CN112497943B - Ground spray-painting printing splicing method - Google Patents
Ground spray-painting printing splicing method Download PDFInfo
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- CN112497943B CN112497943B CN202011268407.4A CN202011268407A CN112497943B CN 112497943 B CN112497943 B CN 112497943B CN 202011268407 A CN202011268407 A CN 202011268407A CN 112497943 B CN112497943 B CN 112497943B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M5/00—Duplicating or marking methods; Sheet materials for use therein
- B41M5/0041—Digital printing on surfaces other than ordinary paper
- B41M5/0047—Digital printing on surfaces other than ordinary paper by ink-jet printing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M1/00—Inking and printing with a printer's forme
- B41M1/26—Printing on other surfaces than ordinary paper
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- Accessory Devices And Overall Control Thereof (AREA)
Abstract
The invention discloses a ground spray-painting printing splicing method, which comprises the following steps: placing the inkjet printing equipment in a printing area; printing an inkjet picture downwards by inkjet printing equipment, and placing an indication mark on the inkjet picture; the spray painting printing equipment identifies the positioning mark through a vision system, and identifies and stores the position information of the current positioning mark in a machine coordinate system; the inkjet printing equipment linearly displaces one picture wide distance towards the splicing direction of the next inkjet picture according to the machine coordinate system; identifying the positioning mark again through the vision system, identifying new position information of the current positioning mark in a machine coordinate system, calculating the new position information and the position information identified in the third step to obtain an orientation angle deviation value, and adjusting the self printing orientation angle of the spray printing equipment according to the orientation angle deviation value; the invention realizes splicing printing of ground spraying and has high splicing precision.
Description
Technical Field
The invention relates to the technical field of spray painting and printing, in particular to a ground spray painting, printing and splicing method.
Background
The digital spray painting printing equipment is a high-tech digital printing equipment of ink-jet printing type which is in non-contact with an object, so that the equipment is not limited by any material, and can print color photos on the surfaces of wood boards, glass, crystals, metal plates, floor tiles, ceramic chips, compact discs, acrylic, organic glass, leather, silica gel, plastic, PVC, cloth, non-setting adhesive, stone and the like. The ground spray printing is a new application of the digital spray printing technology in a new field, but the ground spray printing is not simple transplantation of the digital spray printing technology, the ground printing requires certain printing quality, simultaneously the use functions of ground wear resistance, hardness and the like are not influenced, and the new problems of unlimited printing width and the like need to be overcome.
At present, in the prior art, in order to overcome the defect that the printing width is not limited, the printing width is increased by adopting a splicing printing mode, but the splicing precision of splicing printing in actual use is not high, and the printing effect is poor.
Disclosure of Invention
The invention aims to provide a ground spray painting, printing and splicing method with high splicing precision.
The technical scheme for realizing the purpose of the invention is as follows: a ground spray painting printing splicing method comprises the following steps:
firstly, placing spray painting printing equipment in a printing area;
secondly, the inkjet printing equipment prints an inkjet picture downwards and places an indication mark on the inkjet picture;
thirdly, the spray painting printing equipment identifies the positioning mark through a visual system, and identifies and stores the position information of the current positioning mark in a machine coordinate system;
step four, the inkjet printing equipment linearly displaces a picture width distance towards the splicing direction of the next inkjet picture according to a machine coordinate system;
identifying the positioning mark again through a vision system, identifying new position information of the current positioning mark in a machine coordinate system, calculating the new position information and the position information identified in the third step to obtain an orientation angle deviation value, and adjusting the self printing orientation angle of the inkjet printing equipment according to the orientation angle deviation value;
sixthly, identifying the positioning mark again through the vision system, identifying new position information of the current positioning mark under a machine coordinate system, calculating the new position information and the position information identified in the third step to obtain a position deviation value, and adjusting the position of the spray painting printing equipment according to the position deviation value;
step seven, taking away the indicating mark, splicing and printing the spray painting picture downwards by the spray painting printing equipment, and placing the indicating mark on the spray painting picture;
step eight: and repeating the fourth step to the seventh step until the printing and splicing are finished.
The indication mark comprises a transparent substrate and mark points arranged on the transparent substrate.
