Height adjustment method and device, electronic equipment and storage medium

Abstract

The application discloses a height adjusting method and device, electronic equipment and a storage medium, and the method comprises the following steps: determining at least two to-be-measured positions of a to-be-adjusted device in a horizontal movement direction, and determining a to-be-determined height difference between two adjacent to-be-measured positions; determining at least one to-be-compensated point between the two adjacent to-be-measured positions according to the to-be-determined height difference, and determining a to-be-compensated height corresponding to each to-be-compensated point; and adjusting the height of the to-be-adjusted device at the corresponding to-be-compensated point according to each to-be-compensated height, so as to adjust the to-be-adjusted device to a target height. When the rigidity design of a gantry structure 3D printing device is insufficient, the printing device cannot perform 3D printing in a horizontal straight line state, and the printing product is curved downward in an arc shape. The application can achieve the effect that the gantry structure 3D printing device can still perform 3D printing in a horizontal straight line state when the rigidity design is insufficient.

Description

Technical Field

[0001] This invention relates to the field of 3D printing technology, and more particularly to a height adjustment method, apparatus, electronic device, and storage medium. Background Technology

[0002] The gantry-based 3D printing equipment includes a lifting device that is mounted on the crossbeam of the gantry structure.

[0003] When the rigidity of the gantry structure is low, the crossbeam structure of the gantry structure may deflect due to the weight of the lifting equipment itself. This can reduce the longitudinal printing accuracy of the 3D printed products and even lead to quality problems in the printed products.

[0004] To solve the above problems, it is necessary to perform longitudinal accuracy compensation on the 3D printing equipment. Summary of the Invention

[0005] This invention provides a height adjustment method, device, electronic device, and storage medium to solve the problem that when the rigidity design of a gantry structure 3D printing equipment is insufficient, the printing equipment cannot perform 3D printing in a horizontal straight line due to the deflection of the crossbeams in the gantry structure.

[0006] In a first aspect, embodiments of the present invention provide a height adjustment method, comprising:

[0007] Determine at least two positions to be measured for the device to be adjusted in the horizontal movement direction, and determine the height difference to be determined between two adjacent positions to be measured; wherein, the device to be adjusted is a lifting device in a 3D printing apparatus;

[0008] Based on the height difference to be determined, at least one point to be compensated between two adjacent positions to be measured is determined, and the height to be compensated corresponding to each point to be compensated is determined.

[0009] Based on the height to be compensated, the height of the device to be adjusted is adjusted at the corresponding compensation point to adjust the device to the target height.

[0010] Secondly, embodiments of the present invention also provide a height adjustment device, comprising:

[0011] A height error determination module is used to determine at least two measurement positions of the device to be adjusted in the horizontal movement direction, and to determine the height difference to be determined between two adjacent measurement positions; wherein, the device to be adjusted is a lifting device in a 3D printing apparatus;

[0012] The compensation height determination module is used to determine at least one compensation point between two adjacent measurement positions based on the difference in height to be determined, and to determine the compensation height corresponding to each compensation point.

[0013] The height adjustment module is used to adjust the height of the device to be adjusted at the corresponding compensation point according to each compensation height, so as to adjust the device to the target height.

[0014] Thirdly, embodiments of the present invention also provide an electronic device, comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the height adjustment method according to any embodiment of the present invention.

[0018] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the height adjustment method described in any embodiment of the present invention.

