CN115519897A - Intelligent correction method and device for nozzle posture based on machine vision and printing equipment - Google Patents
Intelligent correction method and device for nozzle posture based on machine vision and printing equipment Download PDFInfo
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- CN115519897A CN115519897A CN202110706305.4A CN202110706305A CN115519897A CN 115519897 A CN115519897 A CN 115519897A CN 202110706305 A CN202110706305 A CN 202110706305A CN 115519897 A CN115519897 A CN 115519897A
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- 238000012937 correction Methods 0.000 title claims abstract description 49
- 238000007639 printing Methods 0.000 title claims abstract description 22
- 239000007921 spray Substances 0.000 claims abstract description 84
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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
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
- B41J2/01—Ink jet
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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 invention belongs to the technical field of industrial printing, solves the problems that in the prior art, spray head calibration needs manual calibration for indefinite times and is time-consuming, and provides a spray head posture intelligent correction method and device based on machine vision and printing equipment. The method comprises the following steps: acquiring projection intervals of a plurality of first nozzles, and determining the difference value between the first projection intervals and a preset first projection interval; the method comprises the steps of obtaining the projection intervals of a plurality of second nozzles, determining the difference value between the second projection interval and a preset second projection interval, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection interval and the preset first projection interval is within a first preset range and the difference value between the second projection interval and the preset second projection interval is within a second preset range, obtaining the physical coordinates of all the first nozzles and the second nozzles, and calculating the rotation angle of the sprayer so as to correct the posture of the sprayer. The invention realizes the automatic correction of the posture of the spray head and improves the correction efficiency.
Description
Technical Field
The invention relates to the field of industrial printing, in particular to a method and a device for intelligently correcting a posture of a spray head based on machine vision and printing equipment.
Background
The ink-jet printer is developed after a stylus printer, adopts a non-striking working mode, and has the advantages of small volume, simple and convenient operation, low printing noise, capability of striking pictures comparable to photos when special paper is used, and the like.
When the nozzle is installed, certain errors always exist, and the errors can cause the phenomena of image compression, distortion, overlapping and the like when the image is printed. The conventional method for correcting the nozzle is to print a line group, and then correct the line group by human eyes, which needs to ensure that ink drops fall on the correct position through multiple printing and verification, but the conventional method only ensures that the falling point is close to the standard position, does not care about the posture of the nozzle, and needs calibration for an indefinite number of times, which is time-consuming.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for intelligently correcting a posture of a nozzle based on machine vision, and a printing device, so as to solve the problem in the prior art that the nozzle calibration requires an indefinite number of manual corrections and is time-consuming.
In a first aspect, an embodiment of the present invention provides a method for intelligently correcting a nozzle posture based on machine vision, where a two-dimensional plane coordinate system is defined, the two-dimensional plane coordinate system uses a nozzle length direction as an X-axis direction and uses a nozzle width direction as a Y-axis direction, and the method includes:
s1: controlling a plurality of first nozzles which are arranged on the nozzle along the X-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring a projection distance between the plurality of first nozzles, and recording the projection distance as a first projection distance;
s2: determining a difference value between the first projection distance and a preset first projection distance;
s3: controlling a plurality of second nozzles which are arranged in the Y-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring projection intervals among the plurality of second nozzles and recording the projection intervals as second projection intervals;
s4: determining a difference value between the second projection distance and a preset second projection distance;
s5: when the difference value between the first projection distance and a preset first projection distance is within a first preset range and the difference value between the second projection distance and a preset second projection distance is within a second preset range, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink, and acquiring physical coordinates of all the first nozzles and the second nozzles in the two-dimensional plane coordinate system;
s6: acquiring a rotation angle of the spray head according to the physical coordinate;
s7: and controlling the spray head to rotate in the Z-axis direction vertical to the two-dimensional plane coordinate system according to the rotation angle of the spray head so as to realize spray head posture correction.
Preferably, the method comprises, before S1: and a calibration step of calibrating a first imaging device for capturing an image in the X-axis direction and a second imaging device for capturing an image in the Y-axis direction.
Preferably, the method comprises, after said S2: and when the difference value between the first projection interval and the preset first projection interval is not within a first preset range, controlling the spray head to rotate in the X-axis direction, and returning to the step S1.
