WO2015024234A1 - 一种喷墨打印机用凹凸面定位及打印方法 - Google Patents

一种喷墨打印机用凹凸面定位及打印方法 Download PDF

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Publication number
WO2015024234A1
WO2015024234A1 PCT/CN2013/082067 CN2013082067W WO2015024234A1 WO 2015024234 A1 WO2015024234 A1 WO 2015024234A1 CN 2013082067 W CN2013082067 W CN 2013082067W WO 2015024234 A1 WO2015024234 A1 WO 2015024234A1
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Prior art keywords
printed
concave
printing
convex
image
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PCT/CN2013/082067
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English (en)
French (fr)
Inventor
张原�
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北京美科艺数码科技发展有限公司
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Application filed by 北京美科艺数码科技发展有限公司 filed Critical 北京美科艺数码科技发展有限公司
Priority to PCT/CN2013/082067 priority Critical patent/WO2015024234A1/zh
Priority to US14/908,537 priority patent/US9751329B2/en
Priority to CN201410332562.6A priority patent/CN104085190B/zh
Priority to TW103128903A priority patent/TWI548531B/zh
Publication of WO2015024234A1 publication Critical patent/WO2015024234A1/zh

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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
    • B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
    • B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
    • B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
    • 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
    • B41J2203/00—Embodiments of or processes related to the control of the printing process
    • B41J2203/01—Inspecting a printed medium or a medium to be printed using a sensing device

Definitions

  • the present invention relates to a concave-convex surface positioning and printing method for an inkjet printer, and more particularly to a printing method for detecting an uneven feature on an object to be printed by an inkjet printer and performing inkjet printing according to the feature position.
  • inkjet printing technology is widely used in various industries.
  • the materials of printing media are also diverse, including display panels, glass, ceramic tiles, electronic product casings, leather products, etc., usually some printing media surfaces.
  • the control system needs to control the nozzle to print on the contour starting position of the desired concave and convex surface, and the concave and convex contour on the other side.
  • the end position stops printing, so that the printed image and the concave surface contour position coincide.
  • the existing inkjet printing method mainly performs an initial printing test on the printed object first, and adjusts the printing position parameter according to the test result until it is adjusted to meet the printing position requirement; this printing test method, when replacing the object to be printed, If the position of the contour of the surface of the object to be printed changes, it is necessary to re-print the test and adjust the new print position parameters before printing. Since the uneven surface of the object to be printed is irregularly distributed or the object to be printed is frequently replaced, the test adjustment work before printing becomes cumbersome.
  • Some of the colors to be printed have obvious differences in the color of the concave and convex parts. It is also possible to use image processing methods to position different colors to determine the position where the print head needs to be printed, and to print the images here; if these objects are to be printed When there is no obvious color distinction between the concave and convex positions, it is easy to distinguish the printed image by the brightness change of the reflected light of the concave and convex surface, and it is impossible to accurately determine the position of the concave and convex surface of the surface of the object to be printed, and it is difficult to ensure the printing accuracy. .
  • an object of the present invention is to provide a concave-convex surface positioning and printing method for an inkjet printer with high degree of automation, simple control, and accurate positioning to improve the inkjet printing effect.
  • the present invention provides a method for positioning and printing a concave-convex surface for an inkjet printer, comprising:
  • an inkjet printing device comprising a printing carriage, a supporting beam, an object placement platform to be printed, and a control system, wherein the printing carriage is provided with a printing nozzle and a laser sensor, and at least two concave and convex features are placed on the mounting platform of the object to be printed Object to be printed;
  • Position coordinates of the concave and convex feature centers of each object to be printed are respectively coincident with a central position of a pre-printed image, and splicing a plurality of pre-printed images after the determined position into a to-be-printed image;
  • the control system controls the print head to print the image to be printed on each object to be printed.
  • the pre-printed image in the step e) is an outline of the concave-convex feature of the object to be printed, and the step The control system in f) controls the print head to print the image to be printed on each object to be printed.
  • the step a) The printing carriage in the inkjet printing device can also reciprocate in a direction perpendicular to the supporting beam; the preprinted image in the step e) is the concave and convex feature of the object to be printed, the step f)
  • the control system controls the print head to print the image to be printed on each object to be printed by multiple passes, and the laser sensor detects the contour of the at least one shape.
  • the outer surface of the object to be printed has a uniform color.
  • the laser sensor is a profile measuring instrument displacement sensor capable of detecting the shape of a cross section of an object to be printed by a secondary laser.
  • the scanning width of the laser sensor is larger than the maximum width of the concave-convex feature on the object to be printed.
  • all the objects to be printed on the object placement platform to be printed have the same concave and convex features.
  • the ink used in the printing head is an ultraviolet curing phase change ink.
  • a grating scale or a magnetic scale is mounted on the support beam.
  • the object to be printed placement platform is provided with a lifting device, and the distance between the printing nozzle and the printing nozzle is adjustable.
  • a UV curing device is provided at one or both ends of the printing carriage.
  • a UV curing device is disposed on the support beam.
  • the present invention also provides another method for positioning and printing a concave-convex surface for an inkjet printer, which comprises:
  • an inkjet printing device comprising a printing carriage, a supporting beam, an object placement platform to be printed, and a control system, wherein the printing carriage is provided with a printing nozzle and a laser sensor, and at least two concave and convex features are placed on the mounting platform of the object to be printed Object to be printed;
  • the laser sensor is used to detect each object to be printed through one pass, and the contour coordinates of the concave and convex features of each object to be printed are calculated by a software program;
  • the control system controls the print head to print the image to be printed on each object to be printed.
  • the outer surface of the object to be printed has a uniform color.
  • the scanning width of the laser sensor is larger than the maximum width of the concave-convex feature on the object to be printed.
  • the concave-convex features of the object to be printed on the object placement platform to be printed may be the same or different.
  • the height of the concave-convex features of the object to be printed on the object to be printed is exactly the same.
  • the image to be printed in the step c) is an outline of the concave-convex feature of the object to be printed; the step d)
  • the control system in the control prints the print head once by printing the image to be printed on each object to be printed.
  • the step a) The printing carriage in the inkjet printing device can also reciprocate in a direction perpendicular to the support beam; the image to be printed in the step c) is the concave and convex feature of the object to be printed; the step d) The control system in the control prints the print head multiple times to print the image to be printed on each object to be printed.
  • the position coordinates of the sprayed image can be quickly and accurately positioned, and the concave and convex surfaces of different shapes and the edges or concave and convex features printed on the concave and convex surface can pass through Measurement and algorithm implementation, expanding the field of inkjet printer applications.