The detailed steps of the fourth step are as follows: if the next spray painting picture is spliced in the longitudinal direction, the spray painting printing equipment is longitudinally linearly displaced by a picture longitudinal wide distance according to a machine coordinate system, and the position of the spray painting printing equipment is stabilized after the displacement is in place; and if the next spray painting picture is spliced in the transverse direction, the spray painting printing equipment linearly displaces by a picture transverse width distance according to the longitudinal direction of the machine coordinate system, and the position of the spray painting printing equipment is stabilized after the displacement is in place.
Two to four mark points of the indication mark are arranged; when two mark points are arranged, the connecting line of the two mark points is parallel to the longitudinal axis and the transverse axis of the machine coordinate system; when the number of the mark points is three, the three mark points are distributed in a right triangle, and two right-angle sides of the right triangle are respectively parallel to a longitudinal axis and a transverse axis of a machine coordinate system; when the number of the mark points is four, the four mark points are distributed in a rectangle, and two non-adjacent side lines of the rectangle are parallel to the longitudinal axis and the transverse axis of the machine coordinate system.
The detailed steps of the third step are as follows: the inkjet printing equipment identifies two mark points at the front row of the positioning mark in the moving direction through a vision system, and identifies and stores position information of the two mark points in a machine coordinate system, wherein the position information comprises coordinates of the two mark points.
The concrete steps of the fifth step comprise:
s1, identifying two mark points of the positioning mark identified in the step three again through a vision system, and identifying new position information of the two mark points in a machine coordinate system, wherein the new position information comprises coordinates of the two mark points;
s2, calculating coordinates of two mark points in the new position information and the coordinates of the two mark points identified in the third step to obtain an orientation angle deviation value;
and S3, adjusting the self printing orientation angle by the inkjet printing equipment according to the orientation angle deviation value.
In step five, when the inkjet printing device is in transverse displacement, a calculation formula for calculating the deviation value of the orientation angle is as follows:
θ＝arcsin((Ac-Ad)/b)-arcsin((Ac'-Ad')/b)；
in the formula: theta is a position deviation value; b is the displacement width of the inkjet printing equipment; ac and Ad are the coordinate values of the horizontal axis of the two mark points identified in the third step respectively; ac 'and Ad' are the coordinate values of the horizontal axis of the two mark points identified in the fifth step respectively;
when the inkjet printing equipment is longitudinally displaced, a calculation formula for calculating the deviation value of the orientation angle is as follows:
θ＝arcsin((Bc-Bd)/b)-arcsin((Bc'-Bd')/b)；
in the formula: bc and Bd are the coordinate values of the longitudinal axes of the two mark points identified in the third step respectively; bc 'and Bd' are the coordinate values of the longitudinal axes of the two mark points identified in the fifth step respectively;
the sixth step comprises the following specific steps:
s1, identifying two mark points of the positioning mark identified in the step three again through a vision system, and identifying new position information of the two mark points in a machine coordinate system, wherein the new position information comprises coordinates of the two mark points;
s2, calculating the coordinates of two mark points in the new position information and the coordinates of the two mark points identified in the third step to obtain a position deviation value;
and S3, adjusting the position of the spray printing equipment according to the position deviation value.
The calculation formula for calculating the position deviation value in S2 of the step six is as follows:
△X＝(Ac-Ac”)×cosθ-(e-e”)sinθ；
△Y＝(e-e”)×cosθ-(Ac-Ac”)sinθ；
in the formula (II). Δ X and Δ Y are the lateral and longitudinal axis values of the positional deviation values, respectively; ac and e are coordinate values of the horizontal axis and the vertical axis of one of the two mark points identified in the third step, respectively, and Ac "and e" are coordinate values of the horizontal axis and the vertical axis identified by the mark point in the sixth step, respectively.
By adopting the technical scheme, the invention has the following beneficial effects: according to the method, the positioning mark is firstly identified during splicing printing, the inkjet printing device carries out secondary identification on the positioning mark after displacement to adjust the printing orientation angle, and the self position is identified for the third time, so that the splicing printing of ground spraying is realized, the splicing precision is high, the splicing gap is smaller, the visual effect is good, the influence of uneven ground on printing splicing can be effectively reduced, the inkjet printing device can be designed lightly and flexibly, and the printing breadth is not limited by the printing breadth of the inkjet printing device.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
Fig. 1 is a diagram showing the distribution positions of mark points of an indicator mark according to the present invention.
