Method, device, computer equipment and storage medium for determining height data

Abstract

The present application relates to a method, apparatus, computer device, and storage medium for determining height data. The method comprises: for each point to be measured on a printing platform, controlling a probe to move toward the current point to be measured and performing step sampling to obtain a sampling result; a judgment step: processing the sampling result to obtain candidate data for the current measurement point, and judging whether the candidate data meets a preset data sampling condition; if the candidate data meets the data sampling condition, determining corner pressure data from multiple candidate pressure data in the candidate data; and determining target height data for the current point to be measured based on the candidate height data corresponding to the corner pressure data. This method can improve the accuracy of determining the height data of measurement points on a printing platform.

Description

Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to a method, apparatus, computer device, and storage medium for determining height data. Background Art

[0002] 3D printing is a rapid prototyping technology that uses digital model files to construct three-dimensional objects layer by layer using adhesive materials such as special wax, powdered metal, or plastic. Determining the horizontality of the printing platform is currently a key research topic.

[0003] Currently, pressure sensors are typically used to directly detect the pressure between the print platform and the print head. A fixed pressure threshold is set to filter the pressure data at each measurement point, and the height data for each measurement point is then determined based on the screening results. However, since a fixed pressure threshold is applied indiscriminately to all measurement points on the print platform, the height data for some measurement points may be inaccurate. Therefore, how to accurately obtain the true height data for each measurement point is a problem that needs to be solved in this application. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment and computer-readable storage medium for determining height data that can improve the accuracy of measurement point coordinates in order to address the above technical problems.

[0005] In a first aspect, the present application provides a method for determining height data. The method comprises:

[0006] For each point to be measured on the printing platform, the probe is controlled to move toward the current point to be measured and step sampling is performed to obtain a sampling result; the sampling result includes multiple height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each height data;

[0007] Determination step: processing the sampling results to obtain candidate data of the current measurement point, and determining whether the candidate data meets the preset data sampling conditions; the candidate data includes candidate height data and candidate pressure data;

[0008] In the case where the candidate data meets the data sampling condition, determining corner pressure data among the plurality of candidate pressure data in the candidate data; the corner pressure data is used to indicate pressure data collected when the probe first contacts the printing platform;

[0009] The target height data of the current point to be measured is determined according to the candidate height data corresponding to the corner pressure data.

[0010] In one embodiment, the probe is controlled to move toward the current point to be tested and perform step sampling to obtain a sampling result, including: controlling the probe to move toward the current point to be tested in the printing platform, and performing a first preset number of step samplings to obtain a sampling result; after determining whether the candidate data meets the preset data sampling conditions, the method further includes: if the candidate data does not meet the data sampling conditions, continuing to control the probe to move toward the current point to be tested in the printing platform, and performing a second preset number of step samplings to obtain new initial data; adding the new initial data to the sampling result, and removing the first preset second number of initial data obtained in the sampling result to obtain a new sampling result; and entering the judgment step again.

[0011] In one embodiment, the sampling results include an initial subsequence corresponding to the height data and an initial subsequence corresponding to the pressure data; the candidate data include a candidate subsequence corresponding to the candidate height data and a candidate subsequence corresponding to the candidate pressure data; the sampling results are processed to obtain candidate data for the current measurement point, including: for each initial subsequence, determining the first threshold data and the second threshold data in the current initial subsequence, and determining the first difference between the first threshold data and the second threshold data; for each initial data in the current initial subsequence, determining the second difference between the current initial data and the first threshold data; based on the first difference and the second difference, obtaining candidate data corresponding to the current initial data; synthesizing the candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence; and synthesizing the candidate subsequences to obtain candidate data corresponding to the current point to be measured.

[0012] In one embodiment, the candidate data includes a pressure candidate subsequence corresponding to the candidate pressure data and a height candidate subsequence corresponding to the candidate height data; judging whether the candidate data meets the preset data sampling condition includes: taking the last n candidate pressure data in the pressure candidate subsequence as the pressure data to be detected and the other candidate pressure data except the last n candidate pressure data as reference pressure data; taking the last n candidate height data in the height candidate subsequence as the height data to be detected and the other candidate height data except the last n candidate height data as reference height data; determining a first detection result based on the size relationship between each pressure data to be detected and the size relationship between each pressure data to be detected and each reference pressure data; determining a second detection result based on the difference between each pressure data to be detected and the reference pressure data, and the difference between each height data to be detected and the reference height data; determining a third detection result based on the relationship between the pressure data to be detected and the preset data threshold; and determining whether the candidate data meets the preset data sampling condition based on the first detection result, the second detection result and the third detection result.

[0013] In one embodiment, determining the pressure data to be detected and multiple reference pressure data in the pressure candidate subsequence includes: determining the tail pressure data in the pressure candidate subsequence; taking the tail pressure data as the starting point, sequentially screening out a preset number of target candidate pressure data from the multiple candidate pressure data included in the pressure candidate subsequence; using the target candidate pressure data as the pressure data to be detected; and using the remaining candidate pressure data in the pressure candidate subsequence as reference pressure data.

[0014] In one embodiment, the first detection result is determined based on the size relationship between the pressure data to be detected, and the size relationship between the pressure data to be detected and the reference pressure data, including: if the pressure data to be detected sorted later is not less than the pressure data to be detected sorted earlier, and the pressure data to be detected are not less than the reference pressure data, then the first detection result is passed.

