Printing method, device, equipment and storage medium with image acquisition device as auxiliary

文档序号：92596 发布日期：2021-10-12 浏览：27次中文

阅读说明：本技术 以图像采集装置为辅的打印方法、装置、设备及存储介质 (Printing method, device, equipment and storage medium with image acquisition device as auxiliary ) 是由童红波黄振金黄中琨陈艳于 2020-03-19 设计创作，主要内容包括：本发明涉及喷墨打印技术领域,具体涉及一种以图像采集装置为辅的打印方法、装置、设备及存储介质,所述方法包括步骤S1：获取喷头中与所述打印起始位置相对应的喷嘴与所述图像采集装置的相对位置关系；步骤S2：利用所述图像采集装置,和所述喷嘴与所述图像采集装置的相对位置关系,控制所述喷头中与所述打印起始位置相对应的喷嘴位于所述打印起始位置上方；步骤S3：采用所述喷头中与所述打印起始位置相对应的喷嘴,对所述打印起始位置进行喷墨打印。通过采用图像采集装置来确定打印起始位置,能够避免产生因印刷品因放置位置不正确而导致的打印失败。(The invention relates to the technical field of ink-jet printing, in particular to a printing method, a device, equipment and a storage medium with an image acquisition device as an auxiliary part, wherein the method comprises the following steps of S1: acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device; step S2: controlling a nozzle corresponding to the printing starting position in the spray head to be positioned above the printing starting position by utilizing the image acquisition device and the relative position relation between the nozzle and the image acquisition device; step S3: and carrying out ink jet printing on the printing initial position by adopting a nozzle corresponding to the printing initial position in the spray head. By adopting the image acquisition device to determine the printing initial position, printing failure caused by incorrect placement of the presswork can be avoided.)

1. A method of printing assisted by an image capture device, the method comprising:

step S1: acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device;

step S2: controlling a nozzle corresponding to the printing starting position in the spray head to be positioned above the printing starting position by utilizing the image acquisition device and the relative position relation between the nozzle and the image acquisition device;

step S3: and carrying out ink jet printing at the printing initial position by adopting a nozzle corresponding to the printing initial position in the spray head.

2. The method according to claim 1, wherein the relative position relationship between the nozzles of the nozzle head corresponding to the printing start position and the image acquisition device comprises: the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the cursor center of the image acquisition device;

step S1 includes:

step S11: acquiring the center position of a printed calibration image;

step S12: aligning the center of a cursor of the image acquisition device with the center of a calibration image formed by printing, and then acquiring the position of a nozzle corresponding to the printing initial position in the spray head;

step S13: and acquiring a position vector a from the nozzle corresponding to the printing initial position in the nozzle to the cursor center of the image acquisition device according to the position of the nozzle corresponding to the printing initial position in the nozzle, wherein the position vector a represents the relative position relationship between the nozzle corresponding to the printing initial position in the nozzle and the cursor center of the image acquisition device.

3. The method according to claim 2, wherein step S11 includes:

step S111: acquiring a relative position relation between the center of the calibration image and a starting point of the calibration image, wherein the starting point of the calibration image is an intersection point between two mutually vertical edge lines of the calibration image;

step S112: starting to print the calibration image from the starting point of the calibration image, and acquiring the printing starting position of the spray head;

step S113: and acquiring the central position of the printed calibration image according to the printing initial position of the spray head, the relative position relationship between the center of the calibration image and the starting point of the calibration image.

4. The method according to claim 2, wherein step S2 includes:

step S210: aligning the center of a cursor of the image acquisition device with the printing starting position;

step S211: and controlling the nozzle corresponding to the printing starting position to move above the printing starting position according to the vector a.

5. The method according to any one of claims 1 to 4, wherein step S1 includes:

step S15: respectively acquiring the position of the image acquisition device and the position of the spray head;

step S16: acquiring the relative position relation between the spray head and the image acquisition device according to the position of the image acquisition device and the position of the spray head;

step S17: and acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device according to the relative position relation between the spray head and the image acquisition device.

6. The method according to claim 1, wherein step S2 includes:

step S21: planning a moving path of the spray head by utilizing the relative position relation between the spray nozzle corresponding to the printing initial position in the spray head and the image acquisition device;

step S22: aligning a center position of the image capture device with the print start position;

step S23: and controlling the spray head to move along the moving path, so that the spray nozzle corresponding to the printing starting position in the spray head is controlled to reach the position above the printing starting position.

7. The method according to claim 1, wherein step S2 includes:

step S213: acquiring the relative position relation between the image acquisition device and the printing initial position by using the image acquisition device;

step S214: planning a moving path of the sprayer according to the relative position relationship between the image acquisition device and the printing starting position and the relative position relationship between a nozzle in the sprayer corresponding to the printing starting position and the image acquisition device;

step S215: and enabling the spray head to move along the planned moving path of the spray head, and further enabling the spray nozzle corresponding to the printing starting position in the spray head to move above the printing starting position.

8. A printing apparatus assisted by an image capture device, the apparatus comprising:

the first acquisition module is used for acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device;

the second acquisition module is used for enabling a nozzle corresponding to the printing starting position in the spray head to be positioned above the printing starting position by utilizing the image acquisition device and the relative position relation between the spray head and the image acquisition device;

and the printing module is used for carrying out ink jet printing at the printing starting position by adopting the nozzle corresponding to the printing starting position in the spray head.

9. A printing apparatus assisted by an image capture device, the apparatus comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A computer storage medium having computer program instructions stored thereon, wherein,

the computer program instructions, when executed by a processor, implement the method of any one of claims 1-7.

Technical Field

The invention relates to the technical field of ink-jet printing, in particular to a printing method, a device, equipment and a storage medium with an image acquisition device as an auxiliary part.

Background

As printing technology is more and more widely used in the production process, the application scenarios of printing technology are more and more. At present, the technical requirement of secondary accurate printing on the printed matter appears, for example, a new pattern is printed on the printed pattern of the printed matter, or a new structure is printed on the printed device, and the technology can add new functions or functions to the printed matter, so that the printed matter has wider application and longer service life.

In the process of printing the printed matter for the second time, a correct printing starting position needs to be found on the structure or the pattern formed by printing the printed matter, and the printing is performed for the second time on the printing starting position, so that a new printed matter required by printing can be formed. Since the shape or structure of the printed matter is usually complicated, it is often difficult to determine the printing start position from the pattern or structure printed on the printed matter. In the prior art, because the printed matter often has placement errors, patterns or structures are printed on wrong positions of the printed matter, so that the printing effect cannot be achieved, and the printed matter can be damaged.

Disclosure of Invention

The embodiment of the invention provides a printing method, a printing device, printing equipment and a storage medium which take an image acquisition device as an auxiliary device. The printing method, the printing device, the printing equipment and the storage medium which are assisted by the image acquisition device determine the printing initial position by adopting the image acquisition device, can improve the accuracy of the printing initial position to a certain extent, and further can realize secondary accurate printing of a printed matter.