[0019] The technical solution of this invention involves determining at least two measurement positions of the device to be adjusted in the horizontal movement direction, and determining the height difference between two adjacent measurement positions. The actual height corresponding to each measurement position is obtained using a height measuring instrument, and the height difference between adjacent measurement positions is determined. Based on the height difference, at least one compensation point is determined between two adjacent measurement positions, and the corresponding compensation height is determined. The number of compensation points between two adjacent measurement positions is determined by the height compensation accuracy, and a corresponding number of compensation points are set between two adjacent measurement positions. The compensation height corresponding to each compensation point is determined based on linear interpolation. Based on each compensation height, the height of the device to be adjusted is adjusted at the corresponding compensation point to adjust the device to the target height. The height information in the G-code of the device to be adjusted is updated according to each compensation height. Height compensation is performed on the corresponding compensation points using each compensation height to obtain the target usage code, which is used to control the actual height of the device to be adjusted during the actual printing process. This invention addresses the problem of 3D printing equipment with gantry structures failing to maintain a horizontal straight line when the rigidity design is insufficient. This results in the printed product bending downwards. By setting multiple height compensation positions in the horizontal direction of the printing equipment and performing corresponding height compensation at each position, the 3D printing equipment with gantry structures can still maintain a horizontal straight line even when the rigidity design is insufficient, thus ensuring that the printed product remains straight in the horizontal direction.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a height adjustment method provided in Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of a height adjustment device according to Embodiment 3 of the present invention;

[0024] Figure 3This is a schematic diagram of the structure of an electronic device that implements the height adjustment method of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0027] Before elaborating on this technical solution, a brief introduction to its application scenarios is provided to facilitate a clearer understanding. The height adjustment method provided in this technical solution can be applied to concrete 3D printing equipment, such as gantry-type 3D printing equipment, also known as a gantry machining center. A gantry machining center refers to a machining center where the Z-axis of the spindle is perpendicular to the worktable. Its overall structure is a large machining center with a portal frame frame consisting of double columns and a top beam. A crossbeam is also present in the middle of the double columns, making it particularly suitable for processing large and complex-shaped workpieces. In practical applications, if the rigidity of the gantry structure is sufficiently high, Z-axis accuracy can be guaranteed during 3D printing using gantry-based 3D printing equipment. However, excessively high rigidity can lead to increased weight, cost, and the number and cost of gantry drive devices. On the other hand, if the rigidity of the gantry structure is insufficient, the crossbeams in the gantry structure will exhibit downward deflection during 3D printing, meaning the crossbeams will bend downwards. The reason lies in the fact that 3D printing equipment based on a gantry structure primarily relies on controlling a lifting mechanism. This lifting mechanism is positioned on the crossbeam of the gantry structure and can move horizontally along the Y-axis. However, due to the weight of the lifting mechanism and the typically long length of the crossbeam (e.g., 12 meters), insufficient rigidity in the gantry structure can cause the lifting mechanism to sink during horizontal movement. In other words, the weight of the lifting mechanism and insufficient rigidity of the gantry structure result in an arc-shaped trajectory during horizontal movement. Consequently, the printed product will exhibit a similar curvature, which becomes increasingly pronounced with each additional layer, potentially leading to serious quality issues.

[0028] Based on this, this technical solution proposes a height adjustment method. By determining the height error at each position on the crossbeam during the horizontal movement of the lifting equipment on the crossbeam, and compensating for the height error at the corresponding position, the problem of unqualified printing quality caused by the Y-axis deflection of the gantry structure 3D printing equipment is reduced.

[0029] Example 1

[0030] Figure 1The flowchart of a height adjustment method is provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the rigidity design of a gantry structure 3D printing equipment is insufficient, and the printing equipment is controlled to maintain a horizontal straight line during 3D printing so that the printed product remains straight in the horizontal direction. The method can be executed by a height adjustment device, which can be implemented in hardware and / or software. The height adjustment device can be configured in a computing device capable of executing the height adjustment method.

[0031] like Figure 1 As shown, the method includes:

[0032] S110. Determine at least two positions to be measured for the device to be adjusted in the horizontal movement direction, and determine the height difference to be determined between two adjacent positions to be measured.

[0033] The device to be adjusted is the lifting mechanism in the 3D printing unit. The measurement position can be understood as the location where the actual height of the device to be adjusted is measured to obtain the actual height. In this technical solution, the measurement position is a pre-set measurement position. For example, if the length of the crossbeam of the gantry structure is 12 meters, a measurement position can be set every 1 meter to determine the actual height of the device during horizontal movement on the crossbeam. The height difference to be determined can be understood as the difference in actual height between two adjacent measurement positions.