[0015] In one embodiment, the second detection result is determined based on the difference between each pressure data to be detected and the reference pressure data, and the difference between each height data to be detected and the candidate height data corresponding to the reference, including: determining the third difference between each height data to be detected and each reference height data, and determining the fourth difference between each pressure data to be detected and each reference pressure data; determining multiple association relationships in the candidate data based on the third difference and the fourth difference; judging whether each association relationship meets the preset association condition; if each association relationship meets the preset association condition, the second detection result is passed.

[0016] In one embodiment, determining the third detection result based on the relationship between the pressure data to be detected and the preset data threshold includes: judging whether each pressure data to be detected is greater than the preset data threshold; if each pressure data to be detected is greater than the preset data threshold, the third detection result is passed.

[0017] In one embodiment, determining corner pressure data among multiple candidate pressure data in candidate data includes: determining head height data, head pressure data, tail height data and tail pressure data in the candidate data; determining the fifth difference between the tail height data and the head height data, and determining the sixth difference between the tail pressure data and the head pressure data; determining a target conversion angle of the candidate data based on the fifth difference and the sixth difference; converting each candidate data separately according to the target conversion angle, the head height data and the head pressure data to obtain multiple conversion data; and filtering out corner pressure data that meets preset conditions from the multiple conversion data.

[0018] In one embodiment, the conversion data includes height conversion data and pressure conversion data corresponding to the height conversion data; each candidate data is converted separately according to the target conversion angle, the head height data and the head pressure data to obtain multiple conversion data including: for each candidate height data in the multiple candidate height data, determining the seventh difference between the current candidate height data and the head height data; for the current candidate pressure data corresponding to the current candidate height data, determining the eighth difference between the current candidate pressure data and the head pressure data; determining the target cosine value and the target sine value corresponding to the target conversion angle; obtaining multiple height conversion data according to each seventh difference, target cosine value and target sine value; obtaining pressure conversion data corresponding to each height conversion data according to each eighth difference, target cosine value and target sine value.

[0019] In a second aspect, the present application further provides a device for determining altitude data. The device comprises:

[0020] A data sampling module is configured to control the probe to move toward each test point on the printing platform and perform step sampling to obtain a sampling result; the sampling result includes a plurality of height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each height data;

[0021] a condition judgment module, configured to implement a judgment step: processing the sampling results to obtain candidate data of the current measurement point, and judging whether the candidate data satisfies a preset data sampling condition; the candidate data includes candidate height data and candidate pressure data;

[0022] a corner pressure data determination module, configured to determine corner pressure data from among a plurality of candidate pressure data in the candidate data when the candidate data satisfies a data sampling condition; the corner pressure data being used to indicate pressure data collected when the probe first contacts the printing platform;

[0023] The target height data determination module is used to determine the target height data of the current point to be measured based on the candidate height data corresponding to the corner pressure data.

[0024] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0025] For each point to be measured on the printing platform, the probe is controlled to move toward the current point to be measured and step sampling is performed to obtain a sampling result; the sampling result includes multiple height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each height data;

[0026] Determination step: processing the sampling results to obtain candidate data of the current measurement point, and determining whether the candidate data meets the preset data sampling conditions; the candidate data includes candidate height data and candidate pressure data;

[0027] In the case where the candidate data meets the data sampling condition, determining corner pressure data among the plurality of candidate pressure data in the candidate data; the corner pressure data is used to indicate pressure data collected when the probe first contacts the printing platform;

[0028] The target height data of the current point to be measured is determined according to the candidate height data corresponding to the corner pressure data.

[0029] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0030] For each point to be measured on the printing platform, the probe is controlled to move toward the current point to be measured and step sampling is performed to obtain a sampling result; the sampling result includes multiple height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each height data;

[0031] Determination step: processing the sampling results to obtain candidate data of the current measurement point, and determining whether the candidate data meets the preset data sampling conditions; the candidate data includes candidate height data and candidate pressure data;

[0032] In the case where the candidate data meets the data sampling condition, determining corner pressure data among the plurality of candidate pressure data in the candidate data; the corner pressure data is used to indicate pressure data collected when the probe first contacts the printing platform;

[0033] The target height data of the current point to be measured is determined according to the candidate height data corresponding to the corner pressure data.

[0034] The above-mentioned height data determination method, device, computer equipment and storage medium, by controlling the probe to move toward the current test point and performing step sampling for each test point in the printing platform, obtains a sampling result, and then processes the sampling result to obtain candidate data of the current measurement point; by judging whether the candidate data meets the preset data sampling conditions, the corner pressure data among the multiple candidate pressure data in the candidate data can be determined when the candidate data meets the data sampling conditions. Since the corner pressure data is used to indicate the pressure data collected when the probe first contacts the printing platform, the target height data of the current test point can be determined based on the candidate height data corresponding to the corner pressure data. Since the present application determines the corner pressure data of each measurement point only when the candidate data meets the data sampling conditions, compared with the traditional process of using a fixed pressure threshold for screening all measurement points, the present application can specifically determine the target height data corresponding to each different measurement point, thereby improving the accuracy of the height data determination of the measurement point, and thus can effectively avoid the problem of inaccurate coordinate data of the measurement point when the printing platform structure is unstable. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A diagram illustrating an application environment of a method for determining height data in one embodiment;

[0036] Figure 2 1 is a flow chart of a method for determining height data in one embodiment;

[0037] Figure 3 A schematic diagram of the structure of a printing platform in one embodiment;

[0038] Figure 4 A schematic diagram of coordinates of candidate data in one embodiment;

[0039] Figure 5 is a schematic diagram of a process for determining a second detection result in one embodiment;