Detailed Description
Example one
The ground spray painting printing and splicing method comprises the following steps:
firstly, placing spray painting printing equipment in a printing area;
secondly, printing a spray painting picture downwards by spray painting printing equipment, and placing an indicating mark on the spray painting picture;
thirdly, identifying the positioning mark through a visual system by the spray painting printing equipment, and identifying and storing the position information of the current positioning mark in a machine coordinate system;
step four, the inkjet printing equipment linearly displaces a picture wide distance towards the splicing direction of the next inkjet picture according to the machine coordinate system;
identifying the positioning mark again through the vision system, identifying new position information of the current positioning mark under a machine coordinate system, calculating the new position information and the position information identified in the third step to obtain an orientation angle deviation value, and adjusting the printing orientation angle of the spray painting printing equipment according to the orientation angle deviation value;
identifying the positioning mark again through a vision system, identifying new position information of the current positioning mark in a machine coordinate system, calculating the new position information and the position information identified in the third step to obtain a position deviation value, and adjusting the position of the spray printing equipment according to the position deviation value;
step seven, taking away the indicating mark, splicing and printing the spray painting picture downwards by the spray painting printing equipment, and placing the indicating mark on the spray painting picture;
step eight: and repeating the fourth step to the seventh step until the printing and splicing are finished.
The indication mark comprises a transparent substrate and mark points arranged on the transparent substrate. The transparent matrix can adopt film. The mark points are in a cross shape.
Two to four mark points of the indication mark are arranged; when two mark points are arranged, the connecting line of the two mark points is parallel to the longitudinal axis and the transverse axis of the machine coordinate system; when three mark points are arranged, the three marks are distributed in a right triangle, and two right-angle sides of the right triangle are respectively parallel to the longitudinal axis and the transverse axis of the machine coordinate system; when the number of mark points is four, the four mark points are distributed in a rectangle, and two non-adjacent side lines of the rectangle are parallel to the longitudinal axis and the transverse axis of the machine coordinate system. Preferably, in this embodiment, there are four mark points.
The detailed steps of the third step are as follows: the inkjet printing equipment identifies two mark points at the front row of the positioning mark in the moving direction through a vision system, and identifies and stores position information of the two mark points in a machine coordinate system, wherein the position information comprises coordinates of the two mark points.
The detailed steps of the fourth step are as follows: if the next spray painting picture is spliced in the longitudinal direction, the spray painting printing equipment is longitudinally linearly displaced by a picture longitudinal wide distance according to a machine coordinate system, and the position of the spray painting printing equipment is stabilized after the displacement is in place; and if the next painting picture is spliced in the transverse direction, the painting printing equipment displaces a picture transverse width distance according to a longitudinal straight line of a machine coordinate system, and the position of the painting printing equipment is stabilized after the displacement is in place.
The concrete steps of the fifth step comprise:
s1, identifying two mark points of the positioning mark identified in the step three again through a vision system, and identifying new position information of the two mark points in a machine coordinate system, wherein the new position information comprises coordinates of the two mark points;
s2, calculating coordinates of two mark points in the new position information and the coordinates of the two mark points identified in the third step to obtain an orientation angle deviation value;
and S3, adjusting the self printing orientation angle by the spray painting printing equipment according to the orientation angle deviation value.
In step S2, when the inkjet printing device is in transverse displacement, a calculation formula for calculating the deviation value of the orientation angle is as follows:
θ＝arcsin((Ac-Ad)/b)-arcsin((Ac'-Ad')/b)；
in the formula: theta is a position deviation value; b is the displacement width of the inkjet printing equipment; ac and Ad are the coordinate values of the horizontal axis of the two mark points identified in the third step respectively; ac 'and Ad' are the coordinate values of the horizontal axis of the two mark points identified in the fifth step respectively;
when the inkjet printing equipment is longitudinally displaced, a calculation formula for calculating the deviation value of the orientation angle is as follows:
θ＝arcsin((Bc-Bd)/b)-arcsin((Bc'-Bd')/b)；
in the formula: bc and Bd are respectively the coordinate values of the longitudinal axes of the two mark points identified in the third step; bc 'and Bd' are the coordinate values of the longitudinal axes of the two mark points identified in the fifth step respectively;
the sixth step comprises the following specific steps:
s1, identifying two mark points of the positioning mark identified in the step three again through a vision system, and identifying new position information of the two mark points in a machine coordinate system, wherein the new position information comprises coordinates of the two mark points;
s2, calculating the coordinates of two mark points in the new position information and the coordinates of the two mark points identified in the third step to obtain a position deviation value;
and S3, adjusting the position of the spray printing equipment according to the position deviation value.