[0034] For gantry structures, the crossbeams are generally quite long and lack sufficient rigidity. Given the significant weight of the equipment being adjusted, downward bending of the crossbeam is inevitable during the horizontal movement of the equipment. To mitigate the impact of this bending on the printing process, precise compensation for the equipment's height along the Z-axis is necessary. This involves adjusting the actual height of the equipment during its movement to ensure it remains in a horizontal, straight printing position throughout the final printing process.

[0035] Specifically, to determine the actual downward bending height of the device to be adjusted during actual printing, at least two measurement positions corresponding to the device can be preset. When the device moves to the corresponding measurement position, the actual height corresponding to the device is marked, and the height difference between two adjacent measurement positions is determined based on the actual heights corresponding to each measurement position.

[0036] Optionally, determining the height difference to be determined between two adjacent positions to be measured includes: for any two adjacent positions to be measured, determining the first actual height and the second actual height of the device to be adjusted at the corresponding position to be measured; and obtaining the height difference to be determined based on the difference between the second actual height and the first actual height.

[0037] It should be noted that the first and second in this embodiment are only used to distinguish the actual height of the device to be adjusted at different measurement positions, and have no practical meaning.

[0038] Specifically, for ease of understanding of this technical solution, for two adjacent positions to be measured, the position that the device to be adjusted passes through first during its horizontal movement is typically designated as the first position to be measured, and the position that it passes through later is designated as the second position to be measured. Correspondingly, the actual height of the device to be adjusted at the first position to be measured is the first actual height, and the actual height at the second position to be measured is the second actual height. Based on the difference between the second actual height and the first actual height, the height difference to be determined between the two adjacent positions to be measured can be obtained.

[0039] It is understandable that when determining the actual height of the device to be adjusted, methods such as height measuring instruments, laser scanners, or image capture can be used. In other words, this technical solution does not specify the measurement method for obtaining the actual height of the device to be adjusted at each measurement position.

[0040] S120. Based on the height difference to be determined, determine at least one point to be compensated between two adjacent positions to be measured, and determine the height to be compensated corresponding to each point to be compensated.

[0041] Because the device to be adjusted moves continuously during horizontal movement, and the measurement positions are pre-set, typically there are only a few measurement positions. In other words, the measurement positions are discretely set in the horizontal direction. If precision compensation for the height of the device to be adjusted is only performed at these measurement positions, the final printed product will not achieve a straight and horizontal state. Therefore, it is necessary to set multiple compensation points between two adjacent measurement positions, and to perform corresponding height compensation for the device to be adjusted at each compensation point.

[0042] The so-called compensation point can be understood as a position set between two adjacent measurement positions where the height of the device to be adjusted needs to be compensated. It's understood that the more compensation points there are, the more accurate the height adjustment of the device will be. The compensation height can be understood as the height at which the device needs to be adjusted at the compensation point; essentially, it's the height error between the actual height of the device during printing and the preset height. The preset height essentially refers to the height of the device to be adjusted when the crossbeam of the gantry structure does not deflect. More specifically, if the device to be adjusted is installed on the crossbeam and the crossbeam has high rigidity, there will be no deflection. In this case, the device to be adjusted will maintain a horizontal straight-line movement throughout the entire horizontal movement, and correspondingly, the preset height of the device to be adjusted should correspond to the height of the device during horizontal straight-line movement.

[0043] Specifically, in order to improve the accuracy of the height adjustment of the device to be adjusted, more compensation points need to be added based on the two adjacent measurement positions, and the compensation height of the device to be adjusted at each measurement position and each compensation point needs to be determined. The height of the device to be adjusted is adjusted accordingly based on the compensation height of each position, so as to compensate for the accuracy of the movement of the device to be adjusted in the vertical direction, that is, to perform Z-axis accuracy compensation for the device to be adjusted.

