Spraying hole pose calibration method related to RGB substrate printing and ink-jet printer

Abstract

The invention discloses a spray hole pose calibration method for RGB substrate printing and an ink-jet printer, and the method comprises the steps: obtaining preset ink drop point coordinates on an RGB substrate, the preset ink drop point coordinates including a preset R ink drop point coordinate, a preset G ink drop point coordinate and a preset B ink drop point coordinate; obtaining preset spray hole coordinates in the spray head module, wherein the preset spray hole coordinates comprise preset R spray hole coordinates, preset G spray hole coordinates and preset B spray hole coordinates; the preset spray hole is moved from the position of the preset spray hole coordinate to the position of the preset ink dripping point, ink-jet printing operation is executed, and the ink dripping point coordinate is obtained; according to the difference between the ink drop point coordinates and the preset ink drop point coordinates, calibration coordinates are obtained, so that the preset spray hole coordinates are calibrated according to the calibration coordinates, and spray hole pose calibration of the spray head module is completed. According to the invention, the pose of the nozzle in the nozzle module under the RGB substrate scene is calibrated, so that the precision of an ink drop point is improved.

Description

Technical Field

[0001] This application relates to the field of inkjet printing technology for displays, specifically to a nozzle pose calibration method and inkjet printer for printing on RGB substrates. Background Technology

[0002] Currently, the calibration of nozzle pose in a nozzle module often uses the mechanical coordinates of the nozzle holes. For example, a nozzle module includes nozzle A and nozzle B. The mechanical coordinates of nozzle a in nozzle A are selected as the reference, while nozzle b in nozzle B is selected. The nozzle number of nozzle b in nozzle B is the same as that of nozzle a in nozzle A. The coordinate deviation between the mechanical coordinates of nozzle a and nozzle b is calculated, and this deviation is used to adjust the coordinates of all nozzles in nozzle B. The nozzle numbers are assigned sequentially after all nozzles in the nozzle are sorted along the Y-axis.

[0003] However, the mechanical coordinates of nozzle a itself contain errors. This error primarily stems from the fact that the ink droplets ejected from nozzle a are not ejected perpendicularly, causing a deviation between the droplet landing point coordinates and the mechanical coordinates of nozzle a. When calibrating the pose of multiple printheads in a printhead module, if the nozzle of one printhead is used as a reference, and other printheads are mapped to the same nozzle number using their mechanical coordinates, this error accumulates (i.e., using the inherently biased nozzle as a reference, the biases of other printheads are also added), affecting the droplet landing accuracy of inkjet printing. Especially in scenarios requiring high droplet landing accuracy (e.g., inkjet printing on large-size substrates), the above calibration method often fails to meet these requirements.

[0004] Therefore, for nozzle pose calibration during RGB substrate printing, a nozzle pose calibration method and an inkjet printer involving RGB substrate printing are needed. Summary of the Invention

[0005] This application provides a nozzle pose calibration method and an inkjet printer for printing on RGB substrates, which calibrates the nozzle pose in the printhead module under RGB substrate scenarios, thereby improving the accuracy of ink droplet landing.

[0006] The first aspect of this application discloses a nozzle pose calibration method for printing on an RGB substrate. The nozzle pose calibration method includes: obtaining preset ink droplet landing point coordinates on the RGB substrate, the preset ink droplet landing point coordinates including preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates; the RGB substrate includes R sub-pixel pits, G sub-pixel pits, and B sub-pixel pits, the type of the sub-pixel pits corresponding to the type of the preset ink droplet landing point; obtaining preset nozzle coordinates in a printhead module, the preset nozzle coordinates including preset R nozzle coordinates, preset G nozzle coordinates, and preset B nozzle coordinates; the printhead module includes an R sub-printhead module, a G sub-printhead module, and a B sub-printhead module, the type of the preset nozzle coordinates corresponding to the type of the sub-printhead module. The group type; the preset nozzle is moved from the preset nozzle coordinate position to the preset ink droplet landing point position, and the inkjet printing operation is performed to obtain the ink droplet landing point coordinates; during the printing operation, the type of preset nozzle corresponds to the type of preset ink droplet landing point, and the ink droplet landing point coordinates include R ink droplet landing point coordinates, G ink droplet landing point coordinates, and B ink droplet landing point coordinates; the difference between the ink droplet landing point coordinates and the preset ink droplet landing coordinates is used to calibrate the preset nozzle coordinates to complete the nozzle pose calibration of the printhead module; the types of ink droplet landing point coordinates, preset ink droplet landing coordinates, preset nozzle, and calibration coordinates are corresponding, and the calibration coordinates include one or more of R calibration coordinates, G calibration coordinates, and B calibration coordinates.

[0007] In the above scheme, preset ink droplet landing point coordinates are set within the three types of sub-pixel pits in the RGB substrate. Then, inkjet printing is performed using nozzles of the same type as the sub-pixel pits to obtain the actual printed ink droplet landing point coordinates. Calibration coordinates are calculated using the preset ink droplet landing point coordinates and the actual printed ink droplet landing point coordinates. Then, the nozzle poses between the three types of sub-printer modules are calibrated based on the calibration coordinates, thereby improving the ink droplet landing accuracy. This scheme utilizes the fact that during inkjet printing on the RGB substrate, the printer module can be divided into three types of sub-printer modules (i.e., R sub-printer module, G sub-printer module, and B sub-printer module). The nozzle pose calibration between printheads in the printer module can be transformed into calibration between the three types of sub-printer modules. That is, based on the characteristics of pixel pit printing in the RGB substrate, the nozzle relationship between the three types of sub-printer modules is determined. In the above scheme, the R calibration coordinate calibrates the preset R nozzle coordinates, the G calibration coordinate calibrates the preset G nozzle coordinates, and the B calibration coordinate calibrates the preset B nozzle coordinates.

[0008] Furthermore, the aforementioned movement of the preset nozzle from the preset nozzle coordinate position to the preset ink droplet landing point position refers to moving the preset nozzle from the current mechanical coordinate position to the preset ink droplet landing point position; the mechanical coordinates can be obtained by taking pictures with the upward-viewing camera.

[0009] It should be noted that the calibration coordinates in this manual are obtained by comparing the coordinates of a single ink droplet ejected from a randomly selected nozzle in the printhead with the preset ink droplet coordinates. This is suitable for scenarios where the nozzle state in the printhead is relatively stable (i.e., the fluctuation of the ink droplet coordinates ejected from the nozzle meets the printing requirements). If the nozzle state in the printhead is relatively unstable, multiple ejections can be performed from a single selected nozzle to obtain multiple ink droplet coordinates. Then, the average difference between these multiple ink droplet coordinates and the preset ink droplet coordinates can be calculated. Using this average difference as the printhead calibration coordinates will be more accurate and can further improve the accuracy of ink droplet placement.

[0010] In one possible implementation, when the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in the same row, the preset R ink droplet landing point coordinates, the preset G ink droplet landing point coordinates, and the preset B ink droplet landing point coordinates are the ink droplet landing points in the same row and any row of the RGB substrate.

[0011] The above solution is applicable to scenarios where RGB sub-printer modules print simultaneously. That is, when the three types of sub-pixel pits are arranged in the same row, the printer modules can print in one print stroke (also known as single-pass printing), meaning that the three sub-printer modules can print at the same time.

