CN117565575B - Method, equipment and storage medium for automatically adjusting spray head of ink-jet printer - Google Patents
Method, equipment and storage medium for automatically adjusting spray head of ink-jet printer Download PDFInfo
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- 238000007639 printing Methods 0.000 claims abstract description 89
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000004927 fusion Effects 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims abstract description 8
- 230000036544 posture Effects 0.000 claims description 41
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K15/00—Arrangements for producing a permanent visual presentation of the output data, e.g. computer output printers
- G06K15/02—Arrangements for producing a permanent visual presentation of the output data, e.g. computer output printers using printers
- G06K15/027—Test patterns and calibration
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Abstract
The invention discloses a method, equipment and a storage medium for automatically adjusting a spray head of an ink-jet printer, and relates to the technical field of printers; the method comprises the steps of S1, sensor acquisition and monitoring, S2, data fusion, S3, real-time feedback and adjustment, S4, mechanical structure and S5, and posture adjustment; the invention uses the sensor to collect the position, the gesture and the distance of the spray head and the printing platform, combines the data fusion and the real-time feedback adjustment to realize the accurate prediction and the automatic adjustment of the gesture of the spray head, the method comprises the steps of sensor monitoring, data fusion, gesture calculation, control mechanism adjustment, real-time feedback and the like, the stability and the accuracy of printing quality can be improved, the printing quality reduction caused by posture deviation is avoided, and the correct relative position and posture of the spray head and the printing platform can be maintained by the inkjet printer through automatic feedback adjustment, so that the printing effect and the production efficiency are improved.
Description
Technical Field
The invention relates to the technical field of printers, in particular to a method, equipment and a storage medium for automatically adjusting a spray head of an ink-jet printer.
Background
For an inkjet printer, in order to improve the accuracy of a printer nozzle, a traditional method is to use a measuring instrument to perform repeated manual adjustment in combination with printing a calibration pattern; however, this manual adjustment is subject to several limitations, firstly, it requires a highly skilled operator to ensure accurate calibration of the state of the spray head, which not only requires training and skill, but is also subject to human error; secondly, manual adjustment is a time-consuming and laborious task requiring a lot of human resources and time, which may lead to a decrease in production efficiency and an increase in production costs for mass production.
In addition, the conventional manual calibration method cannot monitor the change of the state of the nozzle in real time, and thus cannot be adjusted in time, which may lead to degradation of printing quality, increase of waste of ink, and even damage of the nozzle, and thus, there is a need to develop a more efficient, automatic and real-time method to solve these problems.
Disclosure of Invention
The invention aims to provide a method, equipment and a storage medium for automatically adjusting a nozzle of an ink-jet printer, which are used for acquiring the positions, the postures and the distances of the nozzle and a printing platform by using a sensor and realizing accurate prediction and automatic adjustment of the posture of the nozzle by combining data fusion and real-time feedback adjustment. The method comprises the steps of sensor monitoring, data fusion, gesture calculation, control mechanism adjustment, real-time feedback and the like, so that the stability and accuracy of printing quality can be improved, the reduction of the printing quality caused by gesture deviation is avoided, and the inkjet printer can keep the correct relative position and gesture of a nozzle and a printing platform through automatic feedback adjustment, so that the printing effect and the production efficiency are improved.