[0040] Figure 6 A schematic diagram of a process for determining conversion data in one embodiment;

[0041] Figure 7 A schematic diagram of coordinates for converting data in one embodiment;

[0042] Figure 8 is a flow chart of a method for determining height data in another embodiment;

[0043] Figure 9 is a structural block diagram of a device for determining height data in one embodiment;

[0044] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] The height data determination method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store data that server 104 needs to process. The data storage system can be integrated on server 104, or placed on a cloud or other network server. Terminal 102 is used to control the probe to move toward the current test point and perform step sampling for each test point on the printing platform, obtain multiple height data and pressure data corresponding to each height data in the sampling results, and send the sampling results to server 104. Server 104 is used to process the sampling results to obtain candidate data for the current measurement point and determine whether the candidate data meets preset data sampling conditions. Server 104 is also used to determine corner pressure data from multiple candidate pressure data in the candidate data if the candidate data meets the data sampling conditions, and determine the target height data for the current test point based on the candidate height data corresponding to the corner pressure data. Terminal 102 can be, but is not limited to, various personal computers, 3D printers, laptops, smartphones, tablets, Internet of Things devices, and portable wearable devices. Server 104 can be implemented as a standalone server or a server cluster consisting of multiple servers.

[0047] In one embodiment, Figure 2 As shown, a method for determining height data is provided, and the method is described by taking the application of the method to a computer device as an example. The computer device can be Figure 1 The terminal or server in the embodiment includes the following steps:

[0048] Step 202 : For each point to be measured on the printing platform, control the probe to move toward the current point to be measured and perform step sampling to obtain a sampling result.

[0049] The sampling result includes a plurality of initial data, which include a plurality of height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each height data.

[0050] The printing platform is a platform used to carry three-dimensional objects in a 3D printer. When the print head contacts the plane of the printing platform, the detection unit on the print head can measure the coordinate data corresponding to each measurement point on the printing platform. For example, the coordinate data of the measurement point on the printing platform is a ij =(x ij ,y ij , z ij )(i∈[0, m-1], j∈(0, n-1)).

[0051] The print head can also be a device including a pressure sensor and a probe, for example Figure 3 As shown, Figure 3 The diagram is a structural diagram of the printing platform. When the probe is raised to a preset height, the position is the starting point corresponding to the current point to be measured. For example, Figure 3 At the position d0=0 and p0=0 in the image, the height data between the probe and the starting point is zero, and the pressure data between the probe and the printing platform is zero.

[0052] Specifically, when measuring the coordinates of various points on the print platform, the user triggers the probe to raise to a preset height (e.g., 5mm). The probe is then moved toward the current point to be measured, performing step sampling according to a preset step value, L. The detection unit on the print head then acquires multiple height data points between the probe and the starting point in real time. The pressure sensor in the print head then collects the pressure data between the probe and the print platform corresponding to each height data point. Finally, both the height and pressure data are used as sampling results and sent to a computer.

[0053] In one embodiment, the measurement error of each measurement point is usually smaller than a preset step value, such as e∈[0, L].

[0054] Step 204, a judgment step: processing the sampling results to obtain candidate data of the current measurement point, and judging whether the candidate data meets the preset data sampling conditions.

[0055] The candidate data includes candidate height data obtained by processing the height data in the sampling results, and candidate pressure data obtained by processing the pressure data in the sampling results.

[0056] Since random errors may occur when the control probe is first triggered for step sampling, processing the sampling results can be performed by removing a specific amount of initial data from the initial sampling. Furthermore, since the initial data may contain some singular data, processing the sampling results can also be performed by normalizing the initial data. This can limit the initial data to a certain range, thereby eliminating the adverse effects caused by singular data and improving the accuracy of subsequent processing of candidate data.

[0057] In one embodiment, determining whether the candidate data meets the preset data sampling condition includes: taking the last n candidate pressure data in the pressure candidate subsequence as the pressure data to be detected and the other candidate pressure data except the last n candidate pressure data as reference pressure data; taking the last n candidate height data in the height candidate subsequence as the height data to be detected and the other candidate height data except the last n candidate height data as reference height data; determining a first detection result based on the size relationship between each pressure data to be detected and the size relationship between each pressure data to be detected and each reference pressure data; determining a second detection result based on the difference between each pressure data to be detected and the reference pressure data, and the difference between each height data to be detected and the reference height data; determining a third detection result based on the relationship between the pressure data to be detected and a preset data threshold; and determining whether the candidate data meets the preset data sampling condition based on the first detection result, the second detection result, and the third detection result.

[0058] Among them, the candidate data includes a pressure candidate subsequence corresponding to the candidate pressure data, that is, the candidate pressure data is presented in the form of a pressure candidate subsequence; the candidate data also includes a height candidate subsequence corresponding to the candidate height data; the preset data sampling conditions include at least data sequence conditions, association relationship conditions and threshold conditions.

[0059] Specifically, the computer device selects a pressure sequence to be detected and a plurality of reference pressure data from the pressure candidate subsequence according to a preset screening rule. Similarly, the computer device selects a height sequence to be detected and a plurality of reference height data from the height candidate subsequence. The pressure sequence to be detected includes a plurality of pressure data to be detected, and the height sequence to be detected includes a plurality of height data to be detected. The computer device uses each height data to be detected and the pressure data to be detected corresponding to each height data to be detected as the coordinates of the data to be detected. At the same time, the computer device uses each reference height data and the reference pressure data corresponding to each reference height data as the reference data coordinates.