[0012] At this time, the efficiency of obtaining calibration coordinates is higher when printing simultaneously with the three types of RGB sub-printer modules compared to printing separately. This is because the sub-pixel pits of the three types of RGB are all in the same droplet landing row, and the Y-axis coordinates of the preset R droplet landing coordinates, preset G droplet landing coordinates, and preset B droplet landing coordinates are the same, only the X-axis coordinates are different.

[0013] In one possible implementation, when the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in different rows, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the ink droplet landing points in different rows of the RGB substrate based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing coordinates.

[0014] The above solution is applicable to scenarios where the three types of RGB sub-pixel pits are not printed simultaneously. That is, when the three types of sub-pixel pits are arranged in different rows, the printhead module needs multiple print strokes to print the preset ink droplet landing points of the three types. In other words, the three types of sub-printhead modules cannot print at the same time.

[0015] At this time, the coordinates of the three types of ink droplets (RGB, RGB, and RGB) are not on the same droplet landing row. For example, the coordinates of the RG type ink droplets may be on the same droplet landing row, while the coordinates of the B type ink droplets may be on another droplet landing row. In this case, the Y-axis coordinates of the RG type are the same, but the X-axis coordinates are different.

[0016] In one possible implementation, calibration coordinates are obtained based on the difference between the ink droplet landing coordinates and preset ink droplet landing coordinates. Specifically, this includes: using preset standard ink droplet landing coordinates as a reference, obtaining a first coordinate difference between the preset ink droplet landing coordinates of two other types and the preset standard ink droplet landing coordinates; the preset standard ink droplet landing coordinates are any one of three types of coordinates: preset G ink droplet landing coordinates, preset B ink droplet landing coordinates, and preset R ink droplet landing coordinates; using the first ink droplet landing coordinates as a reference, obtaining a second coordinate difference between the second ink droplet landing coordinates of two other types and the first ink droplet landing coordinates; the first ink droplet landing coordinates are the actual ink droplet landing coordinates corresponding to the preset standard ink droplet landing coordinates; and obtaining calibration coordinates, which are the calibration coordinates corresponding to the other two types, and the calibration coordinates are the difference between the second coordinate difference and the first coordinate difference corresponding to the other two types.

[0017] The above scheme discloses a specific method for obtaining calibration coordinates. First, the preset ink droplet landing point coordinates of a certain type are used as the preset standard ink droplet landing point coordinates. Then, the difference between the preset ink droplet landing point coordinates of the other two types and the preset standard ink droplet landing point coordinates is obtained, which is the first coordinate difference mentioned above. Using the first coordinate difference as the reference for calibration coordinates, the calibration coordinates of the three types of nozzles are obtained by the difference between the second coordinate difference and the first coordinate difference.

[0018] At this point, the preset standard ink droplet landing point coordinates, which serve as the reference, do not require calibration of the corresponding nozzle type; only the other two nozzle types need to be calibrated. This method calibrates the errors between the three types of sub-printhead modules by selecting one preset nozzle from each of the three types of sub-printhead modules to participate in the calibration, thereby improving calibration efficiency.

[0019] In one possible implementation, calibration coordinates are obtained based on the difference between the ink droplet landing coordinates and preset ink droplet landing coordinates. Specifically, this includes: using preset R ink droplet landing coordinates as a reference; obtaining a third coordinate difference between preset G ink droplet landing coordinates and preset R ink droplet landing coordinates, and a fourth coordinate difference between preset B ink droplet landing coordinates and preset R ink droplet landing coordinates; using R ink droplet landing coordinates as a reference; obtaining a fifth coordinate difference between G ink droplet landing coordinates and R ink droplet landing coordinates, and a sixth coordinate difference between B ink droplet landing coordinates and R ink droplet landing coordinates; and obtaining calibration coordinates. The calibration coordinates include G calibration coordinates and B calibration coordinates, where G calibration coordinates are the difference between the fifth and third coordinate differences, and B calibration coordinates are the difference between the sixth and fourth coordinate differences.

[0020] The above scheme aims to demonstrate how to obtain calibration coordinates using preset R ink droplet landing point coordinates as a reference. Similarly, when using preset B ink droplet landing point coordinates as a reference, only R and G calibration coordinates are available. Furthermore, the above method of obtaining calibration coordinates (i.e., a single reference ink droplet landing point) considers the collaborative printing relationship between the three types of RGB nozzles relative to the case of multiple reference ink droplet landing points, making it more consistent with actual inkjet printing scenarios, especially scenarios where RGB printhead modules print simultaneously.

[0021] In one possible implementation, the calibration coordinates are obtained based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates. Specifically, this includes: obtaining the R calibration coordinates, which are the difference between the R ink droplet landing point coordinates and the preset R ink droplet landing point coordinates; obtaining the G calibration coordinates, which are the difference between the G ink droplet landing point coordinates and the preset G ink droplet landing coordinates; and obtaining the B calibration coordinates, which are the difference between the B ink droplet landing point coordinates and the preset B ink droplet landing coordinates.

[0022] In the above scheme, corresponding reference ink droplet landing points (i.e., preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates) are set for each of the three types of nozzles. At this point, the coordinate relationship between the three reference ink droplet landing points needs to be more definite and accurate compared to the case of a single reference ink droplet landing point.

[0023] In one possible implementation, the preset R nozzle coordinates, preset G nozzle coordinates, and preset B nozzle coordinates are the first nozzles in each sub-nozzle module.

[0024] The above scheme aims to disclose three preferred types of preset nozzle coordinate setting methods.

[0025] In one possible implementation, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the center coordinates of the first row and first column of the sub-pixel pits in each type of sub-pixel pit in the RGB substrate.

[0026] The above scheme aims to disclose three preferred types of preset ink droplet landing point coordinate setting methods.

[0027] In one possible implementation, after completing the nozzle pose calibration in the RGB substrate, the nozzle pose calibration method includes: obtaining the coordinates of a preset test point on the plain glass substrate, wherein the preset test point coordinates are any one of the test points on the plain glass substrate; moving the test nozzle from its current position to the position of the preset test point coordinates, performing an inkjet printing operation to obtain the coordinates of the third ink droplet; the test nozzle is any one of the nozzles in any type of printhead module; obtaining the test point calibration coordinates to facilitate pose calibration of the printhead module based on the test point calibration coordinates, thereby completing the nozzle pose calibration of the printhead module, wherein the test point calibration coordinates are obtained from the difference between the preset test point coordinates and the third ink droplet coordinates.

[0028] In the above scheme, after calibrating the nozzle poses between the three types of sub-printhead modules within the printhead module, a calibration is performed on the pose of the entire printhead module. The nozzle pose calibration between sub-printhead modules mainly addresses the relationship between the nozzles within the three types of sub-printhead modules during collaborative printing. To further improve droplet printing accuracy, the entire printhead module undergoes overall nozzle pose calibration. The bare glass substrate is hydrophobic; when ink droplets are printed on the bare glass substrate, they do not spread out, allowing for accurate positioning of the droplet coordinates. Furthermore, the bare glass possesses the size and position information of each pixel pit on the RGB substrate. The preset test point coordinates can be the center coordinates of any pixel pit, which can be of any type (R pixel pit, G pixel pit, B pixel pit); preferably, it can be the pixel pit in the first row and first column on the bare glass substrate. Similarly, the test nozzle can be the first nozzle of the entire printhead module.