In a first aspect, an embodiment of the present invention provides a printing method assisted by an image acquisition device, where the method includes:

step S1: acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device;

step S3: and carrying out ink jet printing on the printing initial position by adopting a nozzle corresponding to the printing initial position in the spray head.

In a second aspect, an embodiment of the present invention further provides a printing apparatus assisted by an image capturing apparatus, the apparatus including:

the first acquisition module is used for acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device;

the second acquisition module is used for controlling a nozzle corresponding to the printing starting position in the spray head to be positioned above the printing starting position by utilizing the image acquisition device and the relative position relation between the nozzle and the image acquisition device;

and the printing module is used for carrying out ink-jet printing on the printing initial position by adopting the nozzle corresponding to the printing initial position in the spray head.

In a third aspect, an embodiment of the present invention provides a printing apparatus assisted by an image capturing device, the apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the above-described image capture device-assisted printing method.

In a fourth aspect, an embodiment of the present invention provides a computer storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the above-mentioned printing method assisted by an image capture device.

In summary, the printing method, the printing device, the printing apparatus and the storage medium provided by the embodiments of the present invention, which use the image capturing device as an auxiliary device, can avoid the printing failure caused by the incorrect placement position of the printed matter by determining the printing start position by using the image capturing device.

Drawings

FIG. 1 is a structural axial view of a printing carriage in example 1 of the present invention;

FIG. 2 is a front view of the printing cart structure in example 1 of the present invention;

FIG. 3 is a top view of the print carriage configuration of embodiment 1 of the present invention;

FIG. 4 is a schematic view showing the installation of the inkjet positioning device 1 in the embodiment of the present invention

FIG. 5 is a schematic view of the working structure of the printing cart 2 in the embodiment of the present invention;

FIG. 6 is a schematic view of another structure of the printing cart 2 according to the embodiment of the present invention;

FIG. 7 is a schematic diagram of various situations of positioning the printing start position by the inkjet positioning device according to the present invention.

FIG. 8 is a schematic flow chart of a printing method assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 9 is a schematic flow chart of a printing method assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 10 is a schematic flow chart of a method of printing assisted by an image capture device, in accordance with an embodiment of the present invention;

FIG. 11 is a schematic flow chart of a method of printing assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 12 is a schematic flow chart of a method of printing assisted by an image capture device, in accordance with an embodiment of the present invention;

FIG. 13 is a schematic flow chart of a method of printing assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 14 is a schematic flow chart of a method of printing assisted by an image capture device, in accordance with an embodiment of the present invention;

FIG. 15 is a schematic diagram of a connection of a printing device assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 16 is a schematic diagram of a connection of a printing device assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 17 is a schematic diagram of a connection of a printing device assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 18 is a schematic diagram of a connection of a printing device assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 19 is a schematic diagram of a connection of a printing device assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 20 is a schematic diagram of a connection of a printing device assisted by an image capture device in accordance with an embodiment of the present invention;

FIG. 21 is a schematic diagram of a connection of a printing device assisted by an image capture device in accordance with an embodiment of the present invention;

fig. 22 is a schematic diagram showing connection of components of a printing apparatus equipped with an image capturing device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, it is intended that the embodiments of the present invention and the individual features of the embodiments may be combined with each other within the scope of the present invention.

Embodiment mode 1

The present invention provides a printer apparatus, including: the printing trolley comprises a printing trolley 1 and a printing platform 5, wherein the printing trolley 1 is provided with a bottom plate 2, at least one spray head 3 is arranged on the bottom plate 2 along a printing scanning direction, an ink jet positioning device 4 for positioning a printing starting position of the printing trolley 1 is further arranged on the bottom plate 2, the ink jet positioning device 4 and the spray head 3 are arranged on the bottom plate 2, and the ink jet positioning device 4 is positioned in front of the spray head 3 in the initial printing scanning direction.

The printing platform 5 is provided with a printing coordinate system, the scanning direction is defined as the X-axis direction of the printing coordinate system during printing, the printing trolley 1 reciprocates (including relative motion and absolute motion) in the scanning direction, the Y-axis direction of the printing coordinate system is the advancing direction, and the printing trolley 1 moves linearly along the Y-axis of the printing coordinate system from the printing start position in the printing advancing direction.

The printing starting position is a first ink-jet position at which a printer device issues a new printing task, and the initial printing scanning direction is as follows: after the printing start position is determined, the direction of the nozzle 3 moving to the printing start position is shown in fig. 7, and when the printing trolley executes a printing task, the relationship between the printing trolley and the printing start position includes various situations:

in case 1, as shown in fig. 7a, the printing start position is behind the stop of the printing carriage, the printing carriage moves to the printing start position, and when the projection of the camera on the printing platform coincides with the printing start position, the camera determines the printing start position, and at this time, as shown in fig. 7e, the nozzle needs to move forward to complete the inkjet printing on the printing start position, and the direction in which the nozzle moves to the printing start position is the scanning start direction (i.e., the positive direction of the X axis in the figure).

In case 2, as shown in fig. 7b, the printing start position is in front of the stop of the printing carriage, the printing carriage moves to the printing start position, and when the projection of the camera on the printing platform coincides with the printing start position, the camera determines the printing start position, and at this time, as shown in fig. 7e, the nozzle needs to move forward to complete the inkjet printing at the printing start position, and the direction in which the nozzle moves to the printing start position is the scanning start direction (i.e., the positive direction of the X axis in the figure).

In case 3, as shown in fig. 7c, the printing start position is above the stop of the printing carriage, the printing carriage moves to the printing start position, and when the projection of the camera on the printing platform coincides with the printing start position, the camera determines the printing start position, and at this time, as shown in fig. 7e, the nozzle needs to move forward to complete the inkjet printing at the printing start position, and the direction in which the nozzle moves to the printing start position is the scanning start direction (i.e., the positive direction of the X axis in the figure).

And 4, as shown in fig. 7d, the printing initial position is below the stop of the printing trolley, the printing trolley moves to the printing initial position, when the projection of the camera on the printing platform coincides with the printing initial position, the camera determines the printing initial position, at this time, as shown in fig. 7e, the nozzle needs to move forward to complete ink-jet printing on the printing initial position, and the direction in which the nozzle moves to the printing initial position is the scanning initial direction (i.e., the positive direction of the X axis in the figure).

In case 5, as shown in fig. 7e, the printing start position is located in the projection area of the stop position of the printing cart on the printing platform, and the printing start position coincides with the projection position of the camera on the printing platform, the camera directly determines the printing start position, at this time, the nozzle needs to move forward to complete the inkjet printing at the printing start position, and the direction in which the nozzle moves to the printing start position is the scanning start direction (i.e., the positive direction of the X axis in the figure).

In case 6, as shown in fig. 7f, the printing start position is located in the projection area of the stop position of the printing cart on the printing platform, and the printing initial position is not coincident with the projection position of the camera on the printing platform, the printing cart will adjust the position until the camera directly determines the printing initial position, at this time, as shown in fig. 7e, the nozzle needs to move forward to complete the inkjet printing at the printing initial position, and the direction in which the nozzle moves to the printing initial position is the scanning initial direction (i.e., the positive direction of the X axis in the figure).