[0060] Furthermore, the computer device performs data sequence condition detection on the pressure sequence to be detected and multiple reference pressure data, that is, determines the size relationship between the pressure data to be detected, and the size relationship between each pressure data to be detected and each reference pressure data; the computer device performs association relationship condition detection on the candidate data, that is, determines whether the coordinates of the data to be detected and the coordinates of the reference data conform to the preset association relationship, that is, performs association relationship condition detection based on the difference between each pressure data to be detected and the reference pressure data, and the difference between each height data to be detected and the reference height data; the computer device performs threshold condition detection on the pressure sequence to be detected, that is, determines the relationship between each pressure data to be detected and the preset data threshold. When the first detection result, the second detection result and the third detection result are all passed, it is determined that the candidate data meets the preset data sampling condition.

[0061] Step 206 : if the candidate data meets the data sampling condition, determine the corner pressure data among the multiple candidate pressure data in the candidate data; the corner pressure data is used to indicate the pressure data collected when the probe first contacts the printing platform.

[0062] Among them, because the probe is raised to a preset height and then moved toward the current measurement point for step sampling, it usually reaches the target step position when the probe first contacts the print platform during the stepping process. At this time, the pressure data collected at the target step position is the corner pressure data. Before the probe reaches the target step position, under the influence of factors such as system errors, the pressure data detected by the pressure sensor on the probe is usually small, and ideally may be zero. When the probe reaches the target step position and continues to step sampling toward the current measurement point, the pressure data detected by the pressure sensor on the probe will increase sharply because all subsequent step sampling will be in contact with the print platform.

[0063] Specifically, if Figure 4 As shown, Figure 4 The coordinate diagram of the candidate data is shown in FIG. The computer device uses the candidate height data as the horizontal axis and the candidate pressure data as the vertical axis. Each candidate coordinate includes the candidate height data and the candidate pressure data corresponding to each candidate height data. When the candidate data meets the data sampling conditions, the corner pressure data among the multiple candidate pressure data in the candidate data is determined, that is, the corner pressure data among the multiple candidate pressure data in the candidate data is determined. Figure 4 The computer device may transform each candidate coordinate using a data rotation method to obtain multiple transformed coordinates, where the transformed coordinates include height transformed data and pressure transformed data. The target transformed coordinate with the minimum pressure transformed data is then selected from the transformed coordinates, and the pressure transformed data in the target transformed coordinate is used as the corner pressure data.

[0064] In one embodiment, the computer device may use a data fitting method to fit the candidate coordinates with the exponential function y=a(xb)+c to obtain a fitted target curve, and then determine the target curve coordinates where the preset function slope is located from the target curve according to the preset function slope, and use the candidate pressure data in the target curve coordinates as the corner pressure data.

[0065] Step 208 : determining target height data of the current point to be measured based on the candidate height data corresponding to the corner pressure data.

[0066] Specifically, when the computer device uses the data rotation method to determine the corner pressure data in the target transformed coordinates, the candidate coordinates corresponding to the target transformed coordinates before the coordinate transformation are used as the target candidate coordinates, and the candidate height data in the target candidate coordinates are used as the target height data of the current point to be measured. When the computer device uses the data fitting method to determine the target curve coordinates, the candidate height data in the target curve coordinates are directly used as the target height data of the current point to be measured.

[0067] The above-mentioned height data determination method controls the probe to move toward the current measured point and performs step sampling for each measured point in the printing platform to obtain a sampling result, and then processes the sampling result to obtain candidate data of the current measuring point; by judging whether the candidate data meets the preset data sampling conditions, the corner pressure data among the multiple candidate pressure data in the candidate data can be determined when the candidate data meets the data sampling conditions. Since the corner pressure data is used to indicate the pressure data collected when the probe first contacts the printing platform, the target height data of the current measured point can be determined according to the candidate height data corresponding to the corner pressure data. Since the present application determines the corner pressure data of each measuring point only when the candidate data meets the data sampling conditions, compared with the traditional process of screening all measuring points with a fixed pressure threshold, the present application can specifically determine the target height data corresponding to each different measuring point, thereby improving the accuracy of the height data determination of the measuring point, and thus effectively avoiding the problem of inaccurate coordinate data of the measuring point when the printing platform structure is unstable.

[0068] In one embodiment, controlling the probe to move toward the current point to be tested and performing step sampling to obtain a sampling result includes: controlling the probe to move toward the current point to be tested on the printing platform and performing a first preset number of step samplings to obtain a sampling result. After determining whether the candidate data meets a preset data sampling condition, the method further includes: if the candidate data does not meet the data sampling condition, continuing to control the probe to move toward the current point to be tested on the printing platform and performing a second preset number of step samplings to obtain new initial data; adding the new initial data to the sampling result and removing the second preset number of initial data obtained first from the sampling result to obtain a new sampling result; and then entering the determination step again.

[0069] The first preset number is usually greater than the second preset number. For example, when the first preset number is 10, the second preset number may be 1. The multiple initial data in the sampling result include altitude data and pressure data.

[0070] Specifically, when the control probe moves from the starting point to the current point to be measured in the printing platform and performs a first preset number of step samplings, the obtained data include the first preset number of height data and the first preset number of pressure data. After completing the first preset number of step samplings, the probe reaches the initial target point. The height data and the pressure data can be presented in the form of an initial subsequence. For example, the initial subsequence D = {d0, d1...d n} and the initial subsequence P = {p0, p1...p n}.

