink's curing characteristics and the material's heat sensitivity. For heat-sensitive materials, the curing power needs to be reduced to avoid material deformation or discoloration. The cutting parameter set includes blade type, vibration frequency, cutting depth, and feed speed. The blade type is selected based on the material type and cutting precision requirements. For thin materials, sharp-angled blades are used for fine cutting, while rounded-angle blades are used for thick materials to increase cutting strength. The vibration frequency is adjusted according to the material's hardness and thickness. Hard materials require a higher vibration frequency to ensure smooth cutting, while soft materials require a lower vibration frequency to avoid tearing. The cutting depth is set according to the material thickness, typically slightly greater than the material thickness to ensure complete severance. The feed rate is balanced between material characteristics and cutting precision requirements. High feed rates improve efficiency but may affect the quality of the cutting edge, while low feed rates ensure precision but reduce efficiency. Through this step, the control system transforms the physical properties of the material into specific process control parameters, achieving a knowledge mapping from material properties to process parameters.

[0135] Based on the matching results, the operating parameters of the printing and cutting components are automatically configured. This configuration process is completed through the parameter management module of the control system, which converts the matched printing and cutting parameter sets into specific control commands for each execution component of the equipment. For the printing component, the control system automatically switches the ink supply system according to the matched ink type to ensure that the currently used ink matches the material characteristics; it adjusts the drive waveform of the printhead according to the inkjet waveform parameters to control the size of the ink droplets and the timing of the ejection; and it adjusts the drive current of the LED-UV curing lamp according to the curing power parameters to control the intensity and irradiation time of the curing light. For the cutting component, the control system issues commands according to the matched blade type, and replaces the currently used blade with the matched model through the automatic blade changer; it adjusts the drive frequency of the vibrating cutter head according to the vibration frequency parameters to make the cutter head vibrate and cut at the optimal frequency; it adjusts the blade head extension length or Z-axis pressing position according to the cutting depth parameters to ensure that the blade tip can completely penetrate the material without damaging the table surface; and it adjusts the moving speed of the motion mechanism according to the feed speed parameters to achieve a balance between cutting accuracy and production efficiency. This automatic configuration process can be completed within seconds, without the need for manual adjustment of equipment parameters by the operator, greatly shortening changeover time. By using an adaptive configuration process for process parameters, this application achieves rapid response to different material properties, laying the technological foundation for subsequent precise printing and cutting.

[0136] Furthermore, you can also view Figure 5 , Figure 5 This is a flowchart illustrating a third embodiment of the integrated printing and cutting processing method of this application. In this embodiment, after the step of controlling the cutting component to cut the material to be cut along the compensated cutting path, steps S90-110 are further included:

[0137] Step S90: Acquire the finished product image after cutting using a vision system;

[0138] Step S100: Compare the finished product image with the preset finished product template to identify the edge deviation between the cutting contour and the printed pattern;

[0139] Step S110: When the edge deviation exceeds a preset threshold, the edge deviation is set as the initial parameter of the nonlinear offset for the next batch of processing.

[0140] After the cutting step is completed, the control system also executes a finished product quality inspection and parameter learning process. The core of this process is to acquire finished product images through a vision system, identify the edge deviations between the cutting contour and the printed pattern, and use the deviation data as the initial parameter for the nonlinear offset of the next batch of processing, thereby realizing parameter optimization and knowledge accumulation between batches.

[0141] After the cutting assembly completes the cutting operation, the finished product and waste are separated. The finished product is transferred to the finished product inspection area via conveyor belt or manually. The control system drives the vision system to acquire images of the finished product after cutting. The vision system uses a high-resolution industrial camera, combined with a ring light source or coaxial light source to provide uniform illumination, ensuring that the acquired finished product images have clear contrast and edge features. For large-format finished products, the vision system uses a multi-image stitching method, stitching together images acquired by moving the camera or by acquiring images in sections to obtain a complete finished product image. After image acquisition, the control system stores the finished product images in a database for subsequent deviation analysis. The timing of this acquisition step can be flexibly set according to the production mode; it can perform image acquisition for every finished product to achieve full inspection, or it can perform sampling inspection according to a set ratio, balancing quality with production efficiency.