The calculation formula for calculating the position deviation value in S2 of step six is as follows:
△X＝(Ac-Ac”)×cosθ-(e-e”)sinθ；
△Y＝(e-e”)×cosθ-(Ac-Ac”)sinθ；
in the formula (I). The delta X and the delta Y are respectively a horizontal axis value and a vertical axis value of the position deviation value; ac and e are coordinate values of the horizontal axis and the vertical axis of one of the two mark points identified in the third step, respectively, and Ac "and e" are coordinate values of the horizontal axis and the vertical axis identified by the mark point in the sixth step, respectively.
As shown in fig. 1, in specific implementation, four mark points of the indication mark are sequentially set as a 1 st point (X1, Y1), a 2 nd point (X2, Y2), a 3 rd point (X3, Y3), and a 4 th point (X4, Y4), only the 1 st point and the 2 nd point are needed when the inkjet printing device is transversely spliced leftward, only the 3 rd point and the 4 th point are needed when the inkjet printing device is transversely spliced rightward, only the 2 nd point and the 3 rd point are needed when the inkjet printing device is longitudinally spliced upward, and only the 1 st point and the 4 th point are needed when the inkjet printing device is longitudinally spliced downward.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A ground inkjet printing and splicing method is characterized by comprising the following steps:
firstly, placing spray painting printing equipment in a printing area;
secondly, printing a spray painting picture downwards by the spray painting printing equipment, and placing a positioning mark on the spray painting picture;
thirdly, the spray painting printing equipment identifies the positioning mark through a visual system, and identifies and stores the position information of the current positioning mark in a machine coordinate system;
step four, the inkjet printing equipment linearly displaces a picture wide distance to the splicing direction of the next inkjet picture according to a machine coordinate system;
fifthly, identifying the positioning mark again through the vision system, identifying new position information of the current positioning mark under a machine coordinate system, calculating the new position information and the position information identified in the third step to obtain an orientation angle deviation value, and adjusting the printing orientation angle of the spray painting printing equipment according to the orientation angle deviation value;
sixthly, identifying the positioning mark again through the vision system, identifying new position information of the current positioning mark under a machine coordinate system, calculating the new position information and the position information identified in the third step to obtain a position deviation value, and adjusting the position of the spray painting printing equipment according to the position deviation value;
step seven, taking away the positioning mark, splicing and printing the spray painting picture downwards by the spray painting printing equipment, and placing the positioning mark on the spray painting picture;
step eight: and repeating the fourth step to the seventh step until the printing and splicing are finished.
2. The ground inkjet printing and splicing method according to claim 1, wherein: the positioning mark comprises a transparent substrate and mark points arranged on the transparent substrate.
3. The ground inkjet printing and splicing method according to claim 1, wherein the method comprises the following steps: the detailed steps of the fourth step are as follows: if the next spray painting picture is spliced in the longitudinal direction, the spray painting printing equipment is longitudinally linearly displaced by a picture longitudinal wide distance according to a machine coordinate system, and the position of the spray painting printing equipment is stabilized after the displacement is in place; and if the next painting picture is spliced in the transverse direction, the painting printing equipment displaces a picture transverse width distance according to a longitudinal straight line of a machine coordinate system, and the position of the painting printing equipment is stabilized after the displacement is in place.
4. The ground inkjet printing and splicing method according to claim 2, wherein: two to four mark points of the positioning mark are arranged; when two mark points are arranged, the connecting line of the two mark points is parallel to the longitudinal axis or the transverse axis of the machine coordinate system; when the number of the mark points is three, the three mark points are distributed in a right triangle, and two right-angle sides of the right triangle are respectively parallel to a longitudinal axis and a transverse axis of a machine coordinate system; when the number of the mark points is four, the four mark points are distributed in a rectangle, and two non-adjacent side lines of the rectangle are parallel to the longitudinal axis or the transverse axis of the machine coordinate system.
