CN110978818A - Printing head control method and device of wall painting machine and wall painting machine - Google Patents
Printing head control method and device of wall painting machine and wall painting machine Download PDFInfo
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- CN110978818A CN110978818A CN201911363868.7A CN201911363868A CN110978818A CN 110978818 A CN110978818 A CN 110978818A CN 201911363868 A CN201911363868 A CN 201911363868A CN 110978818 A CN110978818 A CN 110978818A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J25/00—Actions or mechanisms not otherwise provided for
- B41J25/304—Bodily-movable mechanisms for print heads or carriages movable towards or from paper surface
- B41J25/308—Bodily-movable mechanisms for print heads or carriages movable towards or from paper surface with print gap adjustment mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
Abstract
The application discloses a printing head control method and device of a wall painting machine and the wall painting machine, comprising the following steps: and in the printing process, the distance from the printing head to the wall surface, which is measured by the distance measuring sensor, is acquired in real time, and when the distance is not within the preset distance range, the printing head is controlled to move towards the direction of reducing the difference with the preset distance range. By adopting the scheme provided by the embodiment of the application, the distance from the printing head to the wall surface can be adjusted in time to be within the preset distance range based on the distance from the printing head to the wall surface in real time, so that the image effect of the printed image is improved.
Description
Technical Field
The application relates to the technical field of printing, in particular to a printing head control method and device for a wall painting machine and the wall painting machine.
Background
Along with the wide application of wall body colored drawing in actual life, the wall body colored drawing machine that can carry out wall body colored drawing automatically and print has appeared, has improved the efficiency of wall body colored drawing to and can adapt to the application scene of the artifical colored drawing of not being convenient for.
At present, in the practical application of a wall color plotter, the printed wall surface may be uneven, and the image effect of the image printed on the wall surface may be affected.
Disclosure of Invention
The embodiment of the application provides a printing head control method and device for a wall painting machine and the wall painting machine, which are used for solving the problem of poor image effect of a printed image caused by uneven wall surface.
The embodiment of the application provides a printing head control method of a wall body painting machine, the wall body painting machine comprises a distance measuring sensor and is used for measuring the distance from a printing head of the wall body painting machine to a wall surface, and the method comprises the following steps:
in the printing process, the distance from the printing head to the wall surface, which is measured by the distance measuring sensor, is acquired in real time;
and when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
Further, the method also comprises the following steps:
and when the distance is within the preset distance range, controlling the printing head to keep front and back static relative to the wall surface.
Further, when the distance is not within the preset distance range, controlling the print head to move in a direction of narrowing the difference between the distance and the preset distance range includes:
when the distance is larger than a first preset distance threshold value, controlling the printing head to move forwards; or
When the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards; or
When the distance is larger than a first preset distance threshold value, controlling the printing head to move forwards, and when the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards, wherein the first preset distance threshold value is larger than the second preset distance threshold value; or
And when the distance is greater than a third preset distance threshold value, controlling the printing head to move forwards, and when the distance is less than the third preset distance threshold value, controlling the printing head to move backwards.
Further, the method also comprises the following steps:
receiving a parameter configuration instruction which is sent by a control terminal and carries a distance parameter, wherein the distance parameter represents a preset distance range;
when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range, wherein the method comprises the following steps:
and when the distance is not within the preset distance range represented by the distance parameter, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
Further, the wall body colored drawing machine includes: a first ranging sensor and a second ranging sensor positioned at both sides of the print head;
in the printing process, the distance between the printing head and the wall surface measured by the distance measuring sensor is acquired in real time, and the method comprises the following steps:
in the printing process, acquiring a first distance from the printing head to the wall surface, which is measured by the first distance measuring sensor, and a second distance from the printing head to the wall surface, which is measured by the second distance measuring sensor, in real time;
when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range, wherein the method comprises the following steps:
and when the distance with the smaller value in the first distance and the second distance is not within a preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
Further, the first distance measuring sensor is an upper distance measuring sensor positioned above the printing head, and the second distance measuring sensor is a lower distance measuring sensor positioned below the printing head; or
The first distance measuring sensor is a left distance measuring sensor positioned on the left side of the printing head, and the second distance measuring sensor is a right distance measuring sensor positioned on the right side of the printing head.
Further, the wall body color drawing machine comprises a stepping motor for driving the printing head to move;
when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range, wherein the method comprises the following steps:
and when the distance is not within the preset distance range, controlling the stepping motor to drive the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
The embodiment of the present application still provides a printing head controlling means of wall body colored drawing machine, wall body colored drawing machine includes range sensor for measure the distance of printing head to wall of wall body colored drawing machine, the device includes:
the distance acquisition module is used for acquiring the distance from the printing head to the wall surface measured by the distance measuring sensor in real time in the printing process;
and the printing head control module is used for controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range when the distance is not within the preset distance range.