[0142] The control system compares the acquired finished product image with a preset finished product template to identify edge deviations between the cutting contour and the printed pattern. The preset finished product template is an ideal finished product image generated based on the design drawings, containing standard printed pattern positions and cutting contour shapes. The image comparison process first preprocesses the finished product image, including geometric correction, brightness normalization, and noise reduction, eliminating image differences introduced by factors such as shooting angle and lighting variations. Then, an image registration algorithm is used to precisely align the finished product image with the finished product template. Commonly used registration methods include feature-based registration and mutual information-based registration, which can correct for positional and angular deviations of the finished product in the image. After registration, the control system extracts the cutting contour and printed pattern edges from the finished product image and calculates the deviation between the cutting contour edges and the printed pattern edges. This deviation calculation is performed at multiple sampling points of the contour, with each sampling point's deviation including two components: deviation direction and deviation magnitude. The deviation data from all sampling points are statistically analyzed, and statistical indicators such as the mean, maximum, and standard deviation of the deviations are calculated to evaluate the overall processing quality of the finished product. In cases where the deviation distribution is uneven, the control system will also record the spatial distribution characteristics of the deviation, such as which side has a larger deviation and which local area has an excessive deviation. This information is of great reference value for subsequent parameter optimization.

[0143] When the calculated edge deviation exceeds a preset threshold, the control system sets this edge deviation as the initial parameter for the nonlinear offset of the next batch of processing. The preset threshold is set according to the product's precision requirements and the allowable error range of the quality standard. For example, for high-precision garment fabrication, the threshold may be set to 0.5 mm; for general industrial filter materials, the threshold may be set to 1 mm. When the deviation exceeds the threshold, it indicates that the current compensation parameters have a systematic deviation for this batch of materials, and the deviation information needs to be fed back to the parameter setting stage. The control system analyzes and processes the edge deviation data to extract the regularity characteristics of the deviation. If the deviation shows an overall shift, such as all sampling points having the same deviation direction and similar magnitude, it indicates that the main problem is with the calibration of the fixed position offset. The control system adds this offset to the fixed position offset for the system calibration of the next batch. If the deviation shows a regional distribution, such as a large deviation on the left side and a small deviation on the right side, it indicates that the nonlinear offset field parameters need to be adjusted. The edge deviation data is used as a new control point for the initial parameter setting of the nonlinear offset field of the next batch. This parameter learning mechanism enables the equipment to adapt. As the number of processing batches increases, the compensation parameters are continuously optimized, and the processing quality is continuously improved. For finished products with deviations not exceeding the threshold, the control system also records the deviation data for continuous optimization of the process database, but does not trigger parameter updates. Through the above-described finished product inspection and parameter learning process, this application achieves closed-loop feedback of processing quality and knowledge accumulation between batches, enabling the equipment to continuously optimize itself during use and significantly improving the stability and consistency of long-term operation.

[0144] Furthermore, you can also view Figure 6 , Figure 6 This is a flowchart illustrating the fourth embodiment of the integrated printing and cutting processing method of this application. The integrated printing and cutting machine is further provided with a vibration isolation mechanism, and the integrated printing and cutting processing method further includes steps S120-140:

[0145] Step S120: When the cutting component is performing a cutting operation, obtain the real-time motion status information of the printing component and the cutting component;

[0146] Step S130: When it is detected that the relative distance between the printing component and the cutting component is less than a preset safety threshold, the printing component is lifted to the avoidance position by the vibration isolation mechanism, and the printing component is locked in the avoidance position;

[0147] Step S140: After the cutting component completes the current cutting task and moves to a safe area, control the vibration isolation mechanism to reset the printing component to the working position.

[0148] The printer-cutter combo machine is also equipped with a vibration isolation mechanism to address potential physical interference issues when the printing and cutting components are integrated into the same motion mechanism. This mechanism performs active avoidance and vibration isolation during the cutting operation, ensuring that vibrations generated by the cutting component are not transmitted to the printing component, while also preventing motion interference between the two.

[0149] During the cutting operation, the control system continuously acquires real-time motion status information of both the printing and cutting components. This information is obtained through encoder feedback and position sensors in the motion control system, including the current position coordinates, speed, acceleration, and direction of motion of both components in a unified machine coordinate system. The control system also monitors the amplitude and frequency of vibrations generated by the cutting component using vibration sensors to assess the potential impact of vibrations on the printing component. This real-time status information is continuously updated at millisecond intervals, forming a dynamic perception of the motion status of both components. The control system stores this status information in a real-time database for subsequent safety assessments and avoidance decisions.