  • the laser sensor has high sensitivity and measurement precision, strong resistance to electromagnetic field interference, and can be far away from arc glare, strong heat zone, no contact with the workpiece and large detection area, and ensure the positioning accuracy of the injection point.
  • the laser sensor uses an ultra-high-speed profilometer laser displacement sensor that can pass 2
  • the dimensional laser stabilizes the shape of the cross section and can sample up to 64,000 contours per second or 12,800,000 points / In seconds, the contour data is continuously output, and all shapes can be measured instantaneously and integrated into 3D model forms/functions as needed to improve work efficiency.
  • FIG. 1 is a schematic view of an apparatus for realizing an uneven surface positioning and printing method for an inkjet printer according to the present invention
  • FIG. 2 is a schematic view showing the principle of positioning a concave-convex feature by a laser sensor for an inkjet printer according to the present invention
  • FIG. 3 is a schematic diagram showing the principle of determining the center coordinate of the concave and convex feature in the first embodiment of the present invention
  • FIG. 4 is a schematic diagram of a to-be-printed image obtained by splicing a pre-printed image according to Embodiment 1 of the present invention
  • FIG. 5 is a flow chart showing the operation of the concave-convex surface positioning and printing method for an inkjet printer according to the first embodiment of the present invention
  • FIG. 6 is a schematic diagram showing the principle of determining the contour coordinates of the concave and convex features in the second embodiment of the present invention.
  • FIG. 7 is a schematic diagram of stitching into an image to be printed according to Embodiment 2 of the present invention.
  • FIG. 8 is a flow chart showing the operation of the concave-convex surface positioning and printing method for the inkjet printer according to the second embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a method for positioning an irregular shape concave and convex feature in Embodiment 3 of the present invention.
  • FIG. 10 is a perspective view of a device for realizing a concave-convex surface positioning and printing method for an inkjet printer according to a fourth embodiment of the present invention.
  • FIG. 11 is a schematic view showing a method of positioning and printing a concave-convex surface for an inkjet printer according to a fifth embodiment of the present invention.
  • the printing cart 1 can be X-axis reciprocating along the supporting beam 2, and the printing car 1 is equipped with a laser sensor 11 on one side, a laser sensor 11 is used to collect the concave and convex features 51 on the object to be printed 5, and feed back the data to the sensor controller (not shown), and then calculate the object to be printed by the software program.
  • the center of the object is placed on the position of the object to be printed on the platform 3; the printing carriage 1 is provided with a printing head 12 for ejecting printing ink.
  • a plurality of printing heads can be set for injecting cyan (C ), one or more of magenta (M), yellow (Y), black (K), white (W), and transparent (V) inks; cyan (C), magenta (M) , yellow (Y ), black (K), white (W), and transparent (V) inks are all UV-cured phase change inks; print heads mounted on the print cart 1 of the present invention 12 The number can also be set according to the actual situation.
  • a grating ruler 21 is mounted on the support beam 2, and the grating ruler 21 is used to mark X
  • the axial scale, the grating scale of the present invention can also be replaced by a magnetic scale with higher precision.
  • At least two objects to be printed 5 are placed on the object placement platform 3 to be printed, and the objects to be printed 5 have the same concave and convex features.
  • the object to be printed placement platform 3 is provided with a lifting device (not shown), and the distance between the printing head 12 is adjustable; the fixture mounting platform 3 can be provided with a fixture device for positioning the object to be printed. 5 .
  • the control system 4 is used to control the inkjet printer to print an image or text to the object to be printed.
  • the print head 12 is printed on the carriage 1 in the present invention.
  • a UV curing device is disposed at one end or both ends.
  • a UV pre-curing device may be disposed beside each printing head 12, and in the present invention, UV may be disposed on the supporting beam 2 Curing device.
  • Fig. 2 is a schematic view showing the principle of positioning the convex surface of the laser sensor 11 in the embodiment of the present invention.
  • Laser sensor 11 For the ultra-high-speed profile measuring instrument displacement sensor, the shape of the contour section can be detected stably by the laser of the secondary element.
  • the object to be printed is the object to be printed with the cube concavo-convex feature 61 as the detection object 6
  • the scanning width of the laser sensor 11 is firstly greater than the maximum width of the cube concavo-convex feature 61 on the object to be printed 6 .
  • the laser sensor 11 The laser is emitted to the upper surface of the object to be printed on the rectangular parallelepiped.
  • the laser sensor 11 follows the printing carriage 1 to perform X-axis movement, and the emitted laser scans the rectangular parallelepiped object to be printed along the X-axis.
  • Upper surface When scanning to the cuboid object to be printed 6 the upper surface is a plane, the contour line fed back by the laser measurement program is a straight line 111; when scanning to the cube concavo-convex feature on the upper surface of the object to be printed 6 At 61 o'clock, the contour line fed back by the laser measurement program is the concave contour profile shape 222 . After one pass scan, the cube concave and convex features of the rectangular parallelepiped object 6 are detected. .
  • the grating ruler marks the X-axis position coordinate
  • the laser sensor obtains the Z-axis coordinate of the point on the outer contour surface of the cube concave-convex feature 61 by detecting the Z-axis position coordinate change, thereby
  • the contour section shape 222 is drawn in the plane, and then the Y-axis coordinate of each point constituting the edge of the contour is obtained according to the characteristic change of the contour section shape 222 of the concave-convex surface.
  • This embodiment details a method of performing inkjet printing on a plurality of objects to be printed having identical concave and convex features.
  • the concave-convex feature 51 of the object to be printed 5 is obtained, and the software program determines the four extreme position coordinate points A, B, C, and D of the concave-convex feature 51 through the cross-sectional shape obtained on each YZ plane, and the software features the concave-convex feature.
  • 51 is converted into the contour in the XY plane, as shown in Figure 3, C and D are the X-axis extreme position coordinate points, A and B are the Y-axis extreme position coordinate points, and the Y of the A point is fed back by the laser sensor 11.
  • the axial coordinate denoted by Y 1
  • Y 2 The axial coordinate
  • the X-axis coordinate of point C is fed back through the scale 21, denoted by X 1
  • the X-axis coordinate of the D point is fed back through the scale 21, represented by X 2
  • the X-axis of the center point O is calculated by software.
  • the software program pre-provides a pre-printed image 511 that coincides with the concave-convex feature 51 of the object to be printed 5, as shown in FIG. 4, which will calculate the center position O coordinate (X 0 , Y 0 ) of the concave-convex feature 51 of each object to be printed 5 .
  • the software splices at least two pre-printed images 511 after the determined position into a to-be-printed image 52. It is used to accurately eject the concave-convex feature position on the object 5 to be printed.
  • the working flow chart of this embodiment is shown in Fig. 5.