The aim of the invention can be achieved by the following technical scheme:
the application provides a method for automatically adjusting a spray head of an ink-jet printer, which comprises the following steps:
S1, collecting and monitoring by using a sensor, namely a depth camera, a gyroscope, a laser radar and an ultrasonic ranging sensor, and respectively monitoring and collecting the positions, the postures and the distances of a spray head and a printing mobile platform;
S2, data fusion, namely fusing data from a plurality of sensors by adopting a Kalman filtering algorithm to obtain highly accurate space coordinate information, wherein the space coordinate information comprises positions, postures and relative distances of a spray head and a printing platform;
s3, feeding back and adjusting in real time, continuously monitoring and adjusting the gesture and the height of the spray head, feeding back to the printing system in real time, and adjusting the parameters of the printer in real time if deviation or abnormal conditions are detected;
S4, controlling two degrees of freedom of the mechanical structure spray head, wherein the mechanical structure spray head comprises a pitch angle control mechanism and a turnover angle control mechanism of the forward spray head under a Cartesian coordinate system, and a mechanism for integrally lifting and lowering a Z axis;
S5, posture adjustment is carried out, and the posture of the spray head is automatically adjusted according to the fused coordinate information; and then carrying out height adjustment, and automatically adjusting the height of the spray head based on the fused distance information.
Preferably, the method for automatically adjusting the spray head of the ink-jet printer further comprises a moving platform and a printer, wherein the moving platform is in bidirectional connection with the printer, the moving platform comprises a pitch angle control mechanism, a Z-axis integral lifting mechanism, a turnover angle control mechanism, a laser radar/RGBD camera, a gyroscope, the spray head and ultrasonic waves, the laser radar/RGBD camera scans a printing surface through point cloud, and the spray head is arranged on the printing surface through ink jetting.
Preferably, according to the kalman filtering algorithm adopted in the step S2, a dynamic model of the nozzle and the printing platform is established, and the motion law and the measurement error of the nozzle and the printing platform are described;
initial state estimation is carried out, and the initial state of the system is estimated at the beginning;
according to a dynamic model of the system and state estimation at the last moment, carrying out state prediction by using a Kalman filtering algorithm;
The state of the system is measured and updated through the data acquired by the sensor, the measurement residual error and the covariance matrix are calculated through comparison with the predicted value, and the predicted value is adjusted through Kalman gain, so that more accurate state estimation is obtained.
Preferably, according to the real-time feedback and adjustment described in step S3, real-time data of the nozzle and the printing platform are obtained through the depth camera, the gyroscope, the laser radar and the ultrasonic ranging sensor, then the nozzle data collected in real time are analyzed and processed, any deviation or abnormal situation is identified, according to the deviation value and the error analysis result, the ink jet quantity, the nozzle position or the angle parameter is automatically adjusted, the adjustment result of the real-time feedback is transmitted to the printer, the adjusted parameter value is fed back to the system through the interface with the printer control system, and the printing control is performed.
Preferably, the posture adjustment according to step S5 includes the steps of:
S51, returning the mechanical control mechanism to a zero position;
S52, sensor data acquisition, point cloud data acquisition/RGBD data acquisition, gyroscope data acquisition and ultrasonic data acquisition;
S53, sensor data processing is carried out, 3D image processing is carried out on point cloud data/RGBD data, the geometric relationship of a printing surface on a mobile platform is rebuilt, and gyroscope data are filtered to obtain pose data of a spray head zero position; filtering the ultrasonic data to obtain platform depth data;
s54, obtaining an optimal attitude predicted value, processing sensor data to obtain the optimal attitude predicted value by using an attitude filtering fusion algorithm, and calculating a nozzle pitch angle deviation value, a turnover angle deviation value and a Z-axis vertical height deviation value;
S55, adjusting the posture of the multiple mechanisms, and respectively controlling a pitch angle control mechanism, a turnover angle control mechanism and a Z-axis integral lifting mechanism by using the three deviation values calculated in the step 4;
s56, iteratively adjusting the gesture of the spray head, and repeating the steps 1, 3, 4 and 5 until the spray head reaches the set gesture.