[0044] Optionally, based on the height difference to be determined, at least one compensation point is determined between two adjacent measurement positions, including: determining the number of compensation points between the height differences to be determined based on the height compensation accuracy; determining the number of compensation points based on the number of compensation points, and setting a corresponding number of compensation points between two adjacent measurement positions.

[0045] In practical applications, the height compensation accuracy is determined by the smallest control unit of the gantry control system in the 3D printing device.

[0046] Generally, the smallest control unit of a gantry control system is 0.001mm, and the minimum resolution of equal separation along the horizontal direction of the beam is 0.001mm. Based on this, the height compensation accuracy to be adjusted in the Z-axis direction is 0.001mm. The number of points to be compensated is the number of compensation points set between two adjacent measurement positions. For example, if the height difference to be determined is 0.100mm, then based on the height compensation accuracy, the number of points to be compensated can be determined to be 100, meaning that the number of compensation points set between two adjacent measurement positions is 100.

[0047] It should be noted that in this technical solution, both the measurement location and the compensation point require height compensation for the equipment to be adjusted. The compensation point and measurement location in this technical solution are used only for the convenience of the explanation; that is, the measurement location also includes the compensation point.

[0048] Optionally, determining the height to be compensated corresponding to each point to be compensated includes: performing height iteration processing on at least one point to be compensated between two adjacent measurement positions based on linear interpolation to obtain the height to be compensated corresponding to each point to be compensated.

[0049] The so-called linear interpolation method refers to the method of using a straight line connecting two known quantities to determine the value of an unknown quantity between these two known quantities. In this technical solution, multiple measurement positions are set in the horizontal direction of the equipment to be adjusted. This can be regarded as dividing the crossbeam of the gantry structure into multiple segments, and each segment is determined by the horizontal direction of two adjacent measurement positions.

[0050] Based on the foregoing analysis, when the equipment to be adjusted moves horizontally, it will exhibit a downward bending tendency due to the lateral deflection in the gantry structure. By dividing the equipment into sections during its entire horizontal movement and measuring the height of the equipment at the corresponding measurement positions at both ends of each section, the actual height can be obtained. In other words, for each measurement position at both ends of a section, the corresponding actual height is two known quantities. Based on the height compensation accuracy, the number of compensation points between two adjacent measurement positions can be determined, and a corresponding number of compensation points can be set at adjacent measurement positions using linear interpolation. By measuring the height of the equipment to be adjusted at each compensation point, the height difference between the equipment at each compensation point and the preset height can be obtained, and the corresponding compensation height for each compensation point can be determined based on these height differences.

[0051] For example, taking a segment corresponding to two adjacent measurement positions as an example, the actual height of the device to be adjusted at each position in this segment can be regarded as a diagonal line segment. By measuring the actual height of the device to be adjusted at the two ends of the segment, the height 1 corresponding to measurement position 1 and the height 2 corresponding to measurement position 2 can be obtained. Accordingly, the difference between height 2 and height 1 can be used to obtain the corresponding height difference to be determined. Further, by using height compensation accuracy, the compensation point in this segment is determined, and the height of each compensation point is iteratively processed using linear interpolation to obtain the compensation height corresponding to each compensation point. Specifically, based on the difference between height 2 and height 1, the actual height at the midpoint between measurement position 1 and measurement position 2 can be determined, which is the compensation height corresponding to compensation point 1. Further, using the height information corresponding to measurement position 1 and compensation point 1, the actual height at the midpoint between measurement position 1 and compensation point 1 can be determined, which is the compensation height corresponding to compensation point 2.

[0052] In other words, the intervals between two adjacent measurement locations are further divided into more detailed segments, and the height to be compensated at the middle position is determined based on the height values ​​at the first and second ends of each segment. This process is repeated until the height to be compensated at each compensation point is determined.