  • the start button is started, and the carriage 1 is printed from the initial position along the supporting beam. 2 Move to the specified position, send a communication signal via Ethernet, turn on the sensor laser light-emitting program, and the laser sensor 11 follows the printing carriage 1 to move along the support beam 2, during the whole movement, the laser sensor 11 Scan the object to be printed 5 below to obtain the bump feature 51 data of the object to be printed.
  • the program determines whether the trolley has moved to the designated position, that is, the end position of passing once, if not, the laser sensor 11
  • the scanning continues and the data is acquired; if so, the laser sensor 11 stops scanning, and the collected data is analyzed, and the center of the concave-convex feature 51 of the object to be printed 5 is calculated to be placed on the object to be printed.
  • Position coordinates on The software system pre-provides a pre-printed image consistent with the concave-convex features of the object to be printed, and calculates the center point O coordinate of the concave-convex feature 51 and the center position of the pre-printed image 511.
  • the software stitches at least two pre-printed images after determining the position into one image to be printed 52 .
  • the printing carriage 1 is moved back to the initial position, and if not, the control system 4 controls the printing carriage 1 Continue moving; if so, the control system 4 controls the print head 12 To treat the object to be printed from the initial position 5 Spray the image to be printed until the print job is completed.
  • the control system 4 controls the print head 12
  • the image to be printed is printed on each object to be printed 5 by one pass.
  • control system can control the printing carriage 1 along the vertical support beam
  • the axial stepping motion controls the print head 12 to print the image to be printed on each object to be printed 5 in multiple passes.
  • This embodiment describes in detail a method of performing inkjet printing on a plurality of objects to be printed having different uneven contours but having the same degree of unevenness.
  • the concave and convex feature contours of the object to be printed are different first and second concave and convex features 501 and second concave and convex features 502, and the laser sensor 11
  • the cross-sectional profile of the concavo-convex features on each YZ plane is obtained by scanning one pass, as shown in Fig. 6, the laser sensor 11 scans to the first concavo-convex feature 501, and the software judges from the first contour feature point E All of the starting feature points that make up the contour edge of the first relief feature 501, up to the last contour feature point F .
  • the software program converts the bump features into outlines in the XY plane, scale 21 marks X
  • the axial position coordinate, the laser sensor 11 calculates the Y-axis coordinate of the contour edge according to the contour shape of the concave-convex feature, and obtains the first concave-convex feature from point E to point F. All the contour feature points are corresponding position coordinates on the object to be printed placement platform 3.
  • the laser sensor After scanning the first bump feature 501, the laser sensor continues to scan Up to the non-convex feature position, the contour line fed back by the laser measurement program is a straight line, and when scanning to the second concavo-convex feature 502, the laser measurement program feeds back the second concavo-convex feature 502
  • the concave and convex contour section shape line the software judges all the feature points of the contour edge of the second concave-convex feature 502 starting from the first contour feature point G, until the last contour feature point H, and also calculates the slave point G To point H constitutes the corresponding position coordinates of all the contour feature points of the second concave-convex feature 502 on the object placement platform 3 to be printed.
  • the software program splices into a to-be-printed image according to the contour feature point position coordinates of each concave and convex feature 53, as shown in Figure 7.
  • FIG. 8 is a flow chart showing the operation of the concave-convex surface positioning and printing method according to the second embodiment of the present invention.
  • start the start button and print the cart 1 from the initial position along the support beam 2 Move to the specified position, send a communication signal via Ethernet, turn on the sensor laser light-emitting program, and the laser sensor 11 follows the printing carriage 1 to move along the support beam 2, during the whole movement, the laser sensor 11
  • the object to be printed below is scanned to acquire data of the first concave-convex feature 501 and the second concave-convex feature 502.
  • the program determines whether the trolley has moved to the designated position, that is, the end position of passing once, if not, the laser sensor 11
  • the scanning is continued and the data is acquired; if so, the laser sensor 11 stops scanning, and the collected data is analyzed to calculate the cross-sectional profile of the first concave-convex feature 501 and the second concave-convex feature 502.
  • the software splices into a to-be-printed image 53 according to the contour coordinates of each concave and convex feature.
  • the printing carriage 1 is moved back to the initial position, and if not, the control system 4 Controlling the print carriage 1 Continues to move; if so, the control system 4 controls the print head 12 to eject the image to be printed 53 from the initial position to the print object until the print job is completed.
  • the control system 4 controls the print head 12
  • the image to be printed is printed on each object to be printed one by one.
  • the control system controls the printing carriage to ensure the quality of the printing.
  • the Y-axis stepwise movement is performed perpendicular to the support beam 2, and the print head 12 is controlled to print the image to be printed on each object to be printed.
  • This embodiment describes in detail a method of performing inkjet printing on a plurality of objects to be printed having a plurality of concave and convex features and one or two concave and convex feature shape rules and at least one concave and convex feature shape being irregular.
  • the object to be printed 55 has a plurality of concavo-convex features, and as shown in FIG. 9, includes a third concavo-convex feature 503, a fourth concavo-convex feature 504, and a fifth concavo-convex feature 505, wherein the third concavo-convex feature 503 and the fourth concavo-convex feature 504 are regular shapes
  • the fifth uneven feature 505 is an irregular shape.
  • the coordinates of the third concave-convex feature 503 center position point M and the fourth concave-convex feature 504 center position point N can be obtained by using the laser sensor 11 and the software program, and the fifth concave-convex feature 505 center position point P and the third concave-convex feature 503 are found by measurement.
  • the geometric relationship between the central position point M and the fourth concave-convex feature 504 central position point N can be measured.
  • the central point position P of the fifth concave-convex feature 505 is located on the line connecting the point M and the point N, and the horizontal distance between the point P and the point M
  • the software can calculate the position coordinates of the center position point P of the irregular shape fifth concave-convex feature 505 on the object placement platform 3 to be printed according to the measured point M and point N coordinates, to (X 5 , Y 5 ) Said.
  • the software program coincides the position coordinate of the central position point P with the center position of the pre-printed image, and splicing the plurality of pre-printed images after the determined position into a to-be-printed image, and then the control system controls the printing nozzle to print the image to be printed in each On the object to be printed.
  • the device for positioning and printing the concave-convex surface in the embodiment comprises a printing carriage 1 , a supporting beam 2 , and a platform for placing the object to be printed. 3 and a control system (not shown), the object to be printed placement platform 3 of the embodiment includes a first object to be printed placement platform 31 and a second object to be printed placement platform 32, and a first object to be printed placement platform A translation drive mechanism (not shown) is disposed below the 31 and the second object to be printed placement platform 32, and the translation drive mechanism drives the first object to be printed placement platform 31 and the second object to be printed placement platform 32.