Preferably, the pitch angle deviation value, the roll angle deviation value and the Z-axis vertical height deviation value of the spray head are calculated according to the calculation in the step S54,
Calculation is performed using an attitude filtering algorithm, extended kalman filtering, for estimating the attitude of the spray head:
The nozzle pitch angle deviation value, the target pitch angle is set as theta_target; the pitch angle of the spray head obtained from the sensor data is theta_measured; performing attitude estimation by using an EKF to obtain a predicted nozzle pitch angle which is theta_predicted; the nozzle pitch angle deviation value is expressed as:
Deviation value = θ_target- θ_predicted
The flip angle deviation value, the set target flip angle is phi_target; the flip angle of the spray head obtained from the sensor data is phi_measured; performing attitude estimation by using an EKF to obtain a predicted flip angle of the nozzle as phi_predicted; the flip angle deviation value is expressed as:
offset value = phi target-phi predicted
The Z-axis vertical height deviation value is set as h_target; the actual height of the printing platform obtained from the sensor data is h_measured; performing attitude estimation by using an EKF to obtain a predicted printing platform height h_predicted; the Z-axis vertical height deviation value is expressed as:
offset value = h_target-h_predicted.
Preferably, according to the control of the pitch angle control mechanism, the roll angle control mechanism and the Z-axis integral lifting mechanism described in step S55,
According to the calculated nozzle pitch angle deviation value, the pitch angle of the nozzle is adjusted by controlling a pitch angle control mechanism;
according to the calculated turning angle deviation value, the turning angle of the spray head is adjusted by controlling a turning angle control mechanism;
And according to the calculated vertical height deviation value of the Z axis, the height of the printing platform is adjusted by controlling the Z axis integral lifting mechanism, so that the correct relative height of the spray head and the printing platform is maintained.
An apparatus for automatically adjusting a printhead of an inkjet printer, comprising a printer, 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 described above.
A storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method described above.
The beneficial effects of the invention are as follows:
(1) High-precision printing, namely ensuring high-precision alignment between the spray head and the printing platform through multi-sensor fusion and real-time feedback, so that high-precision printing is realized;
(2) The environment adaptability, the multi-sensor fusion technology can adapt to various complex working environments, including the influence of factors such as vibration, displacement, mechanical errors and the like;
(3) The automatic adjustment method is fully automatic, does not need manual intervention, and reduces operation complexity and possibility of errors.
Drawings
For a better understanding and implementation, the technical solution of the present application is described in detail below with reference to the accompanying drawings.
FIG. 1 is a flow chart showing the steps of a method for automatically adjusting a nozzle of an ink jet printer according to embodiment 1 of the present application;
FIG. 2 is a block diagram of a method for automatically adjusting a nozzle of an ink jet printer according to embodiment 1 of the present application;
Fig. 3 is a flowchart of a method for automatically adjusting the nozzle of an inkjet printer according to embodiment 1 of the present application.
Detailed Description
For further explanation of the technical means and effects adopted by the present application for achieving the intended purpose, exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of methods and systems that are consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
The following detailed description of specific embodiments, features and effects according to the present invention is provided with reference to the accompanying drawings and preferred embodiments.
Example 1
Referring to fig. 1-3, the position, the gesture and the distance of the spray head and the printing platform are acquired by using a sensor, and the accurate prediction and the automatic adjustment of the gesture of the spray head are realized by combining data fusion and real-time feedback adjustment. The method comprises the steps of sensor monitoring, data fusion, gesture calculation, control mechanism adjustment, real-time feedback and the like, so that the stability and accuracy of printing quality can be improved, the reduction of the printing quality caused by gesture deviation is avoided, and the inkjet printer can keep the correct relative position and gesture of a nozzle and a printing platform through automatic feedback adjustment, so that the printing effect and the production efficiency are improved.
The invention provides a method for automatically adjusting a spray head of an ink-jet printer, which comprises the following steps:
S1, collecting and monitoring by using a sensor, and respectively monitoring and collecting the positions, the postures and the distances of a spray head and a printing mobile platform by using a depth camera, a gyroscope, a laser radar and an ultrasonic ranging sensor,
S2, data fusion, namely fusing data from a plurality of sensors by adopting a Kalman filtering algorithm to obtain highly accurate space coordinate information, wherein the space coordinate information comprises positions, postures and relative distances of a spray head and a printing platform; accurate position, posture and distance information of the spray head and the printing platform are acquired through sensor acquisition and data fusion, the posture and the height of the spray head are continuously monitored and adjusted by utilizing real-time feedback and adjustment, the correct relative position and posture of the spray head and the printing platform are maintained, and high-precision posture control is realized.
