CN111493118B

CN111493118B - Code spraying control method for code spraying device and corresponding code spraying device

Info

Publication number: CN111493118B
Application number: CN202010353431.1A
Authority: CN
Inventors: 李乾; 宁尚国
Original assignee: Zrd Instrument Technology Nantong Co ltd
Current assignee: Zrd Instrument Technology Nantong Co ltd
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2022-04-22
Anticipated expiration: 2040-04-29
Also published as: CN112549777A; CN111493118A; CN112549777B

Abstract

A code spraying control method for a code spraying device comprises an acceleration sensor, the method comprises the steps of obtaining acceleration information of an acceleration sensor unit, dynamically generating a synchronous signal according to the acceleration information, and synchronously controlling the code spraying speed of the code spraying device according to the synchronous signal. By adopting the technical scheme, the slipping phenomenon can be avoided or the slipping can be compensated, the problems of complicated appearance characteristics of the skin of the livestock body, moist slipping of the skin and the like can be automatically adapted in the process of spraying the code on the skin of the livestock body, the marking effect is good, the two-dimensional code can be printed on the skin of the livestock body, the pork, beef and the like can be traced in the circulation link, and the food safety is guaranteed.

Description

Code spraying control method for code spraying device and corresponding code spraying device

Technical Field

The utility model relates to a code spraying control method for a code spraying device and a corresponding code spraying device.

Background

The utility model discloses a livestock carcass skin marking device, a livestock carcass skin marking system and a livestock carcass skin marking method, which are applied for patent application with the application number of 201811476271.9 and the application date of 2018, 12 and 4.A device for marking livestock carcass skin comprises a code assigning unit and a code spraying unit, wherein the code assigning unit reads livestock skin marking data stored locally or on a server to generate a corresponding spray printing image; the code spraying unit comprises an ink nozzle, and the ink nozzle sprays the spray printing image on the skin of the livestock carcass. After adopting this technical scheme, the sign indicating number of livestock carcass epidermis especially live pig carcass epidermis can go on automatically, spouts sign indicating number content developments customizable, spouts a yard process speed fast, spouts a yard image striking, and whole equipment cost is low, owing to can spout seal two-dimensional code, the circulation of livestock carcass can accomplish completely and can trace back, guarantee food safety.

The patent application of 'a spray head for marking livestock carcass skin and a corresponding marking device', which is filed in the patent application with the application number of 201920422074.2 and the application date of 2019, 03, 30, discloses a spray head for marking the livestock carcass skin, wherein a displacement encoder unit and a distance measuring sensor unit are mounted on the spray head, the displacement encoder is used for measuring the sliding speed of the spray head on the livestock carcass skin, and the distance measuring sensor is used for measuring the distance between the spray head and the livestock carcass skin. By adopting the technical scheme, in the process of spraying the code on the skin of the livestock carcass, the spray head can be tightly attached to the skin of the livestock carcass, the complex appearance characteristics of the skin of the livestock carcass can be automatically adapted, the marking effect is good, the two-dimensional code can be printed on the skin of the livestock carcass, the pork, beef and the like can be traced in a circulation link, and the food safety is guaranteed.

However, in the above scheme, the synchronous signal of the code spraying unit is generated by a synchronous wheel arranged at the end of the spray head, or is generated uniformly by the system, the synchronous signal cannot be generated due to the relative sliding between the synchronous wheel and the pigskin surface, the sprayed image has a fracture phenomenon, and the spray head moves at a constant speed to cause the density of the sprayed image to be inconsistent, and is sparse at a high speed and dense at a low speed.

To solve the above problems, chinese patent 201020618217.6, "non-contact displacement detection device of inkjet printer", discloses a non-contact displacement detection device of inkjet printer, belonging to the field of mobile inkjet printing equipment. In the prior art, the contact detection is performed through the pinch roller, so that the error of a measuring result is large, and the manufacturing cost is high. The utility model discloses a main control unit, digital signal processor DSP, image sensor CMOS and the luminous body of electricity connection, image sensor CMOS front end imaging lens subassembly is equipped with, the luminous body front end install spotlight lens subassembly, its advantage lies in small, with low costs, be convenient for use on the product of non-constant speed conveyer belt spouts seal and hand-held type ink jet numbering machine. However, the photoelectric sensor has high requirements on the surface of the sprayed code, and cannot be well adapted when the shape of the sprayed surface is complex.

