Height compensation method, device and computer equipment for a print platform

Abstract

The application relates to a height compensation method, device and computer equipment of a printing platform. The method comprises the following steps: determining a to-be-compensated measuring point in the printing platform and a plurality of adjacent areas located at positions adjacent to the to-be-compensated measuring point in the printing platform; each adjacent area comprises at least two adjacent measuring points; projecting the at least two adjacent measuring points in each adjacent area to a preset first projection plane to obtain at least two first projection points, and performing linear fitting processing on the at least two first projection points to obtain a first fitting line corresponding to each adjacent area; determining a compensation reference point according to the first fitting line corresponding to each adjacent area; projecting the compensation reference points to a preset second projection plane to obtain second projection points, and performing height compensation on coordinate data of the to-be-compensated measuring point according to the second projection points. The method can improve the accuracy of height compensation of the printing platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printing, in particular to a height compensation method and device of a printing platform and a computer device. BACKGROUND

[0002] 3D printing is a rapid prototyping technology, which is a technology of constructing a three-dimensional entity through layer-by-layer printing based on a digital model file, using special wax material, powdered metal or plastic and other adhesive materials. At present, how to adjust the level of the printing platform is the focus of research.

[0003] At present, the measurement points pre-set on the printing platform are usually measured, and a fitting plane is constructed according to the measurement results. When the nozzle prints to a certain position, the height compensation corresponding to the position can be calculated according to the fitting plane, so as to level. However, since the measurement results are indiscriminately constructed into a whole fitting plane, the adjustment of each measurement point cannot be realized, thereby reducing the leveling effect of the printing platform. Therefore, how to accurately compensate the height of each measurement point and ensure the levelness of the printing platform is a problem to be solved by the present disclosure. SUMMARY

[0004] Therefore, it is necessary to provide a height compensation method and device of a printing platform, a computer device and a computer readable storage medium capable of improving the accuracy of height compensation.

[0005] In a first aspect, the present application provides a height compensation method of a printing platform. The method comprises:

[0006] obtaining a plurality of measurement points in the printing platform, and determining a to-be-compensated measurement point;

[0007] determining a plurality of adjacent regions in the printing platform located at positions adjacent to the to-be-compensated measurement point; each adjacent region comprises at least two adjacent measurement points; the adjacent measurement points are measurement points adjacent to the to-be-compensated measurement point in the plurality of measurement points;

[0008] projecting the at least two adjacent measurement points in each adjacent region to a preset first projection plane to obtain coordinate data of at least two first projection points, and performing linear fitting processing on the coordinate data of the at least two first projection points to obtain a first fitting line corresponding to each adjacent region respectively;

[0009] determining coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent region respectively, coordinate data of the at least two adjacent measurement points in each adjacent region and coordinate data of the to-be-compensated measurement point;

[0010] Projecting each of the compensation reference points to a preset second projection plane to obtain coordinate data of each second projection point, and performing height compensation on the coordinate data of the to-be-compensated measurement point according to the coordinate data of each second projection point.

[0011] In one of the embodiments, the plurality of measurement points include an extended measurement point, an edge measurement point and an internal measurement point; the obtaining of the plurality of measurement points in the printing platform includes: determining an edge measurement point in the printing platform, and determining edge information of the edge measurement point; determining a target internal measurement point corresponding to the edge measurement point in the printing platform and determining an extension direction of the target internal measurement point according to the edge information; and performing extension processing on the target internal measurement point according to the extension direction to obtain an extended measurement point corresponding to the edge measurement point.

[0012] In one of the embodiments, the performing of the extension processing on the target internal measurement point according to the extension direction to obtain an extended measurement point corresponding to the edge measurement point includes: performing symmetric processing on the target internal measurement point according to the extension direction with the edge measurement point as a mirror center to obtain plane coordinate data of a to-be-generated extended measurement point; obtaining a coordinate extension model corresponding to the extension direction, and substituting the plane coordinate data of the to-be-generated extended measurement point into the coordinate extension model to obtain height coordinate data of the to-be-generated extended measurement point; and integrating the plane coordinate data and the height coordinate data of the to-be-generated extended measurement point to obtain coordinate data of the extended measurement point corresponding to the edge measurement point.

[0013] In one of the embodiments, the generation manner of the coordinate extension model includes: obtaining an extension direction set, for each extension direction in the extension direction set, determining a model projection plane corresponding to the current extension direction; generating a simulated edge point corresponding to the current extension direction, and determining a simulated internal point corresponding to the simulated edge point; projecting the simulated edge point to the model projection plane to obtain a simulated edge projection point, and projecting the simulated internal point to the model projection plane to obtain a simulated internal projection point; and performing linear fitting processing on the simulated edge projection point and the simulated internal projection point to obtain a coordinate extension model corresponding to the current extension direction.

[0014] In one of the embodiments, the coordinate data of the adjacent measuring points comprises horizontal coordinate data; and the determining of the coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent region, the coordinate data of at least two adjacent measuring points in each adjacent region and the coordinate data of the to-be-compensated measuring point comprises: judging whether the horizontal coordinate data of the at least two adjacent measuring points in each adjacent region is the same; when the horizontal coordinate data of the at least two adjacent measuring points is the same, obtaining the horizontal coordinate data of each to-be-generated compensation reference point according to the horizontal coordinate data of the at least two adjacent measuring points; obtaining the vertical coordinate data of each to-be-generated compensation reference point according to the coordinate data of the to-be-compensated measuring point; substituting the vertical coordinate data of each to-be-generated compensation reference point into the first fitting line corresponding to each adjacent region respectively to obtain the height coordinate data of each to-be-generated compensation reference point; and synthesizing the horizontal coordinate data, the vertical coordinate data and the height coordinate data of each to-be-generated compensation reference point to obtain the coordinate data of the compensation reference point corresponding to each adjacent region.

[0015] In one of the embodiments, the method further comprises: when the horizontal coordinate data of the at least two adjacent measuring points is not the same, constructing a right triangle through the at least two adjacent measuring points in each adjacent region respectively; determining two similar right triangles in each right triangle according to the coordinate data of the to-be-compensated measuring point, and determining the length ratio relationship between the two similar right triangles respectively; substituting the coordinate data of the at least two adjacent measuring points and the coordinate data of the to-be-compensated measuring point into the length ratio relationship corresponding to each to obtain the horizontal coordinate data of each to-be-generated compensation reference point.

[0016] In one of the embodiments, the height compensation of the coordinate data of the to-be-compensated measuring point according to the coordinate data of each second projection point comprises: performing linear fitting processing on the coordinate data of each second projection point to obtain a second fitting line; substituting the coordinate data of the to-be-compensated measuring point into a second straight line equation corresponding to the second fitting line to obtain a height compensation value of the to-be-compensated measuring point; and performing height compensation on the coordinate data of the to-be-compensated measuring point through the height compensation value.

[0017] In one of the embodiments, before the step of determining the plurality of adjacent areas in the printing platform located at the adjacent positions of the to-be-compensated measurement points, the method further comprises: obtaining first initial coordinate data of corner measurement points and second initial coordinate data of internal measurement points in the plurality of measurement points; checking the first initial coordinate data to obtain a first checking result, and determining first checking coordinate data of the corner measurement points according to the first checking result; constructing a standard plane according to the first checking coordinate data; checking the second initial coordinate data according to the standard plane to obtain a second checking result, and determining second checking coordinate data of the internal measurement points according to the second checking result.

[0018] In a second aspect, the present application further provides a height compensation device of a printing platform. The device comprises:

[0019] a measurement point determination module configured to obtain a plurality of measurement points in a printing platform and determine to-be-compensated measurement points;

[0020] an adjacent area determination module configured to determine a plurality of adjacent areas in the printing platform located at adjacent positions of the to-be-compensated measurement points; each adjacent area comprises at least two adjacent measurement points; the adjacent measurement points are measurement points adjacent to the to-be-compensated measurement points in the plurality of measurement points;

[0021] a first projection module configured to project the at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and perform linear fitting processing on the coordinate data of the at least two first projection points to obtain a first fitting line corresponding to each adjacent area respectively;

[0022] a reference point determination module configured to determine coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area respectively, coordinate data of the at least two adjacent measurement points in each adjacent area, and coordinate data of the to-be-compensated measurement points;

[0023] a second projection module configured to project each compensation reference point to a preset second projection plane to obtain coordinate data of each second projection point, and perform height compensation on the coordinate data of the to-be-compensated measurement points according to the coordinate data of each second projection point.