S3, feeding back and adjusting in real time, continuously monitoring and adjusting the gesture and the height of the spray head, feeding back to the printing system in real time, and immediately adjusting the parameters of the printer if deviation or abnormal conditions are detected, so as to realize high-precision printing;
S4, a mechanical structure is provided, and two degrees of freedom of a mechanical structure spray head are controlled, wherein the mechanical structure spray head comprises a pitch angle control mechanism and a turnover angle control mechanism of a forward spray head under a Cartesian coordinate system, and a mechanism for integrally lifting a Z axis, and the mechanical structure is particularly realized by a traditional mechanical gear structure or more precise piezoelectric ceramics for adjustment; through the setting of mechanical structure and gesture adjustment step, the gesture and the height of automatic adjustment shower nozzle need not manual intervention. According to the fused coordinate information, automatically adjusting the gesture of the spray head to ensure the correct relative position with the printing platform; and then according to the fused distance information, automatically adjusting the height of the spray head so as to maintain the correct relative height with the printing platform, thereby improving the working efficiency and the operation convenience.
S5, posture adjustment is carried out, and the posture of the spray head is automatically adjusted according to the fused coordinate information so as to ensure the correct relative position of the spray head and the printing platform; and then carrying out height adjustment, and automatically adjusting the height of the spray head based on the fused distance information so as to maintain the correct relative height with the printing platform.
The high-precision attitude control, stable printing quality, automatic adjustment and optimization and the improvement of production efficiency and finished product quality can be realized.
In this embodiment, the method for automatically adjusting the nozzle of the inkjet printer further includes a mobile platform and a printer, wherein the mobile platform is in bidirectional connection with the printer, the mobile platform includes a pitch angle control mechanism, a Z-axis integral lifting mechanism, a flip angle control mechanism, a laser radar/RGBD camera, a gyroscope, a nozzle and ultrasonic waves, the laser radar/RGBD camera scans a printing surface through point cloud, and the nozzle is arranged on the printing surface through inkjet.
In this embodiment, according to the kalman filtering algorithm adopted in step S2, a dynamic model of the nozzle and the printing platform is established, which includes a motion equation of the nozzle and the printing platform, a sensor measurement equation, a system noise model, and the like; these models describe the law of motion and measurement errors of the spray head and the printing platform.
Initial state estimation is carried out, and the initial state of the system is estimated at the beginning; this can be estimated using initial pose information provided by a sensor such as a gyroscope.
According to a dynamic model of the system and state estimation at the last moment, carrying out state prediction by using a Kalman filtering algorithm; by means of prediction, a predicted value and a covariance matrix of the state at the current moment can be obtained.
The state of the system is measured and updated through data acquired by the sensor, such as a depth camera, a laser radar and the like, the measurement residual error and a covariance matrix can be calculated through comparison with the predicted value, and then the predicted value is adjusted by using a Kalman gain, so that more accurate state estimation is obtained.
Through data fusion of a Kalman filtering algorithm, information from a plurality of sensors can be effectively integrated, and accuracy of space coordinate information is improved, so that the gesture and relative position of a spray head and a printing platform can be calculated more accurately, and higher-precision gesture adjustment and printing quality control are realized.