Preferably, the method further comprises, after the S4: and when the difference value between the second projection distance and the preset second projection distance is not in a second preset range, controlling the spray head to rotate in the Y-axis direction, and returning to the step S3.
Preferably, the S6 further includes:
s61: calculating the inclination angle of the spray head relative to the X-axis direction according to the physical coordinates of the first nozzles, and recording the inclination angle as a first inclination angle;
s62: calculating the inclination angle of the spray head relative to the Y-axis direction according to the physical coordinates of the plurality of second nozzles, and recording as a second inclination angle;
s63: calculating the rotation angle of the spray head according to the first inclination angle and the second inclination angle, wherein the rotation angle of the spray head is calculated by the following formula:
in the formula, xt is a theoretical inclination angle of the nozzle relative to the X-axis direction, xa is the first inclination angle, yt is a theoretical inclination angle of the nozzle relative to the Y-axis direction, ya is the second inclination angle, and Z is the nozzle rotation angle.
Preferably, the calculating of the first inclination angle includes:
recording the physical coordinates of the first nozzles as X 1 (x 1 ，y 1 )，X 2 (x 2 ，y 2 )，...，X i (x i ，y i ) Wherein i is an integer greater than or equal to 2, and the first inclination angle is determined by the formula: xa = ∑ arctan ((y) i -y i-1 )/(x i -x i-1 ) /(i-1) calculation;
the calculating of the second inclination angle includes:
recording the physical coordinates of the plurality of second nozzles as M 1 (m 1 ，n 1 )，M2(m 2 ，n 2 )，...，M p (m p ，n p ) Wherein p is an integer greater than or equal to 2, and the second inclination angle is determined by the formula: ya = ∑ arctan ((m) p -m p-1 )/(n p -n p-1 ) /(p-1) calculation.
In a second aspect, an embodiment of the present invention provides an intelligent correction device for a nozzle posture based on machine vision, where the device includes:
the first projection distance acquisition module is used for controlling a plurality of first nozzles which are arranged on the nozzle along the X-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring the projection distance among the plurality of first nozzles, and marking the projection distance as a first projection distance;
the first difference determining module is used for determining the difference between the first projection distance and a preset first projection distance;
the second projection interval acquisition module is used for controlling the plurality of second nozzles which are arranged in the Y-axis direction and are positioned at the preset positions to discharge ink at the same time, and acquiring the projection intervals among the plurality of second nozzles, and marking the projection intervals as second projection intervals;
the second difference determining module is used for determining the difference between the second projection distance and a preset second projection distance;
the nozzle physical coordinate acquisition module is used for controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection interval and the preset first projection interval is within a first preset range and the difference value between the second projection interval and the preset second projection interval is within a second preset range, and acquiring the physical coordinates of all the first nozzles and the second nozzles in the two-dimensional plane coordinate system;
the nozzle rotation angle acquisition module is used for acquiring the nozzle rotation angle according to the physical coordinate;
and the spray head rotating module is used for controlling the spray head to rotate in the direction perpendicular to the Z axis of the two-dimensional plane coordinate system according to the spray head rotating angle so as to realize spray head posture correction.
In a third aspect, an embodiment of the present invention provides a device for intelligently correcting a posture of a nozzle based on machine vision, including: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of the first aspect of the embodiments described above.
In a fourth aspect, embodiments of the present invention provide a storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of the first aspect in the above embodiments.
In a fifth aspect, an embodiment of the present invention provides a printing apparatus, including: the correction device is connected with the spray head, the first imaging device and the second imaging device respectively and used for correcting the posture of the spray head according to physical coordinates of a nozzle at a preset position acquired from the first imaging device and the second imaging device, wherein the correction device is the intelligent correction device for the posture of the spray head based on the machine vision in the second aspect.