[0150] Based on the acquired real-time motion status information, the relative distance between the printing and cutting components is continuously calculated. This distance calculation is based on the current position coordinates of the two components in a unified machine coordinate system and is obtained using the Euclidean distance formula. When the relative distance between the printing and cutting components is detected to be less than a preset safety threshold, the control system uses a vibration isolation mechanism to lift the printing component to an avoidance position and locks it in that position. The preset safety threshold is set based on the physical structure and motion characteristics of the equipment, typically taking into account factors such as the physical dimensions of the printing and cutting components, their maximum speed, and the response delay of the control system, ensuring sufficient time to complete the avoidance action before the relative distance reaches the critical value. The vibration isolation mechanism includes a lifting drive and a locking device. The lifting drive, usually driven by a cylinder or linear motor, can lift the printing component to a certain height, separating the print head from the material surface and offsetting it vertically from the cutting component. The locking device is activated after the component is lifted into position, fixing it in place using a mechanical latch or electromagnetic brake to prevent it from accidentally falling under vibration. This avoidance maneuver not only isolates the cutting vibration from the printing components, but also prevents physical collisions that may occur between the two components during high-speed movement.

[0151] After the cutting component completes its current cutting task and moves to the safe area, the control system controls the vibration isolation mechanism to reset the printing component to its working position. The control system continuously monitors the status of the cutting component through the motion control module to determine whether the current cutting task is complete and whether the cutting component has moved to the safe area. The safe area is a spatially offset area from the working position of the printing component, typically located on one side of the equipment, at least a safety threshold distance from the working position of the printing component. When the reset conditions are met, the control system first releases the locking device and then drives the lifting device to smoothly lower the printing component to its working position. During the descent, the control system monitors the descent position in real time through position sensors to ensure the printing component is accurately reset to its original working height, thus guaranteeing the accuracy of subsequent printing operations. After the reset is complete, the control system resumes monitoring the motion status of both components, preparing for the next avoidance maneuver. Through vibration isolation and active avoidance processes, this application effectively solves the physical interference problem when the printing and cutting components are integrated into the same motion mechanism, ensuring both the stability of the cutting operation and maintaining the accuracy and safety of the printing component. This mechanism, in conjunction with the aforementioned coordinate system, nonlinear compensation, and closed-loop iteration mechanisms, constitutes a complete integrated printing and cutting technology system.

[0152] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the integrated printing and cutting processing method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0153] This application provides an integrated printing and cutting processing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the integrated printing and cutting processing method in the first embodiment described above.

[0154] The following is for reference. Figure 7 The diagram illustrates a structural schematic suitable for implementing the integrated printing and cutting processing equipment of the embodiments of this application. The integrated printing and cutting processing equipment in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 7 The integrated printing and cutting processing equipment shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0155] like Figure 7 As shown, the integrated printing and cutting processing equipment may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the integrated printing and cutting processing equipment. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the integrated printing and cutting processing equipment to communicate wirelessly or wiredly with other devices to exchange data. Although various integrated printing and cutting processing equipment are shown in the figures, it should be understood that implementation or possession of all of them is not required. More or fewer may be implemented alternatively.

[0156] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0157] The integrated printing and cutting processing equipment provided in this application, employing the integrated printing and cutting processing method described in the above embodiments, can solve the technical problem of printing and cutting misalignment caused by nonlinear deformation in existing flexible material printing and cutting processes. Compared with the prior art, the beneficial effects of the integrated printing and cutting processing equipment provided in this application are the same as those of the integrated printing and cutting processing method provided in the above embodiments, and other technical features of this integrated printing and cutting processing equipment are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0158] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0159] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0160] This application provides a storage medium, which is a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the integrated printing and cutting processing method in the above embodiments.

[0161] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, semiconductor, or device media, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be executed by instructions, used by a device, or used in conjunction with it. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0162] The aforementioned computer-readable storage medium may be included in the integrated printing and cutting processing equipment; or it may exist independently and not be assembled into the integrated printing and cutting processing equipment.

[0163] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the integrated printing and cutting processing equipment, enable the integrated printing and cutting processing equipment to implement the technical content of the integrated printing and cutting processing method embodiment shown above.

[0164] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0165] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using dedicated hardware that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0166] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0167] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described integrated printing and cutting processing method, which can solve the technical problem of printing and cutting misalignment caused by nonlinear deformation in existing flexible material printing and cutting processes. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the integrated printing and cutting processing method provided in the above embodiments, and will not be repeated here.