[0024] In a third aspect, the present application further provides a computer device. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor realizes the following steps when executing the computer program:

[0025] obtain a plurality of measurement points in a printing platform and determine to-be-compensated measurement points;

[0026] determining a plurality of adjacent areas in the printing platform located at positions adjacent to the to-be-compensated measurement point; each adjacent area includes at least two adjacent measurement points; the adjacent measurement points are measurement points adjacent to the to-be-compensated measurement point in the plurality of measurement points;

[0027] projecting the at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and performing linear fitting processing on the coordinate data of the at least two first projection points to obtain a first fitting line corresponding to each adjacent area;

[0028] determining coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of the at least two adjacent measurement points in each adjacent area, and the coordinate data of the to-be-compensated measurement point;

[0029] projecting each compensation reference point to a preset second projection plane to obtain coordinate data of each second projection point, and performing height compensation on the coordinate data of the to-be-compensated measurement point according to the coordinate data of each second projection point.

[0030] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0031] obtaining a plurality of measurement points in a printing platform, and determining a to-be-compensated measurement point;

[0032] determining a plurality of adjacent areas in the printing platform located at positions adjacent to the to-be-compensated measurement point; each adjacent area includes at least two adjacent measurement points; the adjacent measurement points are measurement points adjacent to the to-be-compensated measurement point in the plurality of measurement points;

[0033] projecting the at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and performing linear fitting processing on the coordinate data of the at least two first projection points to obtain a first fitting line corresponding to each adjacent area;

[0034] determining coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of the at least two adjacent measurement points in each adjacent area, and the coordinate data of the to-be-compensated measurement point;

[0035] projecting each compensation reference point to a preset second projection plane to obtain coordinate data of each second projection point, and performing height compensation on the coordinate data of the to-be-compensated measurement point according to the coordinate data of each second projection point.

[0036] The above-mentioned printing platform height compensation method, apparatus, computer device, and storage medium determine a measurement point to be compensated on the printing platform and multiple adjacent areas located near the measurement point to be compensated, wherein each adjacent area includes at least two adjacent measurement points. By projecting at least two adjacent measurement points in each adjacent area onto a preset first projection plane, at least two first projection points can be obtained. Then, a linear fitting process is performed on the at least two first projection points to obtain a first fitting line corresponding to each adjacent area. Based on the first fitting lines corresponding to each adjacent area, each compensation reference point can be determined, and each compensation reference point is projected onto a preset second projection plane to obtain each second projection point. In this way, height compensation can be performed on the measurement point to be compensated based on the coordinate data of each second projection point. Since the first fitting line is first determined by adjacent measurement points, and then the compensation reference point is determined based on the first fitting line, and then the height compensation of the measurement point to be compensated can be achieved based on the second projection point after the compensation reference point is projected, therefore, compared with the traditional method of indiscriminately constructing an entire fitting plane, the present application can specifically adjust the height of each measurement point to be compensated, thereby improving the accuracy of the height compensation of the printing platform, while also avoiding the problem of large data calculation when fitting the entire plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A diagram illustrating an application environment of a method for compensating a height of a printing platform in one embodiment;

[0038] Figure 2 Schematic diagram of a process for compensating the height of a printing platform in one embodiment;

[0039] Figure 3 Schematic diagram of measurement point distribution of a printing platform in one embodiment;

[0040] Figure 4 A schematic diagram of the distribution of adjacent areas in one embodiment;

[0041] Figure 5 A schematic diagram of the distribution of adjacent areas in another embodiment;

[0042] Figure 6 A schematic diagram of a flow chart of measurement point expansion in one embodiment;

[0043] Figure 7 A schematic diagram of the distribution of expanded measurement points in one embodiment;

[0044] Figure 8 A schematic diagram of the distribution of adjacent measurement points in one embodiment;

[0045] Figure 9A structural block diagram of a height compensation device of a printing platform in an embodiment;

[0046] Figure 10 An internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0047] For the purpose, technical solutions and advantages of the present application to be clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0048] The height compensation method of the printing platform provided by the embodiments of the present application can be applied to the application environment as shown in Figure 1 . The terminal 102 communicates with the server 104 through a network. The data storage system can store data required to be processed by the server 104. The data storage system can be integrated on the server 104, or placed on a cloud or other network server. The terminal 102 is used to generate coordinate data of the printing platform, and send the coordinate data to the server 104. The server 104 is used to determine a to-be-compensated measurement point in the printing platform according to the obtained coordinate data, and determine an adjacent measurement point located at a position adjacent to the to-be-compensated measurement point, and obtain a first fitting line according to the adjacent measurement point. The server 104 is also used to determine a compensation reference point according to the first fitting line and the coordinate data of the adjacent measurement point, project the compensation reference point to a preset second projection plane to obtain a second projection point, and then compensate the to-be-compensated measurement point according to the coordinate data of the second projection point. The terminal 102 can be, but is not limited to, various personal computers, 3D printers, notebook computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers.

[0049] In an embodiment, as shown in Figure 2 , a height compensation method of a printing platform is provided, which is taken as an example to illustrate the application of the method to a computer device, which can be a terminal or a server in Figure 1 , and includes the following steps:

[0050] Step 202, obtaining a plurality of measurement points in the printing platform, and determining a to-be-compensated measurement point.

[0051] The printing platform is a platform used to carry a three-dimensional entity in a three-dimensional printer. When a printing head contacts the plane of the printing platform and measures according to a preset measurement frequency, the detection unit on the printing head can measure the coordinate data corresponding to each measurement point in the printing platform. As shown in Figure 3 , the coordinate data of each measurement point in the printing platform can be obtained by the detection unit on the printing head. Figure 3For the distribution diagram of the measurement points on the printing platform 301, the measurement points on the printing platform are composed of an m-row n-column matrix, and the matrix is:

[0052]

[0053] wherein, the coordinate data of the measurement points are a ij = (x ij , y ij , z ij )(i∈[0, m-1], j∈(0, n-1)).

[0054] Specifically, when the user needs to perform a 3D printing task, the printing head of the 3D printer can be triggered to move, and the preset measurement frequency of each printing task can be different, that is, the measurement points corresponding to each printing task are also different. When the printing head moves to the corresponding position of the printing platform, the detection unit on the printing head can measure the to-be-compensated measurement point which needs to be compensated for height compensation at present, and transmit the coordinate data of the to-be-compensated measurement point to the computer device.

[0055] In one of the embodiments, the computer device initially measures the measurement points of the printing platform by a pressure sensor or a CR-touch (capacitive touch sensor) and the like, obtains the initial measurement points, and sends the coordinate data of the initial measurement points to a preset database for storage.

[0056] In one of the embodiments, the to-be-compensated measurement point can be any point in the initial measurement points, or any point detected on the printing platform by the printing head according to the preset measurement frequency.

[0057] In one of the embodiments, for each measurement point in the plurality of measurement points corresponding to the current printing task, the current measurement point is regarded as the to-be-compensated measurement point, and the height compensation of the to-be-compensated measurement point is realized.

[0058] Step 204, determining a plurality of adjacent regions in the printing platform located at the adjacent positions of the to-be-compensated measurement point; each adjacent region includes at least two adjacent measurement points; the adjacent measurement points are the measurement points adjacent to the to-be-compensated measurement point in the plurality of measurement points.