[0029] In one possible implementation, the target sub-printer module is any one of an R-type sub-printer module, a G-type sub-printer module, and a B-type sub-printer module, and the target sub-printer module includes a first printhead and a second printhead. When the number of printheads in the target sub-printer module is greater than a preset number of printheads, the nozzle pose calibration method includes: on the RGB substrate, obtaining the coordinates of the fourth ink droplet landing point corresponding to the first nozzle and the coordinates of the fifth ink droplet landing point corresponding to the second nozzle; the first nozzle is any one of the first printheads, and the second nozzle is any one of the second printheads; obtaining the calibration coordinates of the target sub-printer module, where the calibration coordinates of the sub-printer module are the difference between the coordinates of the fourth ink droplet landing point and the coordinates of the fifth ink droplet landing point; and completing the nozzle pose calibration operation inside the target sub-printer module based on the calibration coordinates of the target sub-printer module.

[0030] The above solution discusses the pose calibration between printheads within the sub-printhead module. The above method directly uses the difference in actual droplet coordinates between two nozzles in the target sub-printhead module as the calibration coordinates, without using the preset droplet coordinates (also known as the pre-printing mechanical coordinates) of the two nozzles. However, the above method uses preset droplet coordinates in obtaining the calibration coordinates for nozzle pose calibration between sub-printhead modules. The main reason is that the difference in mechanical coordinates between two nozzles within the sub-printhead module is small (micrometer-level difference), and this difference has little impact on the nozzle pose calibration within the sub-printhead module; while the difference in preset droplet coordinates between sub-printhead modules is large (millimeters-level), and this difference has a significant impact on the nozzle pose calibration between sub-printhead modules. To improve the efficiency of nozzle pose calibration within the printhead module, the difference between the coordinates of the fourth and fifth ink droplet landing points is directly used as the calibration coordinates. When the first nozzle is used as the reference, the second nozzle is calibrated using the calibration coordinates; when the second nozzle is used as the reference, the first nozzle is calibrated using the calibration coordinates.

[0031] The second aspect of this application discloses an inkjet printer, including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, and both the user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory to cause the inkjet printer to perform a nozzle pose calibration method for printing on an RGB substrate as described in any of the above-mentioned methods. Attached Figure Description

[0032] Figure 1 This application discloses a schematic flowchart of a nozzle pose calibration method for RGB substrate printing; Figure 2 This is a schematic diagram of a printhead module structure for RGB substrate printing disclosed in this application specification; Figure 3 This is a schematic diagram of the sub-pixel pit arrangement structure on the RGB substrate disclosed in this application specification; Figure 4 This is a schematic diagram illustrating the principle of nozzle orientation calibration between sub-nozzle modules as disclosed in this application specification; Figure 5 This is a schematic diagram illustrating the principle of nozzle position and orientation calibration between sub-nozzle modules as disclosed in this application specification. Figure 6 This is a schematic diagram of the structure of an inkjet printer disclosed in this application specification. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0034] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0035] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0036] This manual primarily discusses the collaborative poses between multiple printheads and the overall pose of all printheads (i.e., the pose of the printhead module) within the printhead module. Many factors can cause pose errors, including installation errors during printhead assembly, calibration errors in the printhead module of an inkjet printer, and calibration errors when using a crosshair cursor to locate the printheads on a top-view camera. Especially with large-size substrates, the printhead module contains a larger number of spliced ​​printheads, potentially leading to greater errors compared to printhead modules with fewer printheads.

[0037] Furthermore, nozzle orientation errors affect the droplet landing accuracy of inkjet printers. While droplet landing errors on the substrate can be compensated for in some scenarios, printhead orientation calibration is the starting point for ensuring droplet landing accuracy, essentially the source of improved droplet landing accuracy. In the field of inkjet printing for displays, droplet landing accuracy is extremely important; therefore, those skilled in the art need to discuss it from the perspective of its origin.

[0038] Furthermore, the existing method calibrates the printhead module using the mechanical coordinates of multiple printheads (i.e., using the mechanical coordinates of a specific nozzle in one printhead as a reference, and calculating the coordinate deviation of the mechanical coordinates of nozzles with the same nozzle number in other printheads), which is suitable for inkjet printing test scenarios on substrates. This process only requires obtaining the mechanical coordinates of one nozzle from each printhead (which can be obtained directly by taking a picture with an upward-viewing camera) to complete the printhead pose calibration, resulting in high efficiency; and the printing test scenario has lower requirements for ink droplet accuracy.

[0039] For large-size substrate scenarios, printhead modules contain a large number of printheads, which are often assembled as needed to form a printhead module. High precision is required for ink droplet placement, and as discussed above, this necessitates addressing the issue at its source. Therefore, this specification discusses the calibration of printhead pose for RGB substrate printing.

[0040] This specification discloses a nozzle pose calibration method for printing on an RGB substrate, the nozzle pose calibration method comprising steps S101-S104.

[0041] Step S101: Obtain the preset ink droplet landing point coordinates on the RGB substrate. The preset ink droplet landing point coordinates include the preset R ink droplet landing point coordinates, the preset G ink droplet landing point coordinates, and the preset B ink droplet landing point coordinates. The RGB substrate includes R sub-pixel pits, G sub-pixel pits, and B sub-pixel pits. The type of sub-pixel pit corresponds to the type of preset ink droplet landing point.

[0042] Step S102: Obtain the preset nozzle coordinates in the nozzle module. The preset nozzle coordinates include preset R nozzle coordinates, preset G nozzle coordinates, and preset B nozzle coordinates. The nozzle module includes R sub-nozzle module, G sub-nozzle module, and B sub-nozzle module. The type of preset nozzle coordinates corresponds to the type of sub-nozzle module.

[0043] Step S103: Move the preset nozzle from the preset nozzle coordinate position to the preset ink droplet landing point position, perform inkjet printing operation, and obtain the ink droplet landing point coordinates; in the printing operation, the type of preset nozzle corresponds to the type of preset ink droplet landing point, and the ink droplet landing point coordinates include R ink droplet landing point coordinates, G ink droplet landing point coordinates, and B ink droplet landing point coordinates.

[0044] Step S104: Obtain calibration coordinates based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates, so as to calibrate the preset nozzle coordinates based on the calibration coordinates to complete the nozzle pose calibration of the printhead module; the ink droplet landing point coordinates, the preset ink droplet landing coordinates, the preset nozzle and the calibration coordinates are of corresponding types, and the calibration coordinates include one or more of R calibration coordinates, G calibration coordinates and B calibration coordinates.

[0045] In the example above, preset ink droplet landing point coordinates are set within the three types of sub-pixel pits in the RGB substrate. Then, inkjet printing is performed using nozzles of the same type as the sub-pixel pits to obtain the actual printed ink droplet landing point coordinates. Calibration coordinates are calculated using the preset ink droplet landing point coordinates and the actual printed ink droplet landing point coordinates. Then, the nozzle poses between the three types of printhead modules are calibrated based on the calibration coordinates, thereby improving the ink droplet landing accuracy. This scheme utilizes the fact that during inkjet printing on an RGB substrate, the printhead module can be divided into three types of sub-printhead modules (i.e., R sub-printhead module, G sub-printhead module, and B sub-printhead module). The nozzle pose calibration between printheads within the printhead module can be transformed into calibration between the three types of sub-printhead modules. That is, based on the characteristics of pixel pit printing on the RGB substrate, the nozzle relationship between the three types of sub-printhead modules is determined. In the above scheme, the R calibration coordinate calibrates the preset R nozzle coordinates, the G calibration coordinate calibrates the preset G nozzle coordinates, and the B calibration coordinate calibrates the preset B nozzle coordinates.