According to the above, in the code spraying of some occasions, the code spraying device and the surface of the code spraying device need to be in contact and can finish code spraying when relative motion exists, but the problems of complex contact surface, smooth surface and the like can cause slippage, so that the code spraying device and the code spraying control method which can avoid the slippage phenomenon or can compensate the slippage need to be provided.

Disclosure of Invention

The utility model aims to provide a code spraying control method for a code spraying device, and the corresponding code spraying device can avoid a slipping phenomenon or can compensate the slipping phenomenon.

In order to achieve the above object, the present invention provides a code spraying control method for a code spraying device, where the code spraying device includes an acceleration sensor, the method includes acquiring acceleration information of the acceleration sensor unit, dynamically generating a synchronization signal according to the acceleration information, and synchronously controlling a code spraying speed of the code spraying device according to the synchronization signal.

Furthermore, the method also comprises the steps of calculating the moving speed information of the code spraying device according to the acceleration information and dynamically generating a synchronous signal according to the speed information.

Furthermore, the method also comprises the steps of calculating the moving speed of the code spraying device according to the acceleration information, calculating the displacement information of the code spraying device according to the speed information, and dynamically generating a synchronous signal according to the displacement information.

Still further, the method further comprises the step of controlling the operation of the code spraying device to be completed by utilizing the acceleration sensor.

Still further, the method further comprises ending the single marking operation when the moving speed direction of the code spraying device is changed.

Furthermore, the method also comprises the step of placing the code spraying device at a set position and calibrating the acceleration sensor.

The utility model also provides a code spraying control method for the code spraying device, wherein a synchronous unit of the code spraying device comprises a synchronous motor and an acceleration sensor, and the method comprises the steps of acquiring synchronous pulses of the synchronous motor, and calculating the movement information M1 of the code spraying device by using the synchronous pulses; acquiring acceleration information of the acceleration sensor unit, and calculating moving information M2 of the code spraying device according to the acceleration information; judging whether the synchronous motor slips or not according to the movement information M1 and M2, if so, dynamically generating a synchronous signal by using the movement information M2, and synchronously controlling the code spraying speed of the code spraying device according to the synchronous signal; the movement information M1 and M2 includes one or more of acceleration, velocity, or displacement.

Further, the movement information M1 is a speed V1, the movement information M2 is a speed V2, V1 and V2 are compared, Vr = V2 if the absolute value of the difference between the two is greater than a set threshold value V0, otherwise Vr = V1, and Vr is the estimated moving speed of the code spraying device.

Still further, the method further includes that the movement information M1 is a displacement S1, the movement information M2 is a displacement S2, S1 and S2 are compared, Vr =Δs 2/. DELTA.t if an absolute value of a difference between the two is greater than a set threshold S0, otherwise Vr =Δs 1/. DELTA.t, where Vr is an estimated moving speed of the inkjet printing apparatus, and Δ t is a time of the displacement Δ S1 or Δ S2.

The utility model also provides a code spraying device comprising the code spraying control method.

Furthermore, the code spraying device is used for spraying codes on the skin of the livestock carcass.

By adopting the technical scheme, the slipping phenomenon can be avoided or the slipping can be compensated, the problems of complicated appearance characteristics of the skin of the livestock body, moist slipping of the skin and the like can be automatically adapted in the process of spraying the code on the skin of the livestock body, the marking effect is good, the two-dimensional code can be printed on the skin of the livestock body, the pork, beef and the like can be traced in the circulation link, and the food safety is guaranteed.

Drawings

FIG. 1 is a schematic diagram of an application scenario according to an embodiment of the present invention;

FIG. 2 is a system framework of the present invention;

FIG. 3 is a schematic front view of a code spraying unit;

FIG. 4 is a functional block diagram of a synchronization unit according to the first embodiment;

fig. 5 is a flowchart of a method for generating the synchronization pulse signal Ss1 according to the first embodiment;

FIG. 6 is a functional block diagram of a synchronization unit according to a second embodiment;

fig. 7 is a flowchart of a method for generating the synchronization pulse signal Ss1 according to the second embodiment;