[0059] Specifically, the computer device can perform adjacent region detection on the to-be-compensated measurement point, and regard the adjacent region in the preset direction as the adjacent region corresponding to the to-be-compensated measurement point, wherein the adjacent region in the preset direction can be determined according to a preset first projection plane. For example, Figure 4 as shown in Figure 4For a distribution diagram of the adjacent areas on the printing platform, the positions adjacent to the to-be-compensated measuring point Q include area 1, area 2, area 3 and area 4. When the preset first projection plane is the YZ plane, the adjacent areas in the preset direction are area 1 and area 2; when the preset first projection plane is the XZ plane, the adjacent areas in the preset direction are area 3 and area 4.

[0060] Further, the computer device determines, for each adjacent area, a neighboring measuring point located in the current adjacent area adjacent to the to-be-compensated measuring point, wherein each adjacent area includes at least two neighboring measuring points, and the neighboring measuring points are selected from the measuring points, for example, the neighboring measuring points A and B in area 1 are determined.

[0061] In one of the embodiments, the computer device obtains the neighboring measuring points at the positions adjacent to the to-be-compensated measuring point from a preset database according to the coordinate data of the to-be-compensated measuring point.

[0062] In one of the embodiments, the adjacent areas in the preset direction can be determined according to the coordinate data of the to-be-compensated measuring point. For example, when the to-be-compensated measuring point is any point in the measuring points of the printing platform, the positions adjacent to the to-be-compensated measuring point can be as shown in FIG. 2A, and the adjacent areas in the preset direction are area 1 and area 2. Figure 5 Figure 5 For a distribution diagram of the adjacent areas on the printing platform in another embodiment. The positions adjacent to the to-be-compensated measuring point Q include area 5, area 6, area 7 and area 8. When the preset first projection plane is the YZ plane, the adjacent areas in the preset direction can be area 5 and area 6 at the same time, or area 7 and area 8 at the same time; when the preset first projection plane is the XZ plane, the adjacent areas in the preset direction are area 5 and area 6 at the same time, or area 7 and area 8 at the same time.

[0063] In this embodiment, the corresponding neighboring measuring points of each adjacent area can be determined for the multiple adjacent areas in multiple preset directions, so that the selection range of the neighboring measuring points when compensating the to-be-compensated measuring point is reduced, and meanwhile, the neighboring measuring points of the appropriate adjacent area can be flexibly selected for the to-be-compensated measuring point with different coordinate data, thereby improving the flexibility of determining the first projection point.

[0064] In step 206, at least two neighboring measuring points in each adjacent area are projected onto the preset first projection plane to obtain coordinate data of at least two first projection points, and the coordinate data of the at least two first projection points is subjected to linear fitting processing to obtain a first fitting line corresponding to each adjacent area.

[0065] ​The preset first projection plane can be a projection plane preset by a user, for example, a YZ plane in a three-dimensional coordinate system. Since the processing of the at least two adjacent measurement points in each adjacent region is the same, in order to better describe the present application, the following process description is made for the at least two adjacent measurement points in an arbitrary adjacent region.

[0066] Specifically, the computer device projects each of the at least two adjacent measurement points to the preset first projection plane to obtain a respective first projection point corresponding to each of the at least two adjacent measurement points, that is, to convert the three-dimensional coordinates into two-dimensional coordinates. For example, the adjacent measurement point A and the adjacent measurement point B in the region 1 are projected to the preset YZ plane to obtain a first projection point a and a first projection point b. The computer device performs linear fitting processing on the first projection points to obtain a first fitting line corresponding to the first adjacent measurement points, that is, performs linear fitting on the first projection point a and the first projection point b. The linear fitting manner can be least square fitting or the like, which is not limited in the present application.

[0067] In one of the embodiments, the computer device divides the adjacent measurement points into first adjacent measurement points and second adjacent measurement points according to the preset first projection plane and the coordinate data of the to-be-compensated measurement point, wherein the coordinate data includes horizontal coordinate data, vertical coordinate data and height coordinate data. For example, when the preset first projection plane is the YZ plane, compared with the size of the horizontal coordinate data of the to-be-compensated measurement point and the horizontal coordinate data of the adjacent measurement point, if the horizontal coordinate data of the adjacent measurement point is less than or equal to the horizontal coordinate data of the to-be-compensated measurement point, the adjacent measurement point is taken as the first adjacent measurement point; otherwise, the adjacent measurement point is taken as the second adjacent measurement point. For example, the adjacent measurement point A and the adjacent measurement point B are the first adjacent measurement points, and the adjacent measurement point C and the adjacent measurement point D are the second adjacent measurement points.

[0068] In one of the embodiments, the computer device can perform linear fitting processing on the coordinate data a ij and a i(j+1) of the two first projection points based on a one-dimensional linear equation, and a first linear equation corresponding to the first fitting line can be obtained as z=k o y+b o , wherein b o =z ij -k o y ij .

[0069] In step 208, the coordinate data of each compensation reference point is determined according to the first fitting line corresponding to each adjacent region, the coordinate data of the at least two adjacent measurement points in each adjacent region and the coordinate data of the to-be-compensated measurement point.

[0070] When there are two adjacent regions, there are two first fitting lines, and the number of compensation reference points determined in each adjacent region is also two.

[0071] Specifically, the computer device determines whether the horizontal coordinate data of at least two adjacent measurement points in each adjacent area are identical. When the horizontal coordinate data of at least two adjacent measurement points are identical, a first reference point determination model is obtained from a database, and the coordinate data of the at least two adjacent measurement points and the coordinate data of the measurement point to be compensated are substituted into the first reference point determination model to obtain the coordinate data of the compensated reference point. When the horizontal coordinate data of at least two adjacent measurement points are different, a second reference point determination model is obtained from the database, and the coordinate data of the at least two adjacent measurement points and the coordinate data of the measurement point to be compensated are substituted into the second reference point determination model to obtain the coordinate data of the compensated reference point. The first reference point determination model indicates that the coordinate data of the adjacent measurement points do not need to be transformed; the second reference point determination model indicates that the coordinate data of the adjacent measurement points need to be constructed into a right triangle.

[0072] In one embodiment, the computer device can determine the coordinate data of each compensation reference point based on the first fitting line corresponding to each adjacent area and the coordinate data of the measurement point to be compensated.

[0073] In step 210 , each compensation reference point is projected onto a preset second projection plane to obtain coordinate data of each second projection point, and the coordinate data of the measurement point to be compensated is height compensated according to the coordinate data of each second projection point.

[0074] The preset second projection plane is a plane of a different type from the preset first projection plane. For example, when the preset first projection plane is the YZ plane, the preset second projection plane is the XZ plane.

[0075] Specifically, the computer device projects each compensation reference point onto a preset second projection plane to obtain a corresponding second projection point for each compensation reference point. This converts the three-dimensional coordinates of the compensation reference point into two-dimensional coordinates. For example, compensation reference point M and compensation reference point N are projected onto the preset second projection plane to obtain second projection point m and second projection point n, respectively. The computer device performs a linear fit on the coordinate data of each second projection point to obtain a second fitting line, and uses this second fitting line to perform height compensation on the measurement point to be compensated.

[0076] In one embodiment, the computer device may store the coordinate data of the two second projection points a ij and a i(j+1) , based on the linear equation of one variable, the linear fitting process is performed, and the second straight line equation corresponding to the second fitting line is z=k o x+b o ,in, b o = z ij -k o x ij .

[0077] In the height compensation method of the printing platform, a to-be-compensated measurement point in the printing platform is determined, and a plurality of adjacent areas located at adjacent positions of the to-be-compensated measurement point are determined, wherein each adjacent area includes at least two adjacent measurement points. By projecting the at least two adjacent measurement points in each adjacent area to a preset first projection plane, at least two first projection points can be obtained. Then, linear fitting processing is performed on the at least two first projection points, and a first fitting line corresponding to each adjacent area can be obtained. According to the first fitting line corresponding to each adjacent area, a compensation reference point can be determined, and the compensation reference point is projected to a preset second projection plane, and a second projection point can be obtained. Thus, the to-be-compensated measurement point can be compensated in height according to the coordinate data of the second projection point. Therefore, compared with the traditional method of constructing a whole fitting plane without distinction, the application can compensate the height of each to-be-compensated measurement point, thereby improving the accuracy of height compensation of the printing platform, and avoiding the problem of large amount of data calculation when fitting the whole plane.