In this embodiment, according to the real-time feedback and adjustment described in step S3, the real-time data of the shower nozzle and the printing platform are obtained through various sensors such as a depth camera, a gyroscope, a laser radar, an ultrasonic ranging sensor, etc., and these sensors can provide information such as the position, the posture, the distance, etc. of the shower nozzle. Analyzing and processing the sprayer data acquired in real time, and identifying any deviation or abnormal situation, such as detecting the situations that the posture of the sprayer deviates from a set value, the height of the sprayer deviates from a target value or other printing quality indexes do not meet the requirements; according to the deviation value and the error analysis result, automatically adjusting parameters such as the ink jet quantity, the position or the angle of the nozzle and the like so as to correct the deviation and keep the stability and the accuracy of the state of the nozzle; transmitting the real-time feedback adjustment result to the printer, so that the printer can timely respond and control the printing process; this may be done by communicating with the printer control system interface, feeding back the adjusted parameter values to the system, and performing corresponding print control.
Through real-time feedback and adjustment, deviation of the nozzle posture can be found and corrected in time, and correct relative positions and postures of the nozzle and the printing platform are ensured. Therefore, the stability and the accuracy of the printing quality can be improved, and the condition that the printing quality is reduced or the nozzle is damaged due to the deviation of the gesture is avoided.
In this embodiment, the posture adjustment according to step S5 includes the steps of:
S51, returning the mechanical control mechanism to a zero position;
S52, sensor data acquisition, point cloud data acquisition/RGBD data acquisition, gyroscope data acquisition and ultrasonic data acquisition;
S53, sensor data processing, wherein 3D image processing is carried out on point cloud data/RGBD data, and the geometrical relationship of a printing surface on a mobile platform is reconstructed, wherein the geometrical relationship comprises angle data such as levelness, verticality and the like, the distance between a spray head and the platform, the flatness of the platform and the like; filtering the gyroscope data to obtain pose data of a zero position of the spray head; filtering the ultrasonic data to obtain platform depth data;
s54, obtaining an optimal attitude predicted value, processing sensor data to obtain the optimal attitude predicted value by using an attitude filtering fusion algorithm, and calculating a nozzle pitch angle deviation value, a turnover angle deviation value and a Z-axis vertical height deviation value;
S55, adjusting the posture of the multiple mechanisms, and respectively controlling a pitch angle control mechanism, a turnover angle control mechanism and a Z-axis integral lifting mechanism by using the three deviation values calculated in the step 4;
s56, iteratively adjusting the gesture of the spray head, and repeating the steps 1, 3, 4 and 5 until the spray head reaches the set gesture.
In this embodiment, the pitch angle deviation value, the roll angle deviation value and the Z-axis vertical height deviation value of the shower head are calculated according to the calculation in step S54,
Calculation is performed using an attitude filtering algorithm, extended kalman filtering (ExtendedKalmanFilter, EKF), for estimating the attitude of the spray head:
The nozzle pitch angle deviation value, the target pitch angle is set as theta_target; the pitch angle of the spray head obtained from the sensor data is theta_measured; performing attitude estimation by using an EKF to obtain a predicted nozzle pitch angle which is theta_predicted; the nozzle pitch angle deviation value may be expressed as:
Deviation value = θ_target- θ_predicted
The flip angle deviation value, the set target flip angle is phi_target; the flip angle of the spray head obtained from the sensor data is phi_measured; performing attitude estimation by using an EKF to obtain a predicted flip angle of the spray head as phi_predicted; the flip angle deviation value may be expressed as:
offset value = phi target-phi predicted
The Z-axis vertical height deviation value is set as h_target; the actual height of the printing platform obtained from the sensor data is h_measured; performing attitude estimation by using an EKF to obtain a predicted printing platform height of h_predicted; the Z-axis vertical height deviation value may be expressed as:
offset value = h_target-h_predicted.