Example 1:

embodiment 1 of the present invention discloses a printer apparatus,

as shown in fig. 1 to 3, the printing trolley 1 is provided with a bottom plate 2, the nozzle 3 and the inkjet positioning device 4 are both installed on the bottom plate 2 of the printing trolley 1, during the printing process, the printing trolley 1 drives the nozzle 3 and the inkjet positioning device 4 to synchronously perform reciprocating motion in the scanning direction, and simultaneously the printing trolley 1 drives the nozzle 3 and the inkjet positioning device 4 to synchronously perform linear motion in the advancing direction.

In the initial scanning direction, the inkjet positioning device 4 is located in front of the nozzle 3, so that it can be ensured that the nozzle 3 can reach and/or the stroke of the nozzle 3 can cover the printing start position as long as the printing start position located by the inkjet positioning device 4 is at which position of the printing platform, and inkjet printing is performed on the printing start position.

A plurality of shower nozzles 3 are arranged on bottom plate 2 with predetermineeing the interval, make the inkjet effect of a plurality of shower nozzles 3 optimum, and the preferred camera of inkjet positioner 4, on initial scanning direction, the camera is located the place ahead of shower nozzle, and the camera is located the edge of bottom plate 2, realizes printing dolly 1's bottom plate 2's miniaturization, material saving when guaranteeing to print the effect.

The printer device is a reciprocating scanning printer device and is mainly applied to printing characters, grinding tools or gloss oil of a PCB.

In one embodiment, the printer device further comprises a printing beam and a platform slide rail, the printing beam is arranged along the advancing direction, the platform slide rail is arranged along the scanning direction, and the printing beam is fixed on the printer device; the printing trolley 1 is installed on the printing cross beam, the printing trolley 1 can move linearly on the printing cross beam along the advancing direction, and the printing platform 5 moves back and forth on the platform slide rail along the scanning direction.

In another embodiment, the printer device further comprises a printing beam and a beam slide rail, the printing beam is arranged along the scanning direction, the beam slide rail is arranged along the advancing direction, and the printing platform 5 is fixed; the printing trolley 1 is fixed on the printing cross beam, the printing trolley 1 moves back and forth on the printing cross beam along the scanning direction, and the printing cross beam moves linearly on the cross beam slide rail along the advancing direction.

Adopt embodiment 1's printer equipment, through with the relative shower nozzle setting of inkjet positioner in the place ahead of initial scanning direction, the printing initial position of inkjet positioner location combines printing dolly and shower nozzle inkjet positioner to be synchronous motion's characteristics, and the inkjet scope of shower nozzle and/or shower nozzle must be through printing the initial position, guarantees that the printing initial position of inkjet positioner location must be in the stroke range of shower nozzle, has realized printing the wide maximize, has guaranteed printing quality and effect.

Example 2

The printer device of embodiment 2 of the present invention is improved on the basis of embodiment 1, and specifically:

as shown in fig. 4, a camera mounting portion 9 and a nozzle mounting portion 11 are provided on a bottom plate 2 of a printing trolley 1, a first camera fixing portion 7 and a second camera fixing portion 8 are provided on a side plate 6 of the printing trolley 1, the camera mounting portion 9 is used for fixing a camera on the bottom plate 2 of the printing trolley 1, the first camera fixing portion 7 and the second camera fixing portion 8 are used for fixing the camera on the side plate 6 of the printing trolley 1, the nozzle mounting portion 11 is used for fixing a nozzle 3 on the bottom plate 2 of the printing trolley 1, the bottom plate 2 of the printing trolley 1 is perpendicular to the side plate 6 of the printing trolley 1, a mounting center line of the camera mounting portion 9, a mounting center line of the first camera fixing portion 7 and a mounting center line of the second camera fixing portion 8 are collinear and parallel to the side plate 2 of the printing trolley 1 and perpendicular to the bottom plate 2 of the printing trolley 1, the camera mounting portion 9 is matched with a front end 14 of the camera, the first camera fixing part 7 is matched with the middle part 13 of the camera, the second camera fixing part 8 is matched with the rear end 12 of the camera, and the center line of the camera is collinear with the installation center line of the camera installation part 9 and/or the installation center line of the first camera fixing part 7 and/or the installation center line of the second camera fixing part 8.

By adopting the printer device of the embodiment 2, the camera shooting position of the camera is ensured to be vertical to the bottom plate 2 of the printing trolley 1, namely, the printing starting position can be positioned in a mode of vertically shooting the printing platform 5, and the positioning accuracy is improved.

Example 3

The printer device of embodiment 2 of the present invention is improved on the basis of embodiment 1, and specifically:

as shown in fig. 5, the origin of the printing coordinate system of the printing platform 5 is located at the lower left corner of the printing platform 6, the lower edge of the printing platform 5 is the scanning direction, the left side of the printing platform 5 is the advancing direction, the printing cross beam moves from the lower side to the upper side of the printing platform 5 under the driving of the stepping motor, and the printing trolley 1 reciprocates from the left side to the right side of the printing platform on the printing cross beam; the ink-jet positioning device 4 and the spray head 3 are both arranged on the bottom plate 2 of the printing trolley 1, and the ink-jet positioning device 4 is positioned on the right side of the spray head 3.

In another embodiment, as shown in fig. 6, the origin of the printing coordinate system of the printing platform 5 is located at the lower right corner of the printing platform 6, the lower edge of the printing platform 5 is the scanning direction, the right side of the printing platform 5 is the advancing direction, the printing cross beam moves from the lower side to the upper side of the printing platform 5 under the driving of the stepping motor, and the printing trolley 1 reciprocates from the right side to the left side of the printing platform on the printing cross beam; the ink-jet positioning device 4 and the spray head 3 are both arranged on the bottom plate 2 of the printing trolley 1, and the ink-jet positioning device 4 is positioned on the left side of the spray head 3.

Specifically, when printer equipment is printing, the camera begins to shoot the printing initial position image of print platform 5, and printer equipment begins to print according to the printing initial position image control shower nozzle 3 that the camera was shot, and shower nozzle 3 begins inkjet printing under the drive of printing dolly 1.

Adopt the printer equipment of embodiment 3, provided the mounted position of inkjet positioner 4 and shower nozzle 3 in the different coordinate systems that print, increased the suitability of product, facilitate promotion.

The rest of the structure and the operation principle of the embodiment 3 are the same as those of the embodiment 1.

Embodiment mode 2

An example of embodiment 2 of the present invention provides a printing method assisted by an image acquisition device, which is applicable to the printer apparatus of embodiment 1 described above, but is not limited to the printer apparatus described above. As shown in fig. 8, the method includes the following steps S1-S3.

Step S1: and acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device.