  • Print car 1 Reciprocating motion can be made along the support beam 2, and a laser sensor 11 is mounted on one side of the printing carriage 1 , and the laser sensor 11 is used to collect the concave and convex features on the object to be printed 5 .
  • the control system is used to control the inkjet printer to perform image print jobs on the object to be printed.
  • the start button is turned on, and the first object to be printed placement platform 31 is located on the support beam 2
  • the printing carriage 1 moves from the initial position along the support beam 2 to the other end position
  • the laser sensor 11 on the side of the printing carriage 1 follows the printing carriage 1 to move and scan the object to be printed at the lower end 5 , detecting the concave and convex features of the printed object 5, calculating the position coordinates of the center of the concave and convex features 51 on the object placement platform 3 to be printed
  • the software provides a preprinted image consistent with the concave and convex features of the object to be printed, when the laser sensor 11
  • the program coincides the center position coordinate of the concave and convex feature with the center position of the preprinted image, and splices the plurality of preprinted images after the determined position into a to-be-printed image, and the control system controls the printing car at this time. 1 Return to the initial position, move again along
  • the object to be printed on the first object to be printed placement platform 31 5 After the printing is completed, the object to be printed is placed on the platform 3
  • the translation drive mechanism disposed below drives the object to be printed placement platform 3 to move a platform station in a direction perpendicular to the support beam 2, so that the first object to be printed is placed on the platform 31
  • the second object to be printed placing platform 32 Moving out of the printing position, the second object to be printed placing platform 32 is moved below the supporting beam 2, and the printing carriage moves again along the supporting beam 2, and the object to be printed on the second object to be printed is placed on the platform 32.
  • the above work process is repeated, at which time the operator can perform the unloading and re-feeding operations on the first object to be printed placement platform 31.
  • the object to be printed on the second object to be printed placement platform 32 5 After the print job is completed, the translation drive mechanism drives a platform station in a negative direction perpendicular to the support beam 2 to move the first object to be printed placement platform 31 to the support beam 2 Below, the operator performs the operations of unloading and re-stocking the second object to be printed placement platform 32, and the control system applies the object to be printed on the first object to be printed placement platform 31. Repeat the above print work process. Repeat this until the print job is completed.
  • FIG 11 A schematic diagram of a method for positioning and printing a concave-convex surface for an inkjet printer according to another embodiment of the present invention.
  • the apparatus for positioning and printing the concave-convex surface in the embodiment includes a printing carriage 1 , a support beam 2 , and a platform for placing the object to be printed 3 And control system 4 .