The optimal estimation of the gesture of the spray head is obtained by fusing the data of a plurality of sensors through a gesture filtering algorithm, so that the pitch angle and the turnover angle of the spray head and the height of the printing platform can be accurately estimated; calculating a nozzle pitch angle deviation value, a turnover angle deviation value and a Z-axis vertical height deviation value by comparing a set target posture (such as a pitch angle and a turnover angle) with a predicted posture, wherein the deviation values reflect the difference between an actual posture and the target posture; according to the calculated deviation value, the gesture and the height of the spray head can be automatically adjusted to approach or reach the set target gesture. The real-time adjustment of the nozzle posture is realized through corresponding control mechanisms, such as a pitch angle control mechanism, a turnover angle control mechanism and a Z-axis lifting mechanism; the gesture of the spray head is monitored in real time and automatically adjusted, so that the correct relative position and gesture of the spray head and the printing platform can be maintained. This helps to improve stability and accuracy of print quality, avoiding degradation of print quality and waste of ink due to attitude deviation.
In the present embodiment, according to the control pitch angle control mechanism, roll angle control mechanism and Z-axis integral lifting mechanism described in step S55,
According to the calculated pitch angle deviation value of the spray head, the pitch angle of the spray head is adjusted by controlling a pitch angle control mechanism, for example, the pitch angle of the spray head is changed by a motor or a steering engine so as to be close to the target gesture;
according to the calculated turning angle deviation value, the turning angle of the spray head is adjusted by controlling a turning angle control mechanism, and the turning angle of the spray head is changed by using a motor or a steering engine so as to be close to the target gesture;
According to the calculated vertical height deviation value of the Z axis, the height of the printing platform is adjusted by controlling the Z axis integral lifting mechanism, and the height can be realized through a motor or a hydraulic system and other mechanisms so as to keep the correct relative height of the spray head and the printing platform.
The accurate control of the nozzle posture can be realized by continuously monitoring and calculating the deviation value and automatically adjusting the pitch angle, the turnover angle and the height. Therefore, the stability and the accuracy of the printing quality can be improved, and the correct relative position and posture between the spray head and the printing platform are ensured.
An apparatus for automatically adjusting a printhead of an inkjet printer, comprising a printer, 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 described above.
A storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method described above.
Example 2
The embodiment utilizes sensor data and an attitude control model to realize automatic feedback adjustment of the nozzle attitude. Therefore, the correct relative position and posture of the spray head and the printing platform can be ensured, and the stability and accuracy of the printing quality are improved.
A method of automatically adjusting an inkjet printer head, comprising:
And (3) collecting and monitoring a sensor: and the gesture information of the spray head and the printing platform is acquired in real time by using a vision sensor (such as a camera), a gyroscope and other sensors. The camera may capture images of the spray head and the print platform and extract feature points or contours to calculate pose by image processing algorithms. The gyroscope can provide angular velocity and angle information of the spray head;
Attitude control model: and establishing an attitude control model, and calculating the attitude deviation to be adjusted according to the required target attitude and the currently measured attitude data. The model can be designed based on methods such as a PID controller, fuzzy logic control or a neural network;
Control signal generation: and according to the attitude deviation, calculating a corresponding control signal by using a control algorithm. For example, in PID control, corresponding proportional, integral and derivative terms are calculated according to the magnitude and rate of change of the attitude deviation, and are converted into voltage or current signals;
the specific PID controller formula is as follows:
Control signal = Kp deviation + Ki integral + Kd differential;
Wherein:
the control signal is a voltage or current signal which is finally output and is used for adjusting the gesture of the spray head;
kp is a proportional gain for generating a correction proportional to the deviation based on the magnitude of the deviation;
ki is the integral gain for generating a correction proportional to the integral of the deviation based on the accumulated value of the deviation for eliminating static errors;
kd is a differential gain for generating a correction amount proportional to the rate of change of the deviation based on the rate of change of the deviation for improving the dynamic response and stability of the system;
For the posture adjustment of the ink-jet printer, a specific formula may need to be adjusted and optimized according to the characteristics of an actual system, and the values of parameters Kp, ki and Kd also need to be adjusted and adjusted according to actual conditions so as to achieve a good posture adjustment effect.