[0053] The advantage of this setup is that by dividing the area between two adjacent measurement positions more finely, the corresponding compensation height for each compensation point can be obtained. This makes it easier to adjust the height of the device being adjusted so that the gradient of adjustment is smoother, resulting in a flatter, more horizontally aligned printed product.

[0054] S130. Based on each height to be compensated, adjust the height of the equipment to be adjusted at the corresponding compensation point to adjust the equipment to the target height.

[0055] The target height is the height position of the equipment to be adjusted after the height is adjusted. It can also be understood as the preset height of the equipment to be adjusted when the beam structure does not show any downward deflection.

[0056] Specifically, after knowing the corresponding compensation heights for each compensation point, the device to be adjusted can be controlled to perform corresponding height adjustments to reach the target height. Optionally, based on each compensation height, the height of the device to be adjusted is adjusted at the corresponding compensation points to reach the target height, including: obtaining the compensation height of the device to be adjusted at each compensation point; when the device to be adjusted is detected to have moved to each corresponding compensation point, controlling the device to be adjusted to perform lifting and lowering adjustments based on the corresponding compensation height to adjust the device to the target height.

[0057] Specifically, after determining the compensation height of the equipment to be adjusted at each position, the equipment to be adjusted is raised to the corresponding compensation height based on each compensation point, so that the equipment to be adjusted reaches the target height in the horizontal direction, which is the preset height corresponding to the crossbeam structure when no downward deflection occurs.

[0058] Optionally, based on the height to be compensated at each point, the height value code of the corresponding compensation point in the device to be adjusted is updated to obtain the target usage code, so as to control the device to be adjusted to perform height compensation at the corresponding compensation point based on the target usage code.

[0059] In practical applications, when printing using 3D printing equipment, the printing control platform controls the 3D printing device through G-codes. In other words, G-codes act as a "bridge" connecting the computer and the 3D printer. Using G-codes, we can control specific printing operations through the printing control platform, such as printing time, printing position, and the printing position and height of the device to be adjusted. The height value code refers to the control code within the G-code corresponding to the height of the device to be adjusted. The target code is the updated G-code based on the height value code.

[0060] For example, in the initial G-code, the height value code corresponding to the device to be adjusted is the code for the preset height value when the crossbeam structure does not deflect. When the crossbeam structure deflects, the device to be adjusted will also sink accordingly. Based on the preset height, if the crossbeam structure deflects by 10mm, the actual height of the device to be adjusted will also decrease by 10mm compared to the preset height. That is, if you want the device to be adjusted to print in a horizontal straight line during the actual printing process, you need to adjust the device to be adjusted upward by 10mm at this position to compensate for the 10mm sinking error and make the device to be adjusted reach the preset height, i.e., the target height. In practical applications, the printing control platform can control the height of the device to be adjusted during the actual printing process through G-code. Therefore, after determining the height to be compensated for at each compensation point, the height code at the corresponding position in the initial G-code can be updated to obtain the target usage code, so as to control the device to be adjusted to perform height compensation at the corresponding compensation point based on the target usage code. The advantage of this setup is that even if the rigidity design of the gantry structure is insufficient and the crossbeams deflect, good 3D printing can still be performed based on the equipment to be adjusted, resulting in a printed product that is a horizontal straight line in the horizontal direction.

[0061] The advantage of this setup is that even if the rigidity design of the gantry structure is insufficient and the crossbeams deflect, good 3D printing can still be performed based on the equipment to be adjusted, resulting in a printed product that is a horizontal straight line in the horizontal direction.