[0071] Furthermore, if the candidate data does not meet the data sampling conditions, it is necessary to control the probe to start from the initial target point and continue to move toward the current test point in the printing platform, and perform a second preset number of step samplings to obtain new height data and new pressure data. For example, if d n+1 and p n+1 The new height data and the new pressure data are added to the sampling result, and the initial data of the first preset number obtained in the sampling result is removed to obtain the new sampling result. For example, the initial subsequence D = {d1...d n , d n+1} and the initial subsequence P = {p1…p n , p n+1}.

[0072] In order to ensure the uniformity of the data sampling condition judgment for the candidate data, it is possible to always ensure that the number of the initial subsequence is the first preset number of times. For example, the first preset number of times is S. At this time, the initial subsequence D={d n-(S-1) , d n-(S-1)+1 …d n} and the initial subsequence P = {p n-(S-1) , p n-(S-1)+1 …p n}.

[0073] In this embodiment, by continuously moving toward the current point to be measured and performing step sampling, an initial subsequence corresponding to a first preset number of height data and an initial subsequence corresponding to a first preset number of pressure data are obtained. After the data sampling conditions of the candidate data are subsequently judged, the initial subsequence is updated in a first-in-first-out manner, thereby ensuring the data validity of the initial data in the initial subsequence.

[0074] In one embodiment, the computer device can also control the probe to move to the current point to be tested in the printing platform, and perform step sampling greater than the first preset number of times to obtain a sampling result. For example, 20 samplings are performed to obtain an initial subsequence including 20 height data and an initial subsequence including the pressure data corresponding to each height data. The computer device intercepts the target initial subsequence of the first preset number of times from the middle position of each initial subsequence. For example, when the first preset number of times is 10 times, the initial data No. 9 to the initial data No. 18 in the initial subsequence can be used as the target initial subsequence. When it is determined that the candidate data does not meet the data sampling conditions, the computer device re-intercepts from other middle positions in each initial subsequence. For example, the initial data No. 10 to the initial data No. 19 in the initial subsequence are used as the new target initial subsequence; and the judgment step is entered again.

[0075] In one embodiment, the sampling results are processed to obtain candidate data for the current measurement point, including: determining, for each initial subsequence, first threshold data and second threshold data in the current initial subsequence, and determining a first difference between the second threshold data and the first threshold data; determining, for each initial data in the current initial subsequence, a second difference between the current initial data and the first threshold data; obtaining candidate data corresponding to the current initial data based on the first difference and the second difference; combining the candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence; and combining the candidate subsequences to obtain candidate data corresponding to the current point to be measured.

[0076] The sampling results include an initial subsequence corresponding to the height data and an initial subsequence corresponding to the pressure data; the candidate data include a candidate subsequence corresponding to the candidate height data and a candidate subsequence corresponding to the candidate pressure data. The first threshold data includes the minimum height data and the minimum pressure data in the initial subsequence; the second threshold data includes the maximum height data and the maximum pressure data in the initial subsequence;

[0077] Specifically, the process of processing each initial subsequence in the sampling result can be a normalization process, and the method is as follows:

[0078]

[0079]

[0080] When the initial subsequence corresponds to the height data, the computer device determines the first difference between the maximum height data and the minimum height data, that is, MAX(D)-MIN(D), and determines the second difference between each height data and the minimum height data, that is, d i -MIN(D). The computer device obtains the candidate height data corresponding to each height data based on the ratio between the second difference and each first difference. Similarly, when targeting the initial subsequence corresponding to the pressure data, the candidate pressure data corresponding to each pressure data can be obtained. The candidate subsequence corresponding to the candidate height data obtained by integrating the candidate height data is N(D), and the candidate subsequence corresponding to the candidate pressure data obtained by integrating the candidate pressure data is N(P), where:

[0081] N(D)={N(d n-(s-1) ), N(d n-(s-1)-1 )…N(d n )}

[0082] N(P)={N(p n-(S-1) ), N(p n-(S-1)-1 )…N(p n )}

[0083] In this embodiment, by performing preliminary normalization processing on the initial subsequence, a candidate subsequence corresponding to the candidate height data and a candidate subsequence corresponding to the candidate pressure data are obtained. This can improve the efficiency of subsequent data processing and ensure the accuracy of subsequent data sampling condition judgment on the candidate data.

[0084] In one embodiment, determining a pressure sequence to be detected and multiple reference pressure data in a pressure candidate subsequence includes: determining the tail pressure data in the pressure candidate subsequence; taking the tail pressure data as the starting point, sequentially screening out a preset number of target candidate pressure data from the multiple candidate pressure data included in the pressure candidate subsequence; using the target candidate pressure data as the pressure data to be detected, and synthesizing each pressure data to be detected to obtain a pressure sequence to be detected; and using the remaining candidate pressure data in the pressure candidate subsequence as reference pressure data.

[0085] Since the candidate pressure data in the candidate pressure subsequence are arranged in sampling order, the tail pressure data in the candidate pressure subsequence is the data corresponding to the last sampling. Typically, the preset number is less than the first preset number. For example, if the first preset number is 10, the preset number can be 3.

[0086] Specifically, when the computer device determines the tail pressure data in the candidate pressure subsequence, it can use the tail pressure data as a starting point to filter out a preset number of target candidate pressure data in the queue of the candidate pressure subsequence. These target candidate pressure data serve as the pressure data to be tested. Because the target candidate pressure data are arranged in sampling order within the candidate pressure subsequence, a pressure sequence to be tested, arranged in sampling order, can be obtained by synthesizing each candidate pressure data to be tested. The computer device removes the candidate pressure sequence from the candidate pressure subsequence and uses the remaining candidate pressure data as reference pressure data.