In the process of carrying out secondary accurate printing on a printed matter, because a pattern or a device formed by printing exists on the printed matter and the printed matter often has a placement error, an accurate printing starting position is often difficult to find on the pattern or the device formed by printing. Through set up image acquisition device in inkjet printing equipment, utilize image acquisition device to gather the image of printed matter, can find accurate printing initial position according to the image in the pattern or the device that the formation has been printed on the printed matter, and then realize the accurate printing of secondary to the printed matter.

The image acquisition device comprises a camera, a CCD and other devices capable of acquiring images. The image acquisition device is installed on the ink-jet printer. After the image acquisition device is installed, the relative position relationship between the image acquisition device and a spray head on the ink-jet printer can be acquired. The image acquisition device can identify and acquire a printing initial position in the relative movement process of the image acquisition device along with the sprayer and a printed matter carrying device bearing the object to be printed, and after the image acquisition device identifies the printing initial position, the relative position relation between the image acquisition device and the printing initial position can be acquired. The spray head can move to the printing initial position according to the relative position relation between the spray nozzle corresponding to the printing initial position in the spray head and the printing initial position, and ink-jet printing is carried out on the printing initial position.

Therefore, in the ink jet printing process with the image capturing device as an auxiliary, the relative positional relationship between the nozzles in the head corresponding to the printing start position and the image capturing device is first acquired.

In step S1, as shown in fig. 9, acquiring the relative positional relationship between the nozzles of the head corresponding to the print start position and the image capturing device includes step S15: respectively acquiring the position of the image acquisition device and the position of the spray head; step S16: acquiring the relative position relation between the spray head and the image acquisition device according to the position of the image acquisition device and the position of the spray head; step S17: and acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device according to the relative position relation between the spray head and the image acquisition device.

After the image acquisition device is installed on the ink-jet printer, the relative position of the image acquisition device and a spray head of the ink-jet printer is not changed. Therefore, the relative position relationship between the image acquisition device and the spray head is known, the printing initial position is obtained by the image acquisition device, and after the relative position relationship between the image acquisition device and the printing initial position is known, the relative position relationship between the spray head and the printing initial position can be obtained according to the relative position relationship between the image acquisition device and the printing initial position, the relative position relationship between the image acquisition device and the spray head, and the relative position relationship between the spray head and the image acquisition device and the nozzle corresponding to the printing initial position in the spray head, so that the nozzle corresponding to the printing initial position in the spray head moves to the printing initial position to perform ink jet printing on the printing initial position.

The central position of the image acquisition device and the central position of the nozzle can be firstly obtained, and then the relative position relation between the image acquisition device and the nozzle can be obtained according to the central positions of the image acquisition device and the nozzle.

As shown in fig. 10, step S1 includes step S11: acquiring the center position of a printed calibration image; step S12: aligning the center of a cursor of the image acquisition device with the center of a calibration image formed by printing, and then acquiring the position of a nozzle corresponding to the printing initial position in the spray head; step S13: and acquiring a position vector a from the nozzle corresponding to the printing initial position in the nozzle to the cursor center of the image acquisition device according to the position of the nozzle corresponding to the printing initial position in the nozzle, wherein the position vector a can represent the relative position relationship between the nozzle corresponding to the printing initial position in the nozzle and the cursor center of the image acquisition device.

In one embodiment, step S11 includes: acquiring the center position coordinates (x) of the calibration image formed by printing₁+x₀，y₁+y₀) (ii) a Step S12 includes: aligning the center of the cursor of the image acquisition device with the center of a calibration image formed by printing, and acquiring the position coordinates (x) of the nozzle corresponding to the printing initial position in the spray head₂，y₂) (ii) a Step S13 includes: according to the position coordinates (x) of the nozzles corresponding to the printing initial position in the nozzle₂，y₂) Calculating and acquiring a position vector a between a nozzle corresponding to the printing initial position in the spray head and the cursor center of the image acquisition device(x₂-x₁-x₀，y₂-y₁-y₀) The position vector (x)₂-x₁-x₀，y₂-y₁-y₀) And the relative position relation between a nozzle corresponding to the printing starting position in the spray head and the cursor center of the image acquisition device is shown.

The nozzle corresponding to the printing starting position in the spray head comprises: and the nozzle is positioned on the left side of the nozzle and the farthest nozzle from the center of the nozzle in the row of nozzles of the image acquisition position vector.

Printing a calibration image above the object carrying surface of the object carrying platform, establishing an object carrying platform coordinate system on the object carrying surface of the object carrying platform, and acquiring a position coordinate (x) of the center of the calibration image in the object carrying platform coordinate system₁+x₀，y₁+y₀) Then, the center of the cursor of the image pickup device is aligned with the center of the calibration image formed by printing, at which time the coordinates of the center of the cursor of the image pickup device are the position coordinates (x) of the center of the calibration image₁+x₀，y₁+y₀). After aligning the cursor center of the image acquisition device with the center of the calibration image formed by printing, acquiring the position coordinates (x) of the nozzle corresponding to the printing initial position in the nozzle in the objective table coordinate system₂，y₂). The coordinate system of the carrying platform is a two-dimensional coordinate system.

At the moment, according to the position coordinate (x) of the cursor center of the image acquisition device₁+x₀，y₁+y₀) And the position coordinate (x) of the nozzle corresponding to the printing initial position in the nozzle in the coordinate system of the carrying platform₂，y₂) And the relative position relation between the nozzle corresponding to the printing initial position in the spray head and the cursor center of the image acquisition device can be calculated. According to the position coordinate (x) of the cursor center of the image acquisition device₁+x₀，y₁+y₀) And the position coordinate (x) of the nozzle corresponding to the printing initial position in the nozzle in the coordinate system of the carrying platform₂，y₂) And the nozzle corresponding to the printing initial position in the spray head and the image acquisition can be calculated and obtainedPosition vector (x) between cursor centers of device₂-x₁-x₀，y₂-y₁-y₀) The position vector (x)₂-x₁-x₀，y₂-y₁-y₀) The relative position relation between the nozzle corresponding to the printing starting position in the spray head and the image acquisition device can be represented.

In one embodiment, the calibration image is a "+" digital image. Step S11 further includes: acquiring the center position coordinates (x) of the printed "+" digital image₁+x₀，y₁+y₀) (ii) a Step S12 further includes: aligning the center of the cursor of the image acquisition device with the center of a "+" digital image formed by printing, and acquiring the position coordinate (x) of a nozzle corresponding to the printing initial position in the spray head₂，y₂) (ii) a Step S13 further includes: according to the position coordinates (x) of the nozzles corresponding to the printing initial position in the nozzle₂，y₂) Calculating and obtaining a position vector (x) from a nozzle corresponding to the printing initial position in the spray head to the center of a cursor of the image acquisition device₂-x₁-x₀，y₂-y₁-y₀) The position vector (x)₂-x₁-x₀，y₂-y₁-y₀) The relative position relation between the nozzle corresponding to the printing starting position in the spray head and the cursor center of the image acquisition device can be represented.

The + digital image has the characteristic that the central point of the image is clear and distinguishable, and is beneficial to acquiring the central coordinate of the image.