In conclusion, the beneficial effects of the invention are as follows:
according to the intelligent correction method and device for the posture of the spray head based on the machine vision and the printing equipment, provided by the embodiment of the invention, the difference value between the first projection distance and the preset first projection distance is determined by acquiring the projection distances of a plurality of first nozzles; the method comprises the steps of obtaining the projection intervals of a plurality of second nozzles, determining the difference value between the second projection intervals and the preset second projection intervals, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection intervals and the preset first projection intervals is in a first preset range and the difference value between the second projection intervals and the preset second projection intervals is in a second preset range, obtaining the physical coordinates of all the first nozzles and the second nozzles, calculating the rotating angle of the nozzle to correct the posture of the nozzle, not actually printing a drawing, reducing the waste of printing media, saving the cost, achieving intelligent and efficient correction of the posture of the nozzle, greatly reducing the time spent in the correction process, and improving the correction efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without any creative effort, other drawings may be obtained according to the drawings, and these drawings are all within the protection scope of the present invention.
FIG. 1a is a schematic diagram of an ideal showerhead attitude in an embodiment of the present invention.
FIG. 1b is a schematic diagram of an actual attitude of a showerhead in an embodiment of the present invention.
FIG. 2 is a schematic flow chart of a method for intelligently correcting the posture of a nozzle based on machine vision according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a rectangular parallelepiped gauge block in an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a projected spacing between a plurality of first nozzles according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating the process of calculating the rotation angle of the nozzle according to the embodiment of the present invention;
fig. 6 is a schematic structural diagram of an intelligent correction device for nozzle posture based on machine vision in an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a device for intelligently correcting the posture of a spray head based on machine vision according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The ideal leveling attitude of the nozzle is shown in fig. 1a, the N direction of the nozzle should be parallel to the X direction, the U direction of the nozzle should be parallel to the Y direction, and the V direction of the nozzle should be parallel to the Z direction, but in practical application, the installed actual nozzle attitude is shown in fig. 1b, and the N, U and V directions of the nozzle may incline a certain angle relative to the X, Y and Z directions. Such mounting errors cause undesirable effects such as image compression, distortion, and overlapping of the heads when printing images, and therefore correction of the head attitude is required even if the heads N, U, and V are parallel to the X, Y, and Z directions, respectively.
Example 1
The embodiment of the invention provides a spray head posture intelligent correction method based on machine vision, which is characterized in that a two-dimensional plane coordinate system is defined, the two-dimensional plane coordinate system takes the length direction of a spray head as the X-axis direction and takes the width direction of the spray head as the Y-axis direction, as shown in figure 2, the method comprises the following steps:
s1: controlling a plurality of first nozzles which are arranged on the nozzle along the X-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring a projection distance between the plurality of first nozzles, and recording the projection distance as a first projection distance;
in an embodiment, the method comprises, before the S1: a calibration step of calibrating a first imaging device for capturing an image in an X-axis direction and a second imaging device for capturing an image in a Y-axis direction;
wherein, the calibration step specifically comprises:
s10: placing a cuboid gauge block, wherein the size of the cuboid gauge block is close to that of the spray head;
s20: determining the installation positions of the first imaging device and the second imaging device according to the cuboid measuring block;
s30: respectively controlling the first imaging device and the second imaging device at the installation positions to shoot, and determining the pixel equivalent weight of the first imaging device and the second imaging device;
specifically, a cuboid measuring block which is close to the nozzle in size is placed on a printing platform, as shown in fig. 3, the installation position of a first imaging device is determined, the first imaging device can shoot the X-axis direction of the cuboid measuring block, the installation position of a second imaging device is determined, the second imaging device can shoot the Y-axis direction of the cuboid measuring block, the verticality of the first imaging device and the second imaging device after installation is guaranteed, the first imaging device and the second imaging device which are in the installation positions are respectively controlled to shoot the cuboid measuring block, the pixel equivalent of the first imaging device and the second imaging device is determined according to the physical length of the cuboid measuring block in the front view plane of the first imaging device and the second imaging device and the pixel length of the cuboid measuring block in the image, and the position of the common edge in the field view of the first imaging device and the second imaging device is used as the origin of the plane two-dimensional coordinate system.
S2: determining a difference value between the first projection distance and a preset first projection distance;
in an embodiment, the method comprises, after the S2: and when the difference value between the first projection interval and the preset first projection interval is not within a first preset range, controlling the spray head to rotate in the X-axis direction, and returning to the step S1.