[0087] In this embodiment, the candidate pressure subsequences can be accurately split into a pressure sequence to be detected and multiple reference pressure data by the preset number, so that different types of data sampling detection can be performed based on the pressure sequence to be detected and the reference pressure data.

[0088] In one embodiment, multiple height data to be detected and multiple reference height data are determined in a candidate height subsequence. The candidate data also includes a candidate height subsequence corresponding to the candidate height data. The process of determining the multiple height data to be detected and the multiple reference height data from the candidate height subsequence can be referenced to the process of determining the multiple pressure data to be detected and the multiple reference pressure data from the candidate pressure subsequence, and this application will not elaborate further here.

[0089] In one embodiment, the first detection result is determined based on the size relationship between the pressure data to be detected, and the size relationship between the pressure data to be detected and the reference pressure data, including: if the pressure data to be detected sorted later is not less than the pressure data to be detected sorted earlier, and the pressure data to be detected are not less than the reference pressure data, then the first detection result is passed.

[0090] In one embodiment, a data sequence condition test is performed on the pressure sequence to be detected and the reference pressure data sequence to obtain a first test result, including: sorting the pressure data to be detected by a preset arrangement method to obtain a data size sequence; determining whether the pressure sequence to be detected and the pressure data to be detected having the same order in the data size sequence are the same; if they are the same, determining whether each pressure data to be detected is greater than each reference pressure data; if each pressure data to be detected is greater than each reference pressure data, the first test result is passed.

[0091] Specifically, the computer device sorts the pressure data to be detected according to a preset arrangement to obtain a data size sequence, wherein the preset arrangement can be an arrangement of data from small to large. The pressure data to be detected in the pressure sequence to be detected is arranged in the sampling order. The computer device determines whether the pressure data to be detected in the pressure sequence to be detected and the pressure data to be detected with the same order in the data size sequence are the same, that is, as the sampling proceeds, the data size of the pressure data to be detected is gradually increased. If they are the same, it is further determined whether each pressure data to be detected is larger than each reference pressure data, and the reference pressure data is the same. Figure 4 shown.

[0092] The reference pressure data may be the candidate pressure data corresponding to when the probe has not yet contacted the printing platform. At this time, due to the existence of system errors, the candidate pressure data is usually small. Only when the probe contacts the printing platform and continues to move toward the current printing point will the size of the candidate pressure data change significantly. At this time, the candidate pressure data is the pressure data to be tested. Therefore, when the size of the pressure data to be tested gradually increases and each pressure data to be tested is greater than each reference pressure data, the first test result is considered a pass. For example, when the preset number a is greater than or equal to 3, then:

[0093] N(p n )≥N(p n-1 )…≥N(p n-a+1 )≥N(p b )(a≥3,b∈[n-(S-1),n-a+1]

[0094] In this embodiment, in order to perform preset data sampling condition detection on the candidate data, another embodiment of data sequence condition detection is provided, so that the candidate pressure data can be more consistent with the actual measurement situation, avoiding erroneous sampling of the candidate pressure data due to the unstable structure of the printing platform, thereby further ensuring the data validity of the candidate data.

[0095] In one embodiment, Figure 5 As shown, the process of determining the second detection result according to the difference between each pressure data to be detected and the reference pressure data, and the difference between each height data to be detected and the reference height data, further includes the following steps:

[0096] Step 502 : determining a third difference between each height data to be detected and each reference height data, and determining a fourth difference between each pressure data to be detected and each reference pressure data.

[0097] Among them, reference Figure 4As shown, since the candidate coordinates in the coordinate axis include multiple coordinates of the data to be detected and the coordinates of the reference data, the third difference between each height data to be detected and each reference height data is determined, that is, the horizontal coordinate data difference between each coordinate of the data to be detected and each reference data coordinate is determined; and the fourth difference between each pressure data to be detected and each reference pressure data is determined, that is, the vertical coordinate data difference between each coordinate of the data to be detected and each reference data coordinate is determined.

[0098] Step 504: Determine multiple association relationships in the candidate data based on the third difference and the fourth difference.

[0099] The association relationship may include a slope relationship and an angle relationship. The computer device may determine the association relationship corresponding to each coordinate of the data to be detected based on the ratio between the fourth difference and the third difference. For example, when N(d i )-N(d j ) is the third difference, N(p i )-N(p j ) is the fourth difference, the slope relationship K is determined as:

[0100]

[0101] Step 506: Determine whether each association relationship meets the preset association conditions.

[0102] The preset association condition corresponding to the slope relationship is a preset slope threshold, and the preset association condition corresponding to the angle relationship is a preset angle threshold, such as 40 degrees.

[0103] Step 508: If each association relationship meets the preset association condition, the second detection result is passed.

[0104] When the association relationship is an angle relationship, if:

[0105]

[0106] Among them, N(d i )≠N(d j ), p i with d i Constitute the coordinates of the data to be detected, p j with d j The reference data coordinates are formed. This indicates that the angle relationship of each data coordinate to be detected meets the preset angle threshold, and the second detection result is passed. If any angle relationship does not meet the preset angle threshold, the second detection result is failed.

[0107] In this embodiment, by constructing the candidate data into the form of the coordinates of the data to be detected and the coordinates of the reference data, and determining whether the coordinates of the data to be detected and the coordinates of the reference data meet the association relationship conditions, the collected candidate pressure data and candidate height data are more consistent with the actual measurement situation, thereby ensuring the data validity of the candidate data.