[0078] In one embodiment, as shown in Figure 6 , the plurality of measurement points in the printing platform include an expanded measurement point, an edge measurement point and an internal measurement point; obtaining the plurality of measurement points in the printing platform further includes:

[0079] Step 602, determining the edge measurement point in the printing platform, and determining the edge information of the edge measurement point.

[0080] In order to avoid that the printing model corresponding to the 3D printing task exceeds the platform, the initial measurement point in the printing platform is usually away from the platform edge by a certain distance, but when the to-be-compensated measurement point on the edge is compensated in height, the adjacent measurement points may be incomplete, so it is necessary to expand the initial measurement point in the printing platform. As shown in Figure 7 , it is a distribution diagram of the expanded measurement point on the printing platform. Figure 7

[0081] Specifically, the computer device determines the edge measurement point in the printing platform from the preset database, and identifies the information of the edge measurement point, so as to determine the edge information of the edge measurement point. The edge information includes the left edge of the printing platform, the right edge of the printing platform, the upper edge of the printing platform and the lower edge of the printing platform.

[0082] ​At step 604, according to the edge information, a target internal measurement point corresponding to the edge measurement point in the printing platform is determined, and an expansion direction of the target internal measurement point is determined.

[0083] The edge information represents that the edge measurement point is located at an edge position in the printing platform, such as an upper edge of the printing platform, etc. The expansion direction represents a direction associated with the edge position in the printing platform. The expansion direction includes upward expansion, leftward expansion, rightward and upward expansion, etc. The direction of upward expansion represents a direction parallel to the left and right edges of the printing platform. The direction of leftward expansion represents a direction parallel to the upper and lower edges of the printing platform.

[0084] Specifically, according to the edge information of the edge measurement point, the computer determines a target internal measurement point located at a position adjacent to the edge measurement point in the printing platform, and according to the edge information of the edge measurement point, determines an expansion direction corresponding to the target internal measurement point. When there are multiple internal measurement points at the position adjacent to the edge measurement point, the computer respectively determines a spatial distance corresponding to each of the edge measurement point and the internal measurement point, and according to the spatial distance, selects a target internal measurement point from the internal measurement points, such as selecting an internal measurement point with the shortest spatial distance as the target internal measurement point. For example, referring to Figure 7 The edge measurement point E1 is located at the upper edge of the printing platform, and the target internal measurement point at the position adjacent to the edge measurement point is the internal measurement point E3. Therefore, the expansion direction of the internal measurement point E3 corresponding to the edge measurement point E1 is upward. The edge measurement point E4 is located at the right edge of the printing platform, and the target internal measurement point at the position adjacent to the edge measurement point is also the internal measurement point E3. Therefore, the expansion direction of the internal measurement point E3 corresponding to the edge measurement point E4 is rightward.

[0085] In one embodiment, the computer determines special edge information in the edge information, and according to the special edge information, determines a candidate measurement point located at a position adjacent to the edge measurement point in the printing platform, and determines an expansion direction of the candidate measurement point. The special edge information represents that the edge measurement point is located at four corners of the edge position in the printing platform. The candidate measurement point can be at least one of other edge measurement points or internal measurement points at the position adjacent to the edge measurement point. The computer determines an expansion direction corresponding to the candidate measurement point according to the special edge information. For example, referring to Figure 7 The edge measurement point E2 is located at a corner of the printing platform, and the candidate measurement point at the position adjacent to the edge measurement point can be the edge measurement point E1, the edge measurement point E4, and the internal measurement point E3. Therefore, when the edge measurement point E2 corresponds to the candidate measurement point E1, the expansion direction is rightward. When the edge measurement point E2 corresponds to the candidate measurement point E4, the expansion direction is upward. When the edge measurement point E2 corresponds to the candidate measurement point E3, the expansion direction is rightward and upward.

[0086] Step 606, the target internal measurement points are expanded according to the expansion direction, and the expanded measurement points corresponding to the edge measurement points are obtained.

[0087] In one embodiment, the target internal measurement points are expanded according to the expansion direction, and the expanded measurement points corresponding to the edge measurement points are obtained, including: taking the edge measurement points as the mirror center, symmetrically processing the target internal measurement points according to the expansion direction to obtain the planar coordinate data of the to-be-generated expanded measurement points; obtaining a coordinate expansion model corresponding to the expansion direction, and substituting the planar coordinate data of the to-be-generated expanded measurement points into the coordinate expansion model to obtain the height coordinate data of the to-be-generated expanded measurement points; and synthesizing the planar coordinate data and the height coordinate data of the to-be-generated expanded measurement points to obtain the expanded measurement points corresponding to the edge measurement points.

[0088] Specifically, when the edge measurement points are located at the upper edge of the printing platform, the expansion direction is upward expansion, the coordinate data of the edge measurement points of the upper edge is (x i(n-1) , y i(n-1) , Z i(n-1) )(i∈[0,m-1]) and the coordinate expansion model obtained by the computer device is:

[0089]

[0090] The computer device takes the coordinate data of the edge measurement points as the mirror center, symmetrically processes the coordinate data of the target internal measurement points according to the expansion direction to obtain the planar coordinate data of the to-be-generated expanded measurement points, wherein the coordinate data of the target internal measurement points is (x i(n-2) , y i(n-2) , z i(n-2) )(i∈[0,m-1]) and the symmetric processing process is:

[0091] x in =2x i(n-1) -x i(n-2) (i∈[0,m-1]) and y in =2y i(n-1) -y i(n-2) (i∈[0,m-1])

[0092] Therefore, the planar coordinate data of the to-be-generated expanded measurement points is (x in , y in )(i∈[0,m-1]) and the computer device substitutes y in in the planar coordinate data into the coordinate expansion model until the expanded measurement points are obtained (x in , y in , z in(i∈[0, m-1]). Referring to the above example, when the expansion direction of the edge measurement point E1 corresponding to the internal measurement point E3 is upward, the expansion measurement point F1 can be obtained after expansion.

[0093] In one embodiment, when the edge measurement point is located at the lower edge of the printing platform, the expansion direction is downward expansion, and the coordinate data of the edge measurement point at the lower edge is (x i0 , y i0 , z i0 (i∈[0, m-1]), and the coordinate expansion model obtained by the computer device is:

[0094]

[0095] The computer device takes the coordinate data of the edge measurement point as the mirror center, and performs symmetric processing on the coordinate data of the target internal measurement point according to the expansion direction, to obtain the plane coordinate data of the to-be-generated expansion measurement point, the coordinate data of the target internal measurement point is (x i1 , y i1 , z i1 (i∈[0, m-1]), and the symmetric processing process is:

[0096] x i(-1) =2x i0 -x i1 (i∈[0, m-1]), y i(-1) =2y i0 -y i1 (i∈[0, m-1])

[0097] The plane coordinate data of the to-be-generated expansion measurement point is (x i(-1) , y i(-1) (i∈[0, m-1]), and the computer device brings y i(-1) in the plane coordinate data into the coordinate expansion model until the expansion measurement point is obtained (x i(-1) , y i(-1) , z i(-1) (i∈[0, m-1]).

[0098] In one embodiment, when the edge measurement point is located at the left edge of the printing platform, the coordinate data is (x 0j , y 0j , z 0j (j∈[0, n-1]), the expansion direction is left expansion, and the coordinate expansion model obtained by the computer device is:

[0099]

[0100] wherein the coordinate data of the target internal measurement point located at the adjacent position of the edge measurement point is (x1j , y 1j , z 1j (j e [0, n-1]), the computer device takes the coordinate data of the edge measurement point as a mirror center, and performs a symmetric processing process on the coordinate data of the target internal measurement point according to the expansion direction, which is:

[0101] x (-1)j = 2x 0j - x 1j (j e [0, n-1]), y (-1)j = 2y 0j - y 1j (j e [0, n-1])

[0102] The plane coordinate data of the to-be-generated expansion measurement point is (x (-1)j , y (-1)j )(j e [0, n-1]), the computer device takes the x (-1)j in the plane coordinate data into the coordinate expansion model, until the expansion measurement point (x (-1)j , y (-1)j , z (-1)j )(j e [0, n-1]) is obtained.