  • the printing carriage 1 can reciprocate X along the support beam 2, and the support beam 2 can reciprocate along the Y axis.
  • the object to be printed 7 having a plurality of rows of concave and convex features 71 is disposed thereon, and the plurality of rows of concave and convex features 71 may be the same or different, and the maximum width of the concave and convex features of one row is smaller than that of the laser sensor 11
  • the scan width and the multi-row bump feature 71 are exactly the same.
  • the first row of concave and convex feature contour coordinates are calculated by a software program and stitched into a to-be-printed image according to the contour coordinates, and the control system 4 controls the print head 12
  • the image to be printed is printed on each of the concave and convex features of the first row by one pass or multiple passes, and the carriage 1 is returned to the initial position after the printing of the row is completed.
  • the laser sensor 11 passes the second row of concave and convex features one by one, calculates the second row of concave and convex feature contour coordinates through a software program, and splices into a to-be-printed image according to the contour coordinates, the control system 4 Controlling the print head 12
  • the image to be printed is printed on each of the concave and convex features of the second row by one or more passes, in such a manner, until the image printing of the plurality of rows of concave and convex features 71 of the object to be printed is completed.

Abstract

一种喷墨打印机用凹凸面定位及打印方法，包括以下步骤：提供一包括打印小车（1）、支撑横梁（2）、待打印对象安置平台（3）和控制系统（4）的喷墨打印装置，所述打印小车（1）上安装打印喷头（12）和激光传感器（11），待打印对象安置平台（3）上放置具有凹凸特征（51）的待打印对象（5）；通过激光传感器（11）检测待打印对象（5）上的凹凸特征位置；通过软件程序拼接形成一待打印图像；通过控制系统控制打印喷头（12）将待打印图像打印在待打印对象（5）上。

Description

一种喷墨打印机用凹凸面定位及打印方法 技术领域
本发明涉及一种喷墨打印机用凹凸面定位及打印方法，具体说涉及一种喷墨打印机对待打印物体上凹凸特征检测并根据此特征位置进行喷绘打印的打印方法。
背景技术
随着喷墨技术的逐步发展，喷墨打印技术广泛应用于各行各业，打印介质的材料也是多种多样，其中包括展板、玻璃、瓷砖、电子产品外壳、皮革制品等，通常一些打印介质表面有不同形状的平面凹陷或凸起，当需要对这些形状的轮廓线进行喷绘处理时，控制系统需要控制喷头在所需的凹凸面一侧的轮廓开始位置进行喷绘，在另一侧凹凸面轮廓结束位置停止打印，从而使喷绘的图文与凹凸面轮廓位置重合。现有的喷墨打印方式，主要是先对待打印对象进行初始打印测试，依据测试结果调整打印位置参数，直至调整至符合打印位置要求为止；这种打印测试方法，当更换待打印对象时，由于待打印对象表面的凹凸面轮廓位置发生变化，便需要重新进行打印测试，调整新的打印位置参数后再进行打印操作。由于待打印对象表面凹凸面分布不规律或待打印对象经常更换，使打印前的测试调整工作变得繁琐。
另外，有时不仅是需要对待打印对象凹陷或凸起的轮廓进行打印，有时还需要在凹凸面上进行图文打印，这时，程序及测试过程会变得更加复杂。
有些待打印对象凹凸位置处的颜色已有明显差异，还可以利用图像处理的方法对不同的颜色进行定位以判断喷头需要喷绘的位置，适时的进行此处的图文打印；若这些待打印物体上的凹凸位置没有明显的颜色区分时，仅靠凹凸面反射光线的明暗变化来区分边缘位置容易使打印图文产生偏差，不能准确判断待打印对象表面的凹凸面位置，确保打印精度存在一定困难。
发明内容
针对现有技术中存在的问题，本发明的目的在于提供一种自动化程度高、控制简便、定位准确，以提高喷绘效果的喷墨打印机用凹凸面定位及打印方法。
为实现上述目的，本发明提出一种喷墨打印机用凹凸面定位及打印方法，其特征在于，包括：
a) 提供一包括打印小车、支撑横梁、待打印对象安置平台和控制系统的喷墨打印装置，所述打印小车上安装打印喷头和激光传感器，所述待打印对象安置平台上放置至少两个具有凹凸特征的待打印对象；
b) 提供一与待打印对象凹凸特征一致的预打印图像；
c) 通过激光传感器一遍通过检测各待打印对象的凹凸特征；
d) 通过软件程序计算出各待打印对象凹凸特征的中心在待打印对象安置平台上的位置坐标；
e) 将各待打印对象凹凸特征中心的位置坐标分别与一预打印图像的中心位置重合，并将确定位置后的多个预打印图像拼接成一待打印图像；
f) 控制系统控制打印喷头将待打印图像打印在各待打印对象上。
上述 凹凸面定位及打印方法 中，所述 步骤 e) 中的预打印图像为待打印对象凹凸特征的轮廓线，所述步骤 f) 中的控制系统控制打印喷头一遍通过将待打印图像打印在各待打印对象上。
上述 凹凸面定位及打印方法 中， 所述 步骤 a) 中的喷墨打印装置中的打印小车还可以沿垂直于支撑横梁的方向做往复运动； 所述步骤 e) 中的预打印图像为待打印对象的凹凸特征，所述步骤 f) 中的控制系统控制打印喷头多遍通过将待打印图像打印在各待打印对象上， 所述 激光传感器检测至少一种形状的凹凸面轮廓 。
上述凹凸面定位及打印方法中，所述待打印对象的外表面具有均一的颜色。
上述 凹凸面定位及打印方法 中， 所述激光传感器为轮廓测量仪位移传感器，能够通过二次元激光检测待打印对象截面的形状 。
上述 凹凸面定位及打印方法 中， 所述激光传感器的扫描宽度大于待打印对象上凹凸特征的最大宽度。
上述 凹凸面定位及打印方法 中， 所述待打印对象安置平台上的所有待打印对象具有相同的凹凸特征。