In one embodiment, as shown in fig. 11, acquiring the center position of the print-formed calibration image in step S11 includes step S111: acquiring a relative position relation between the center of the calibration image and a starting point of the calibration image, wherein the starting point of the calibration image is an intersection point between two mutually vertical edge lines of the calibration image; step S112: starting to print the calibration image from the starting point of the calibration image, and acquiring the printing starting position of the spray head; step S113: and acquiring the central position of the printed calibration image according to the printing initial position of the spray head, the relative position relationship between the center of the calibration image and the starting point of the calibration image.

In one embodiment, as shown in fig. 11, in step S11, the center position coordinates (x) of the print-formed calibration image are acquired₁+x₀，y₁+y₀) The step S111 includes: acquiring coordinates (x) of the center of the calibration image in a coordinate system with the start point of the calibration image as the origin of coordinates₀，y₀) (ii) a Step S112 includes: starting to print the calibration image from the starting point of the calibration image, and acquiring the coordinate of the printing starting position of the spray head as (x)₁，y₁) (ii) a Step S113: according to the coordinates (x)₁，y₁) And the coordinate (x)₀，y₀) Thereby obtaining the center position coordinates (x) of the calibration image formed by printing₁+x₀，y₁+y₀)。

Step S2: and controlling the nozzle corresponding to the printing initial position in the spray head to be positioned above the printing initial position by utilizing the image acquisition device and the relative position relation between the nozzle and the image acquisition device.

The image acquisition device can acquire images, the printing initial position can be acquired from the acquired images, and the relative position relation between the image acquisition device and the printing initial position is acquired according to the acquired images. Then, the relative position relationship between the image acquisition device and the printing initial position and the relative position relationship between the nozzle in the spray head corresponding to the printing initial position and the image acquisition device can be obtained.

Making the nozzle corresponding to the printing initial position in the spray head be located above the printing initial position, including: moving a nozzle corresponding to the printing starting position in the spray head to a position above the printing starting position; moving a carrying platform bearing a printed product to be printed, so that a printing starting position is moved to a position below a nozzle corresponding to the printing starting position in a spray head; the spray head and the loading platform bearing the printed matter to be printed move relatively, so that the printing initial position moves to the position below the nozzle corresponding to the printing initial position in the spray head, and the like.

In one embodiment, after the relative positional relationship between the nozzles of the head corresponding to the printing start position and the image capturing device is obtained through the reuse step S15-step S17, as shown in fig. 5, the step S2 includes the step S21: planning a moving path of the spray head by utilizing the relative position relationship between the spray nozzle corresponding to the printing initial position in the spray head and the image acquisition device, and enabling the spray nozzle corresponding to the printing initial position in the spray head to reach the position of the image acquisition device at a certain moment from the position of the certain moment when the spray head moves along the moving path of the spray head; step S22: aligning a center position of the image capture device with the print start position; step S23: and controlling the spray head to move along the moving path, so that the spray nozzle corresponding to the printing starting position in the spray head is controlled to reach the position above the printing starting position.

According to the relative position relationship between the nozzle corresponding to the printing initial position in the spray head and the image acquisition device, a moving path from the nozzle corresponding to the printing initial position in the spray head to the image acquisition device can be planned, and when the spray head moves along the moving path, the nozzle corresponding to the printing initial position in the spray head can reach the position of the image acquisition device at a certain moment from the position of the certain moment.

Aligning a center position of the image capture device with the print start position, comprising: the center of the image acquisition device and the printing initial position are both positioned on a straight line vertical to the loading platform, and the image acquisition device is positioned right above the printing initial position.

When the center of the image acquisition device is positioned right above the printing starting position, the nozzle moves along the planned moving path, and the nozzle corresponding to the printing starting position in the spray head can reach the position above the printing starting position. And after the nozzle corresponding to the printing initial position in the spray head reaches the position right above the printing initial position, ink can be sprayed to the printing initial position, and ink-jet printing is carried out on the printing initial position.

In one embodiment, after acquiring the relative positional relationship between the nozzle corresponding to the print start position in the head and the cursor center of the image capturing device through steps S11 to S13, as shown in fig. 12, step S2 includes step S210: aligning the center of a cursor of the image acquisition device with the printing starting position; step S211: and controlling the nozzle corresponding to the printing starting position to move above the printing starting position according to the vector a.

Aligning a cursor center of an image acquisition device with a print start position, comprising: the center of the cursor of the image acquisition device is positioned right above the printing initial position. At this time, the vector a also represents the relative positional relationship between the print start position and the nozzle corresponding to the print start position in the head. When the vector a represents a vector between a nozzle corresponding to the printing starting position in the spray head and the position of the image acquisition device, the spray head is moved to the center of a cursor of the image acquisition device along the vector-a, and the nozzle corresponding to the printing starting position in the spray head can reach the position above the printing starting position.

In one embodiment, the vector a ═ x (x)₂-x₁-x₀，y₂-y₁-y₀) Vector (x)₂-x₁-x₀，y₂-y₁-y₀) And the position phasor between the nozzle corresponding to the printing starting position in the spray head and the cursor center position of the image acquisition device is represented.

According to the vector (x)₂-x₁-x₀，y₂-y₁-y₀) Controlling the nozzle corresponding to the printing starting position in the spray head to move above the printing starting position, and the method comprises the following steps: making the nozzle along the vector- (x)₂-x₁-x₀，y₂-y₁-y₀) To the figureAnd moving the cursor center position of the image acquisition device, namely controlling the nozzle corresponding to the printing starting position to move above the printing starting position.

According to the vector (x)₂-x₁-x₀，y₂-y₁-y₀) Moving a nozzle of the nozzle head corresponding to the printing start position above the printing start position, comprising: according to the vector (x)₂-x₁-x₀，y₂-y₁-y₀) And planning a moving route from the nozzle corresponding to the printing starting position in the spray head to the printing starting position, and moving the spray head along the moving route so as to control the nozzle corresponding to the printing starting position in the spray head to reach the position above the printing starting position.

Vector (x)₂-x₁-x₀，y₂-y₁-y₀) The relative position relation between the nozzle corresponding to the printing starting position in the spray head and the cursor center of the image acquisition device can be represented. Vector (x)₂-x₁-x₀，y₂-y₁-y₀) The vector is from the center of a cursor of the image acquisition device to a nozzle corresponding to the printing starting position in the spray head.

Aligning a cursor center of an image acquisition device with a print start position, comprising: the center of the cursor of the image acquisition device is positioned right above the printing initial position. At this time, vector (x)₂-x₁-x₀，y₂-y₁-y₀) I.e. the vector from the print start position to the nozzle of the head corresponding to said print start position. Make the spray head along the vector (x)₂-x₁-x₀，y₂-y₁-y₀) And moving the image acquisition device to the cursor center, namely controlling the nozzle corresponding to the printing starting position to move above the printing starting position.