[0046] Furthermore, the aforementioned movement of the preset nozzle from the preset nozzle coordinate position to the preset ink droplet landing point position refers to moving the preset nozzle from the current mechanical coordinate position to the preset ink droplet landing point position; the mechanical coordinates can be obtained by capturing images from the top-view camera in the inkjet printer.

[0047] Generally, the preset ink droplet landing coordinates can be the center coordinates of the corresponding type of sub-pixel pit, and obtaining the center coordinates of the sub-pixel pits is more efficient. A pixel pit often includes three sub-pixel pits (R sub-pixel pit, G sub-pixel pit, and B sub-pixel pit). In an RGB substrate, the pixel pit coordinates of the entire substrate are constructed based on the pixel pit of the first row and first column, and then the coordinates of the sub-pixel pits within the pixel pit are constructed. Therefore, in this specification, the preset ink droplet landing coordinates can be set to the center coordinates of the corresponding type of sub-pixel pit in the first row and first column (i.e., the preset R ink droplet landing coordinates are the center coordinates of the first row and first column of the R type sub-pixel pit, the preset G ink droplet landing coordinates are the center coordinates of the first row and first column of the G type sub-pixel pit, and the preset B ink droplet landing coordinates are the center coordinates of the first row and first column of the B type sub-pixel pit), which can improve the efficiency of obtaining the preset ink droplet landing coordinates.

[0048] Similarly, to improve the efficiency of obtaining preset nozzle coordinates, the preset nozzle coordinates can be set as the first nozzle in each type of sub-nozzle module. The first nozzle in a sub-nozzle module is the nozzle with the smallest Y-axis coordinate among all nozzles in the sub-nozzle module. That is, the preset R nozzle coordinate can be the first nozzle in the R sub-nozzle module, the preset G nozzle coordinate can be the first nozzle in the G sub-nozzle module, and the preset B nozzle coordinate can be the first nozzle in the B sub-nozzle module.

[0049] like Figure 2As shown, each of the R-type sub-nozzle module 21, G-type sub-nozzle module 22, and B-type sub-nozzle module 23 in the nozzle module example has two nozzles, and the three types of sub-nozzle modules are spliced ​​in the X-axis direction (other splicing methods also exist, which will not be described one by one). The first spray hole 201 of the left nozzle of the R-type sub-nozzle module is 201, and the first spray hole 202 of the right nozzle is 202. If the Y-axis coordinate (mechanical coordinate, which can be obtained by shooting with a top-view camera) of the first spray hole 201 on the left is smaller than that of the first spray hole 202 on the right, then the first spray hole 201 on the left is taken as the first spray hole of the R-type sub-nozzle module. Similarly, in the G-type sub-nozzle module, the Y-axis coordinate of the first spray hole 203 of the left nozzle is smaller than that of the first spray hole 204 of the right nozzle, then the first spray hole 203 on the left is taken as the first spray hole of the G-type sub-nozzle module. Similarly, in the B sub-nozzle module, the first spray hole 205 located on the left nozzle has a smaller Y-axis coordinate than the first spray hole 206 on the right nozzle. Therefore, the first spray hole 205 on the left is taken as the first spray hole of the B sub-nozzle module.

[0050] Meanwhile, when discussing the pose calibration of the entire nozzle module below this manual, the nozzle with the smallest Y-axis coordinate among the three types of sub-nozzle modules can be selected as the first nozzle of the entire nozzle module.

[0051] Furthermore, taking advantage of the characteristics of RGB substrate printing, the above-mentioned preset R nozzle coordinates, preset R ink droplet landing point coordinates and the actual ink droplet landing point coordinates in the R sub-pixel pit are in one-to-one correspondence. This not only improves calibration efficiency, but also fits the actual collaborative printing scenario of the three types of sub-printer modules (that is, it can further improve the accuracy of calibration coordinates and improve the accuracy of ink droplet landing point, which is suitable for large-size RGB printing scenarios).

[0052] In this manual, the X-axis represents the printing direction of the inkjet printer, and the Y-axis represents the movement direction of the printhead module; and all nozzles used for inkjet printing are valid nozzles, meaning that the spray angle, the volume of the sprayed ink droplets, and other conditions of the nozzles meet the printing requirements.

[0053] In one example, when the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in the same row, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the ink droplet landing points in the same row and any row of the RGB substrate.

[0054] This example applies to scenarios where three types of RGB sub-printer modules are printed simultaneously. That is, when the three types of sub-pixel pits are arranged in the same row, the printer modules can print in one print pass (also known as single-pass printing), meaning that the three sub-printer modules can print at the same time.

[0055] At this time, the efficiency of obtaining calibration coordinates is higher when printing simultaneously with the three types of RGB sub-printer modules compared to printing separately. This is because the sub-pixel pits of the three types of RGB are all in the same droplet landing row, and the Y-axis coordinates of the preset R droplet landing coordinates, preset G droplet landing coordinates, and preset B droplet landing coordinates are the same, only the X-axis coordinates are different.

[0056] like Figure 3 As shown in Figure b, an example illustrates three sub-pixel pits within a single pixel pit on the substrate: R sub-pixel pit 31b, G sub-pixel pit 32b, and B sub-pixel pit 33b are arranged in the same row. The example's preset R droplet landing point coordinates 301b are the center coordinates of the R sub-pixel pit, the preset G droplet landing point coordinates are the center coordinates of the G sub-pixel pit, and the preset B droplet landing point coordinates are the center coordinates of the B sub-pixel pit. That is, the preset R droplet landing point coordinates, preset G droplet landing point coordinates, and preset B droplet landing point coordinates are the droplet landing points in any row of the same RGB substrate. In this case, all three types of preset droplet landing points are the planned droplet landing points for actual printing scenarios.

[0057] In one example, when the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in different rows, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the ink droplet landing points in different rows of the RGB substrate.

[0058] This example applies to scenarios where the three types of RGB subpixel pits are not printed simultaneously. That is, when the three types of subpixel pits are arranged in different rows, the printhead module often needs multiple print strokes to print the preset ink droplet landing points of the three types. In other words, the three types of sub-printhead modules cannot print at the same time.

[0059] At this time, the coordinates of the three types of ink droplets (RGB, RGB, and RGB) are not on the same droplet landing row. For example, the coordinates of the RG type ink droplets may be on the same droplet landing row, while the coordinates of the B type ink droplets may be on another droplet landing row. In this case, the Y-axis coordinates of the RG type are the same, but the X-axis coordinates are different.

[0060] like Figure 3As shown in Figure a, the RGB substrate illustrates three types of pixel pits arranged in different rows. R sub-pixel pit 31a and B sub-pixel pit 33a are arranged in the same row, while G sub-pixel pit 32a is not in the same row as the RB type sub-pixel pits. Furthermore, the example demonstrates that the preset R droplet landing point coordinates 301a are the center coordinates of the R sub-pixel pit, the preset G droplet landing point coordinates 302a are the center coordinates of the G sub-pixel pit, and the preset B droplet landing point coordinates 303a are the center coordinates of the B sub-pixel pit. The X and Y coordinates of the three preset droplet landing point coordinates are all different. Of course, it is also possible to select a droplet landing point within B sub-pixel pit 33a that has the same Y-axis coordinate as the preset R droplet landing point coordinates 301a as the preset B droplet landing point coordinates.