上述 凹凸面定位及打印方法 中， 所述打印喷头使用的墨水为紫外线固化相变油墨。
上述 凹凸面定位及打印方法 中， 所述支撑横梁上安装一光栅尺或磁栅尺。
上述 凹凸面定位及打印方法 中， 所述待打印对象安置平台设置有升降装置，与打印喷头之间的距离可调。
上述 凹凸面定位及打印方法 中， 所述打印小车的一端或两端设置UV固化装置。
上述 凹凸面定位及打印方法 中，所述支撑横梁上设置 UV 固化装置。
本发明还提出另一种喷墨打印机用凹凸面定位及打印方法，其特征在于， 包括：
a) 提供一包括打印小车、支撑横梁、待打印对象安置平台和控制系统的喷墨打印装置，所述打印小车上安装打印喷头和激光传感器，所述待打印对象安置平台上放置至少两个具有凹凸特征的待打印对象；
b) 通过激光传感器一遍通过检测各待打印对象，通过软件程序计算出各待打印对象的凹凸特征的轮廓坐标；
c) 根据各待打印对象的凹凸特征的轮廓坐标拼接成一待打印图像；
d) 控制系统控制打印喷头将待打印图像打印在各待打印对象上。
上述凹凸面定位及打印方法中，所述待打印对象的外表面具有均一的颜色。
上述 凹凸面定位及打印方法 中，所述激光传感器的扫描宽度大于待打印对象上凹凸特征的最大宽度。
上述 凹凸面定位及打印方法 中，所述待打印对象安置平台上的待打印对象的凹凸特征可以相同也可以不同。
上述 凹凸面定位及打印方法 中，所述待打印对象安置平台上的待打印对象的凹凸特征的高低程度完全一致。
上述 凹凸面定位及打印方法 中，所述步骤 c) 中的待打印图像为待打印对象凹凸特征的轮廓线；所述步骤 d) 中的控制系统控制打印喷头一遍通过将待打印图像打印在各待打印对象上。
上述 凹凸面定位及打印方法 中，所述步骤 a) 中的喷墨打印装置中的打印小车还可以沿垂直于支撑横梁的方向做往复运动；所述步骤 c) 中的待打印图像为待打印对象的凹凸特征；所述步骤 d) 中的控制系统控制打印喷头多遍通过将待打印图像打印在各待打印对象上。
与现有技术相比，本发明的有益效果在于：
1. 对于具有凹凸面轮廓的待打印对象，无论凹凸面是否存在颜色差异，均可以快速准确定位喷射图文的位置坐标，对于不同形状的凹凸面以及打印至凹凸面的边缘或凹凸特征上均可通过测量及算法实现，扩大喷墨打印机应用领域。
2. 采用激光传感器，其灵敏度和测量精度高，抗电磁场干扰能力强，可以远离电弧强光、强热区，与工件无接触及检测区域大等优点，确保喷射点定位精度。
3. 激光传感器采用超高速轮廓测量仪激光位移传感器，能够通过 2 次元的激光稳定检测截面的形状，取样速度可高达 64,000 个轮廓 / 秒或 12,800,000 点 / 秒，连续输出轮廓数据，可瞬时测量所有形状，并根据需要整合成 3D 模型形式 / 功能，提高工作效率。
4. 在更换待打印对象时，无需再次测试调整，即可直接扫描完成打印作业。
附图说明
图 1 为本发明实现 喷墨打印机用凹凸面定位 及打印方法的装置示意图；
图 2 为本发明中 喷墨打印机用激光传感器对凹凸特征定位原理示意图；
图 3 为本发明实施例一中确定凹凸特征中心坐标原理示意图；
图 4 为本发明实施例一中由预打印图像拼接得到的一待打印图像示意图；
图 5 为本发明实施例一中 喷墨打印机用凹凸面定位及打印方法的工作流程图；
图 6 为本发明实施例二中确定凹凸特征轮廓坐标原理示意图；
图 7 为本发明实施例二中拼接成待打印图像示意图；
图 8 为本发明实施例二中 喷墨打印机用凹凸面定位及打印方法的工作流程图 ；
图 9 为本发明实施例三中定位不规则形状凹凸特征的方法示意图；
图 10 为本发明实施例四中实现喷墨打印机用凹凸面定位及打印方法的装置立体图；
图 11 为本发明实施例五中实现喷墨打印机用凹凸面定位及打印方法的示意图。
具体实施方式
下面结合附图对本发明的喷墨打印机用凹凸面定位及打印方法进行详细描述。
如图 1 所示，实现本发明的喷墨打印机用凹凸面定位及打印方法的喷墨打印装置包括打印小车 1 ，支撑横梁 2 ，待打印对象安置平台 3 和控制系统 4 。打印小车 1 可沿支撑横梁 2 做 X 轴向往复运动，打印小车 1 一侧安装有激光传感器 11 ，激光传感器 11 用于采集待打印对象 5 上的凹凸特征 51 ，并将数据反馈至传感器控制器（图中未示出）后由软件程序计算出待打印对象 5 凹凸特征 51 的中心在待打印对象安置平台 3 上的位置坐标；打印小车 1 上安装用于喷射打印墨水的打印喷头 12 ，为提高喷绘效果，可以设置多个打印喷头用于喷射青色（ C ）、品红色（ M ）、黄色（ Y ）、黑色（ K ）、白色（ W ）和透明色（ V ）油墨中的一种或多种；喷出的青色（ C ）、品红色（ M ）、黄色（ Y ）、黑色（ K ）、白色（ W ）和透明色（ V ）油墨均为紫外线固化相变油墨；本发明中的打印小车 1 上安装的打印喷头 12 的数量也可根据实际情况设置。支撑横梁 2 上安装有光栅尺 21 ，光栅尺 21 用来标记 X 轴向坐标，本发明中的光栅尺也可以用精度更高的磁栅尺代替。待打印对象安置平台 3 上放置至少两个待打印对象 5 ，且待打印对象 5 具有相同的凹凸特征 51 。待打印对象安置平台 3 设置有升降装置（图中未示出），与打印喷头 12 之间的距离为可调节的；待打印对象安置平台 3 上可设置治具装置，用来定位待打印对象 5 。控制系统 4 用于控制喷墨打印机对待打印对象 5 进行图像或文字的打印作业。
为将打印喷头 12 喷射到待打印对象 5 表面的油墨快速固化，本发明中在打印小车 1 上打印喷头 12 的一端或两端设置 UV 固化装置，本发明中也可在每一打印喷头 12 的旁边设置一 UV 预固化装置，本发明中还可以在支撑横梁 2 上设置 UV 固化装置。
图 2 为本发明实施例中的激光传感器 11 对 凹凸面定位的原理示意图。激光传感器 11 为超高速轮廓测量仪位移传感器，能够通过二次元的激光稳定检测轮廓截面的形状。以检测对象为具有立方体凹凸特征 61 的长方体待打印对象 6 为例具体说明，首先保证激光传感器 11 的扫描宽度大于长方体待打印对象 6 上立方体凹凸特征 61 的最大宽度，当启动激光发光程序后，激光传感器 11 发射激光于长方体待打印对象 6 上表面，激光传感器 11 跟随打印小车 1 进行 X 轴向移动，发射的激光沿 X 轴向扫描长方体待打印对象 6 上表面。当扫描至长方体待打印对象 6 上表面为平面时，激光测量程序反馈的轮廓线条为直线线条 111 ；当扫描至长方体待打印对象 6 上表面的立方体凹凸特征 61 时，激光测量程序反馈的轮廓线条为凹凸面轮廓截面形状 222 。经过一遍通过扫描后，检测出长方体待打印对象 6 的立方体凹凸特征 61 。在整个扫描过程中，光栅尺标记 X 轴向位置坐标，激光传感器通过检测 Z 轴向位置坐标变化获得立方体凹凸特征 61 外轮廓面上点的 Z 轴向坐标，从而在 YZ 平面中绘制出轮廓截面形状 222 ，再根据凹凸面轮廓截面形状 222 的特征变化得到组成轮廓边缘各点的 Y 轴向坐标。
实施例一
本实施例详细说明对具有完全相同凹凸特征的多个待打印对象进行喷墨打印的方法。
根据激光传感器 11 获得 待打印对象 5 凹凸特征 51 ，软件程序通过各 YZ 平面上获得的截面形状判断出凹凸特征 51 的四个极值位置坐标点 A 、 B 、 C 、 D ，软件再将凹凸特征 51 转化成 XY 平面内的轮廓，如图 3 所示， C 、 D 为 X 轴向极值位置坐标点， A 、 B 为 Y 轴向极值位置坐标点，通过激光传感器 11 反馈 A 点的 Y 轴向坐标，以 Y1 表示，通过激光传感器 11 反馈 B 点的 Y 轴向坐标，以 Y2 表示，软件计算得到中心点 O 的 Y 轴向坐标 Y0 ， Y0=(Y1+Y2 ） /2 ；通过光栅尺 21 反馈 C 点的 X 轴向坐标，以 X1 表示，通过光栅尺 21 反馈 D 点的 X 轴向坐标，以 X2 表示，软件计算得到中心点 O 的 X 轴向坐标 X0 ， X0= （ X1+X2 ） /2 ，从而得到凹凸特征 51 中心位置点 O 的坐标（ X0 ， Y0 ）。