In one embodiment, step S2 includes: the relative position relation between the cursor center of the image acquisition device and the printing starting position is obtained; acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the printing initial position according to the vector a; and moving the nozzle corresponding to the printing initial position to the position above the printing initial position according to the relative position relationship between the nozzle corresponding to the printing initial position in the spray head and the printing initial position.

In one embodiment, as shown in fig. 13, step S2 includes step S213: acquiring the relative position relation between the image acquisition device and the printing initial position by using the image acquisition device; step S214: planning a moving path of the sprayer according to the relative position relationship between the image acquisition device and the printing starting position and the relative position relationship between a nozzle in the sprayer corresponding to the printing starting position and the image acquisition device; step S215: and enabling the spray head to move along the planned moving path of the spray head, and further enabling the spray nozzle corresponding to the printing starting position in the spray head to move above the printing starting position.

The image acquisition device can acquire an image containing a printing initial position, and the relative position relationship between the image acquisition device and the printing initial position can be acquired according to the image containing the printing initial position. The image capturing device generally has a coordinate system, and the relative position relationship between the center of the image capturing device and the printing start position can be obtained by using the coordinate system of the image capturing device. The relative position relationship between the image acquisition device and the printing starting position is the relative position relationship between the center of the image acquisition device and the printing starting position.

According to the relative position relationship between the image acquisition device and the printing starting position and the relative position relationship between the nozzle in the sprayer corresponding to the printing starting position and the image acquisition device, the relative position relationship between the nozzle in the sprayer corresponding to the printing starting position and the printing starting position can be acquired. According to the relative position relationship between the nozzle corresponding to the printing initial position in the spray head and the printing initial position, a moving path from the position of the nozzle corresponding to the printing initial position in the spray head to the printing initial position can be planned, and the spray head moves along the moving path, so that the nozzle corresponding to the printing initial position in the spray head can move above the printing initial position.

Step S3: and carrying out ink jet printing on the printing initial position by adopting a nozzle corresponding to the printing initial position in the spray head.

And after the nozzle corresponding to the printing initial position in the spray head is positioned above the printing initial position, ink can be sprayed to the printing initial position, so that ink-jet printing on the printing initial position is realized.

When the steps of the present invention are applied to the printer apparatus in embodiment 1, high-precision printing can be better achieved, and particularly, in the printing apparatus for printing characters on a PCB, characters on a mold, and requiring local gloss oil, besides the requirement for the installation position of a nozzle positioning device such as a CCD camera, a matched positioning control method is also required to accurately position the nozzle positioning device to a printing start position, so that the improvement of precision does not cause waste of PCB, mold materials, and the like, thereby reducing cost and improving printing quality.

An embodiment of the present invention provides a printing apparatus assisted by an image acquisition apparatus, as shown in fig. 14, the apparatus includes a first acquisition module 1, a second acquisition module 2, and a printing module 3.

And the first acquisition module 1 is used for acquiring the relative position relationship between a nozzle corresponding to the printing initial position in the spray head and the image acquisition device.

Therefore, in the ink jet printing process with the image capturing device as an auxiliary, the relative position relationship between the nozzles of the nozzle corresponding to the printing start position and the image capturing device is firstly acquired by the first acquiring module 1.

As shown in fig. 15, the first acquisition module 1 includes: a first acquisition submodule 15, a second acquisition submodule 16 and a third acquisition submodule 17.

The first obtaining submodule 15 is used for respectively obtaining the position of the image acquisition device and the position of the spray head; the second obtaining submodule 16 is configured to obtain a relative positional relationship between the nozzle and the image acquisition device according to the position of the image acquisition device and the position of the nozzle; and a third obtaining submodule 17, configured to obtain, according to a relative positional relationship between the nozzle and the image acquisition device, a relative positional relationship between the nozzle in the nozzle corresponding to the print starting position and the image acquisition device.

After the image acquisition device is installed on the ink-jet printer, the relative position of the image acquisition device and a spray head of the ink-jet printer is not changed. Therefore, after the relative position relationship between the image acquisition device and the nozzle is acquired by the first acquisition sub-module 15, and the printing initial position is acquired by the image acquisition device, and further the relative position relationship between the image acquisition device and the printing initial position is acquired, the relative position relationship between the nozzle and the printing initial position can be acquired by the second acquisition sub-module 16 and the third acquisition sub-module 17 according to the relative position relationship between the image acquisition device and the printing initial position, the relative position relationship between the image acquisition device and the nozzle, and the relative position relationship between the nozzle in the nozzle and the nozzle corresponding to the printing initial position and the image acquisition device, so that the nozzle in the nozzle corresponding to the printing initial position moves to the printing initial position, and ink-jet printing is performed on the printing initial position.

The first obtaining sub-module 15 may first obtain a central position of the image capturing device and a central position of the nozzle, and further obtain a relative position relationship between the image capturing device and the nozzle according to the central position of the image capturing device and the central position of the nozzle.

In one embodiment, the relative position relationship between the nozzles in the nozzle head corresponding to the printing start position and the image acquisition device includes: and the relative position relationship between a nozzle corresponding to the printing initial position in the spray head and the cursor center of the image acquisition device. As shown in fig. 16, the first acquisition module 1 includes: a fourth acquisition submodule 11, a first alignment submodule 12 and a calculation submodule 13.

A fourth acquiring submodule 11 configured to acquire a center position of the calibration image that has been print-formed; the first alignment submodule 12 is configured to align a center of a cursor of the image acquisition device with a center of a calibration image formed by printing, and then obtain a position of a nozzle in the nozzle, which corresponds to the print starting position; the calculating submodule 13 is configured to obtain a position vector a from a nozzle in the nozzle corresponding to the print starting position to a cursor center of the image capturing device according to a position of the nozzle in the nozzle corresponding to the print starting position, where the position vector a can represent a relative position relationship between the nozzle in the nozzle corresponding to the print starting position and the cursor center of the image capturing device.

In one embodiment, the fourth acquiring submodule 11 is further configured to acquire the center position coordinates (x) of the calibration image formed by printing₁+x₀，y₁+y₀) (ii) a A first alignment sub-module 12, further configured to align a center of a cursor of the image capturing device with a center of a calibration image formed by printing, and obtain a position coordinate (x) of a nozzle corresponding to the printing start position in the nozzle₂，y₂) (ii) a A calculation submodule 13 for calculating the position coordinates (x) of the nozzles of the head corresponding to the printing start position₂，y₂) Calculating and obtaining a position vector (x) from a nozzle corresponding to the printing initial position in the spray head to the center of a cursor of the image acquisition device₂-x₁-x₀，y₂-y₁-y₀) The position vector (x)₂-x₁-x₀，y₂-y₁-y₀) The relative position relation between the nozzle corresponding to the printing starting position in the spray head and the cursor center of the image acquisition device can be represented.