Specifically, a plurality of first nozzles which are arranged in the direction of the X axis and located at preset positions on the sprayer are controlled to discharge ink simultaneously, the plurality of first nozzles which are arranged in the direction of the X axis and located at the preset positions are two or more adjacent nozzles located in the same line in the direction of the X axis of the sprayer, the plurality of first nozzles are controlled to discharge ink simultaneously, ink discharge tracks of the plurality of first nozzles are shot through first imaging equipment, projection distances between the plurality of first nozzles can be obtained by projecting the shot ink discharge tracks in the direction of the X axis and are recorded as first projection distances, when a difference value between the first projection distances and the preset first projection distances is not within a first preset range, the sprayer is controlled to rotate in the direction of the X axis, and projection distances between the plurality of first nozzles are obtained again until the difference value between the first projection distances and the preset first projection distances is within the first preset range, as shown in fig. 4, when the sprayer is completely flat in the direction of the X axis, the projection distances between the plurality of first nozzles in the direction of the X axis are D1, the projection distances between the first nozzles and the adjacent nozzles are adjusted to be equal to D2, and when the sprayer is not completely flat, the nozzle is adjusted in the direction of the X axis, and the nozzle is not adjusted to be equal to 2.
S3: controlling a plurality of second nozzles which are arranged in the Y-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring projection intervals among the plurality of second nozzles and recording the projection intervals as second projection intervals;
s4: determining a difference value between the second projection distance and a preset second projection distance;
in an embodiment, the method further includes, after the S4: and when the difference value between the second projection distance and the preset second projection distance is not in a second preset range, controlling the spray head to rotate in the Y-axis direction, and returning to the step S3.
Specifically, a plurality of second nozzles which are arranged in the Y-axis direction on the sprayer and located at a preset position are controlled to discharge ink simultaneously, the plurality of second nozzles which are arranged in the Y-axis direction and located at the preset position are two or more adjacent nozzles which are in the same row in the Y-axis direction of the sprayer, if two or more nozzles which are in the same row do not exist on the sprayer, the two or more nozzles which are closest to each other in the Y-axis direction are selected as the second nozzles, the plurality of second nozzles are controlled to discharge ink simultaneously, the ink discharge tracks of the plurality of second nozzles are shot through a second imaging device, the shot ink discharge tracks are projected in the Y-axis direction, the projection intervals between the plurality of second nozzles are obtained and recorded as second projection intervals, when the difference value between the second projection intervals and the preset second projection intervals is not within a second preset range, the sprayer is controlled to rotate in the Y-axis direction, and the projection intervals between the plurality of second nozzles are obtained again until the difference value between the second projection intervals and the preset projection intervals is within a second preset range.
In another embodiment, the sequence of S1 to S2 and S3 to S4 can be changed, and the steps S3 to S4 are performed first to correct the Y-axis direction of the nozzle, and then the steps S1 to S2 are performed to correct the X-axis direction of the nozzle.