软件程序预先提供一与待打印对象 5 凹凸特征 51 一致的预打印图像 511 ，如图 4 所示，将计算出的各待打印对象 5 凹凸特征 51 的中心位置 O 坐标（ X0 ， Y0 ）分别与预打印图像 511 的中心位置 Q 重合，由于待打印对象安置平台 3 上放置至少两个待打印对象 5 ，软件再将确定位置后的至少两个预打印图像 511 拼接成一待打印图像 52 ，用于准确喷射于待打印对象 5 上的凹凸特征位置处。
本实施例的 工作流程图如图 5 所示， 首先接通电源后，启动开始按钮，打印小车 1 从初始位置沿支撑横梁 2 向指定位置移动，经以太网发出通信信号，开启传感器激光发光程序，同时激光传感器 11 跟随打印小车 1 沿支撑横梁 2 移动，整个移动过程中，激光传感器 11 扫描下方的待打印对象 5 ，获取 待打印对象 5 的凹凸特征 51 数据。程序判断小车是否移动到指定位置，即一遍通过的终点位置，若否，激光传感器 11 继续扫描并获取数据；若是，则激光传感器 11 停止扫描，并对采集的数据进行分析，计算 出待打印对象 5 凹凸特征 51 的中心在待打印对象安置平台 3 上的位置坐标 。 软件系统预先提供一与待打印对象凹凸特征一致的预打印图像，将计算出的凹凸特征 51 中心位置点 O 坐标与预打印图像 511 的中心位置点 Q 重合， 软件将确定位置后的至少两个预打印图像拼接成一个待打印图像 52 。随后，打印小车 1 重新移动到初始位置，若否，控制系统 4 控制打印小车 1 继续移动；若是，控制系统 4 控制打印喷头 12 从初始位置对待打印对象 5 喷射待打印图像，直至完成打印工作。
若待打印图像仅为凹凸特征 51 的轮廓线，控制系统 4 控制打印喷头 12 一遍通过将待打印图像打印在各待打印对象 5 上。
若待打印图像为凹凸特征时，为保证喷绘质量，控制系统可控制打印小车 1 沿垂直于支撑横梁做 Y 轴向步进运动，控制打印喷头 12 多遍通过将待打印图像打印在各待打印对象 5 上。
实施例二
本实施例详细说明对具有不相同凹凸轮廓但凹凸特征深浅程度完全一致的多个待打印对象进行喷墨打印的方法。
待打印对象凹凸特征轮廓为不相同的第一凹凸特征 501 和第二凹凸特征 502 ，激光传感器 11 通过一遍通过扫描获得凹凸特征在各 YZ 平面上的截面轮廓，如图 6 所示，激光传感器 11 扫描到第一凹凸特征 501 ，软件判断从第一轮廓特征点 E 开始的所有组成第一凹凸特征 501 的轮廓边缘的特征点，直至最后一个轮廓特征点 F 。软件程序再将凹凸特征转化成 XY 平面内的轮廓， 光栅尺 21 标记 X 轴向位置坐标，激光传感器 11 根据凹凸特征轮廓截面形状计算出轮廓边缘的 Y 轴向坐标，即可得到 从点 E 到点 F 组成第一凹凸特征 501 的所有轮廓特征点在待打印对象安置平台 3 上对应的位置坐标。当扫描完第一 凹凸特征 501 后，激光传感器继续扫描 至无凹凸特征位置，此时激光测量程序反馈的轮廓线条为直线线条，当扫描到第二凹凸特征 502 时，激光测量程序反馈 第二凹凸特征 502 的 凹凸面轮廓截面形状线条，软件判断从第一轮廓特征点 G 开始的所有组成第二凹凸特征 502 的轮廓边缘的特征点，直至最后一个轮廓特征点 H ，同样计算出从点 G 到点 H 组成第二凹凸特征 502 的所有轮廓特征点在待打印对象安置平台 3 上对应的位置坐标。软件程序根据各凹凸特征的轮廓特征点位置坐标拼接成一待打印图像 53 ，如图 7 所示。
图 8 为本发明实施例二的 凹凸面定位及打印方法的工作流程图。
首先接通电源后，启动开始按钮，打印小车 1 从初始位置沿支撑横梁 2 向指定位置移动，经以太网发出通信信号，开启传感器激光发光程序，同时激光传感器 11 跟随打印小车 1 沿支撑横梁 2 移动，整个移动过程中，激光传感器 11 扫描下方的待打印对象，获取第一凹凸特征 501 和第二凹凸特征 502 的数据。程序判断小车是否移动到指定位置，即一遍通过的终点位置，若否，激光传感器 11 继续扫描并获取数据；若是，则激光传感器 11 停止扫描，并对采集的数据进行分析，计算出第一凹凸特征 501 和第二凹凸特征 502 的截面轮廓 在待打印对象安置平台 3 上的 位置坐标，软件根据各凹凸特征的轮廓坐标拼接成一待打印图像 53 。随后，打印小车 1 重新移动到初始位置，若否，控制系统 4 控制打印小车 1 继续移动；若是，控制系统 4 控制打印喷头 12 从初始位置对待打印对象喷射待打印图像 53 ，直至完成打印工作。
若待打印图像仅为第一凹凸特征 501 和第二凹凸特征 502 的轮廓线，控制系统 4 控制打印喷头 12 一遍通过将待打印图像打印在各待打印对象上。
若待打印图像为第一凹凸特征 501 和第二凹凸特征 502 时，为保证喷绘质量，控制系统控制打印小车 1 沿垂直于支撑横梁 2 做 Y 轴向步进运动，控制打印喷头 12 多遍通过将待打印图像打印在各待打印对象上。
实施例三
本实施例详细说明对具有多个凹凸特征，且一个或两个凹凸特征形状规则、至少一个凹凸特征形状不规则的多个待打印对象进行喷墨打印的方法。
待打印对象 55 具有多个凹凸特征，以图 9 为例，包括第三凹凸特征 503 、第四凹凸特征 504 和第五凹凸特征 505 ，其中第三凹凸特征 503 和第四凹凸特征 504 为规则形状，第五凹凸特征 505 为不规则形状。利用激光传感器 11 和软件程序可得到第三凹凸特征 503 中心位置点 M 和第四凹凸特征 504 中心位置点 N 的坐标，通过测量找出第五凹凸特征 505 中心位置点 P 与第三凹凸特征 503 中心位置点 M 和第四凹凸特征 504 中心位置点 N 的几何关系，可以测出第五凹凸特征 505 中心位置点 P 位于点 M 、点 N 连线上，且点 P 与点 M 的水平方向距离为 d ，软件根据测得的点 M 、点 N 坐标可计算出不规则形状第五凹凸特征 505 的中心位置点 P 在待打印对象安置平台 3 上的位置坐标，以（ X5 ， Y5 ）表示。软件程序将中心位置点 P 的位置坐标与预打印图像的中心位置重合，并将确定位置后的多个预打印图像拼接成一待打印图像，再由控制系统控制打印喷头将待打印图像打印在各待打印对象上。
实施例四
如图 10 所示，本实施例中凹凸面定位及打印的装置包括打印小车 1 ，支撑横梁 2 ，待打印对象安置平台 3 和控制系统（图中未示出），本实施例的待打印对象安置平台 3 包括第一待打印对象安置平台 31 和第二待打印对象安置平台 32 ，第一待打印对象安置平台 31 和第二待打印对象安置平台 32 下方设置平移驱动机构（图中未示出），平移驱动机构驱动第一待打印对象安置平台 31 和第二待打印对象安置平台 32 沿垂直于支撑横梁 2 方向往复移动；每一待打印对象安置平台上设置一治具（图中未示出）用以安放若干待打印对象 5 ，待打印对象上具有凹凸特征 51 。打印小车 1 可沿支撑横梁 2 方向做往复运动，打印小车 1 一侧安装有激光传感器 11 ，激光传感器 11 用于采集待打印对象 5 上的凹凸特征 51 。控制系统用于控制喷墨打印机对待打印对象 5 进行图像打印作业。
下面详细描述一下打印工作过程，首先开启启动按钮，第一待打印对象安置平台 31 位于支撑横梁 2 下方，打印小车 1 由初始位置沿支撑横梁 2 向另一端终点位置移动，打印小车 1 一侧的激光传感器 11 跟随打印小车 1 移动并扫描下端的待打印对象 5 ，检测打印对象 5 凹凸特征，计算出凹凸特征 51 中心在待打印对象安置平台 3 上的位置坐标，软件提供一与待打印对象凹凸特征一致的预打印图像，当激光传感器 11 经过一遍通过检测后，程序将凹凸特征的中心位置坐标与预打印图像的中心位置重合，并将确定位置后的多个预打印图像拼接成一待打印图像，此时控制系统控制打印小车 1 重新回到初始位置，再次沿支撑横梁 2 移动并将待打印图像打印在各待打印对象 5 上，打印完成后，打印小车 1 回到初始位置。