FIG. 8 is a functional block diagram of a synchronization unit according to a third embodiment;

fig. 9 is a flowchart of a method for generating the synchronization pulse signal Ss1 according to the third embodiment.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic view of an application scenario according to an embodiment of the present invention. The pork carcass bi-section 3 is hung on the rail 1 through the hook 2 and moves forwards along the rail at the speed of 0.1-0.2 m/s. The handheld code spraying device is hung on the track 4 through the telescopic hanging rope 5, a user holds the handheld part 7 and slightly drags the handheld code spraying device upwards or downwards, and the telescopic hanging rope rapidly responds to the upwards or downwards movement. The handheld code spraying device comprises a spray head 6 and a handheld part 7 connected with the spray head 6, a code spraying trigger switch 8 is arranged on the handheld part 7, when the handheld code spraying device works, a user presses the code spraying trigger switch 8, the spray head 6 starts to prepare code spraying, and ink spraying is controlled according to a synchronizing unit arranged on the spray head 6. The handheld code spraying device is connected with the case 10 through a pipeline 9, the pipeline 9 comprises a power supply line, a data line and an ink pipe, and the ink pipe comprises an ink supply pipe and an ink return pipe.

FIG. 2 is a system framework of the present invention. The casing 10 includes a code assigning unit 11, a main control unit 12, a power supply unit 13, an ink supply unit 14, and a network unit 16. The network unit 16 communicates with the coding server 15 through a wired or wireless network to obtain the coding information of the current live pig carcass, the coding information is converted into jet printing data through the coding unit 11, the jet printing data is sent to the code spraying unit 22 in the handheld code spraying device, and the code spraying unit 22 sprays ink onto the skin of the pork carcass to form image-text information and attach the image-text information to the skin of the pork carcass. The main control unit 12 is a main control board, and controls the code assigning unit 11, the power supply unit 13, the ink supply unit 14 and the network unit 16, which may be separated or integrated on one PCB board, and meanwhile, the main control unit 12 is also responsible for sending and receiving control information or data information of the code spraying trigger switch 7, the code spraying unit 22, the synchronization unit 23 and the pork quality selection unit 24 in the handheld code spraying device. The code assigning unit 11 can generate spray printing data in real time according to the information of the code spraying trigger switch 7, the coding server 15 and the pork quality selecting unit 23 and send the spray printing data to the code spraying unit 22 to finish code spraying. The ink supply unit 14 includes ink bottles, pumps, valves, etc. to ensure supply and recovery of ink in the inkjet printing unit 22. The power supply unit supplies power to the case 10 and the handheld code spraying device.

The handheld code spraying device comprises a code spraying trigger switch 7, a code spraying unit 22, a synchronizing unit 23 and a pork quality selecting unit 24. When a user presses the code spraying trigger switch 7, the code spraying unit 22 enters a code spraying preparation state and sprays out the code spraying data according to the synchronous signal of the synchronous unit 23. The code spraying unit 23 includes a nozzle and a driving plate thereof, the nozzle is a high-resolution and ink-supplying type nozzle as required, and both types of piezoelectric ceramics and thermal foaming are possible. The synchronization unit 23 synchronizes the code spraying process according to the moving distance of the spray head 6. The pork quality selection unit 24 is used for the quarantine inspection personnel to judge the quality of the pork according to the on-site inspection result, input the quality of the pork into the system and spray-print the quality of the pork on the pork skin. The pork quality can be classified by various methods, such as qualified pork, unqualified pork, good pork and poor pork. The pork quality selection input method comprises various methods, such as a touch screen, buttons, a dial and the like, and has the advantages that due to the complex field environment, the operation and the use are required to be convenient, the buttons or the dial can be used, the buttons are used for inputting qualified and unqualified classifications, the marks are qualified after being pressed, the marks are rejected by bouncing, the dial is used for inputting excellent medium-differential classifications, and 4 contacts are arranged on the dial and respectively represent excellent medium-differential classifications. When the pork comes, inspection and quarantine personnel judge which grade the pork belongs to, and then input the pork into the code spraying machine through a corresponding input method, a code assigning unit 11 of the code spraying machine generates spray printing data together with the grade information and the coding information according to a fixed format and sends the spray printing data to a code spraying unit 22, and the code spraying unit 22 spray prints the spray printing data on the skin of the two bodies of the live pig carcass.

The handheld code spraying device is connected with the case 10 through a pipeline 9, and 3 connecting lines, namely an ink tube 31, a power supply line 32 and a data line 33, are arranged in the pipeline 9. The ink tubes 31 include ink tubes including an ink feed tube and an ink return tube.