The control is performed: and inputting the generated control signal into a control mechanism of the spray head to realize posture adjustment. The control mechanism can comprise an electric steering engine, a hydraulic or pneumatic actuator and the like, and the pitch angle and the turnover angle of the spray head are adjusted according to the input control signals;
Real-time feedback and adjustment: the change of the gesture and the position of the spray head is continuously monitored and fed back to the system in real time. By continuously acquiring the attitude information and recalculating the attitude deviation, the correct relative position and the correct attitude of the spray head and the printing platform can be timely adjusted and maintained;
And (3) self-adaptive optimization: and by collecting and analyzing feedback information of the actual printing result, the gesture control model and parameters are continuously optimized, so that the accuracy and the efficiency of gesture adjustment are improved. According to the quality of the printing result and the effect of gesture adjustment, parameters of a control algorithm can be adjusted or a gesture control model can be improved, so that better printing quality and gesture stability are achieved.
The present invention is not limited in any way by the above-described preferred embodiments, but is not limited to the above-described preferred embodiments, and any person skilled in the art will appreciate that the present invention can be embodied in the form of a program for carrying out the method of the present invention, while the above disclosure is directed to equivalent embodiments capable of being modified or altered in some ways, it is apparent that any modifications, equivalent variations and alterations made to the above embodiments according to the technical principles of the present invention fall within the scope of the present invention.
Claims (8)
1. An automatic nozzle adjusting method for an ink-jet printer is characterized by comprising the following steps: the method comprises the following steps:
S1, collecting and monitoring by using a sensor, namely a depth camera, a gyroscope, a laser radar and an ultrasonic ranging sensor, and respectively monitoring and collecting the positions, the postures and the distances of a spray head and a printing mobile platform;
S2, data fusion, namely fusing data from a plurality of sensors by adopting a Kalman filtering algorithm to obtain highly accurate space coordinate information, wherein the space coordinate information comprises positions, postures and relative distances of a spray head and a printing platform;
s3, feeding back and adjusting in real time, continuously monitoring and adjusting the gesture and the height of the spray head, feeding back to the printing system in real time, and adjusting the parameters of the printer in real time if deviation or abnormal conditions are detected;
s4, setting control of two degrees of freedom of the mechanical structure spray head, wherein the control comprises a pitch angle control mechanism and a turnover angle control mechanism of the forward spray head under a Cartesian coordinate system, and a mechanism for integrally lifting and lowering a Z axis;
s5, posture adjustment is carried out, and the posture of the spray head is automatically adjusted according to the fused coordinate information; then, the height of the spray head is adjusted automatically based on the fused distance information;
According to step S5, the posture adjustment includes the steps of:
S51, returning the mechanical control mechanism to a zero position;
S52, sensor data acquisition, point cloud data acquisition/RGBD data acquisition, gyroscope data acquisition and ultrasonic data acquisition;
S53, sensor data processing is carried out, 3D image processing is carried out on point cloud data/RGBD data, the geometric relationship of a printing surface on a mobile platform is rebuilt, and gyroscope data are filtered to obtain pose data of a spray head zero position; filtering the ultrasonic data to obtain platform depth data;
s54, obtaining an optimal attitude predicted value, processing sensor data to obtain the optimal attitude predicted value by using an attitude filtering fusion algorithm, and calculating a nozzle pitch angle deviation value, a turnover angle deviation value and a Z-axis vertical height deviation value;
S55, adjusting the posture of the multiple mechanisms, and respectively controlling a pitch angle control mechanism, a turnover angle control mechanism and a Z-axis integral lifting mechanism by using the three deviation values calculated in the step 4;
S56, iteratively adjusting the posture of the spray head, and repeating the steps S51, S53, S54 and S55 until the spray head reaches the set posture.