[0061] It should be noted that the preset R, G, and B ink droplet coordinates represent ink droplet coordinates from different rows on the RGB substrate, and adjacent rows should be selected. This allows the camera to capture all three types of preset ink droplet coordinates and the actual ink droplet coordinates in a single image, eliminating the need for image stitching and avoiding image stitching errors, thus improving the accuracy of the calibration coordinates. Similarly, even if the three types of preset ink droplet coordinates are in the same row, they should be in adjacent columns.

[0062] In one example, calibration coordinates are obtained based on the difference between the ink droplet landing coordinates and the preset ink droplet landing coordinates. Specifically, this includes: using the preset standard ink droplet landing coordinates as a reference, obtaining the first coordinate difference between the preset ink droplet landing coordinates of the other two types and the preset standard ink droplet landing coordinates; the preset standard ink droplet landing coordinates are any one of the three types of coordinates: preset G ink droplet landing coordinates, preset B ink droplet landing coordinates, and preset R ink droplet landing coordinates; using the first ink droplet landing coordinates as a reference, obtaining the second coordinate difference between the second ink droplet landing coordinates of the other two types and the first ink droplet landing coordinates; the first ink droplet landing coordinates are the actual ink droplet landing coordinates corresponding to the preset standard ink droplet landing coordinates; and obtaining calibration coordinates, which are the calibration coordinates corresponding to the other two types, and the calibration coordinates are the difference between the second coordinate difference and the first coordinate difference corresponding to the other two types.

[0063] In the example above, the preset ink droplet landing point coordinates of a certain type are first used as the preset standard ink droplet landing point coordinates. Then, the difference between the preset ink droplet landing point coordinates of the other two types and the preset standard ink droplet landing point coordinates is obtained, which is the first coordinate difference mentioned above. The first coordinate difference is used as the reference for calibration coordinates. The calibration coordinates of the three types of nozzles are obtained by the difference between the second coordinate difference and the first coordinate difference.

[0064] At this point, the preset standard ink droplet landing point coordinates, which serve as the reference, do not require calibration of the corresponding nozzle type; only the other two nozzle types need to be calibrated. This method calibrates the errors between the three types of sub-printhead modules by selecting one preset nozzle from each of the three types of sub-printhead modules to participate in the calibration, thereby improving calibration efficiency.

[0065] For example, preset R ink droplet landing coordinates are (X1, Y1), preset G ink droplet landing coordinates are (X2, Y2), and preset B ink droplet landing coordinates are (X3, Y3). All three types of preset ink droplet landing coordinates can be used as preset standard ink droplet landing coordinates. Using the preset R ink droplet landing coordinates (X1, Y1) as the preset standard ink droplet landing coordinates, the difference between the RG and RB ink droplet landing coordinates is (X2-X1, Y2-Y1), and the difference between the RB and RB ink droplet landing coordinates is (X3-X1, Y3-Y1). Similarly, the actual printed ink droplet coordinates (X4, Y4), G ink droplet coordinates (X5, Y5), and B ink droplet coordinates (X6, Y6) are of the same type as the preset standard ink droplet coordinates. Based on the R ink droplet coordinates (X4, Y4), the differences between the RG ink droplet coordinates (X5-X4, Y5-Y4) and the RB ink droplet coordinates (X6-X4, Y6-Y4) are obtained. Therefore, the G calibration coordinates are (X5-X4-(X2-X1), Y5-Y4-(Y2-Y1)) and the B calibration coordinates are (X6-X4-(X3-X1), Y6-Y4-(Y3-Y1)). Since the R type ink droplet landing point is the reference, the actual R ink droplet landing point coordinates do not need to be calibrated; only the errors between the GB and R types need to be calibrated. Similarly, if the preset ink droplet landing point and ink droplet landing point of the G type are used as the reference, then only the errors between the RB and G types need to be calibrated.

[0066] In one example, calibration coordinates are obtained based on the difference between the ink droplet landing coordinates and preset ink droplet landing coordinates. Specifically, this includes: using preset R ink droplet landing coordinates as a reference; obtaining a third coordinate difference between preset G ink droplet landing coordinates and preset R ink droplet landing coordinates, and a fourth coordinate difference between preset B ink droplet landing coordinates and preset R ink droplet landing coordinates; using R ink droplet landing coordinates as a reference; obtaining a fifth coordinate difference between G ink droplet landing coordinates and R ink droplet landing coordinates, and a sixth coordinate difference between B ink droplet landing coordinates and R ink droplet landing coordinates; and obtaining calibration coordinates. The calibration coordinates include G calibration coordinates and B calibration coordinates, where G calibration coordinates are the difference between the fifth and third coordinate differences, and B calibration coordinates are the difference between the sixth and fourth coordinate differences.

[0067] The above scheme aims to demonstrate how to obtain calibration coordinates by using the preset R ink droplet landing point coordinates as a reference. Similarly, when using the preset B ink droplet landing point coordinates as a reference, only the R calibration coordinates and G calibration coordinates are available.

[0068] like Figure 5 As shown, with the preset R ink droplet landing point coordinates 51 as the reference, the actual R ink droplet landing point coordinates 501 are also the reference coordinates. The coordinate difference between the preset G ink droplet landing point coordinates 52 and the preset R ink droplet landing point coordinates 51 is (W3, 0), and the coordinate difference between the preset B ink droplet landing point coordinates 53 and the preset R ink droplet landing point coordinates 51 is (W4, 0). The coordinate difference between the actual G ink droplet landing point coordinates 502 and the R ink droplet landing point coordinates 501 is (W5, H3), and the coordinate difference between the B ink droplet landing point coordinates 503 and the R ink droplet landing point coordinates 501 is (W6, H4). Therefore, the G calibration coordinates are (W5-W3, H3), and the B calibration coordinates are (W6-W4, H4), which is (0, H4).

[0069] In one example, the calibration coordinates are obtained based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates. Specifically, this includes: obtaining the R calibration coordinates, which are the difference between the R ink droplet landing point coordinates and the preset R ink droplet landing point coordinates; obtaining the G calibration coordinates, which are the difference between the G ink droplet landing point coordinates and the preset G ink droplet landing coordinates; and obtaining the B calibration coordinates, which are the difference between the B ink droplet landing point coordinates and the preset B ink droplet landing coordinates.

[0070] like Figure 4 As shown, the preset R ink droplet landing point coordinate 41 corresponds to the actual R ink droplet landing point coordinate 401, the preset G ink droplet landing point coordinate 42 corresponds to the actual G ink droplet landing point coordinate 402, and the preset B ink droplet landing point coordinate 43 corresponds to the actual B ink droplet landing point coordinate 403. The R calibration coordinate is (W1, 0), the G calibration coordinate is (W2, H2), and the B calibration coordinate is (0, H1).

[0071] At this point, corresponding reference ink droplet landing points (i.e., preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates) have been set for all three types of nozzles. The coordinate relationship between these three reference ink droplet landing points needs to be more definite and precise compared to the case of a single reference ink droplet landing point.

[0072] In one example, the preset R nozzle coordinates, preset G nozzle coordinates, and preset B nozzle coordinates are the first nozzles in each sub-nozzle module.

[0073] At this point, the three preferred types of preset nozzle coordinate setting methods are disclosed, but are not limited to these; other setting methods can also be used according to actual needs.