[0062] The technical solution of this invention involves determining at least two measurement positions of the device to be adjusted in the horizontal movement direction, and determining the height difference between two adjacent measurement positions. The actual height corresponding to each measurement position is obtained using a height measuring instrument, and the height difference between adjacent measurement positions is determined. Based on the height difference, at least one compensation point is determined between two adjacent measurement positions, and the corresponding compensation height is determined. The number of compensation points between two adjacent measurement positions is determined by the height compensation accuracy, and a corresponding number of compensation points are set between two adjacent measurement positions. The compensation height corresponding to each compensation point is determined based on linear interpolation. Based on each compensation height, the height of the device to be adjusted is adjusted at the corresponding compensation point to adjust the device to the target height. The height information in the G-code of the device to be adjusted is updated according to each compensation height. Height compensation is performed on the corresponding compensation points using each compensation height to obtain the target usage code, which is used to control the actual height of the device to be adjusted during the actual printing process. This invention addresses the problem of 3D printing equipment with gantry structures failing to maintain a horizontal straight line when the rigidity design is insufficient. This results in the printed product bending downwards. By setting multiple height compensation positions in the horizontal direction of the printing equipment and performing corresponding height compensation at each position, the 3D printing equipment with gantry structures can still maintain a horizontal straight line even when the rigidity design is insufficient, thus ensuring that the printed product remains straight in the horizontal direction.

[0063] Example 2

[0064] In a specific example, for a gantry-structure 3D printing machine, the Y-axis span is 12 meters long, meaning the crossbeam between the two columns of the gantry structure is 12 meters long, and a vertical moving structure (i.e., the device to be adjusted) is installed on the crossbeam. During the actual printing process, the device to be adjusted can move horizontally along the Y-axis. However, if the gantry structure is not designed properly, the weight of the device to be adjusted will cause a downward deflection along the Y-axis, resulting in the device sinking. Understandably, the downward deflection is most pronounced at the center of the Y-axis; the closer to the columns at both ends, the smaller the deformation of the crossbeam, and the smaller the sinking height of the device to be adjusted.

[0065] In order to prevent the device to be adjusted from being affected by the downward deflection of the Y-axis during the actual printing process when the rigidity design of the gantry structure is insufficient, it is necessary to adjust the height of the device at various positions during the actual printing process so that the device can print in a straight line along the horizontal layout line.

[0066] Specifically, multiple measurement positions can be pre-set along the horizontal movement direction of the equipment to be adjusted, and a laser tracker (i.e., a height measuring instrument) can be used to measure the actual height of the equipment at each measurement position. In other words, as the equipment moves horizontally along the crossbeam, a certain number of measurement positions are set from 0 meters to 12 meters. Theoretically, the actual height corresponding to these measurement positions is the preset height, which is also the target height of the equipment to be adjusted. By measuring the actual height corresponding to each measurement position, the actual height of each measurement position can be obtained.

[0067] To improve the accuracy of height compensation for the device under adjustment along the Z-axis, multiple compensation points can be set between any two adjacent measurement positions, and the corresponding compensation height of the device under adjustment at each compensation point can be determined. Height compensation can then be performed on the device under adjustment at the corresponding compensation point based on each compensation height. Specifically, based on the height compensation accuracy, the number of compensation points between two adjacent measurement positions can be determined, and a corresponding number of compensation points can be set between these two adjacent measurement positions.

[0068] Furthermore, the height to be compensated for at each compensation point is determined using linear interpolation. For example, the height compensation accuracy is set according to the minimum control unit of the gantry control system. If the minimum control unit of the gantry control system is 0.001mm, the minimum resolution of the linear interpolation method in the Y direction is 0.001mm, and the accuracy of the compensation value in the Z direction needs to be blurred to 0.001mm. After determining the height to be compensated for at each compensation point, the G-code used in the 3D printing equipment is updated to correspond to the actual height of the equipment to be adjusted, resulting in the target usage code. The height of the equipment to be adjusted is then compensated based on the target usage code during the actual printing process, ensuring that the equipment is printed in a horizontal straight line during the actual printing process.

[0069] For example, when designing the gantry structure beam, the load position of the beam is adjusted according to the movement position of the device to be adjusted in the beam. The maximum deflection value of the beam is within -3mm. After the gantry is processed, it is actually measured that the maximum deflection at 6000mm in the horizontal direction is -2.879mm. After compensation, the measured position at this location is positive 0.153mm. In other words, the horizontal linear motion state of the device to be adjusted in the actual printing process is greatly improved after adjustment.