2. The method for automatically adjusting a nozzle of an ink jet printer according to claim 1, wherein: the intelligent printing device comprises a printer, and is characterized by further comprising a moving platform and a printer, wherein the moving platform is in bidirectional connection with the printer, the moving platform comprises a pitch angle control mechanism, a Z-axis integral lifting mechanism, a turnover angle control mechanism, a laser radar/RGBD camera, a gyroscope, a spray head and ultrasonic waves, the laser radar/RGBD camera scans a printing surface through point cloud, and the spray head is arranged on the printing surface through ink jet.
3. The method for automatically adjusting a nozzle of an ink jet printer according to claim 1, wherein: establishing a dynamic model of the spray head and the printing platform according to the Kalman filtering algorithm adopted in the step S2, and describing the motion law and measurement errors of the spray head and the printing platform;
initial state estimation is carried out, and the initial state of the system is estimated at the beginning;
according to a dynamic model of the system and state estimation at the last moment, carrying out state prediction by using a Kalman filtering algorithm;
The state of the system is measured and updated through the data acquired by the sensor, the measurement residual error and the covariance matrix are calculated through comparison with the predicted value, and the predicted value is adjusted through Kalman gain, so that more accurate state estimation is obtained.
4. The method for automatically adjusting a nozzle of an ink jet printer according to claim 1, wherein: according to the real-time feedback and adjustment in the step S3, the real-time data of the spray head and the printing platform are obtained through the depth camera, the gyroscope, the laser radar and the ultrasonic ranging sensor, then the spray head data collected in real time are analyzed and processed, any deviation or abnormal situation is identified, the ink jet quantity, the spray head position or the angle parameter is automatically adjusted according to the deviation value and the error analysis result, the adjustment result fed back in real time is transmitted to the printer, the adjusted parameter value is fed back to the system through the interface with the printer control system, and the printing control is performed.
5. The method for automatically adjusting a nozzle of an ink jet printer according to claim 1, wherein: according to the calculated nozzle pitch angle deviation value, flip angle deviation value and Z-axis vertical height deviation value in step S54,
Calculation is performed using an attitude filtering algorithm, extended kalman filtering, for estimating the attitude of the spray head:
The nozzle pitch angle deviation value, the target pitch angle is set as theta_target; the pitch angle of the spray head obtained from the sensor data is theta_measured; performing attitude estimation by using an EKF to obtain a predicted nozzle pitch angle which is theta_predicted; the nozzle pitch angle deviation value is expressed as:
deviation value = θ_target- θ_predicted
The flip angle deviation value, the set target flip angle is phi_target; the flip angle of the spray head obtained from the sensor data is phi_measured; performing attitude estimation by using an EKF to obtain a predicted flip angle of the nozzle as phi_predicted; the flip angle deviation value is expressed as:
Offset value = phi target-phi predicted
The Z-axis vertical height deviation value is set as h_target; the actual height of the printing platform obtained from the sensor data is h_measured; performing attitude estimation by using an EKF to obtain a predicted printing platform height h_predicted; the Z-axis vertical height deviation value is expressed as:
offset value = h_target-h_predicted.
6. The method for automatically adjusting a nozzle of an ink jet printer according to claim 1, wherein: according to the pitch angle control mechanism, the roll angle control mechanism and the Z-axis integral lifting mechanism of step S55,
According to the calculated nozzle pitch angle deviation value, the pitch angle of the nozzle is adjusted by controlling a pitch angle control mechanism;
according to the calculated turning angle deviation value, the turning angle of the spray head is adjusted by controlling a turning angle control mechanism;
And according to the calculated vertical height deviation value of the Z axis, the height of the printing platform is adjusted by controlling the Z axis integral lifting mechanism, so that the correct relative height of the spray head and the printing platform is maintained.
7. An apparatus for automatically adjusting a nozzle of an inkjet printer, comprising: comprising a printer, 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 any of the preceding claims 1-6.
8. A storage medium having stored thereon computer program instructions, characterized by: the method of any of the preceding claims 1-6 when executed by a processor.
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