Fig. 3 is a schematic front view of the code spraying unit. The spray head 6 is provided with a roller 64 and a synchronous motor 62, the roller 64 is pressed on the pork skin to rub and roll, the belt 63 drives the synchronous motor 62, and the output pulse of the synchronous motor 62 is sent to the code spraying unit 22 for code spraying control. The roller 65 and the roller 64 are symmetrically arranged at the end part of the spray head 6, and play roles in facilitating movement and controlling the height of spray printing. The button 68 is a form of the pork quality selection unit 24, and is disposed at the rear portion of the spray head 6, so that a user can press the switch with a finger while holding the operation handle 7 with a single hand to determine whether the currently sprayed pork is qualified or unqualified. The handheld part 7 is provided with a code spraying trigger switch 8, the switch is pressed to start code spraying, corresponding real-time code spraying data are sent to the code spraying unit 22, and code spraying is synchronously carried out when the idler wheel 64 rolls.

As described in the background art, when the synchronous motor pulse is used as the synchronous signal, when the roller 64 slides on the skin of the live pig carcass, the phenomenon of frame break of the jet-printed image on the skin of the live pig can occur due to the slipping phenomenon; when fixed pulse is used as a synchronous signal, the phenomenon that the jet printing image is stretched or compressed on the skin of the live pig is easily caused because the sliding speed of the nozzle on the skin of the live pig carcass is not uniform. Both of these conditions lead to reduced or even unacceptable jet print quality. In order to avoid the above situation, a synchronization pulse adjusting unit may be added to the synchronization unit 23, and the frequency of the synchronization pulse is dynamically changed according to the motion state of the inkjet printer, so as to avoid the above situation.

The first embodiment is as follows:

fig. 4 is a functional block diagram of a synchronization unit according to the first embodiment. The synchronization unit 23 includes a synchronization motor unit 238 and a synchronization pulse adjustment unit 239, when the roller 64 rolls to drive the synchronization motor unit 238 to rotate, the synchronization motor unit 238 outputs a synchronization pulse signal Ss0 to the synchronization pulse adjustment unit 239 according to the rotation speed, the synchronization pulse adjustment unit 239 detects whether the roller 64 slips according to the received synchronization pulse signal Ss0, when the slip occurs, an estimated moving speed Vr of the head is obtained according to a set algorithm, and a synchronization pulse signal Ss1 is generated and output according to Vr, and when the slip state is detected to end, the synchronization pulse adjustment unit 239 resumes to output the synchronization pulse signal Ss1 according to the synchronization pulse signal Ss0 of the synchronization motor unit 238.

Fig. 5 is a flowchart of a method for generating the synchronization pulse signal Ss1 according to the first embodiment. Firstly, the synchronization pulse adjusting unit 239 calculates the displacement S1, the speed V1 and the acceleration a1 of the head according to the acquired synchronization pulse signal Ss0 of the synchronous motor unit and Ss0, then judges whether the roller 64 slips or not according to the change of the speed V1, estimates the moving speed Vr of the head if the slip occurs, and generates and outputs a synchronization pulse signal Ss1 according to Vr; if no slip occurs, the speed V1 is used to generate and output the synchronization pulse signal Ss1, that is, the synchronization pulse signal Ss1 is output according to the synchronization pulse signal Ss 0.

The following describes how to determine whether the wheel 64 is slipping. Generally, the marking operation should be completed in one step, if the moving speed of the nozzle suddenly drops from the normal speed to the vicinity of 0 and then rises from 0 to the normal speed, that is, the acceleration a1 suddenly changes from the negative maximum value to the positive maximum value, the slippage in the middle can be judged. The normal speed can be set according to experience, such as about 0.3-0.7 m/s, and can also be obtained by counting the operation at ordinary times. Since the inkjet printing is continuous, the system cannot adjust the inkjet printing until the speed is increased to the normal speed, and therefore, the synchronization pulse adjusting unit 239 may generate and output the synchronization pulse signal according to the calculated moving speed of the inkjet printing head as long as the moving speed of the inkjet printing head is detected to be decreased from the normal speed. The velocity of the nozzle can be calculated from the count of the sync pulse signals output from the sync motor unit 238, the rotation angle represented by a single sync pulse signal, the transmission ratio of the belt, and the circumference of the roller 64. When the moving speed of the spray head is detected to be increased from 0 to the normal speed, the generation and the output of a synchronous pulse signal Ss1 are resumed according to the speed V1.

A method of determining slippage is given above. Also, since the change of a1 is characterized by rapid change in deceleration and acceleration when a slip occurs, it is unstable, and the acceleration value exceeds the normal acceleration range in manual operation, and if it is detected that the above occurs, it is judged that a slip occurs.