[0108] In one embodiment, determining the third detection result based on the relationship between the pressure data to be detected and the preset data threshold includes: judging whether each pressure data to be detected is greater than the preset data threshold; if each pressure data to be detected is greater than the preset data threshold, the third detection result is passed.

[0109] Among them, the preset data threshold can be P min , when the computer device determines that all the pressure data to be detected are greater than the preset data threshold, that is, P min ≤p r (r∈[n−a+1, n]), then the third test result is passed. Therefore, this embodiment provides another embodiment for performing preset data sampling condition detection on candidate data, which can further ensure the data validity of the candidate data.

[0110] In one embodiment, determining corner pressure data from multiple candidate pressure data in candidate data includes: determining head height data, head pressure data, tail height data, and tail pressure data in the candidate data; determining a fifth difference between the tail height data and the head height data, and determining a sixth difference between the tail pressure data and the head pressure data; determining a target conversion angle of the candidate data based on the fifth difference and the sixth difference; converting each candidate data separately according to the target conversion angle, the head height data, and the head pressure data to obtain multiple conversion data; and screening out corner pressure data that meets preset conditions from the multiple conversion data.

[0111] Since the candidate data includes a candidate height subsequence corresponding to the candidate height data and a candidate pressure subsequence corresponding to the candidate pressure data, the height data that comes first in the candidate height subsequence, arranged in sampling order, can be used as the leading height data, and the height data that comes last can be used as the trailing height data. Similarly, the leading and trailing pressure data can be determined from the candidate pressure subsequence.

[0112] Specifically, the computer device may determine the target conversion angle in the following manner:

[0113]

[0114] Among them, N(d n ) is the tail height data, N(d n-(s-1) is the head height data, N(pn ) is the tail pressure data, N(p n-(S-1) The computer device determines the fifth difference between the tail height data and the head height data to obtain N(d n )-N(d n-(S-1) , and determine the sixth difference between the tail pressure data and the head pressure data, and obtain N(p n )-N(p n-(S-1) , and then determine the target conversion angle of the candidate data according to the ratio between the sixth difference and the fifth difference.

[0115] Further, if Figure 6 As shown, the computer device converts each candidate data according to the target conversion angle, the head height data and the head pressure data to obtain multiple conversion data, including:

[0116] Step 602: For each candidate height data in the plurality of candidate height data, determine a seventh difference between the current candidate height data and the header height data.

[0117] Step 604 : determining, for the current candidate pressure data corresponding to the current candidate height data, an eighth difference between the current candidate pressure data and the header pressure data.

[0118] Among them, reference Figure 4 As shown, since the candidate height data is used as the horizontal axis and the candidate pressure data is used as the vertical axis, then N(d i )-N(d n-(S-1) ) is the seventh difference between each candidate height data and the header height data. Similarly, there are N(p i )-N(p n-(S-1) ) is the eighth difference between each candidate pressure data and the header pressure data.

[0119] Step 606: Determine the target cosine value and target sine value corresponding to the target conversion angle.

[0120] The target cosine value and the target sine value of the target conversion angle are cos(θ) and sin(θ).

[0121] In step 608 , a plurality of height conversion data are obtained according to each seventh difference, the target cosine value, and the target sine value.

[0122] Specifically, the computer device may obtain a plurality of height conversion data in the following manner:

[0123] R(N(d i ))=(N(d i )-N(d n-(S-1) ))×cos(θ)-(N(pi )-N(p n-(S-1) ))×sin(θ)

[0124] Where i∈[n-(S-1), n], i represents any candidate height data in the height candidate subsequence. The computer device determines a first product of each seventh difference and a target cosine value, and a second product of each seventh difference and a target sine value, and obtains a plurality of height conversion data based on the difference between each first product and each second product. The height conversion data can be presented in the form of a height conversion sequence, for example, the height conversion sequence is R(N(D)).

[0125] Step 610 : Obtain pressure conversion data corresponding to each height conversion data according to each eighth difference, the target cosine value, and the target sine value.

[0126] Specifically, the computer device may obtain a plurality of height conversion data in the following manner:

[0127] R(N(p i ))=(N(d i )-N(d n-(S-1) ))×sin(θ)+(N(p i )-N(p n-(S-1) ))×cos(θ)

[0128] Wherein, i∈[n-(S-1), n], i represents any candidate pressure data in the pressure candidate subsequence. The computer device determines the third product of each eighth difference and the target sine value, determines the fourth product of each eighth difference and the target cosine value, and superimposes each third product and each fourth product to obtain pressure conversion data corresponding to each height conversion data. The pressure conversion data can be presented in the form of a pressure conversion sequence, for example, the pressure conversion sequence is R(N(P)). Figure 7 As shown, Figure 7 As a coordinate diagram of the conversion data, the computer device uses the height conversion data and the pressure conversion data corresponding to the height conversion data as conversion data, and constructs the conversion data into a coordinate form to obtain a plurality of conversion coordinates.

[0129] In one embodiment, the computer device may calculate each candidate coordinate consisting of N(D) and N(P) based on N(d n-(S-1) ) corresponding to the candidate coordinates, rotate the target conversion angle clockwise to obtain the conversion coordinates composed of R(N(D)) and R(N(P)).

[0130] Furthermore, the corner pressure data that meets the preset conditions is selected from the multiple conversion data, that is, the data with the smallest pressure conversion data in the conversion coordinate is used as the corner pressure data. At this time, R(N(p k ))=MIN(E(N(P))), where the K value represents the index of the conversion coordinate. Therefore, the candidate height data corresponding to the corner pressure data can be used as the target height data of the current test point, that is, z=d k .