Further, the printing head control module is used for controlling the printing head to keep front and back static relative to the wall surface when the distance is within the preset distance range.
Further, the printing head control module is specifically configured to control the printing head to move forward when the distance is greater than a first preset distance threshold; or
When the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards; or
When the distance is larger than a first preset distance threshold value, controlling the printing head to move forwards, and when the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards, wherein the first preset distance threshold value is larger than the second preset distance threshold value; or
And when the distance is greater than a third preset distance threshold value, controlling the printing head to move forwards, and when the distance is less than the third preset distance threshold value, controlling the printing head to move backwards.
The above-mentioned device still includes:
the command receiving module is used for receiving a parameter configuration command which is sent by the control terminal and carries a distance parameter, wherein the distance parameter represents a preset distance range;
and the printing head control module is specifically used for controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range when the distance is not within the preset distance range represented by the distance parameter.
Further, wall body colored drawing machine includes: a first ranging sensor and a second ranging sensor positioned at both sides of the print head;
the distance acquisition module is specifically used for acquiring a first distance from the printing head to the wall surface measured by the first distance measurement sensor and a second distance from the printing head to the wall surface measured by the second distance measurement sensor in real time in the printing process;
and the printing head control module is specifically used for controlling the printing head to move towards the direction of reducing the difference between the first distance and the preset distance range when the distance with the smaller value between the first distance and the second distance is not within the preset distance range.
Further, the first distance measuring sensor is an upper distance measuring sensor positioned above the printing head, and the second distance measuring sensor is a lower distance measuring sensor positioned below the printing head; or
The first distance measuring sensor is a left distance measuring sensor positioned on the left side of the printing head, and the second distance measuring sensor is a right distance measuring sensor positioned on the right side of the printing head.
Further, the wall body colored drawing machine comprises a stepping motor which is used for driving the printing head to move;
and the printing head control module is specifically used for controlling the stepping motor to drive the printing head to move towards the direction of reducing the difference between the distance and the preset distance range when the distance is not within the preset distance range.
The embodiment of the present application further provides a wall body colored drawing machine, include: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor, the processor being caused by the machine-executable instructions to: the printing head control method steps of any one of the wall painting machines are realized.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method for controlling a print head of any one of the wall painting machines is implemented.
Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the steps of any of the above-mentioned methods for controlling a print head of a wall painting machine.
The embodiment of the application has the following beneficial effects:
in the printing head control method of the wall painting machine provided by the embodiment of the application, the wall painting machine is provided with a distance measuring sensor for measuring the distance from the printing head to the wall surface, in the printing process, the distance from the printing head to the wall surface measured by the distance measuring sensor is obtained in real time, and when the distance is not within the preset distance range, the printing head is controlled to move towards the direction of reducing the difference with the preset distance range, so that the distance from the printing head to the wall surface can be adjusted in time to be within the preset distance range, and the image effect of the printed image is improved.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a printing head control method of a wall painting machine according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram illustrating a print head control method of a wall painting machine according to an embodiment of the present disclosure;
fig. 3 is a detailed flowchart of a printing head control method of a wall painting machine according to an embodiment of the present disclosure;
fig. 4a is a schematic structural diagram of a print head control device of a wall painting machine according to an embodiment of the present disclosure;
fig. 4b is a schematic structural diagram of another print head control device of the wall painting apparatus provided in the embodiment of the present application;
fig. 5 is a schematic structural diagram of a wall painting machine provided in the embodiment of the present application.
Detailed Description
In order to provide an implementation scheme for improving the image effect of a printed image, the embodiments of the present application provide a printing head control method and apparatus for a wall painting machine, and a wall painting machine. And the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In order to print out an image with a better effect on an uneven wall surface, the embodiment of the application provides a printing head control method of a wall body painting machine, wherein the wall body painting machine comprises a distance measuring sensor for measuring the distance from a printing head of the wall body painting machine to the wall surface, and as shown in fig. 1, the method comprises the following steps:
and 11, acquiring the distance from the printing head to the wall surface measured by the distance measuring sensor in real time in the printing process.
And step 12, when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
By adopting the printing head control method provided by the embodiment of the application, the distance from the printing head to the wall surface can be adjusted in time to be within the preset distance range based on the distance from the printing head to the wall surface in real time, so that the image effect of the printed image is improved.
The embodiments provided in the present application will be described in detail below with reference to the accompanying drawings.