The fourth obtaining sub-module 11 prints out the calibration image on the object carrying surface of the object carrying platform, and establishes an object carrying platform coordinate system on the object carrying surface of the object carrying platform, so as to obtain the position coordinate (x) of the center of the calibration image in the object carrying platform coordinate system₁+x₀，y₁+y₀) Then, the first alignment submodule 12 aligns the center of the cursor of the image pickup device with the center of the calibration image formed by printing, at which time the coordinates of the center of the cursor of the image pickup device, that is, the position coordinates (x) of the center of the calibration image₁+x₀，y₁+y₀). The first alignment submodule 12 aligns the center of the cursor of the image acquisition device with the center of the calibration image formed by printing, and then obtains the center of the nozzlePosition coordinate (x) of nozzle corresponding to printing initial position in carrier platform coordinate system₂，y₂). The coordinate system of the carrying platform is a two-dimensional coordinate system.

At this time, the calculation submodule 13 calculates the position coordinate (x) of the center of the cursor according to the image capturing apparatus₁+x₀，y₁+y₀) And the position coordinate (x) of the nozzle corresponding to the printing initial position in the nozzle in the coordinate system of the carrying platform₂，y₂) And the relative position relation between the nozzle corresponding to the printing initial position in the spray head and the cursor center of the image acquisition device can be calculated. The calculation submodule 13 calculates the position coordinate (x) of the center of the cursor according to the image capturing apparatus₁+x₀，y₁+y₀) And the position coordinate (x) of the nozzle corresponding to the printing initial position in the nozzle in the coordinate system of the carrying platform₂，y₂) The position vector (x) between the nozzle corresponding to the printing initial position in the spray head and the cursor center of the image acquisition device can be calculated and obtained₂-x₁-x₀，y₂-y₁-y₀) The position vector (x)₂-x₁-x₀，y₂-y₁-y₀) The relative position relation between the nozzle corresponding to the printing starting position in the spray head and the image acquisition device can be represented.

In one embodiment, the calibration image is a "+" digital image. A fourth acquisition submodule 11 for acquiring coordinates (x) of the center position of the printed "+" digital image₁+x₀，y₁+y₀) (ii) a The first alignment submodule 12 is further configured to align the center of the cursor of the image capturing device with the center of the printed "+" digital image, and obtain the position coordinate (x) of the nozzle corresponding to the print start position in the nozzle₂，y₂) (ii) a A calculation submodule 13 for calculating the position coordinates (x) of the nozzles of the head corresponding to the printing start position₂，y₂) Calculating and obtaining a position vector (x) from a nozzle corresponding to the printing initial position in the spray head to the center of a cursor of the image acquisition device₂-x₁-x₀，y₂-y₁-y₀) The position vector (x)₂-x₁-x₀，y₂-y₁-y₀) The relative position relation between the nozzle corresponding to the printing starting position in the spray head and the cursor center of the image acquisition device can be represented.

The + digital image has the characteristic that the central point of the image is clear and distinguishable, and is beneficial to acquiring the central coordinate of the image.

In one embodiment, as shown in fig. 17, the fourth obtaining sub-module 11 further includes: a first acquisition unit 111, a second acquisition unit 112, and a third acquisition unit 113.

In one embodiment, the first obtaining unit 111 is configured to obtain a relative positional relationship between a center of the calibration image and a starting point of the calibration image, where the starting point of the calibration image is an intersection point between two mutually perpendicular edge lines of the calibration image; a second obtaining unit 112, configured to start printing the calibration image from a start point of the calibration image, and obtain a printing start position of the nozzle; a third obtaining unit 113, configured to obtain a center position of the calibration image that has been formed by printing according to a relative positional relationship between a printing start position of the nozzle, a center of the calibration image, and a start point of the calibration image.

In an embodiment, the first obtaining unit 111 is further configured to obtain coordinates (x) of a center of the calibration image in a coordinate system with a start point of the calibration image as a coordinate origin₀，y₀) (ii) a A second obtaining unit 112, further configured to start printing the calibration image from a start point of the calibration image, and obtain a coordinate of a print start position of the nozzle as (x)₁，y₁) (ii) a A third obtaining unit 113 for obtaining the coordinate (x)₁，y₁) And the coordinate (x)₀，y₀) Thereby obtaining the center position coordinates (x) of the calibration image formed by printing₁+x₀，y₁+y₀)。

And the second acquisition module 2 is used for controlling the nozzle corresponding to the printing starting position in the spray head to be positioned above the printing starting position by utilizing the image acquisition device and the relative position relation between the nozzle and the image acquisition device.

The second acquiring module 2 acquires an image by using the image acquiring device, can acquire a printing start position from the acquired image, and acquires a relative position relationship between the image acquiring device and the printing start position according to the acquired image. Then, the second obtaining module 2 can obtain the relative position relationship between the nozzle corresponding to the printing start position in the nozzle and the printing start position by using the relative position relationship between the image capturing device and the printing start position and the relative position relationship between the nozzle corresponding to the printing start position in the nozzle and the image capturing device.

The second acquiring module 2 makes the nozzle corresponding to the printing start position in the nozzle be located above the printing start position, and includes: the second acquisition module 2 enables the nozzle corresponding to the printing initial position in the spray head to move above the printing initial position; the second acquisition module 2 moves the carrying platform bearing the printed matter to be printed, so that the printing initial position moves to the position below the nozzle corresponding to the printing initial position in the spray head; the second acquisition module 2 relatively moves the nozzle and the loading platform bearing the printed matter to be printed, so that the printing initial position is moved to the position below the nozzle corresponding to the printing initial position in the nozzle, and the like.

In one embodiment, as shown in fig. 18, the second obtaining module 2 includes: a first planning submodule 21, a second alignment submodule 22, a first movement submodule 23.

After the relative position relationship between the nozzle corresponding to the printing initial position in the nozzle and the image acquisition device is obtained by using the first obtaining sub-module 15, the second obtaining sub-module 16 and the third obtaining sub-module 17, as shown in fig. 12, the first planning sub-module 21 is configured to plan a movement path of the nozzle by using the relative position relationship between the nozzle corresponding to the printing initial position in the nozzle and the image acquisition device, and when the nozzle moves along the movement path of the nozzle, the nozzle corresponding to the printing initial position in the nozzle can reach the position of the image acquisition device at a certain moment from the position of the certain moment; a second alignment sub-module 22 for aligning a center position of the image pickup device with the printing start position; and the first moving submodule 23 is used for controlling the spray head to move along the moving path, so that the nozzles corresponding to the printing starting position in the spray head are controlled to reach the position above the printing starting position.

The first planning submodule 21 can plan a moving path from a nozzle corresponding to the printing start position in the head to the image capturing device according to a relative position relationship between the nozzle corresponding to the printing start position in the head and the image capturing device, and when the head moves along the moving path, the nozzle corresponding to the printing start position in the head can reach a position of the image capturing device at a certain moment from the position of the certain moment.

The second alignment sub-module 22 aligns the center position of the image pickup device with the printing start position, including: the second alignment sub-module 22 positions the center of the image capture device and the print start position on a line perpendicular to the stage, with the image capture device positioned directly above the print start position.