S5: when the difference value between the first projection distance and a preset first projection distance is within a first preset range and the difference value between the second projection distance and a preset second projection distance is within a second preset range, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink, and acquiring physical coordinates of all the first nozzles and the second nozzles in the two-dimensional plane coordinate system;
s6: acquiring a rotation angle of the spray head according to the physical coordinate;
in an embodiment, as shown in fig. 5, the step S6 specifically includes the following steps:
s61: according to the physical coordinates of the first nozzles, calculating the inclination angle of the spray head relative to the X-axis direction, and recording as a first inclination angle;
s62: according to the physical coordinates of the plurality of second nozzles, calculating the inclination angle of the spray head relative to the Y-axis direction, and recording as a second inclination angle;
s63: calculating the rotation angle of the spray head according to the first inclination angle and the second inclination angle, wherein the rotation angle of the spray head is calculated by the following formula:
wherein, xt is a theoretical inclination angle of the spray head relative to the X-axis direction, xa is the first inclination angle, yt is a theoretical inclination angle of the spray head relative to the Y-axis direction, ya is the second inclination angle, and Z is the rotation angle of the spray head;
specifically, when the difference between the first projection interval and the preset first projection interval is within a first preset range and the difference between the second projection interval and the preset second projection interval is within a second preset range, the nozzle is considered to be leveled in the X-axis direction and the Y-axis direction, at this time, the nozzle is further corrected, a plurality of first nozzles and a plurality of second nozzles are controlled to alternately discharge ink, physical coordinates of all the first nozzles and the second nozzles in the two-dimensional plane coordinate system are obtained, and the physical coordinates of the plurality of first nozzles are recorded as X coordinates respectively 1 (x 1 ，y 1 )，X 2 (x 2 ，y 2 )，...，X i (x i ，y i ) Wherein i is an integer greater than or equal to 2, and the first inclination angle is determined byFormula (II): xa = ∑ arctan ((y) i -y i-1 )/(x i -x i-1 ) /(i-1) calculation; recording the physical coordinates of the plurality of second nozzles as M 1 (m 1 ，n 1 )，M 2 (m 2 ，n 2 )，...，Mn(m p ，n p ) Wherein p is an integer greater than or equal to 2, and the second inclination angle is determined by the formula: ya = ∑ arctan ((m) p -m p-1 )/(n p -n p-1 ) /(p-1) calculation, after obtaining the first tilt angle and the second tilt angle, by the formula:
and calculating the rotation angle of the spray head, wherein Xt is a theoretical inclination angle of the spray head relative to the X-axis direction, xa is the first inclination angle, yt is the theoretical inclination angle of the spray head relative to the Y-axis direction, ya is the second inclination angle, and Z is the rotation angle of the spray head.
S7: and controlling the spray head to rotate in the direction vertical to the Z axis of the two-dimensional plane coordinate system according to the rotation angle of the spray head so as to realize posture correction of the spray head.
In another embodiment, a transparent medium is disposed under a head, and an imaging device is mounted under the transparent medium, where the imaging device may be the first imaging device or the second imaging device described in embodiment 1, the imaging device is configured to control a plurality of nozzles at a preset position on the head to discharge ink, and control the imaging device to shoot ink discharge tracks of the plurality of nozzles, obtain physical coordinates of the plurality of nozzles at the preset position, thereby obtaining an actual mounting posture of the head, and then correct the posture of the head in a corresponding direction, and the specific steps include:
s100: controlling a plurality of first nozzles which are arranged on a nozzle along the X-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring a projection interval between the plurality of first nozzles through first imaging equipment, wherein the projection interval is marked as a first projection interval;
s200: determining a difference value between the first projection distance and a preset first projection distance;
s300: controlling a plurality of second nozzles which are arranged in the Y-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring a projection distance between the plurality of second nozzles through first imaging equipment, and marking as a second projection distance;
s400: determining a difference value between the second projection distance and a preset second projection distance;
s500: when the difference value between the first projection distance and a preset first projection distance is within a first preset range and the difference value between the second projection distance and a preset second projection distance is within a second preset range, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink, and acquiring physical coordinates of all the first nozzles and all the second nozzles in the two-dimensional plane coordinate system through first imaging equipment;
s600: acquiring a rotation angle of the spray head according to the physical coordinate;
s700: and controlling the spray head to rotate in the direction vertical to the Z axis of the two-dimensional plane coordinate system according to the rotation angle of the spray head so as to realize posture correction of the spray head.
According to the intelligent correction method for the posture of the sprayer based on the machine vision, disclosed by the embodiment of the invention, the difference value between the first projection distance and the preset first projection distance is determined by acquiring the projection distances of a plurality of first nozzles; the method comprises the steps of obtaining the projection intervals of a plurality of second nozzles, determining the difference value between the second projection intervals and the preset second projection intervals, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection intervals and the preset first projection intervals is in a first preset range and the difference value between the second projection intervals and the preset second projection intervals is in a second preset range, obtaining the physical coordinates of all the first nozzles and the second nozzles, calculating the rotating angle of the nozzle to correct the posture of the nozzle, not actually printing a drawing, reducing the waste of printing media, saving the cost, achieving intelligent and efficient correction of the posture of the nozzle, greatly reducing the time spent in the correction process, and improving the correction efficiency.