How Vr is estimated is explained below. In order to better ensure that the final marking does not have broken frames, when the slippage is detected, how to estimate the moving speed Vr of the spray head is very critical, and if the determined moving speed Vr of the spray head is larger or smaller than the actual moving speed of the spray head, the stretch or the compression of the sprayed code image is caused. Here, there are three methods for determining the moving speed of the head. The first is to determine the moving speed of the nozzle as the instantaneous moving speed of the nozzle before the detection of the slip, so that the synchronization pulse adjustment unit 239 only needs to output the synchronization pulse Ss1 according to the current speed V1. The second is to determine the moving speed of the head as the average moving speed of the head for a period of time before the detection of the slip. The third is to average the first and second.

Example two:

fig. 6 is a functional block diagram of a synchronization unit according to a second embodiment. The synchronization unit 23 includes an acceleration sensor unit 235 and a synchronization pulse generation unit 236, when the spray head moves, the acceleration sensor unit 235 senses the movement of the spray head and outputs acceleration information a2 of the acceleration sensor unit, calculates the displacement S2 and the velocity V2 of the spray head according to the acceleration information a2, and generates and outputs a synchronization pulse signal Ss1 by using the movement velocity V2 of the spray head.

Fig. 7 is a flowchart of a method for generating the synchronization pulse signal Ss1 according to the second embodiment. Firstly, acceleration information a2 of an acceleration sensor unit is obtained, then a speed V2 and a displacement S2 are calculated according to the acceleration a2, the frequency of a synchronous signal of a jet code spraying of a spray head is dynamically calculated by using the speed V2, and a synchronous pulse is dynamically output according to the frequency. The frequency of the synchronous signal of the spray head code spraying can be dynamically calculated according to the change of S2, and the principles of the two are the same.

Due to the existence of the acceleration sensor unit, the acceleration sensor unit can also be used as an operation control signal of the code spraying device, and the acceleration, the speed and the displacement of the acceleration sensor can be used as control signals, such as starting single marking, ending single marking, skipping one marking data and the like. Taking the end of the single marking control as an example, when the skin of the pork carcass is marked, the marking stroke is usually the marking stroke when the pork carcass moves downwards, the resetting stroke when the pork carcass moves upwards, and when the speed V2 moves upwards, the marking is ended no matter whether all preset marking data are marked completely, and the next marking data are prepared.

Since there is an accumulated error when the acceleration value of the acceleration sensor is used to calculate the velocity V2 and the displacement S2, a calibration mechanism needs to be designed, such as stopping the inkjet head at a fixed position when the inkjet printing system is started, and continuously pressing the inkjet printing trigger switch 8 to start the resetting of V2 and S2.

The acceleration sensor comprises a shaft, a shaft and the like, in the embodiment, the code is sprayed only when the code spraying machine moves downwards, so that the acceleration direction is perpendicular to the spraying direction of the spray head only by the shaft acceleration sensor.

Example three:

fig. 8 is a functional block diagram of a synchronization unit according to a third embodiment. The synchronization unit 23 includes a synchronization motor unit 231, an acceleration sensor unit 232, and a synchronization pulse generating unit 233, when the head moves, the roller 64 rolls to rotate the synchronization motor unit 231, the synchronization motor unit 231 outputs a synchronization pulse signal Ss0 to the synchronization pulse adjusting unit 233 according to the rotation speed, and the synchronization pulse adjusting unit 233 calculates the acceleration a1, the speed V1, and the displacement S1 of the head movement according to the synchronization pulse signal Ss 0. The acceleration sensor unit 232 senses the movement of the spray head and outputs acceleration information a2, and displacement S2 and velocity V2 of the spray head calculated from the acceleration a 2. The synchronization pulse adjustment unit 233 calculates the moving speed Vr of the head from one or more of the three sets of parameters of the received accelerations a1 and a2, the speeds V1 and V2, and the displacements S1 and S2, and generates and outputs the synchronization pulse signal Ss1 according to Vr.

Fig. 9 is a flowchart of a method for generating the synchronization pulse signal Ss1 according to the third embodiment. First, the displacement S1, the velocity V1, and the acceleration a1 of the head are calculated from the synchronization pulse signal Ss0 of the synchronous motor unit, and then, the displacement S2 and the velocity V2 of the head are calculated from the acceleration information a2 of the acceleration sensor unit, where the displacements S1 and S2 are both calculated from the start of single marking, and the displacement at the start of single marking is 0. Next, V1 and V2 are compared, Vr = V2 if the absolute value of the difference between the two is greater than the set threshold V0, and Vr = V1 otherwise. Finally, Vr generates and outputs synchronization pulse signal Ss 1. Generally, the speed of spraying the code on the skin of the carcass of the live pig is required to be 0.1-1.0m/s, and the threshold value V0 is set to be 0.01 m/s.