Fig. 2 is a schematic diagram of a printing head control method of a wall painting machine according to an embodiment of the present disclosure, where the wall painting machine includes a distance measuring sensor for measuring a distance from a printing head of the wall painting machine to a wall surface, and a control main board is used for controlling the printing head to move based on the distance from the printing head to the wall surface.
Further, the wall painting machine may include: the first distance measuring sensor and the second distance measuring sensor are located on two sides of the printing head, so that the distance from the printing head to the wall surface can be measured more accurately, for example, the first distance measuring sensor is a left distance measuring sensor located on the left side of the printing head, the second distance measuring sensor is a right distance measuring sensor located on the right side of the printing head, and as shown in fig. 2 again, the first distance measuring sensor is an upper distance measuring sensor located above the printing head, and the second distance measuring sensor is a lower distance measuring sensor located below the printing head.
In the embodiment of the present application, the distance measuring sensor in the wall painting machine may adopt various types of distance measuring sensors, for example, an ultrasonic distance measuring sensor may be used.
Further, the wall painting machine can also comprise a stepping motor for driving the printing head to move.
As shown in fig. 2, the wall painting machine may further receive a parameter configuration instruction carrying a distance parameter sent by the control terminal, where the distance parameter represents a preset distance range.
Fig. 3 is a detailed flowchart of an embodiment of a method for controlling a print head of a wall painting machine according to an embodiment of the present application, which may include the following steps:
and 31, before starting printing, the wall body painting machine receives a parameter configuration instruction sent by the control terminal, wherein the parameter configuration instruction carries a distance parameter, and the distance parameter represents a preset distance range.
In this step, before starting printing, the user can configure the distance parameter indicating the preset distance range at the control terminal, and send the distance parameter to the wall painting machine by carrying the parameter configuration instruction.
The numerical value of the configured distance parameter can be flexibly configured according to the requirements of practical application and the characteristics of the wall body color drawing machine, and is not limited herein.
And step 32, in the printing process, the wall painting machine acquires the distance from the printing head to the wall surface measured by the distance measuring sensor in real time.
When a plurality of distance measuring sensors are included, a plurality of distances from the printing head to the wall surface measured by the plurality of distance measuring sensors are acquired.
And step 33, judging whether the acquired distance from the printing head to the wall surface is within a preset distance range, if not, executing step 34, and if so, executing step 35.
In this step, the preset distance ranges are configured differently, and correspondingly, the determination manners are also different, and the following specific determination manners are proposed in the embodiment of the present application:
the first judgment mode is as follows: the preset distance range is less than or equal to a first preset distance threshold, correspondingly, when the distance is greater than the first preset distance threshold, the preset distance range is determined not to be located in, and when the distance is not greater than the first preset distance threshold, the preset distance range is determined to be located in;
the second judgment method is as follows: the preset distance range is greater than or equal to a second preset distance threshold, and correspondingly, when the distance is smaller than the second preset distance threshold, the preset distance range is determined not to be located in the preset distance range, and when the distance is not smaller than the second preset distance threshold, the preset distance range is determined to be located in the preset distance range;
the third judgment mode is as follows: the preset distance range is between a second preset distance threshold and a first preset distance threshold, namely, the preset distance range is smaller than or equal to the first preset distance threshold and is larger than or equal to the second preset distance threshold, wherein the first preset distance threshold is larger than the second preset distance threshold, correspondingly, when the distance is larger than the first preset distance threshold and is smaller than the second preset distance threshold, the preset distance range is determined not to be located in the preset distance range, and when the distance is not larger than the first preset distance threshold and is not smaller than the second preset distance threshold, the preset distance range is determined to be located in the preset distance range;
the fourth judgment method: the preset distance range is equal to a third preset distance threshold, and correspondingly, when the distance is not equal to the third preset distance threshold, that is, when the distance is greater than the third preset distance threshold, and when the distance is less than the third preset distance threshold, the distance is determined not to be within the preset distance range, and when the distance is equal to the third preset distance threshold, the distance is determined to be within the preset distance range.
In this step, when the plurality of distances from the printing head to the wall surface measured by the plurality of distance measuring sensors are acquired in step 32, the distance having the smallest value is selected from the plurality of distances, and is used for the above determination, that is, whether the distance having the smallest value is within the preset distance range is determined.