Example 2
Referring to fig. 6, an embodiment of the present invention provides an intelligent correction device for a nozzle posture based on machine vision, where the device includes:
the first projection interval acquisition module is used for controlling a plurality of first nozzles which are arranged on the nozzle along the X-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring a projection interval between the plurality of first nozzles, which is marked as a first projection interval;
the first difference determining module is used for determining the difference between the first projection distance and a preset first projection distance;
the second projection interval acquisition module is used for controlling the plurality of second nozzles which are arranged in the Y-axis direction and are positioned at the preset positions to discharge ink at the same time, and acquiring the projection intervals among the plurality of second nozzles, and recording the projection intervals as second projection intervals;
the second difference determining module is used for determining the difference between the second projection distance and a preset second projection distance;
the nozzle physical coordinate acquisition module is used for controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection distance and a preset first projection distance is within a first preset range and the difference value between the second projection distance and a preset second projection distance is within a second preset range, and acquiring the physical coordinates of all the first nozzles and the second nozzles in the two-dimensional plane coordinate system;
the nozzle rotation angle acquisition module is used for acquiring the nozzle rotation angle according to the physical coordinate;
and the spray head rotating module is used for controlling the spray head to rotate in the Z-axis direction vertical to the two-dimensional plane coordinate system according to the spray head rotating angle so as to realize spray head posture correction.
In one embodiment, the nozzle rotation angle obtaining module includes:
the first inclination angle calculation unit is used for calculating the inclination angle of the spray head relative to the X-axis direction according to the physical coordinates of the first nozzles and recording the inclination angle as a first inclination angle;
the second inclination angle calculation unit is used for calculating the inclination angle of the spray head relative to the Y-axis direction according to the physical coordinates of the plurality of second nozzles and recording the inclination angle as a second inclination angle;
and the nozzle rotation angle calculation unit is used for calculating the nozzle rotation angle according to the first inclination angle and the second inclination angle, wherein the nozzle rotation angle is calculated by the following formula:
wherein, xt is a theoretical inclination angle of the spray head relative to the X-axis direction, xa is the first inclination angle, yt is a theoretical inclination angle of the spray head relative to the Y-axis direction, ya is the second inclination angle, and Z is the rotation angle of the spray head;
specifically, the physical coordinates of the first nozzles are recorded as X 1 (x 1 ，y 1 )，X 2 (x 2 ，y 2 )，...，X i (x i ，y i ) Wherein i is an integer greater than or equal to 2, and the first inclination angle is determined by the formula: xa = ∑ arctan ((y) i -y i-1 )/(x i -x i-1 ) /(i-1) calculation; recording the physical coordinates of the plurality of second nozzles as M 1 (m 1 ，n 1 )，M 2 (m 2 ，n 2 )，...，Mn(m p ，n p ) Wherein p is an integer greater than or equal to 2, and the second inclination angle is determined by the formula: ya = ∑ arctan ((m) p -m p-1 )/(n p -n p-1 ) /(p-1) calculation.
In the device for intelligently correcting the posture of the nozzle based on the machine vision in this embodiment 2, the difference between the first projection interval and the preset first projection interval is determined by obtaining the projection intervals of the plurality of first nozzles; the method comprises the steps of obtaining the projection intervals of a plurality of second nozzles, determining the difference value between the second projection intervals and the preset second projection intervals, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection intervals and the preset first projection intervals is in a first preset range and the difference value between the second projection intervals and the preset second projection intervals is in a second preset range, obtaining the physical coordinates of all the first nozzles and the second nozzles, calculating the rotation angle of the spray head to correct the posture of the spray head, greatly reducing the time spent in the correction process, and improving the correction efficiency.
Example 3
Embodiment 3 of the present invention discloses a device for intelligently correcting a posture of a nozzle based on machine vision, which, as shown in fig. 7, includes at least one processor, at least one memory, and computer program instructions stored in the memory.
In particular, the processor may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
Where appropriate, the memory may include removable or non-removable (or fixed) media storage may include mass storage for data or instructions. By way of example, and not limitation, memory may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical disks, magneto-optical disks, magnetic tape, or a general purpose media. The memory may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory is non-volatile solid-state memory. In a particular embodiment, the memory includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.