Further, the synchronization pulse signal Ss1 may also be generated using S1 and S2. Since the displacements S1 and S2 are both calculated from the time of single marking start, and the displacement at the time of single marking start is 0, then, as long as the absolute value of the difference between the displacements S1 and S2 is compared to a set threshold value S0, if so Vr =Δs 2/. DELTA.t, and if less, Vr =Δs 1/. DELTA.t, where. DELTA.t is the time of the displacement Δ S1 or Δ S2. Generally, the length of the code sprayed on the surface of the carcass of the live pig is 0.6-1.0m, the delta t is 0.1S, and the threshold value S0 is set to be 0.01 m.

In addition, the synchronization pulse signal Ss1 may also be generated using a1 and a 2. Since the speed of the ink jet printer is actually changed when the slip occurs, V1 is smaller than the speed of the ink jet printer, the change of a1 is characterized by rapid change of deceleration and acceleration, instability is caused, if the condition is detected to occur, the slip is judged to occur, and then Vr = V2, otherwise Vr = V1.

The three embodiments of the present invention are described in detail above, and although the present invention is derived from inkjet marking of livestock carcass skins, the present invention can be widely applied to inkjet printers, especially handheld inkjet printers.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A code spraying control method for a code spraying device comprises an acceleration sensor, and is characterized in that the acceleration sensor senses movement of the code spraying device and outputs acceleration information, the acceleration information of the acceleration sensor is obtained, a synchronous signal is dynamically generated according to the acceleration information, and code spraying speed of the code spraying device is synchronously controlled according to the synchronous signal.

2. The code spraying control method according to claim 1, further comprising calculating speed information of the movement of the code spraying device according to the acceleration information, and dynamically generating a synchronization signal according to the speed information; or

And calculating the moving speed of the code spraying device according to the acceleration information, calculating the displacement information of the code spraying device according to the speed information, and dynamically generating a synchronous signal according to the displacement information.

3. The code spraying control method of claim 2, further comprising stopping the code spraying device at a fixed position when the code spraying device is started, and starting the resetting of the speed or the displacement by continuously pressing a code spraying trigger switch on the code spraying device.

4. A code spraying control method according to any one of claims 1 to 3, further comprising controlling the operation of the code spraying device to be completed by using the acceleration sensor.

5. A code spraying control method according to claim 4, wherein the method further comprises ending the single marking operation when the moving speed direction of the code spraying device is changed.

6. A code spraying control method for a code spraying device is characterized in that a synchronous unit of the code spraying device comprises a synchronous motor and an acceleration sensor, and the method comprises the steps that the acceleration sensor senses the movement of the code spraying device and outputs acceleration information; acquiring a synchronous pulse of the synchronous motor, and calculating the mobile information M1 of the code spraying device by using the synchronous pulse; acquiring acceleration information of the acceleration sensor, and calculating moving information M2 of the code spraying device according to the acceleration information; judging whether the synchronous motor slips or not according to the movement information M1 and M2, if so, dynamically generating a synchronous signal by using the movement information M2, and synchronously controlling the code spraying speed of the code spraying device according to the synchronous signal; the movement information M1 and M2 includes one or more of acceleration, velocity, or displacement.

7. A printing code control method according to claim 6, the method further comprising the steps of setting the movement information M1 to be a speed V1, setting the movement information M2 to be a speed V2, comparing the speed V1 with the speed V2, if the absolute value of the difference between the speed V2 and the speed V2 is larger than a set threshold value V0, then Vr = V2, otherwise Vr = V1, and the Vr is the estimated printing code device movement speed.

8. The code spraying control method according to claim 6, further comprising the steps of enabling the movement information M1 to be a displacement S1, enabling the movement information M2 to be a displacement S2, comparing S1 with S2, enabling Vr =ΔS 2/. DELTA.t if the absolute value of the difference between the two is larger than a set threshold value S0, and enabling Vr =ΔS 1/. DELTA.t if the absolute value of the difference is larger than the set threshold value S0, wherein Vr is the estimated moving speed of the code spraying device, and Δ t is the time of the displacement Δ S1 or Δ S2.

9. A code spraying apparatus comprising the code spraying control method according to any one of claims 1 to 8.

10. The inkjet printing apparatus of claim 9 wherein the inkjet printing apparatus is used for inkjet printing on livestock carcass skins.