[0074] In one example, the preset R ink droplet landing coordinates, preset G ink droplet landing coordinates, and preset B ink droplet landing coordinates are the center coordinates of the first row and first column of the sub-pixel pits in each type of sub-pixel pit in the RGB substrate.

[0075] At this point, the three preferred preset ink droplet landing point coordinate settings are disclosed, but are not limited to these; other settings can also be made according to actual needs.

[0076] In one example, after completing the nozzle pose calibration in the RGB substrate, the nozzle pose calibration method includes: obtaining the coordinates of a preset test point on the plain glass substrate, wherein the preset test point coordinates are any one of the test points on the plain glass substrate; moving the test nozzle from its current position to the position of the preset test point coordinates, performing an inkjet printing operation to obtain the coordinates of the third ink droplet; the test nozzle is any one of the nozzles in any type of printhead module; obtaining the test point calibration coordinates to facilitate pose calibration of the printhead module based on the test point calibration coordinates, thereby completing the nozzle pose calibration of the printhead module, wherein the test point calibration coordinates are obtained from the difference between the preset test point coordinates and the third ink droplet coordinates.

[0077] In the above scheme, after calibrating the nozzle poses between the three types of sub-printhead modules within the printhead module, a calibration is performed on the pose of the entire printhead module. The nozzle pose calibration between sub-printhead modules mainly addresses the relationship between the nozzles within the three types of sub-printhead modules during collaborative printing. To further improve droplet printing accuracy, the entire printhead module undergoes overall nozzle pose calibration. The bare glass substrate is hydrophobic; when ink droplets are printed on the bare glass substrate, they do not spread out, allowing for accurate positioning of the droplet coordinates. Furthermore, the bare glass replicates (simulates) the pixel pit size and position information of the RGB substrate. The preset test point coordinates can be the center coordinates of any pixel pit, which can be of any type (R pixel pit, G pixel pit, B pixel pit); preferably, it can be the pixel pit in the first row and first column on the bare glass substrate. Similarly, the test nozzle can be the first nozzle of the entire printhead module.

[0078] It should be noted that the preset test point coordinates are the pixel pit center coordinates, not the sub-pixel pit center coordinates used in the nozzle pose calibration between the sub-printer modules. The use of sub-pixel pit center coordinates is mainly to approximate the real printing scenario and to perform collaborative calibration of the nozzle pose between the sub-printer modules. The use of pixel pit center coordinates is mainly for the convenience of obtaining pixel pit coordinates.

[0079] Furthermore, the coordinate reference in this specification for the RGB substrate or the plain glass substrate is the first row and first column pixel pit.

[0080] In one example, the target sub-printer module is any one of the following types: R sub-printer module, G sub-printer module, and B sub-printer module. The target sub-printer module includes a first printhead and a second printhead. When the number of printheads in the target sub-printer module is greater than a preset number of printheads, the nozzle pose calibration method includes: obtaining the coordinates of the fourth ink droplet landing point corresponding to the first nozzle and the coordinates of the fifth ink droplet landing point corresponding to the second nozzle on the RGB substrate; the first nozzle is any one of the first printheads, and the second nozzle is any one of the second printheads; obtaining the calibration coordinates of the target sub-printer module, where the calibration coordinates of the sub-printer module are the difference between the coordinates of the fourth ink droplet landing point and the coordinates of the fifth ink droplet landing point; and completing the nozzle pose calibration operation inside the target sub-printer module based on the calibration coordinates of the target sub-printer module.

[0081] At this point, we discuss the pose calibration between the printheads within the sub-printhead module. The above method directly uses the difference in actual droplet coordinates between two nozzles in the target sub-printhead module as the calibration coordinates, without using the preset droplet coordinates (also known as the pre-printing mechanical coordinates of these two nozzles). However, the above method uses preset droplet coordinates in obtaining the calibration coordinates when calibrating the nozzle pose between sub-printhead modules. The main reason is that the mechanical coordinate difference between the two nozzles within the sub-printhead module is relatively small (generally a difference in the micrometer range, or a difference relatively small compared to the preset droplet coordinate difference between sub-printhead modules), and this difference has little impact on the nozzle pose calibration within the sub-printhead module; while the preset droplet coordinate difference between sub-printhead modules is large (in the millimeter range), and this difference has a significant impact on the nozzle pose calibration between sub-printhead modules. To improve the efficiency of nozzle pose calibration within the sub-printhead module, the difference between the coordinates of the fourth and fifth ink droplet landing points is directly used as the calibration coordinates. When the first nozzle is used as the reference, the calibration coordinates are used to calibrate the printhead corresponding to the second nozzle. When the second nozzle is used as the reference, the calibration coordinates are used to calibrate the printhead corresponding to the first nozzle.

[0082] The above method completes the nozzle calibration within the sub-printhead module. Furthermore, while the example uses two printheads, it is not limited to two; if multiple printheads are used, the ink droplet landing point corresponding to the reference nozzle in the reference printhead is first determined. The difference between the ink droplet landing point coordinates of the selected nozzle in other printheads and the reference nozzle's ink droplet landing point coordinates is used as the calibration coordinates for the printhead corresponding to the selected nozzle.

[0083] Furthermore, when the number of printheads in the target sub-printhead module is less than or equal to the preset number of printheads, the single printhead internal nozzle landing point compensation method can be directly adopted. That is, all nozzles of a single printhead are printed on the substrate, and the difference between the mechanical coordinates of each nozzle (also known as the theoretical landing point coordinates of the nozzle) and the landing point coordinates is obtained. This difference is the landing point compensation value of that nozzle. In addition, the landing point coordinates of the fourth and fifth ink droplets should be close to each other so that the camera can capture them in one shot without the need for image stitching.

[0084] The preset number of nozzles can be set according to actual needs; this manual does not limit this. When the number of nozzles in the target sub-nozzle module is large, it is not advisable to use the nozzle orifice landing point compensation method within a single nozzle.

[0085] In other words, the nozzle orientation calibration of a single nozzle in this manual is accomplished by compensating the landing point of all nozzles within the single nozzle. Furthermore, nozzle pose compensation between printheads in a sub-printhead module cannot be performed using the single-printhead intra-droplet point compensation method. The main reasons include: 1. In large-size substrate printing scenarios, where high droplet point accuracy is required, the number of printheads in the sub-printhead module is large, and the inkjet printer lacks the physical space for all printheads to perform the single-printhead intra-droplet point compensation method as described above; 2. Ink is highly volatile. Whether it's test ink or actual printing ink, in the aforementioned large-size substrate scenario, if all printheads have completed spraying onto the substrate before the previously sprayed droplets evaporate, the camera may not be able to capture accurate droplet landing points; 3. When capturing droplet landing points from multi-printhead printing, the camera's field of view is limited. In the aforementioned large-size substrate scenario, if all printheads have completed spraying onto the substrate, the camera needs to scan multiple times to stitch the captured droplet landing point coordinate image, and image stitching itself has significant errors.

[0086] Therefore, the preset ink droplet landing points for the three RGB types in this instruction need to be within the field of view of the camera in a single shot to avoid image stitching errors caused by multiple shots.

[0087] Based on this, this specification mainly discusses the nozzle pose calibration between the three types of sub-printer modules and the pose calibration of the entire printhead module, and the nozzle pose calibration is performed before the actual inkjet printing of the substrate.