When the center of the image capturing device is located right above the print start position, the first moving submodule 23 moves the nozzles along the planned moving path, so that the nozzles in the head corresponding to the print start position can reach above the print start position. And after the nozzle corresponding to the printing initial position in the spray head reaches the position right above the printing initial position, ink can be sprayed to the printing initial position, and ink-jet printing is carried out on the printing initial position.

In one embodiment, as shown in fig. 20, the second obtaining module 2 includes: a third alignment sub-module 210, a second movement sub-module 211.

After the relative position relationship between the nozzle corresponding to the print start position in the nozzle and the cursor center of the image acquisition device is obtained by using the fourth obtaining sub-module 11, the first aligning sub-module 12 and the calculating sub-module 13, as shown in fig. 7, the third aligning sub-module 210 is configured to align the cursor center of the image acquisition device with the print start position; and a second moving submodule 212, configured to control the nozzle corresponding to the print starting position to move above the print starting position according to the vector a.

The third alignment sub-module 210 aligns the center of the cursor of the image acquisition device with the print start position, including: the third alignment sub-module 210 positions the center of the cursor of the image capture device directly above the print start position. At this time, the vector a also represents the relative positional relationship between the print start position and the nozzle corresponding to the print start position in the head. When the vector a represents a vector between a nozzle corresponding to the printing starting position in the spray head and the position of the image acquisition device, the spray head is moved to the center of a cursor of the image acquisition device along the vector-a, and the nozzle corresponding to the printing starting position in the spray head can reach the position above the printing starting position.

The second move submodule 212 is based on the vector (x)₂-x₁-x₀，y₂-y₁-y₀) Controlling the nozzle corresponding to the printing starting position in the spray head to move above the printing starting position, and the method comprises the following steps: the second move submodule 212 moves the jets along a vector- (x)₂-x₁-x₀，y₂-y₁-y₀) And moving the position of the center of the cursor of the image acquisition device, namely controlling the nozzle corresponding to the printing initial position in the spray head to move above the printing initial position.

The second move submodule 212 is based on the vector (x)₂-x₁-x₀，y₂-y₁-y₀) Moving a nozzle of the nozzle head corresponding to the printing start position above the printing start position, comprising: the second move submodule 212 is based on the vector (x)₂-x₁-x₀，y₂-y₁-y₀) And planning a moving route from the nozzle corresponding to the printing starting position in the spray head to the printing starting position, and moving the spray head along the moving route so as to enable the nozzle corresponding to the printing starting position in the spray head to reach the position above the printing starting position.

The third alignment sub-module 210 aligns the center of the cursor of the image acquisition device with the print start position, including: the third alignment sub-module 210 positions the center of the cursor of the image capture device directly above the print start position. At this time, vector (x)₂-x₁-x₀，y₂-y₁-y₀) I.e. the vector from the print start position to the nozzle of the head corresponding to said print start position. Make the spray head along the vector (x)₂-x₁-x₀，y₂-y₁-y₀) And moving the image acquisition device to the cursor center, so that the nozzle in the spray head corresponding to the printing starting position can reach the position above the printing starting position.

The second obtaining module 2 is further configured to relate a relative position between a cursor center of the image acquisition device and the print starting position; acquiring the relative position relation between a nozzle corresponding to the printing initial position in the spray head and the printing initial position according to the vector a; and moving the nozzle corresponding to the printing initial position to the position above the printing initial position according to the relative position relationship between the nozzle corresponding to the printing initial position in the spray head and the printing initial position.

In one embodiment, as shown in fig. 21, the second obtaining module 2 includes: a sixth acquisition submodule 213, a second planning submodule 214, and a third movement submodule 215.

A sixth obtaining sub-module 213, configured to obtain, by using an image capturing device, a relative positional relationship between the image capturing device and the printing start position; a second planning submodule 214, configured to plan a moving path of the nozzle according to a relative positional relationship between the image acquisition apparatus and the print starting position, and a relative positional relationship between a nozzle in the nozzle corresponding to the print starting position and the image acquisition apparatus; and a third moving sub-module 215, configured to move the nozzle along the planned moving path of the nozzle, so that the nozzle corresponding to the printing start position in the nozzle is moved above the printing start position.

The sixth obtaining sub-module 213 can obtain the relative position relationship between the nozzle corresponding to the printing start position in the nozzle and the printing start position according to the relative position relationship between the image capturing device and the printing start position and the relative position relationship between the nozzle corresponding to the printing start position in the nozzle and the image capturing device obtained by the image capturing device. The second planning submodule 214 can plan a moving path from the position of the nozzle corresponding to the printing start position in the head to the printing start position according to the relative position relationship between the nozzle corresponding to the printing start position in the head and the printing start position, and the third moving submodule 215 moves the head along the moving path and can move the nozzle corresponding to the printing start position in the head above the printing start position.

And the printing module 3 is used for carrying out ink jet printing on the printing initial position by adopting a nozzle corresponding to the printing initial position in the spray head.

After the nozzle corresponding to the printing initial position in the spray head is positioned above the printing initial position, the printing module 3 can spray ink to the printing initial position, so that ink-jet printing on the printing initial position is realized.

Referring to fig. 22, the printing method according to the above embodiment of the present invention further provides a printing apparatus assisted by an image capturing device, the apparatus mainly comprising:

at least one processor 401; and the number of the first and second groups,

a memory 402 communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory 402 stores instructions executable by the at least one processor, the instructions being executable by the at least one processor 401 to enable the at least one processor 401 to perform the method of embodiment 1 of the present invention. For a detailed description of the apparatus, refer to embodiment 1, which is not repeated herein.

Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.

Memory 402 may include mass storage for data or instructions. By way of example, and not limitation, memory 402 may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, tape, or Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 402 may include removable or non-removable (or fixed) media, where appropriate. The memory 402 may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory 402 is a non-volatile solid-state memory. In a particular embodiment, the memory 402 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.

The processor 401 reads and executes computer program instructions stored in the memory 402 to implement any of the above-described embodiments of the printing method assisted by an image capture device.

In one example, a printing device that assists with the image capture device may also include a communication interface 403 and a bus 410. As shown in fig. 3, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.

The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.

The bus 410 includes hardware, software, or both to couple components including a printing device to each other, assisted by an image capture device. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 410 may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.

In addition, in combination with the printing method assisted by the image capturing device in the above embodiments, the embodiments of the present invention can be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the above-described embodiments of a printing method assisted by an image capture device.

In summary, according to the printing method, the printing device, the printing apparatus and the printing device assisted by the image capturing device provided by the embodiments of the present invention, after the relative position relationship between the nozzle corresponding to the printing start position in the nozzle and the image capturing device is obtained, the problems that the secondary accurate printing cannot be performed on the printed matter and the like are solved by using a mathematical modeling method and a pure computer algorithm, and the printing start position is determined by using the image capturing device, so that the printing failure caused by the incorrect placement position of the printed matter can be avoided.

The invention is not limited to the specific configurations and processes described above and shown in the figures. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. The method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after appreciating the spirit of the present invention. These are all intended to be covered by the scope of protection of the present invention.

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Printing method, device, equipment and storage medium with image acquisition device as auxiliary

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