The processor reads and executes the computer program instructions stored in the memory to realize the intelligent correction method for the posture of the spray head based on the machine vision in the embodiment 1.
In one example, the machine vision-based intelligent correction device for spray head attitude may further include a communication interface and a bus. As shown in fig. 7, the processor, the memory, and the communication interface are connected via a bus to complete communication therebetween.
The communication interface is mainly used for realizing communication among modules, devices, units and/or equipment in the embodiment of the invention.
The bus includes hardware, software, or both that couple components of the machine vision based intelligent corrective device for spray head pose to one another. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. A bus may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.
Example 4
In addition, in combination with the method for intelligently correcting the posture of the nozzle based on the machine vision in embodiment 1, the embodiment of the present invention can be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any one of the above embodiments of the intelligent method for correcting a pose of a spray head based on machine vision.
Example 5
An embodiment of the present invention provides a printing apparatus, including: the correction device is connected with the spray head, the first imaging device and the second imaging device respectively and used for correcting the posture of the spray head according to physical coordinates of a nozzle at a preset position acquired from the first imaging device and the second imaging device, wherein the correction device is the intelligent correction device for the posture of the spray head based on machine vision in embodiment 2.
In summary, according to the method, the device and the printing apparatus for intelligently correcting the posture of the nozzle based on the machine vision provided by the embodiment of the invention, the difference between the first projection distance and the preset first projection distance is determined by obtaining the projection distances of the plurality of first nozzles; the method comprises the steps of obtaining the projection intervals of a plurality of second nozzles, determining the difference value between the second projection intervals and the preset second projection intervals, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection intervals and the preset first projection intervals is in a first preset range and the difference value between the second projection intervals and the preset second projection intervals is in a second preset range, obtaining the physical coordinates of all the first nozzles and the second nozzles, calculating the rotating angle of the nozzle to correct the posture of the nozzle, not actually printing a drawing, reducing the waste of printing media, saving the cost, achieving intelligent and efficient correction of the posture of the nozzle, greatly reducing the time spent in the correction process, and improving the correction efficiency.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments noted in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present invention.
Claims (10)
1. An intelligent correction method for a nozzle posture based on machine vision is characterized in that a two-dimensional plane coordinate system is defined, the two-dimensional plane coordinate system takes the length direction of a nozzle as the X-axis direction and takes the width direction of the nozzle as the Y-axis direction, and the method comprises the following steps:
s1: controlling a plurality of first nozzles which are arranged on the nozzle along the X-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring a projection distance between the plurality of first nozzles, and recording the projection distance as a first projection distance;
s2: determining a difference value between the first projection distance and a preset first projection distance;
s3: controlling a plurality of second nozzles which are arranged in the Y-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring projection intervals among the plurality of second nozzles, and marking as second projection intervals;
s4: determining a difference value between the second projection distance and a preset second projection distance;
s5: when the difference value between the first projection distance and a preset first projection distance is within a first preset range and the difference value between the second projection distance and a preset second projection distance is within a second preset range, controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink, and acquiring physical coordinates of all the first nozzles and the second nozzles in the two-dimensional plane coordinate system;
s6: acquiring the rotation angle of the spray head according to the physical coordinates;
s7: and controlling the spray head to rotate in the Z-axis direction vertical to the two-dimensional plane coordinate system according to the rotation angle of the spray head so as to realize spray head posture correction.
2. The machine-vision-based intelligent correction method for nozzle postures as claimed in claim 1, wherein the method comprises, before the step S1: and a calibration step of calibrating a first imaging device for capturing an image in the X-axis direction and a second imaging device for capturing an image in the Y-axis direction.
3. The machine-vision-based intelligent correction method for nozzle attitude of claim 1, wherein the method comprises, after the S2: and when the difference value between the first projection interval and the preset first projection interval is not within a first preset range, controlling the spray head to rotate in the X-axis direction, and returning to the step S1.
4. The machine-vision-based intelligent correction method for nozzle postures as claimed in claim 1, wherein the method further comprises after the step S4: and when the difference value between the second projection distance and the preset second projection distance is not in a second preset range, controlling the spray head to rotate in the Y-axis direction, and returning to the step S3.