[0070] The technical solution of this embodiment determines at least two measurement positions of the device to be adjusted in the horizontal movement direction, and determines the height difference to be determined between two adjacent measurement positions; based on the height difference to be determined, at least one compensation point is determined between two adjacent measurement positions, and the corresponding compensation height is determined; based on each compensation height, the height of the device to be adjusted is adjusted at the corresponding compensation point to adjust the device to the target height. This solves the problem that when the rigidity design of a gantry structure 3D printing device is insufficient, the deflection of the crossbeams in the gantry structure prevents the printing device from 3D printing in a horizontal straight line, resulting in downward curvature of the printed product. By setting multiple height compensation positions in the horizontal direction of the printing device and performing corresponding height compensation at each position, it is possible to achieve 3D printing in a horizontal straight line even when the rigidity design of the gantry structure 3D printing device is insufficient, thus ensuring that the printed product remains straight in the horizontal direction.

[0071] Example 3

[0072] Figure 2 This is a schematic diagram of a height adjustment device provided in Embodiment 3 of the present invention. Figure 2 As shown, the device includes: a height error determination module 210, a height to be compensated determination module 220, and a height adjustment module 230.

[0073] The height error determination module 210 is used to determine at least two measurement positions of the device to be adjusted in the horizontal movement direction, and to determine the height difference to be determined between two adjacent measurement positions; wherein the device to be adjusted is the lifting device in the 3D printing device;

[0074] The compensation height determination module 220 is used to determine at least one compensation point between two adjacent measurement positions based on the height difference to be determined, and to determine the compensation height corresponding to each compensation point.

[0075] The height adjustment module 230 is used to adjust the height of the device to be adjusted at the corresponding compensation point according to each compensation height, so as to adjust the device to the target height.

[0076] The technical solution of this embodiment determines at least two measurement positions of the device to be adjusted in the horizontal movement direction, and determines the height difference to be determined between two adjacent measurement positions; based on the height difference to be determined, at least one compensation point is determined between two adjacent measurement positions, and the corresponding compensation height is determined; based on each compensation height, the height of the device to be adjusted is adjusted at the corresponding compensation point to adjust the device to the target height. This solves the problem that when the rigidity design of a gantry structure 3D printing device is insufficient, the deflection of the crossbeams in the gantry structure causes the printing device to be unable to perform 3D printing in a horizontal straight line, resulting in downward curvature of the printed product. By setting multiple height compensation positions in the horizontal direction of the printing device and performing corresponding height compensation at each position, it is possible to achieve 3D printing in a horizontal straight line even when the rigidity design of the gantry structure 3D printing device is insufficient, thus ensuring that the printed product remains straight in the horizontal direction.

[0077] Optionally, the height error determination module includes: an actual height determination unit, used to determine, for any two adjacent positions to be measured, the first actual height and the second actual height of the device to be adjusted at the corresponding positions to be measured;

[0078] The height error determination unit is used to obtain the height difference to be determined based on the difference between the second actual height and the first actual height.

[0079] Optionally, the module for determining the height to be compensated includes: determining the number of height differences to be compensated based on the height compensation accuracy;

[0080] The unit for determining the points to be compensated is used to determine the number of compensation points based on the quantity to be compensated, and to set the corresponding number of compensation points between two adjacent locations to be measured.

[0081] Optionally, the height compensation accuracy is determined based on the smallest control unit of the gantry control system in the 3D printing device.

[0082] Optionally, the compensation height determination module includes: a compensation height determination unit, used to perform height iteration processing on at least one compensation point between two adjacent measurement positions based on linear interpolation, to obtain the compensation height corresponding to each compensation point.