[0103] In one of the embodiments, when the edge measurement point is located at the right edge of the printing platform, the coordinate data is (x (m-1)j , y (m-1)j , z (m-1)j )(j e [0, n-1]), the expansion direction is right expansion, and the coordinate expansion model obtained by the computer device is:

[0104]

[0105] wherein the coordinate data of the target internal measurement point located at the adjacent position of the edge measurement point is (x (m-2)j , y (m-2)j , z (m-2)j )(j e [0, n-1]), the computer device takes the coordinate data of the edge measurement point as a mirror center, and performs a symmetric processing process on the coordinate data of the target internal measurement point according to the expansion direction, which is:

[0106] x mj = 2x (m-1)j - x (m-2)j (j e [0, n-1]), y mj = 2y (m-1)j - y (m-2)j (j e [0, n-1])

[0107] Therefore, the plane coordinate data of the to-be-generated expansion measurement point is (x mj , y mj(x mn , y mn ), and the computer device brings x mn in the plane coordinate data into the coordinate expansion model until the expansion measurement point is obtained as (x mn , y mn , z mn ). mj (x mn , y mn ), and the computer device brings x mn in the plane coordinate data into the coordinate expansion model until the expansion measurement point is obtained as (x mn , y mn , z mn ). mj mj mj (x mn , y mn ), and the computer device brings x mn in the plane coordinate data into the coordinate expansion model until the expansion measurement point is obtained as (x mn , y mn , z mn ).

[0108] In one of the embodiments, when the edge measurement point is located at the upper right corner of the four corners in the edge position of the printing platform, the coordinate data of the edge measurement point is (x (m-1)(n-1) , y (m-1)(n-1) , z (m-1)(n-1) ), the expansion direction is right-up expansion, and the coordinate expansion model obtained by the computer device is:

[0109]

[0110] (x (m-2)(n-2) , y (m-2)(n-2) , z (m-2)(n-2) ), the computer device takes the coordinate data of the edge measurement point as the mirror center, and the symmetric processing process of the coordinate data of the candidate measurement point according to the expansion direction is:

[0111] x mn = 2x (m-1)(n-1) -x (m-2)(n-2) , y mn = 2y (m-1)(n-1) -y (m-2)(n-2)

[0112] Therefore, the plane coordinate data of the expansion measurement point to be generated is (x mn , y mn ), and the computer device brings x mn in the plane coordinate data into the coordinate expansion model until the expansion measurement point is obtained as (x mn , y mn , z mn ). Referring to the above example, when the expansion direction of the candidate measurement point E3 corresponding to the edge measurement point E2 is right-up, the expansion measurement point F3 can be obtained after expansion.

[0113] In one of the embodiments, when the edge measurement point is located at the upper right corner of the four corners in the edge position of the printing platform, the coordinate data of the edge measurement point is (x 0(n-1) , y 0(n-1) , z 0(n-1) ) expansion direction is left-up expansion, and the coordinate expansion model obtained by the computer device is:

[0114]

[0115] wherein the coordinate data of the candidate measurement point located at the position adjacent to the edge measurement point can be (x 1(n-2) , y 1(n-2) , z 1(n-2) ), the computer device takes the coordinate data of the edge measurement point as a mirror center, and performs a symmetric processing process on the coordinate data of the candidate measurement point according to the expansion direction, which is:

[0116] x -1n = 2x 0(n-1) -x 1(n-2) , y -1n = 2y 0(n-1) -y 1(n-2)

[0117] Therefore, the expanded measurement point obtained above is (x -1n , y -1n , z -1n ).

[0118] In one of the embodiments, the edge measurement point is located at the right lower corner of the four corners of the edge position of the printing platform, the coordinate data of the edge measurement point is (x (m-1)0 , y (m-1)0 , z (m-1)0 ), the expansion direction is right down, and the coordinate expansion model obtained by the computer device is:

[0119]

[0120] wherein the coordinate data of the candidate measurement point located at the position adjacent to the edge measurement point can be (x (m-2)1 , y (m-2)1 , z (m-2)1 ), the computer device takes the coordinate data of the edge measurement point as a mirror center, and performs a symmetric processing process on the coordinate data of the candidate measurement point according to the expansion direction, which is:

[0121] x m(-1) = 2x (m-1)0 -x (m-2)1 , y m(-1) = 2y (m-1)0 -y (m-2)1

[0122] Therefore, the expanded measurement point obtained above is (x m(-1) , y m(-1) , z m(-1) ).

[0123] In one of the embodiments, when the edge measurement point is located at the lower left corner of the four corners of the edge position of the printing platform, the coordinate data of the edge measurement point is (x 00 , y 00 , z 00 ), the expansion direction is left and down, and the coordinate expansion model obtained by the computer device is:

[0124]

[0125] wherein the coordinate data of the candidate measurement point located at the adjacent position of the edge measurement point is (x 11 , y 11 , z 11 ), the computer device takes the coordinate data of the edge measurement point as the mirror center, and the symmetric processing procedure of the coordinate data of the candidate measurement point according to the expansion direction is:

[0126] x (-1)(-1) = 2x 00 -x 11 , y (-1)(-1) = 2y 00 -y 11

[0127] Therefore, the expansion measurement point is (x (-1)(-1) , y (-1)(-1) , z (-1)(-1) ).

[0128] In one of the embodiments, when the measurement point to be compensated is the edge measurement point, the measurement point adjacent to the measurement point to be compensated includes the measurement point selected from the expansion measurement point; when the measurement point to be compensated is the internal measurement point, the measurement point adjacent to the measurement point to be compensated includes the measurement point selected from at least one of the edge measurement point and the internal measurement point.

[0129] In one of the embodiments, the computer device synthesizes the initial measurement point and the expansion measurement point to obtain the target measurement point of the printing platform. The computer device can determine the adjacent measurement point located at the adjacent position of the measurement point to be compensated from the target measurement point.

[0130] In the embodiment, the edge information of the edge measurement point is determined, and then the expansion of the expansion measurement point in different directions is realized according to the edge position of the edge measurement point in the printing platform, thereby avoiding the problem that the height compensation effect is inaccurate due to the incomplete acquisition of the adjacent measurement point.

[0131] In one embodiment, the coordinate data of each compensation reference point is determined based on the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measurement points in each adjacent area, and the coordinate data of the measurement point to be compensated, including: obtaining the horizontal coordinate data of each compensation reference point to be generated based on the coordinate data of the at least two adjacent measurement points in each adjacent area; obtaining the vertical coordinate data of each compensation reference point to be generated based on the coordinate data of the measurement point to be compensated; substituting the vertical coordinate data of each compensation reference point to be generated into the first fitting line corresponding to each adjacent area to obtain the height coordinate data of each compensation reference point to be generated; and obtaining the coordinate data of the compensation reference point corresponding to each adjacent area by combining the horizontal coordinate data, the vertical coordinate data, and the height coordinate data of each compensation reference point to be generated.

[0132] Since the process of obtaining each compensation reference point through the first fitting line corresponding to each adjacent area is the same, in order to better describe the present application, the following only describes the process of obtaining the compensation reference point for any adjacent area.

[0133] Specifically, since at least two adjacent measurement points in the adjacent area are composed of an m-row n-column matrix, the coordinate data of the adjacent measurement points usually present a specific regularity. Figure 4 For example, the abscissa data of adjacent measurement point A is the same as the abscissa data of adjacent measurement point B, and the ordinate data of adjacent measurement point A is the same as the ordinate data of adjacent measurement point C. Upon determining that the abscissa data of at least two adjacent measurement points is the same, the computer device directly uses the abscissa data as the abscissa data of the compensation reference point to be generated. Furthermore, the computer device uses the ordinate data of the measurement point to be compensated as the ordinate data of the compensation reference point to be generated.