5. The ground inkjet printing and splicing method according to claim 4, wherein the method comprises the following steps: the detailed steps of the third step are as follows: the inkjet printing equipment identifies two mark points at the front row of the positioning mark in the moving direction through a vision system, and identifies and stores position information of the two mark points in a machine coordinate system, wherein the position information comprises coordinates of the two mark points.
6. The ground inkjet printing and splicing method according to claim 5, wherein: the fifth step comprises the following specific steps:
s1, identifying two mark points of the positioning mark identified in the step three again through a vision system, and identifying new position information of the two mark points in a machine coordinate system, wherein the new position information comprises coordinates of the two mark points;
s2, calculating coordinates of two mark points in the new position information and the coordinates of the two mark points identified in the step three to obtain an orientation angle deviation value;
and S3, adjusting the self printing orientation angle by the spray painting printing equipment according to the orientation angle deviation value.
7. The ground inkjet printing and splicing method according to claim 6, wherein: in step five, when the inkjet printing device is in transverse displacement, a calculation formula for calculating the deviation value of the orientation angle is as follows:
θ=arcsin（（Ac-Ad）/b）- arcsin（（Ac'-Ad'）/b）；
in the formula: theta is a position deviation value; b is the displacement width of the inkjet printing equipment; ac and Ad are the coordinate values of the horizontal axis of the two mark points identified in the third step respectively; ac 'and Ad' are the coordinate values of the horizontal axis of the two mark points identified in the fifth step respectively;
when the inkjet printing equipment is longitudinally displaced, a calculation formula for calculating the deviation value of the orientation angle is as follows:
θ=arcsin（（Bc-Bd）/b）- arcsin（（Bc'-Bd'）/b）；
in the formula: bc and Bd are respectively the coordinate values of the longitudinal axes of the two mark points identified in the third step; bc 'and Bd' are the coordinate values of the longitudinal axes of the two mark points identified in the step five respectively.
8. The ground inkjet printing and splicing method according to claim 6, wherein: the sixth step comprises the following specific steps:
s1, identifying two mark points of the positioning mark identified in the step three again through a vision system, and identifying new position information of the two mark points in a machine coordinate system, wherein the new position information comprises coordinates of the two mark points;
s2, calculating the coordinates of two mark points in the new position information and the coordinates of the two mark points identified in the third step to obtain a position deviation value;
and S3, adjusting the position of the spray painting printing equipment according to the position deviation value.
9. The ground inkjet printing and splicing method according to claim 8, wherein: the calculation formula for calculating the position deviation value in S2 of the step six is as follows:
△X=（ Ac- Ac ''）×cosθ-（ e- e ''）sinθ；
△Y=（ e- e ''）×cosθ-（ Ac- Ac ''）sinθ；
in the formula, the delta X and the delta Y are respectively a horizontal axis value and a vertical axis value of the position deviation value; ac and e are coordinate values of the horizontal axis and the vertical axis of one of the two mark points identified in the third step, and Ac 'and e' are coordinate values of the horizontal axis and the vertical axis identified in the sixth step.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3911726B2 (en) * | 1996-07-23 | 2007-05-09 | カシオ計算機株式会社 | Tape printer |
| CN104842654B (en) * | 2015-06-16 | 2016-08-24 | 洛阳理工学院 | A kind of environmental protection convenient household wide format printer |
| JP6528663B2 (en) * | 2015-12-07 | 2019-06-12 | コニカミノルタ株式会社 | Printing system, imposition printing control program, and imposition printing control method |
| CN108274745B (en) * | 2017-12-29 | 2021-02-12 | 深圳摩方新材科技有限公司 | Stepping splicing 3D printing system and printing method |
| CN108556502B (en) * | 2018-03-16 | 2021-04-06 | 西安理工大学 | Large-breadth wall surface framing printing method |
| US20210058531A1 (en) * | 2018-03-26 | 2021-02-25 | Mitsubishi Electric Corporation | Printer and printing control method |
| CN108773223B (en) * | 2018-05-14 | 2021-01-15 | 北京华科恒润智能科技有限公司 | Wall colored drawing printing method, positioning parameter calibration method and device |
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