Claims

1. A printing and cutting integrated processing method, characterized in that, Applied to an integrated printing and cutting machine, the integrated printing and cutting machine is equipped with a printing component and a cutting component. The printing component and the cutting component are mounted on the same motion mechanism and driven by the same servo motor, establishing a unified machine coordinate system. The integrated printing and cutting processing method includes the following steps: The printing component is driven to output a printed layer of the material to be cut according to the material processing parameters. The printed layer includes positioning marks and material patterns. Obtain the actual and theoretical coordinates of the positioning mark in the unified machine coordinate system, and calculate the nonlinear offset of the printed layer based on the actual and theoretical coordinates; Determine the fixed position offset of the printing component and the cutting component in the unified machine coordinate system, and dynamically compensate the preset cutting path by using the fixed position offset and the nonlinear offset to generate a compensated cutting path. The cutting assembly is controlled to cut the material to be cut along the compensated cutting path; During the processing, the compensation parameters of the nonlinear offset are iteratively updated based on the real-time collected cutting feedback data and visual feedback data until the printing and cutting of the material pattern are completed. The step of obtaining the actual and theoretical coordinates of the positioning mark in the unified machine coordinate system, and calculating the nonlinear offset of the printed layer based on the actual and theoretical coordinates, includes: The material is divided into multiple local regions, and the actual coordinates and theoretical coordinates of the positioning marks in each local region are obtained respectively; Calculate the local offset vector between the theoretical coordinates and the actual coordinates of the printed pattern in each of the aforementioned local regions; The local offset vectors of each local region are obtained as control points; The control points are fitted to generate a continuous nonlinear migration field using bicubic spline interpolation or thin-plate spline interpolation algorithms. The nonlinear offset field is represented as a two-dimensional continuous function of the independent variable of the material plane coordinates, and the nonlinear offset field for point-by-point offset compensation of any point on the cutting path is determined based on the two-dimensional continuous function. The nonlinear offset amount is determined based on the offset vector of each position point in the nonlinear offset field; In addition, the integrated printing and cutting machine is equipped with a vibration isolation mechanism, and the integrated printing and cutting processing method further includes: When the cutting component performs a cutting operation, the real-time motion status information of the printing component and the cutting component is acquired; When the relative distance between the printing component and the cutting component is detected to be less than a preset safety threshold, the vibration isolation mechanism lifts the printing component to a clearance position and locks the printing component in the clearance position. After the cutting component completes its current cutting task and moves to a safe area, the vibration isolation mechanism is controlled to reset the printing component to its working position.

2. The method of claim 1, wherein the cutting is performed by a laser. The step of iteratively updating the compensation parameters of the nonlinear offset based on the real-time collected cutting feedback data and visual feedback data includes: During the cutting process, images of the cutting edges of the cut area are acquired in real time, and the actual coordinates of the cutting edges are extracted. The actual coordinates of the cut edge are compared with the theoretical cutting path to calculate the cutting deviation; The cutting deviation is fused with the current nonlinear offset, and the fusion result is input into a Kalman filter or a particle filter to dynamically correct the parameters of the nonlinear offset field. The compensation parameters of the nonlinear offset are updated based on the corrected parameters of the nonlinear offset field.

3. The integrated printing and cutting processing method as described in claim 1, characterized in that, Before the step of driving the printing component to output the printed layer of the material to be cut according to the material processing parameters, the method further includes: Obtain the physical property parameters of the material to be processed, including material type, thickness, elastic modulus and surface characteristics; Based on the physical property parameters, the corresponding printing parameter set and cutting parameter set are matched from the preset process database. The printing parameter set includes ink type, inkjet waveform, and curing power. The cutting parameter set includes blade type, vibration frequency, cutting depth, and feed speed. The operating parameters of the printing component and the cutting component are automatically configured based on the matching results to complete the adaptive configuration of process parameters before processing.

4. The method of claim 1, wherein the cutting is performed by a laser. After the step of controlling the cutting assembly to cut the material to be cut along the compensated cutting path, the method further includes: Images of the finished product after cutting are acquired using a vision system; The finished product image is compared with a preset finished product template to identify the edge deviation between the cutting contour and the printed pattern; When the edge deviation exceeds a preset threshold, the edge deviation is set as the initial parameter of the nonlinear offset for the next batch of processing.

5. The method of claim 1, wherein the cutting is performed by a laser. The integrated printing and cutting processing method also includes: During the processing, the ambient temperature and humidity of the material, as well as the real-time load current of the cutting components, are monitored in real time. The curing power of the printing components and the ink drying time are dynamically adjusted according to the ambient temperature and humidity. Based on the real-time load current of the cutting component, the thickness or hardness change of the material is determined, and the cutting depth and feed speed are dynamically adjusted.

6. A printing and cutting integrated processing apparatus, characterized by, The integrated printing and cutting processing equipment stores a computer program, which, when executed by a processor, implements the integrated printing and cutting processing method according to any one of claims 1-5.

7. A storage medium, characterized by The storage medium stores a computer program, which, when executed by a processor, implements the integrated printing and cutting processing method according to any one of claims 1-5.

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