In this step, for different determination manners in the above step 33, corresponding control manners may be adopted, and the following specific control manners are proposed in this embodiment of the application:
the first control mode is as follows: when the first judgment mode is adopted, when the distance is greater than a first preset distance threshold value, the printing head is controlled to move forwards, namely to be close to the wall surface;
the second control mode is as follows: when the second judgment mode is adopted, when the distance is smaller than a second preset distance threshold value, the printing head is controlled to move backwards, namely, the printing head is far away from the wall surface;
the third control mode is as follows: when the third judgment mode is adopted, when the distance is greater than the first preset distance threshold, the printing head is controlled to move forwards, and when the distance is less than the second preset distance threshold, the printing head is controlled to move backwards, so that the distance from the printing head to the wall surface is controlled to be between the second preset distance threshold and the first preset distance threshold;
the fourth control mode is as follows: when the fourth judgment mode is adopted, the printing head is controlled to move forwards when the distance is greater than the third preset distance threshold, and the printing head is controlled to move backwards when the distance is less than the third preset distance threshold, so that the distance from the printing head to the wall surface is controlled to be equal to the third preset threshold.
In this step, when the wall painting machine includes the step motor for driving the print head to move, correspondingly, the step motor can be specifically controlled to drive the print head to move in the direction of reducing the difference with the preset distance range, for example, the step motor is controlled to rotate forward to drive the print head to move forward, and the step motor is controlled to rotate backward to drive the print head to move backward and away from the wall surface.
And step 35, controlling the printing head to keep front and back static relative to the wall surface.
In the step, when the distance is within the preset distance range, the distance from the printing head to the wall surface meets the requirement, the printing head does not need to be controlled to move, the printing head can be kept to be static front and back relative to the wall surface, and the printing head does not need to be controlled to move front and back relative to the wall surface.
After the steps 34 and 35 are performed, the process may return to the step 32, and continue to acquire the distance from the print head to the wall surface measured by the distance measuring sensor, so as to continue to perform the subsequent steps related to controlling the print head.
By adopting the printing head control method of the wall painting machine provided by the embodiment of the application, the distance from the printing head to the wall surface measured by the distance measuring sensor is obtained in real time in the printing process, and when the distance is not within the preset distance range, the printing head is controlled to move in the direction of reducing the difference with the preset distance range, so that the distance from the printing head to the wall surface can be timely adjusted to be within the preset distance range, and the image effect of the printed image is improved.
And when the printing head is close to the wall surface, the printing head can be controlled to be away from the wall surface in time, and the printing head is prevented from contacting the wall surface and being damaged.
Based on the same inventive concept, according to the printing head control method of the wall painting machine provided in the foregoing embodiment of the present application, correspondingly, another embodiment of the present application further provides a printing head control device of the wall painting machine, where the wall painting machine includes a distance measuring sensor for measuring a distance from a printing head of the wall painting machine to a wall surface, and the structural schematic diagram of the device, as shown in fig. 4, specifically includes:
a distance obtaining module 41, configured to obtain, in real time, a distance from the print head to a wall surface, which is measured by the distance measuring sensor, in a printing process;
and a print head control module 42, configured to control the print head to move in a direction of narrowing the difference from the preset distance range when the distance is not within the preset distance range.
Further, the print head control module 42 is further configured to control the print head to keep stationary back and forth relative to the wall surface when the distance is within the preset distance range.
Further, the print head control module 42 is specifically configured to control the print head to move forward when the distance is greater than a first preset distance threshold; or
When the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards; or
When the distance is larger than a first preset distance threshold value, controlling the printing head to move forwards, and when the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards, wherein the first preset distance threshold value is larger than the second preset distance threshold value; or
And when the distance is greater than a third preset distance threshold value, controlling the printing head to move forwards, and when the distance is less than the third preset distance threshold value, controlling the printing head to move backwards.
The above-mentioned device still includes:
an instruction receiving module 43, configured to receive a parameter configuration instruction carrying a distance parameter sent by a control terminal, where the distance parameter represents a preset distance range;
and a print head control module 42, configured to control the print head to move in a direction of narrowing the difference from the preset distance range when the distance is not within the preset distance range represented by the distance parameter.
Further, wall body colored drawing machine includes: a first ranging sensor and a second ranging sensor positioned at both sides of the print head;
a distance obtaining module 41, configured to obtain, in real time, a first distance from the printing head to the wall surface measured by the first distance measuring sensor and a second distance from the printing head to the wall surface measured by the second distance measuring sensor in a printing process;
the print head control module 42 is specifically configured to control the print head to move in a direction of narrowing the difference from the preset distance range when the distance with the smaller value of the first distance and the second distance is not within the preset distance range.
Further, the first distance measuring sensor is an upper distance measuring sensor positioned above the printing head, and the second distance measuring sensor is a lower distance measuring sensor positioned below the printing head; or
The first distance measuring sensor is a left distance measuring sensor positioned on the left side of the printing head, and the second distance measuring sensor is a right distance measuring sensor positioned on the right side of the printing head.