[0083] Optionally, the height adjustment module includes: a height to be compensated acquisition unit, used to acquire the height to be compensated relative to the device to be adjusted at each compensation point;

[0084] The height adjustment unit is used to control the height adjustment of the device to be adjusted based on the corresponding compensation height when it is detected that the device to be adjusted has moved to the corresponding compensation point, so as to adjust the device to the target height.

[0085] Optionally, the height adjustment device is also used to update the height value code of the corresponding compensation point in the device to be adjusted based on the compensation height at each compensation point, to obtain the target usage code, so as to control the device to be adjusted to perform height compensation at the corresponding compensation point based on the target usage code.

[0086] The height adjustment device provided in the embodiments of the present invention can execute the height adjustment method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0087] Example 4

[0088] Figure 3 A schematic diagram of the structure of an electronic device 10 according to an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0089] like Figure 3 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0090] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0091] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as highly regulated methods.

[0092] In some embodiments, the height adjustment method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the height adjustment method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the height adjustment method by any other suitable means (e.g., by means of firmware).

[0093] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] Computer programs for implementing the height adjustment method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0095] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0096] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0097] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0098] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0099] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0100] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A height adjustment method, characterized in that, include: Determine at least two positions to be measured for the device to be adjusted in the horizontal movement direction, and determine the height difference to be determined between two adjacent positions to be measured; wherein, the device to be adjusted is a lifting device in a 3D printing apparatus; Based on the height difference to be determined, at least one point to be compensated between two adjacent positions to be measured is determined, and the height to be compensated corresponding to each point to be compensated is determined. Based on each height to be compensated, the height of the device to be adjusted is adjusted at the corresponding compensation point to adjust the device to the target height; The step of determining at least one compensation point between two adjacent measurement locations based on the height difference to be determined includes: Based on the height compensation accuracy, determine the number of compensations to be made between the height differences to be determined; The number of compensation points is determined based on the quantity to be compensated, and a corresponding number of compensation points are set between two adjacent measurement locations. Determining the height to be compensated corresponding to each point to be compensated includes: Based on the linear interpolation method, the height of at least one point to be compensated between two adjacent positions to be measured is iteratively processed to obtain the height to be compensated corresponding to each point to be compensated.

2. The method according to claim 1, characterized in that, Determining the height difference between two adjacent measurement locations includes: For any two adjacent positions to be measured, determine the first actual height and the second actual height of the device to be adjusted at the corresponding positions to be measured; The height difference to be determined is obtained based on the difference between the second actual height and the first actual height.

3. The method according to claim 1, characterized in that, The height compensation accuracy is determined based on the smallest control unit of the gantry control system in the 3D printing device.

4. The method according to claim 1, characterized in that, The step of adjusting the height of the device to be adjusted at the corresponding compensation point according to each compensation height, so as to adjust the device to the target height, includes: Obtain the height to be compensated relative to the device to be adjusted at each compensation point; When the device to be adjusted is detected to have reached the corresponding compensation point, the device to be adjusted is controlled to lift and lower based on the corresponding compensation height, so that the device to be adjusted is adjusted to the target height.

5. The method according to claim 4, characterized in that, Also includes: Based on the height to be compensated at each of the aforementioned points, the height value code of the corresponding point to be compensated in the device to be adjusted is updated to obtain the target usage code, so as to control the device to be adjusted to perform height compensation at the corresponding point to be compensated based on the target usage code.

6. A height adjustment device, controlled by the height adjustment method as described in any one of claims 1-5, characterized in that, include: A height error determination module is used to determine at least two measurement positions of the device to be adjusted in the horizontal movement direction, and to determine the height difference to be determined between two adjacent measurement positions; wherein, the device to be adjusted is a lifting device in a 3D printing apparatus; The compensation height determination module is used to determine at least one compensation point between two adjacent measurement positions based on the difference in height to be determined, and to determine the compensation height corresponding to each compensation point. The height adjustment module is used to adjust the height of the device to be adjusted at the corresponding compensation point according to each compensation height, so as to adjust the device to the target height.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the height adjustment method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the height adjustment method according to any one of claims 1-5.

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