[0134] For example, the coordinate data a of the adjacent measurement point A A =(x A ,y A , z A ) A As the abscissa data of the compensation reference point M to be generated, the ordinate data y of the measurement point Q to be compensated Q , as the vertical coordinate data of the compensation reference point M to be generated.

[0135] Furthermore, the computer device substitutes the ordinate data of the compensation reference point to be generated into the first straight line equation corresponding to the first fitting line to obtain the height coordinate data of the compensation reference point to be generated. The computer device combines the abscissa data, ordinate data and height coordinate data of the compensation reference point to be generated to obtain the generated compensation reference point. For example, y Q Substitute the equation of the first straight line into z = k oy +bo The height coordinate data of the compensation reference point to be generated is z M Therefore, the coordinates of the compensation reference point M are a M = (x A , y Q , z M ).

[0136] In the embodiment, the compensation reference point can be accurately obtained through the coordinate data of the first fitting line and the adjacent measurement points, the compensation reference point can be made more close to the compensation reference of the measurement point to be compensated, the accuracy of subsequent compensation is improved, and meanwhile, since the first fitting line can convert the height compensation of the measurement point to be compensated to a two-dimensional plane for processing, the calculation amount of data is greatly simplified.

[0137] In one of the embodiments, a right triangle is constructed through at least two adjacent measurement points in each adjacent region; two similar right triangles in each right triangle are determined according to the coordinate data of the measurement point to be compensated, and the length ratio relationship between the two similar right triangles is determined; the coordinate data of each of the at least two adjacent measurement points and the coordinate data of the measurement point to be compensated are substituted into the corresponding length ratio relationship to obtain the horizontal coordinate data of each of the compensation reference points to be generated.

[0138] Since the adjacent measurement points may not be measured accurately, the horizontal coordinate data of the adjacent measurement point A is not the same as the horizontal coordinate data of the adjacent measurement point B, for example, as shown in Figure 8 Figure 8 is a distribution diagram of the adjacent measurement points in one of the embodiments.

[0139] Specifically, when the computer device determines that the horizontal coordinate data of the at least two adjacent measurement points is not the same, a right triangle is constructed according to the coordinate data of the at least two adjacent measurement points, Figure 8 ​The right-angled triangle in the figure is triangle Abol. The computer device takes the longitudinal coordinate data of the to-be-compensated measuring point as the longitudinal coordinate data of the to-be-generated compensation reference point. Further, the computer device determines two similar right-angled triangles in each right-angled triangle, for example, determines two similar right-angled triangles as triangle Abol and triangle Abol, where the horizontal coordinate data of o1 and o2 are the same as the horizontal coordinate data of the adjacent measuring point A, and the longitudinal coordinate data of o2 is the same as the longitudinal coordinate data of the to-be-compensated measuring point Q. The computer device determines the length ratio relationship between the two similar right-angled triangles according to the similarity between the two similar right-angled triangles, such as Ao2 / Ao1=Mo2 / Bo1. The computer device substitutes the coordinate data of at least two adjacent measuring points and the coordinate data of the to-be-compensated measuring point into the length ratio relationship to obtain the horizontal coordinate data of the to-be-generated compensation reference point, that is, the horizontal coordinate data x of the to-be-generated compensation reference point M M .

[0140] In this embodiment, when the coordinate data of the adjacent measuring points does not conform to the m-row n-column matrix arrangement form, the horizontal coordinate data of the to-be-generated compensation reference point can be accurately obtained by constructing a right-angled triangle, thereby providing another specific implementation manner of determining the coordinate data of the compensation reference point.

[0141] In one of the embodiments, the generation manner of the coordinate expansion model comprises: obtaining an expansion direction set, for each expansion direction in the expansion direction set, determining a model projection plane corresponding to the current expansion direction; generating a simulated edge point corresponding to the current expansion direction, and determining a simulated internal point corresponding to the simulated edge point; projecting the simulated edge point to the model projection plane to obtain a simulated edge projection point, and projecting the simulated internal point to the model projection plane to obtain a simulated internal projection point; and performing linear fitting processing on the simulated edge projection point and the simulated internal projection point to obtain a coordinate expansion model corresponding to the current expansion direction.

[0142] The expansion direction set comprises upward expansion, downward expansion, leftward expansion, rightward expansion, rightward-upward expansion, leftward-upward expansion, rightward-downward expansion, and leftward-downward expansion; the simulated edge point can be a measuring point located on the edge of the printing platform obtained from a preset database during training of the model; and the simulated internal point can be a measuring point located at a position adjacent to the simulated edge point obtained from the preset database during training of the model. It is easy to understand that the coordinate expansion models corresponding to different expansion directions are not the same. Since the processes of determining the coordinate expansion models corresponding to the expansion directions are similar, the process of determining the coordinate expansion model corresponding to the upward expansion will be described below.

[0143] Specifically, when the current expansion direction is upward expansion, the computer device can take the YZ plane in the three-dimensional coordinate system as the model projection plane corresponding to the upward expansion direction, and determine the simulation edge point corresponding to the upward expansion direction. The simulation edge point corresponding to the upward expansion direction is located at the upper edge of the printing platform. The computer device obtains the simulation internal point located at the adjacent position of the simulation edge point from the preset database according to the simulation edge point located at the upper edge, and respectively projects the simulation edge point to the model projection plane to obtain the simulation edge projection point, and projects the simulation internal point to the model projection plane to obtain the simulation internal projection point. For example, the coordinate data of the simulation edge point is (x i(n-1) , y i(n-1) , z i(n-1) )(i∈[0,m-1]) and the coordinate data of the simulation internal point is (x i(n-2) , y i(n-2) , z i(n-2) )(i∈[0,m-1]).

[0144] Further, with reference to the specific implementation of the linear fitting processing of the first projection point, the simulation edge projection point and the simulation internal projection point are subjected to linear fitting processing to obtain the coordinate expansion model corresponding to the upward expansion direction. For example, the coordinate expansion model is obtained as follows:

[0145]

[0146] In one of the embodiments, the computer device can take the edge measurement point as the simulation edge point, and take the target internal measurement point corresponding to the edge measurement point as the simulation internal point.

[0147] In the embodiment, different model projection planes are determined according to different expansion directions, and then the respective coordinate expansion models corresponding to the model projection planes are established, so that the expansion measurement points corresponding to different edge measurement points can be accurately and quickly obtained based on the coordinate expansion models.

[0148] In one of the embodiments, the height compensation of the coordinate data of the to-be-compensated measurement point is performed according to the coordinate data of the second projection points, including: performing linear fitting processing on the coordinate data of the second projection points to obtain a second fitting line; substituting the coordinate data of the to-be-compensated measurement point into a second straight line equation corresponding to the second fitting line to obtain a height compensation value of the to-be-compensated measurement point; and performing height compensation on the to-be-compensated measurement point through the height compensation value.

[0149] Specifically, the computer device determines the coordinate data corresponding to each of the plurality of second projection points and, based on the coordinate data corresponding to each second projection point, performs a linear fitting process on the second projection points to obtain a second fitting line. For example, a linear fitting process is performed on two second projection points to obtain a second fitting line. The computer device can use the second fitting line and the coordinate data of the measurement point to be compensated to perform height compensation on the measurement point to be compensated. For example, a linear fitting process is performed on second projection point m and second projection point n to obtain a second fitting line.

[0150] Furthermore, the computer device substitutes the horizontal coordinate value of the measurement point to be compensated into the second straight line equation corresponding to the second fitting line to obtain the height compensation value of the measurement point to be compensated. The computer device updates the vertical coordinate value of the measurement point to be compensated according to the height compensation value, thereby achieving height compensation for the measurement point to be compensated. For example, the horizontal coordinate value x of the measurement point Q to be compensated is Q Substitute into the second straight line equation z = k o x+b o The height compensation value obtained is Δz, so the coordinate data of the measured point to be compensated after compensation is a Q =(x Q ,y Q , z Q +Δz).