Further, the wall body colored drawing machine comprises a stepping motor which is used for driving the printing head to move;
and a print head control module 42, configured to control the stepping motor to drive the print head to move in a direction of reducing a difference between the distance and the preset distance range when the distance is not within the preset distance range.
The functions of the above modules may correspond to the corresponding processing steps in the flows shown in fig. 1 and fig. 2, and are not described herein again.
Based on the same inventive concept, according to the print head control method of the wall painting machine provided in the foregoing embodiment of the present application, correspondingly, another embodiment of the present application further provides a wall painting machine, a schematic structural diagram of which is shown in fig. 5, and the method specifically includes: a processor 51 and a machine-readable storage medium 52, the machine-readable storage medium 52 storing machine-executable instructions executable by the processor 51, the processor 51 being caused by the machine-executable instructions to: the method for controlling the printing head of any wall painting machine is realized.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the printing head control method of any one of the wall painting machines are implemented.
Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the steps of any of the above-mentioned methods for controlling a print head of a wall painting machine.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The wall painting and printing device provided by the embodiment of the application can be realized through a computer program. It should be understood by those skilled in the art that the above-mentioned module division is only one of many module division, and if the division is performed into other modules or not, it is within the scope of the present application as long as the wall painting and printing apparatus has the above-mentioned functions.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A printing head control method of a wall painting machine is characterized in that the wall painting machine comprises a distance measuring sensor for measuring the distance from a printing head of the wall painting machine to a wall surface, and the method comprises the following steps:
in the printing process, the distance from the printing head to the wall surface, which is measured by the distance measuring sensor, is acquired in real time;
and when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
2. The method of claim 1, further comprising:
and when the distance is within the preset distance range, controlling the printing head to keep front and back static relative to the wall surface.
3. The method of claim 1, wherein controlling the print head to move in a direction that reduces the distance from the predetermined distance range when the distance is not within the predetermined distance range comprises:
when the distance is larger than a first preset distance threshold value, controlling the printing head to move forwards; or
When the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards; or
When the distance is larger than a first preset distance threshold value, controlling the printing head to move forwards, and when the distance is smaller than a second preset distance threshold value, controlling the printing head to move backwards, wherein the first preset distance threshold value is larger than the second preset distance threshold value; or
And when the distance is greater than a third preset distance threshold value, controlling the printing head to move forwards, and when the distance is less than the third preset distance threshold value, controlling the printing head to move backwards.
4. The method of claim 1, further comprising:
receiving a parameter configuration instruction which is sent by a control terminal and carries a distance parameter, wherein the distance parameter represents a preset distance range;
when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range, wherein the method comprises the following steps:
and when the distance is not within the preset distance range represented by the distance parameter, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
5. The method of claim 1, wherein the wall painting machine comprises: a first ranging sensor and a second ranging sensor positioned at both sides of the print head;
in the printing process, the distance between the printing head and the wall surface measured by the distance measuring sensor is acquired in real time, and the method comprises the following steps:
in the printing process, acquiring a first distance from the printing head to the wall surface, which is measured by the first distance measuring sensor, and a second distance from the printing head to the wall surface, which is measured by the second distance measuring sensor, in real time;
when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range, wherein the method comprises the following steps:
and when the distance with the smaller value in the first distance and the second distance is not within a preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
6. The method of claim 5, wherein the first ranging sensor is an upper ranging sensor located above the print head and the second ranging sensor is a lower ranging sensor located below the print head; or
The first distance measuring sensor is a left distance measuring sensor positioned on the left side of the printing head, and the second distance measuring sensor is a right distance measuring sensor positioned on the right side of the printing head.
7. The method of claim 1, wherein the wall painting machine includes a stepper motor for driving the print head to move;
when the distance is not within the preset distance range, controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range, wherein the method comprises the following steps:
and when the distance is not within the preset distance range, controlling the stepping motor to drive the printing head to move towards the direction of reducing the difference between the distance and the preset distance range.
8. The utility model provides a wall body painting machine beat printer head controlling means which characterized in that, wall body painting machine includes range sensor for measure wall body painting machine beat printer head to the distance of wall, the device includes:
the distance acquisition module is used for acquiring the distance from the printing head to the wall surface measured by the distance measuring sensor in real time in the printing process;
and the printing head control module is used for controlling the printing head to move towards the direction of reducing the difference between the distance and the preset distance range when the distance is not within the preset distance range.
9. A wall body colored drawing machine is characterized by comprising: a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor, the processor being caused by the machine-executable instructions to: carrying out the method steps of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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