[0088] This specification also discloses an inkjet printer, including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, and both the user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory to enable the inkjet printer to perform the nozzle pose calibration method for printing on an RGB substrate as described above.

[0089] Specifically, a nozzle pose calibration method for RGB substrate printing includes: obtaining preset ink droplet landing point coordinates on the RGB substrate, the preset ink droplet landing point coordinates including preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates; the RGB substrate includes R sub-pixel pits, G sub-pixel pits, and B sub-pixel pits, the type of the sub-pixel pits corresponding to the type of the preset ink droplet landing point; and obtaining preset nozzle coordinates in the printhead module, the preset nozzle coordinates including preset R nozzle coordinates, preset G nozzle coordinates, and preset B nozzle coordinates; the printhead module includes R sub-printhead modules, G sub-printhead modules, and B sub-printhead modules, the type of the preset nozzle coordinates corresponding to the type of the sub-printhead modules. The process involves moving a preset nozzle from its preset nozzle coordinates to the preset droplet landing point, performing an inkjet printing operation, and obtaining the droplet landing point coordinates. During printing, the type of the preset nozzle corresponds to the type of the preset droplet landing point. The droplet landing point coordinates include R-type, G-type, and B-type droplet landing point coordinates. Based on the difference between the droplet landing point coordinates and the preset droplet landing coordinates, calibration coordinates are obtained to calibrate the preset nozzle coordinates, thus completing the nozzle pose calibration of the printhead module. The droplet landing point coordinates, preset droplet landing coordinates, preset nozzle, and calibration coordinates correspond in type. The calibration coordinates include one or more of R-type, G-type, and B-type calibration coordinates.

[0090] In one example, when the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in the same row, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the ink droplet landing points in the same row and any row of the RGB substrate.

[0091] In one example, when the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in different rows, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the ink droplet landing points in different rows of the RGB substrate.

[0092] In one example, calibration coordinates are obtained based on the difference between the ink droplet landing coordinates and the preset ink droplet landing coordinates. Specifically, this includes: using the preset standard ink droplet landing coordinates as a reference, obtaining the first coordinate difference between the preset ink droplet landing coordinates of the other two types and the preset standard ink droplet landing coordinates; the preset standard ink droplet landing coordinates are any one of the three types of coordinates: preset G ink droplet landing coordinates, preset B ink droplet landing coordinates, and preset R ink droplet landing coordinates; using the first ink droplet landing coordinates as a reference, obtaining the second coordinate difference between the second ink droplet landing coordinates of the other two types and the first ink droplet landing coordinates; the first ink droplet landing coordinates are the actual ink droplet landing coordinates corresponding to the preset standard ink droplet landing coordinates; and obtaining calibration coordinates, which are the calibration coordinates corresponding to the other two types, and the calibration coordinates are the difference between the second coordinate difference and the first coordinate difference corresponding to the other two types.

[0093] In one example, calibration coordinates are obtained based on the difference between the ink droplet landing coordinates and preset ink droplet landing coordinates. Specifically, this includes: using preset R ink droplet landing coordinates as a reference; obtaining a third coordinate difference between preset G ink droplet landing coordinates and preset R ink droplet landing coordinates, and a fourth coordinate difference between preset B ink droplet landing coordinates and preset R ink droplet landing coordinates; using R ink droplet landing coordinates as a reference; obtaining a fifth coordinate difference between G ink droplet landing coordinates and R ink droplet landing coordinates, and a sixth coordinate difference between B ink droplet landing coordinates and R ink droplet landing coordinates; and obtaining calibration coordinates. The calibration coordinates include G calibration coordinates and B calibration coordinates, where G calibration coordinates are the difference between the fifth and third coordinate differences, and B calibration coordinates are the difference between the sixth and fourth coordinate differences.

[0094] In one example, the calibration coordinates are obtained based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates. Specifically, this includes: obtaining the R calibration coordinates, which are the difference between the R ink droplet landing point coordinates and the preset R ink droplet landing point coordinates; obtaining the G calibration coordinates, which are the difference between the G ink droplet landing point coordinates and the preset G ink droplet landing coordinates; and obtaining the B calibration coordinates, which are the difference between the B ink droplet landing point coordinates and the preset B ink droplet landing coordinates.

[0095] In one example, the preset R nozzle coordinates, preset G nozzle coordinates, and preset B nozzle coordinates are the first nozzles in each sub-printer module; the preset R droplet landing coordinates, preset G droplet landing coordinates, and preset B droplet landing coordinates are the center coordinates of the first row and first column of each type of sub-pixel pit in the RGB substrate.

[0096] In one example, after completing the nozzle pose calibration in the RGB substrate, the nozzle pose calibration method includes: obtaining the coordinates of a preset test point on the plain glass substrate, wherein the preset test point coordinates are any one of the test points on the plain glass substrate; moving the test nozzle from its current position to the position of the preset test point coordinates, performing an inkjet printing operation to obtain the coordinates of the third ink droplet; the test nozzle is any one of the nozzles in any type of printhead module; obtaining the test point calibration coordinates to facilitate pose calibration of the printhead module based on the test point calibration coordinates, thereby completing the nozzle pose calibration of the printhead module, wherein the test point calibration coordinates are obtained from the difference between the preset test point coordinates and the third ink droplet coordinates.

[0097] In one example, the target sub-printer module is any one of the following types: R sub-printer module, G sub-printer module, and B sub-printer module. The target sub-printer module includes a first printhead and a second printhead. When the number of printheads in the target sub-printer module is greater than a preset number of printheads, the nozzle pose calibration method includes: obtaining the coordinates of the fourth ink droplet landing point corresponding to the first nozzle and the coordinates of the fifth ink droplet landing point corresponding to the second nozzle on the RGB substrate; the first nozzle is any one of the first printheads, and the second nozzle is any one of the second printheads; obtaining the calibration coordinates of the target sub-printer module, where the calibration coordinates of the sub-printer module are the difference between the coordinates of the fourth ink droplet landing point and the coordinates of the fifth ink droplet landing point; and completing the nozzle pose calibration operation inside the target sub-printer module based on the calibration coordinates of the target sub-printer module.

[0098] It should be noted that the above embodiments of the apparatus are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0099] The specification also discloses a computer-readable storage medium that stores instructions that, when executed, perform the method described above.

[0100] This embodiment also discloses an electronic device, which may be an inkjet printer, to perform the above-described method. (Refer to...) Figure 6 The electronic device may include: at least one processor 601, at least one communication bus 602, display 603, network interface 604, and at least one memory 605.

[0101] The communication bus 602 is used to enable communication between these components.

[0102] The display 603 may include a display screen and a camera.

[0103] The network interface 604 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0104] The processor 601 may include one or more processing cores. The processor 601 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 605, and by calling data stored in the memory 605. Optionally, the processor 601 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 601 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 601 and may be implemented as a separate chip.

[0105] The memory 605 may include random access memory (RAM) or read-only memory. Optionally, the memory 605 may include a non-transitory computer-readable storage medium. The memory 605 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 605 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described above, etc.; the data storage area may store data involved in the various method embodiments described above, etc. Optionally, the memory 605 may also be at least one storage device located remotely from the aforementioned processor 601. As shown in the figure, the memory 605, as a computer storage medium, may include an operating system, a network communication module, and application programs for a display module.

[0106] exist Figure 6 In the electronic device shown, the display 603 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 601 can be used to call the application program stored in the memory 605. When executed by one or more processors 601, the electronic device performs one or more methods as described in the above embodiments.