[0151] In this embodiment, after constructing the second fitting line through the second projection point, the height compensation of the measurement point to be compensated can be converted to a two-dimensional plane, which simplifies the amount of data calculation. In this way, the height compensation of the measurement point to be compensated can be accurately achieved according to the second fitting line.

[0152] In one embodiment, before determining multiple adjacent areas located in the printing platform adjacent to the measurement point to be compensated, the method further includes: obtaining first initial coordinate data of the corner measurement point and second initial coordinate data of the internal measurement point among the multiple measurement points; verifying the first initial coordinate data to obtain a first verification result, and determining the first verification coordinate data of the corner measurement point based on the first verification result; constructing a standard plane based on the first verification coordinate data; verifying the second initial coordinate data based on the standard plane to obtain a second verification result, and determining the second verification coordinate data of the internal measurement point based on the second verification result.

[0153] Specifically, the computer device stepwise updates the first initial coordinate data of the edge corner measurement point to obtain coordinate step data, and determines a first difference between the first initial coordinate data and the coordinate step data. When the first difference is less than a first preset threshold, the computer device determines that the first check result is a check pass, and takes the coordinate step data corresponding to the edge corner measurement point as the first check coordinate data of the edge corner measurement point. The computer device constructs a standard plane according to the first check coordinate data of the edge corner measurement point. The computer device determines at least one adjacent measurement point located at a position adjacent to the internal measurement point, and respectively projects the internal measurement point and each adjacent measurement point to the standard plane to respectively obtain projection coordinate data and projection adjacent coordinate data. The computer device obtains a first fitting equation according to the internal measurement point and the adjacent measurement point, and obtains a second fitting equation according to the projection coordinate data and the projection adjacent coordinate data, and then checks the internal measurement point according to the first fitting equation and the second fitting equation to obtain a second check result. When the second check result is a check pass, the second initial coordinate data of the internal measurement point is taken as the second check coordinate data.

[0154] In the embodiment, the edge measurement point and the internal measurement point in the printing platform are respectively checked to obtain more accurate check coordinate data, so that the coordinate data of the determined adjacent measurement point is more accurate when the height compensation of the to-be-compensated measurement point is performed, and the height compensation effect of the printing platform is improved.

[0155] It should be understood that, although each step in the flowchart involved in the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0156] Based on the same inventive concept, the embodiments of the present application also provide a height compensation device of a printing platform for implementing the height compensation method of the printing platform involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more height compensation device embodiments of the printing platform provided below can refer to the limitations of the height compensation method of the printing platform described above, which will not be repeated here.

[0157] In one embodiment, as Figure 9As shown, a height compensation device 900 of a printing platform is provided, comprising: a measurement point determination module 902, a neighboring area determination module 904, a first projection module 906, a reference point determination module 908 and a second projection module 910, wherein:

[0158] The measurement point determination module 902 is configured to acquire a plurality of measurement points in the printing platform and determine a to-be-compensated measurement point.

[0159] The neighboring area determination module 904 is configured to determine a plurality of neighboring areas in the printing platform at positions adjacent to the to-be-compensated measurement point; each neighboring area comprises at least two adjacent measurement points; the adjacent measurement points are measurement points adjacent to the to-be-compensated measurement point in the plurality of measurement points.

[0160] The first projection module 906 is configured to project the at least two adjacent measurement points in each neighboring area to a preset first projection plane to obtain coordinate data of at least two first projection points, and perform linear fitting processing on the coordinate data of the at least two first projection points to obtain a first fitting line corresponding to each neighboring area.

[0161] The reference point determination module 908 is configured to determine coordinate data of each compensation reference point according to the first fitting line corresponding to each neighboring area, the coordinate data of the at least two adjacent measurement points in each neighboring area and the coordinate data of the to-be-compensated measurement point.

[0162] The second projection module 910 is configured to project each compensation reference point to a preset second projection plane to obtain coordinate data of each second projection point, and perform height compensation on the coordinate data of the to-be-compensated measurement point according to the coordinate data of each second projection point.

[0163] In one embodiment, the measurement point determination module 902 further comprises a measurement point expansion module 9021 configured to determine an edge measurement point in the printing platform and determine edge information of the edge measurement point; determine a target internal measurement point corresponding to the edge measurement point in the printing platform and determine an expansion direction of the target internal measurement point according to the edge information; and perform expansion processing on the target internal measurement point according to the expansion direction to obtain an expanded measurement point corresponding to the edge measurement point.

[0164] In one embodiment, the measurement point expansion module 9021 is further configured to perform symmetric processing on the target internal measurement point according to the expansion direction with the edge measurement point as a mirror center to obtain plane coordinate data of the to-be-generated expanded measurement point; acquire a coordinate expansion model corresponding to the expansion direction, and substitute the plane coordinate data of the to-be-generated expanded measurement point into the coordinate expansion model to obtain height coordinate data of the to-be-generated expanded measurement point; and integrate the plane coordinate data and the height coordinate data of the to-be-generated expanded measurement point to obtain coordinate data of the expanded measurement point corresponding to the edge measurement point.

[0165] In one of the embodiments, the measurement point determination module 902 further comprises an expansion model determination module 9022, configured to obtain an expansion direction set, for each expansion direction in the expansion direction set, determine a model projection plane corresponding to the current expansion direction, generate a simulated edge point corresponding to the current expansion direction, and determine a simulated internal point corresponding to the simulated edge point, project the simulated edge point to the model projection plane to obtain a simulated edge projection point, and project the simulated internal point to the model projection plane to obtain a simulated internal projection point, and perform linear fitting processing on the simulated edge projection point and the simulated internal projection point to obtain a coordinate expansion model corresponding to the current expansion direction.

[0166] In one of the embodiments, the reference point determination module 908 is configured to determine whether the horizontal coordinate data of at least two adjacent measurement points in each adjacent region is the same, when the horizontal coordinate data of the at least two adjacent measurement points is the same, obtain the horizontal coordinate data of each to-be-generated compensation reference point according to the horizontal coordinate data of the at least two adjacent measurement points, obtain the vertical coordinate data of each to-be-generated compensation reference point according to the coordinate data of the to-be-compensated measurement point, substitute the vertical coordinate data of each to-be-generated compensation reference point into the first fitting line corresponding to each adjacent region respectively to obtain the height coordinate data of each to-be-generated compensation reference point, and integrate the horizontal coordinate data, the vertical coordinate data and the height coordinate data of each to-be-generated compensation reference point to obtain the coordinate data of the compensation reference point corresponding to each adjacent region.

[0167] In one of the embodiments, the reference point determination module 908 is further configured to, when the horizontal coordinate data of the at least two adjacent measurement points is not the same, construct a right triangle through the at least two adjacent measurement points in each adjacent region, determine two similar right triangles in each right triangle according to the coordinate data of the to-be-compensated measurement point, and determine the length ratio relationship between the two similar right triangles respectively, and substitute the coordinate data of the at least two adjacent measurement points and the coordinate data of the to-be-compensated measurement point into the length ratio relationship corresponding to each to obtain the horizontal coordinate data of each to-be-generated compensation reference point.

[0168] In one of the embodiments, the second projection module 910 further comprises a fitting module 9101, configured to perform linear fitting processing on the coordinate data of each second projection point to obtain a second fitting line, substitute the coordinate data of the to-be-compensated measurement point into the second straight line equation corresponding to the second fitting line to obtain a height compensation value of the to-be-compensated measurement point, and perform height compensation on the coordinate data of the to-be-compensated measurement point through the height compensation value.