5. The machine-vision-based intelligent correction method for nozzle postures as claimed in any one of claims 1 to 4, wherein the S6 further comprises:
s61: calculating the inclination angle of the spray head relative to the X-axis direction according to the physical coordinates of the first nozzles, and recording the inclination angle as a first inclination angle;
s62: according to the physical coordinates of the plurality of second nozzles, calculating the inclination angle of the spray head relative to the Y-axis direction, and recording as a second inclination angle;
s63: calculating the rotation angle of the spray head according to the first inclination angle and the second inclination angle, wherein the rotation angle of the spray head is calculated by the following formula:
in the formula, xt is a theoretical inclination angle of the nozzle relative to the X-axis direction, xa is the first inclination angle, yt is a theoretical inclination angle of the nozzle relative to the Y-axis direction, ya is the second inclination angle, and Z is the nozzle rotation angle.
6. The intelligent correction method for posture of spray head based on machine vision as claimed in claim 5, characterized in that the calculation step of the first inclination angle comprises:
recording the physical coordinates of the first nozzles as X 1 (x 1 ，y 1 )，X 2 (x 2 ，y 2 )，...，X i (x i ，y i ) Wherein i is an integer greater than or equal to 2, and the first inclination angle is determined by the formula: xa = ∑ arctan ((y) i -y i-1 )/(x i -x i-1 ) /(i-1) calculation;
the calculating of the second inclination angle includes:
recording the physical coordinates of the plurality of second nozzles as M 1 (m 1 ，n 1 )，M2(m 2 ，n 2 )，...，M p (m p ，n p ) Wherein p is an integer greater than or equal to 2, and the second inclination angle is determined by the formula: ya = ∑ arctan ((m) p -m p-1 )/(n p -n p-1 ))/(p-1) And (4) calculating.
7. A shower nozzle gesture intelligence orthotic devices based on machine vision, its characterized in that, the device includes:
the first projection interval acquisition module is used for controlling a plurality of first nozzles which are arranged on the nozzle along the X-axis direction and are positioned at preset positions to discharge ink at the same time, and acquiring a projection interval between the plurality of first nozzles, which is marked as a first projection interval;
the first difference determining module is used for determining the difference between the first projection distance and a preset first projection distance;
the second projection interval acquisition module is used for controlling the plurality of second nozzles which are arranged in the Y-axis direction and are positioned at the preset positions to discharge ink at the same time, and acquiring the projection intervals among the plurality of second nozzles, and recording the projection intervals as second projection intervals;
the second difference determining module is used for determining the difference between the second projection distance and a preset second projection distance;
the nozzle physical coordinate acquisition module is used for controlling the plurality of first nozzles and the plurality of second nozzles to alternately discharge ink when the difference value between the first projection interval and the preset first projection interval is within a first preset range and the difference value between the second projection interval and the preset second projection interval is within a second preset range, and acquiring the physical coordinates of all the first nozzles and the second nozzles in the two-dimensional plane coordinate system;
the nozzle rotation angle acquisition module is used for acquiring the nozzle rotation angle according to the physical coordinate;
and the spray head rotating module is used for controlling the spray head to rotate in the direction perpendicular to the Z axis of the two-dimensional plane coordinate system according to the spray head rotating angle so as to realize spray head posture correction.
8. The utility model provides a shower nozzle gesture intelligence correction equipment based on machine vision which characterized in that includes: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-6.
9. A storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of any one of claims 1-6.
10. A printing apparatus, comprising: the correction device is respectively connected with the spray head, the first imaging device and the second imaging device and used for correcting the posture of the spray head according to physical coordinates of a nozzle at a preset position acquired from the first imaging device and the second imaging device, wherein the correction device is the intelligent correction device for the posture of the spray head based on the machine vision according to claim 7.
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| JP2006239570A (en) * | 2005-03-03 | 2006-09-14 | Dainippon Printing Co Ltd | Pattern forming apparatus, positioning apparatus, positioning method, and discharge section |
| CN101407131A (en) * | 2007-10-12 | 2009-04-15 | 株式会社日立工业设备技术 | Inkjet head device |
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