第一待打印对象安置平台 31 上的待打印对象 5 打印完成后，待打印对象安置平台 3 下方设置的平移驱动机构驱动待打印对象安置平台 3 沿垂直于支撑横梁 2 正方向移动一个平台工位，使第一待打印对象安置平台 31 移出打印位置，第二待打印对象安置平台 32 移至支撑横梁 2 的下方，打印小车再次沿支撑横梁 2 移动，对第二待打印对象安置平台 32 上的待打印对象 5 重复以上工作过程，此时操作者可对第一待打印对象安置平台 31 处进行卸料及重新置料的操作。待第二待打印对象安置平台 32 上的待打印对象 5 完成打印作业后，平移驱动机构驱动沿垂直于支撑横梁 2 负方向移动一个平台工位，使第一待打印对象安置平台 31 移至支撑横梁 2 的下方，操作者对第二待打印对象安置平台 32 处进行卸料及重新置料的操作，控制系统对第一待打印对象安置平台 31 上的待打印对象 5 重复以上打印工作过程。如此反复，直至完成打印任务。
实施例五
图 11 为本发明又一实施例中实现喷墨打印机用凹凸面定位及打印方法的示意图，本实施例中凹凸面定位及打印的装置包括打印小车 1 ，支撑横梁 2 ，待打印对象安置平台 3 和控制系统 4 。打印小车 1 可沿支撑横梁 2 做 X 轴向往复运动，支撑横梁 2 可沿 Y 轴向做往复运动。待打印对象安置平台 3 上安置一具有多排凹凸特征 71 的待打印对象 7 ，多排凹凸特征 71 可以相同也可以不同，一排凹凸特征的最大宽度小于激光传感器 11 的扫描宽度，多排凹凸特征 71 的高低程度完全一致。通过激光传感器 11 一遍通过检测第一排凹凸特征，通过软件程序计算出第一排凹凸特征轮廓坐标并根据轮廓坐标拼接成一待打印图像，控制系统 4 控制打印喷头 12 一遍通过或多遍通过将待打印图像打印在第一排的各凹凸特征上，此排打印完成后打印小车 1 回到初始位置。支撑横梁 2 沿 Y 轴向移动一排凹凸特征的距离，激光传感器 11 一遍通过检测第二排凹凸特征，通过软件程序计算出第二排凹凸特征轮廓坐标并根据轮廓坐标拼接成一待打印图像，控制系统 4 控制打印喷头 12 一遍通过或多遍通过将待打印图像打印在第二排的各凹凸特征上，如此方法，直至完成待打印对象多排凹凸特征 71 的图像打印。
需要指出的是根据本发明的具体实施方式所做出的任何变形，均不脱离本发明的精神以及权利要求所记载的范围。

Claims (19)

  1. 一种喷墨打印机用凹凸面定位及打印方法，其特征在于，包括：
    a) 提供一包括打印小车、支撑横梁、待打印对象安置平台和控制系统的喷墨打印装置，所述打印小车上安装打印喷头和激光传感器，所述待打印对象安置平台上放置具有至少两个凹凸特征的待打印对象；
    b) 提供一与待打印对象凹凸特征一致的预打印图像；
    c) 通过激光传感器一遍通过检测各待打印对象的凹凸特征；
    d) 通过软件程序计算出各待打印对象凹凸特征的中心在待打印对象安置平台上的位置坐标；
    e) 将各待打印对象凹凸特征中心的位置坐标分别与一预打印图像的中心位置重合，并将确定位置后的多个预打印图像拼接成一待打印图像；
    f) 控制系统控制打印喷头将待打印图像打印在各待打印对象上。
  2. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述步骤e)中的预打印图像为待打印对象凹凸特征的轮廓线，所述步骤f)中的控制系统控制打印喷头一遍通过将待打印图像打印在各待打印对象上。
  3. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述步骤a)中的喷墨打印装置中的打印小车还可以沿垂直于支撑横梁的方向做往复运动；所述步骤e)中的预打印图像为待打印对象的凹凸特征，所述步骤f)中的控制系统控制打印喷头多遍通过将待打印图像打印在各待打印对象上。
  4. 权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述待打印对象的外表面具有均一的颜色。
  5. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述激光传感器为轮廓测量仪位移传感器，能够通过二次元激光检测待打印对象截面的形状。
  6. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述激光传感器的扫描宽度大于待打印对象上凹凸特征的最大宽度。
  7. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述待打印对象安置平台上的所有待打印对象具有相同的凹凸特征。
  8. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述打印喷头使用的墨水为紫外线固化相变油墨。
  9. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述支撑横梁上安装一光栅尺或磁栅尺。
  10. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述待打印对象安置平台设置有升降装置，与打印喷头之间的距离可调。
  11. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述打印小车的一端或两端设置UV固化装置。
  12. 如权利要求1所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述支撑横梁上设置UV固化装置。
  13. 一种喷墨打印机用凹凸面定位及打印方法，其特征在于，包括：
    a) 提供一包括打印小车、支撑横梁、待打印对象安置平台和控制系统的喷墨打印装置，所述打印小车上安装打印喷头和激光传感器，所述待打印对象安置平台上放置至少两个具有凹凸特征的待打印对象；
    b) 通过激光传感器一遍通过检测各待打印对象，通过软件程序计算出各待打印对象的凹凸特征的轮廓坐标；
    c) 根据各待打印对象的凹凸特征的轮廓坐标拼接成一待打印图像；
    d) 控制系统控制打印喷头将待打印图像打印在各待打印对象上。
  14. 如权利要求13所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述待打印对象的外表面具有均一的颜色。
  15. 如权利要求13所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述激光传感器的扫描宽度大于待打印对象上凹凸特征的最大宽度。
  16. 如权利要求13所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述待打印对象安置平台上的待打印对象的凹凸特征可以相同也可以不同。
  17. 如权利要求13所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述待打印对象安置平台上的待打印对象的凹凸特征的高低程度完全一致。
  18. 如权利要求13所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述步骤c)中的待打印图像为待打印对象凹凸特征的轮廓线；所述步骤d)中的控制系统控制打印喷头一遍通过将待打印图像打印在各待打印对象上。
  19. 如权利要求13所述的喷墨打印机用凹凸面定位及打印方法，其特征在于，所述步骤a)中的喷墨打印装置中的打印小车还可以沿垂直于支撑横梁的方向做往复运动；所述步骤c)中的待打印图像为待打印对象的凹凸特征；所述步骤d)中的控制系统控制打印喷头多遍通过将待打印图像打印在各待打印对象上。
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