[0169] In one of the embodiments, the height compensation device 900 of the printing platform further comprises a coordinate verification module 912 configured to: acquire first initial coordinate data of the corner measurement point and second initial coordinate data of the internal measurement point in the plurality of measurement points; verify the first initial coordinate data to obtain a first verification result, and determine first verification coordinate data of the corner measurement point according to the first verification result; construct a standard plane according to the first verification coordinate data; verify the second initial coordinate data according to the standard plane to obtain a second verification result, and determine second verification coordinate data of the internal measurement point according to the second verification result.

[0170] The modules in the height compensation device of the printing platform can be implemented by software, hardware or a combination thereof. The modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the modules.

[0171] In one embodiment, a computer device is provided, which can be a server, and an internal structure diagram thereof can be as shown in FIG. 8. Figure 10 The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is configured to store height compensation data of a printing platform. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with a terminal through a network connection. The computer program is executed by the processor to implement a height compensation method of a printing platform.

[0172] Those skilled in the art can understand that Figure 10 The structure shown in FIG. 8 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. Specifically, the computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0173] In one embodiment, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0174] In one embodiment, a computer readable storage medium storing a computer program is provided, and the computer program, when executed by a processor, implements the steps of any of the above method embodiments.

[0175] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to a memory, database or other medium used in the embodiments provided in the present application can include at least one of a non-volatile and volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage, a high-density embedded non-volatile memory, a resistive memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0176] Any combination of the technical features of the above embodiments can be made. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0177] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of height compensation of a print platform, characterized in that, The method comprises: acquiring a plurality of measurement points in a printing platform and determining a to-be-compensated measurement point; determining a plurality of adjacent areas in the printing platform at positions adjacent to the to-be-compensated measurement point; each adjacent area comprises at least two adjacent measurement points; the adjacent measurement points are measurement points adjacent to the to-be-compensated measurement point in the plurality of measurement points; projecting the at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and performing linear fitting processing on the coordinate data of the at least two first projection points to obtain a first fitting line corresponding to each adjacent area; determining coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of the at least two adjacent measurement points in each adjacent area, and the coordinate data of the to-be-compensated measurement point; projecting each compensation reference point to a preset second projection plane to obtain coordinate data of each second projection point, and performing height compensation on the coordinate data of the to-be-compensated measurement point according to the coordinate data of each second projection point; wherein the plurality of measurement points comprise an expanded measurement point, an edge measurement point, and an internal measurement point; the acquiring of the plurality of measurement points in the printing platform comprises: determining an edge measurement point in the printing platform and determining edge information of the edge measurement point; determining a target internal measurement point corresponding to the edge measurement point in the printing platform and determining an expansion direction of the target internal measurement point according to the edge information; and performing expansion processing on the target internal measurement point in the expansion direction to obtain an expanded measurement point corresponding to the edge measurement point.

2. The method of claim 1, wherein, The expansion processing on the target internal measurement point in the expansion direction to obtain the expanded measurement point corresponding to the edge measurement point comprises: performing symmetric processing on the target internal measurement point in the expansion direction with the edge measurement point as a mirror center to obtain plane coordinate data of a to-be-generated expanded measurement point; acquiring a coordinate expansion model corresponding to the expansion direction, and substituting the plane coordinate data of the to-be-generated expanded measurement point into the coordinate expansion model to obtain height coordinate data of the to-be-generated expanded measurement point; integrating the plane coordinate data and the height coordinate data of the to-be-generated expanded measurement point to obtain coordinate data of the expanded measurement point corresponding to the edge measurement point.

3. The method of claim 2, wherein, The generation mode of the coordinate expansion model comprises: acquiring an expansion direction set, and determining a model projection plane corresponding to each expansion direction in the expansion direction set; generating a simulated edge point corresponding to the current expansion direction and determining a simulated internal point corresponding to the simulated edge point; projecting the simulated edge point to the model projection plane to obtain a simulated edge projection point, and projecting the simulated internal point to the model projection plane to obtain a simulated internal projection point; performing linear fitting processing on the simulated edge projection point and the simulated internal projection point to obtain a coordinate expansion model corresponding to the current expansion direction.

4. The method of claim 1, wherein, The coordinate data of the adjacent measurement points includes abscissa data; the coordinate data of each compensation reference point is determined according to the first fitting line corresponding to each adjacent region, the coordinate data of at least two adjacent measurement points in each adjacent region and the coordinate data of the measurement point to be compensated, and includes the following steps: determining whether the abscissa data of the at least two adjacent measurement points in each adjacent region is the same; when the abscissa data of the at least two adjacent measurement points is the same, obtaining the abscissa data of each generated compensation reference point according to the abscissa data of the at least two adjacent measurement points; obtaining the ordinate data of each generated compensation reference point according to the coordinate data of the measurement point to be compensated; substituting the ordinate data of each generated compensation reference point into the first fitting line corresponding to each adjacent region respectively to obtain the height coordinate data of each generated compensation reference point; comprehensively obtaining the coordinate data of the compensation reference point corresponding to each adjacent region by comprehensively obtaining the abscissa data, the ordinate data and the height coordinate data of each generated compensation reference point.

5. The method of claim 4, wherein, The method further includes: when the abscissa data of the at least two adjacent measurement points is not the same, constructing a right triangle by the at least two adjacent measurement points in each adjacent region respectively; determining two similar right triangles in each right triangle according to the coordinate data of the measurement point to be compensated, and determining the length ratio relationship between the two similar right triangles respectively; substituting the coordinate data of the at least two adjacent measurement points and the coordinate data of the measurement point to be compensated into the length ratio relationship corresponding to each adjacent region respectively to obtain the abscissa data of each generated compensation reference point.

6. The method of claim 1, wherein, The height compensation of the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point includes: linearly fitting the coordinate data of each second projection point to obtain a second fitting line; substituting the coordinate data of the measurement point to be compensated into the second linear equation corresponding to the second fitting line to obtain the height compensation value of the measurement point to be compensated; compensating the coordinate data of the measurement point to be compensated by the height compensation value.

7. The method of claim 1, wherein, Before determining the plurality of adjacent regions in the printing platform located at the adjacent position of the measurement point to be compensated, the method further includes: obtaining the first initial coordinate data of the corner measurement point and the second initial coordinate data of the internal measurement point in the plurality of measurement points; verifying the first initial coordinate data to obtain a first verification result, and determining the first verification coordinate data of the corner measurement point according to the first verification result; constructing a standard plane according to the first verification coordinate data; verifying the second initial coordinate data according to the standard plane to obtain a second verification result, and determining the second verification coordinate data of the internal measurement point according to the second verification result.

8. A height compensation device for a print platform, characterized by The device includes: a measurement point determination module for obtaining a plurality of measurement points in a printing platform and determining a measurement point to be compensated; The adjacent area determining module is configured to determine a plurality of adjacent areas in the printing platform at positions adjacent to the to-be-compensated measuring point; each adjacent area includes at least two adjacent measuring points; the adjacent measuring points are measuring points adjacent to the to-be-compensated measuring point in the plurality of measuring points; The first projection module is configured to project the at least two adjacent measuring points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and perform linear fitting processing on the coordinate data of the at least two first projection points to obtain a first fitting line corresponding to each adjacent area respectively; The reference point determining module is configured to determine coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area respectively, coordinate data of the at least two adjacent measuring points in each adjacent area, and coordinate data of the to-be-compensated measuring point; The second projection module is configured to project each compensation reference point to a preset second projection plane to obtain coordinate data of each second projection point, and perform height compensation on the coordinate data of the to-be-compensated measuring point according to the coordinate data of each second projection point. The measuring point determining module further includes a measuring point expanding module; the plurality of measuring points include expanded measuring points, edge measuring points, and internal measuring points; The measuring point expanding module is configured to determine an edge measuring point in the printing platform, and determine edge information of the edge measuring point; determine a target internal measuring point corresponding to the edge measuring point in the printing platform and an expanding direction of the target internal measuring point according to the edge information; and perform expanding processing on the target internal measuring point according to the expanding direction to obtain an expanded measuring point corresponding to the edge measuring point. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method in any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7.

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