[0107] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some service interfaces; indirect couplings or communication connections between apparatuses or units may be electrical or other forms.

[0110] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0111] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0112] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory 605 and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory 605 includes various media capable of storing program code, such as a USB flash drive, external hard drive, magnetic disk, or optical disk.

[0113] The above are merely exemplary embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A method for calibrating nozzle pose in RGB substrate printing, characterized in that, The nozzle pose calibration method includes: Obtain the preset ink droplet landing point coordinates on the RGB substrate. The preset ink droplet landing point coordinates include the preset R ink droplet landing point coordinates, the preset G ink droplet landing point coordinates, and the preset B ink droplet landing point coordinates. The RGB substrate includes R sub-pixel pits, G sub-pixel pits, and B sub-pixel pits. The type of sub-pixel pit corresponds to the type of preset ink droplet landing point. Obtain the preset nozzle coordinates in the nozzle module. The preset nozzle coordinates include preset R nozzle coordinates, preset G nozzle coordinates, and preset B nozzle coordinates. The nozzle module includes R sub-nozzle module, G sub-nozzle module, and B sub-nozzle module. The type of preset nozzle coordinates corresponds to the type of sub-nozzle module. Move the preset nozzle from the preset nozzle coordinates to the preset droplet landing point, perform inkjet printing, and obtain the droplet landing point coordinates. During the printing operation, the type of preset nozzle corresponds to the type of preset droplet landing point. The droplet landing point coordinates include R droplet landing point coordinates, G droplet landing point coordinates, and B droplet landing point coordinates. The calibration coordinates are obtained based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates. This allows the preset nozzle coordinates to be calibrated based on the calibration coordinates, thus completing the nozzle pose calibration of the printhead module. The ink droplet landing point coordinates, preset ink droplet landing coordinates, preset nozzle coordinates, and calibration coordinates correspond to each other. The calibration coordinates include one or more of the following: R calibration coordinates, G calibration coordinates, and B calibration coordinates.

2. The nozzle pose calibration method according to claim 1, characterized in that, When the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in the same row, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the ink droplet landing points in the same row and any row of the RGB substrate.

3. The nozzle pose calibration method according to claim 1, characterized in that, When the three types of sub-pixel pits in the pixel pit of the RGB substrate are arranged in different rows, the preset R ink droplet landing point coordinates, preset G ink droplet landing point coordinates, and preset B ink droplet landing point coordinates are the ink droplet landing points in different rows of the RGB substrate.

4. The nozzle pose calibration method according to any one of claims 1-3, characterized in that, The calibration coordinates are obtained based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates, specifically including: Based on the preset standard ink droplet landing point coordinates, obtain the first coordinate difference between the preset ink droplet landing point coordinates of the other two types and the preset standard ink droplet landing point coordinates; the preset standard ink droplet landing point coordinates are any one of the three types of coordinates: preset G ink droplet landing point coordinates, preset B ink droplet landing coordinates, and preset R ink droplet landing coordinates. Using the coordinates of the first ink droplet landing point as a reference, obtain the second coordinate difference between the coordinates of the second ink droplet landing points of the other two types and the coordinates of the first ink droplet landing point; the coordinates of the first ink droplet landing point are the actual ink droplet landing point coordinates corresponding to the preset standard ink droplet landing point coordinates. Obtain the calibration coordinates, which are the calibration coordinates corresponding to the other two types, and the calibration coordinates are the difference between the second coordinate difference and the first coordinate difference corresponding to the other two types.

5. The nozzle pose calibration method according to claim 4, characterized in that, The calibration coordinates are obtained based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates, specifically including: Based on the preset R ink droplet landing point coordinates; obtain the third coordinate difference between the preset G ink droplet landing point coordinates and the preset R ink droplet landing point coordinates, and the fourth coordinate difference between the preset B ink droplet landing point coordinates and the preset R ink droplet landing point coordinates. Using the coordinates of the R ink droplet landing point as a reference, obtain the fifth coordinate difference between the coordinates of the G ink droplet landing point and the R ink droplet landing point, and the sixth coordinate difference between the coordinates of the B ink droplet landing point and the R ink droplet landing point. Obtain calibration coordinates; the calibration coordinates include G calibration coordinates and B calibration coordinates, where G calibration coordinates are the difference between the fifth coordinate difference and the third coordinate difference, and B calibration coordinates are the difference between the sixth coordinate difference and the fourth coordinate difference.

6. The nozzle pose calibration method according to any one of claims 1-3, characterized in that, The calibration coordinates are obtained based on the difference between the ink droplet landing point coordinates and the preset ink droplet landing point coordinates, specifically including: Obtain the R calibration coordinates, which are the difference between the R ink droplet landing point coordinates and the preset R ink droplet landing point coordinates; Obtain the G calibration coordinates, which are the difference between the G ink droplet landing point coordinates and the preset G ink droplet landing point coordinates; Obtain the B calibration coordinates, which are the difference between the B ink droplet landing point coordinates and the preset B ink droplet landing point coordinates.

7. The nozzle pose calibration method according to claim 1, characterized in that, The preset R-hole coordinates, preset G-hole coordinates, and preset B-hole coordinates are the first nozzles in each sub-nozzle module; The preset R ink droplet landing coordinates, preset G ink droplet landing coordinates, and preset B ink droplet landing coordinates are the center coordinates of the first row and first column of the sub-pixel pits in each type of sub-pixel pit in the RGB substrate.

8. The nozzle pose calibration method according to claim 1, characterized in that, After calibrating the preset nozzle coordinates according to the calibration coordinates, the nozzle pose calibration method includes: Obtain the coordinates of a preset test point on the unsaturated glass substrate. The preset test point coordinates are any coordinates of any test point on the unsaturated glass substrate. Move the test nozzle from its current position to the preset test point coordinates, perform inkjet printing, and obtain the coordinates of the third ink droplet landing point; the test nozzle can be any nozzle in any type of printhead module. The test point calibration coordinates are obtained to facilitate the position calibration of the printhead module based on the test point calibration coordinates, thereby completing the nozzle position calibration of the printhead module. The test point calibration coordinates are obtained from the difference between the preset test point coordinates and the third ink droplet landing point coordinates.

9. The nozzle pose calibration method according to claim 1, characterized in that, The target sub-nozzle module is any one of the following types: R-type sub-nozzle module, G-type sub-nozzle module, and B-type sub-nozzle module. The target sub-nozzle module includes a first nozzle and a second nozzle. When the number of nozzles in the target sub-nozzle module is greater than the preset number of nozzles, the nozzle pose calibration method includes: On the RGB substrate, obtain the coordinates of the fourth ink droplet landing point corresponding to the first nozzle and the coordinates of the fifth ink droplet landing point corresponding to the second nozzle; the first nozzle is any nozzle in the first printhead and the second nozzle is any nozzle in the second printhead. Obtain the calibration coordinates of the target sub-printhead module. The calibration coordinates of the sub-printhead module are the difference between the coordinates of the fourth ink droplet landing point and the coordinates of the fifth ink droplet landing point. Based on the calibration coordinates of the target sub-nozzle module, complete the nozzle pose calibration operation inside the target sub-nozzle module.

10. An inkjet printer, characterized in that, It includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, and both the user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory so that the inkjet printer performs the nozzle pose calibration method for printing on an RGB substrate as described in any one of claims 1-9.

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