[0131] In one embodiment, since the target height data is the height between the probe and a predefined zero position, z=0 at the zero position, the target height data refers to the difference between the position when the probe first contacts the printing plane and the zero point, and the difference can be positive or negative.

[0132] In this embodiment, by using the data rotation method to convert the candidate data into the form of conversion coordinates when the candidate data meets the data sampling conditions, the corner pressure data can be determined quickly and intuitively, thereby improving data processing efficiency and the accuracy of determining the target height data.

[0133] In one embodiment, Figure 8 As shown, Figure 8 The figure is a flow chart of a method for determining height data in another embodiment. The computer device controls the probe to move toward each point to be measured on the printing platform and performs step sampling to obtain a sampling result, wherein the sampling result includes multiple height data d between the probe and the starting point. n , and the pressure data p between the probe and the printing platform corresponding to each height data n ; Present multiple height data in the form of an initial subsequence D, and present multiple pressure data in the form of an initial subsequence P; for each initial subsequence, determine the first threshold data and the second threshold data in the current initial subsequence, and obtain the current candidate data corresponding to the current initial data based on the current initial data, the second threshold data and the first threshold data; synthesize the candidate data corresponding to each initial data in the current initial subsequence to obtain the candidate subsequence corresponding to the current initial subsequence, that is, obtain the height candidate subsequence N(D) and the pressure candidate subsequence N(P); synthesize the candidate subsequences to obtain the candidate data corresponding to the current test point; the computer device determines whether the candidate data meets the preset data sampling conditions. If the candidate data does not meet the data sampling conditions, continue to control the probe to move toward the current test point in the printing platform and perform step sampling to obtain new initial data; if the candidate data meets the data sampling conditions, determine the corner pressure data among the multiple candidate pressure data in the candidate data; and determine the target height data of the current test point based on the candidate height data corresponding to the corner pressure data.

[0134] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0135] Based on the same inventive concept, embodiments of the present application further provide a height data determination device for implementing the aforementioned height data determination method. The implementation solution provided by this device is similar to the implementation solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the height data determination device provided below can be found in the above-mentioned limitations of the height data determination method and will not be further elaborated here.

[0136] In one embodiment, Figure 9 As shown, a height data determination device 900 is provided, comprising: a data sampling module 902, a condition judgment module 904, a corner pressure data determination module 906 and a target height data determination module 908, wherein:

[0137] The data sampling module 902 is used to control the probe to move toward the current test point and perform step sampling for each test point on the printing platform to obtain a sampling result; the sampling result includes multiple height data between the probe and the starting point, and the pressure data between the probe and the printing platform corresponding to each height data.

[0138] The condition judgment module 904 is used to implement the judgment step: processing the sampling results to obtain candidate data of the current measurement point, and judging whether the candidate data meets the preset data sampling conditions; the candidate data includes candidate height data and candidate pressure data.

[0139] The corner pressure data determination module 906 is used to determine the corner pressure data among the multiple candidate pressure data in the candidate data when the candidate data meets the data sampling conditions; the corner pressure data is used to indicate the pressure data collected when the probe first contacts the printing platform.

[0140] The target height data determination module 908 is configured to determine the target height data of the current point to be measured based on the candidate height data corresponding to the corner pressure data.

[0141] In one embodiment, the data sampling module 902 is also used to control the probe to move toward the current point to be tested in the printing platform, and perform a first preset number of step samplings to obtain a sampling result; the sampling result includes multiple initial data; after determining whether the candidate data meets the preset data sampling conditions, it also includes: if the candidate data does not meet the data sampling conditions, continue to control the probe to move toward the current point to be tested in the printing platform, and perform a second preset number of step samplings to obtain new initial data; add the new initial data to the sampling result, and remove the initial data of the preset second number obtained first in the sampling result to obtain a new sampling result; and enter the judgment step again.

[0142] In one embodiment, the condition judgment module 904 also includes a result processing module 9041, which is used to determine, for each initial subsequence, the first threshold data and the second threshold data in the current initial subsequence, and determine the first difference between the first threshold data and the second threshold data; for each initial data in the current initial subsequence, determine the second difference between the current initial data and the first threshold data; obtain candidate data corresponding to the current initial data based on the first difference and the second difference; synthesize the candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence; and obtain candidate data corresponding to the current point to be tested by synthesizing the candidate subsequences.

[0143] In one embodiment, the condition judgment module 904 is further used to use the last n candidate pressure data in the pressure candidate subsequence as the pressure data to be detected and the other candidate pressure data except the last n candidate pressure data as reference pressure data; use the last n candidate height data in the height candidate subsequence as the height data to be detected and the other candidate height data except the last n candidate height data as reference height data; determine the first detection result based on the size relationship between the pressure data to be detected and the size relationship between the pressure data to be detected and the reference pressure data; determine the second detection result based on the difference between the pressure data to be detected and the reference pressure data, and the difference between the height data to be detected and the reference height data; determine the third detection result based on the relationship between the pressure data to be detected and the preset data threshold; and determine whether the candidate data meets the preset data sampling condition based on the first detection result, the second detection result and the third detection result.

[0144] In one embodiment, the condition judgment module 904 also includes a first detection module 9042, which is used to determine that if the pressure data to be detected in the latter order is not less than the pressure data to be detected in the former order, and each pressure data to be detected is not less than each reference pressure data, then the first detection result is passed.

[0145] In one embodiment, the condition judgment module 904 also includes a second detection module 9043, which is used to determine the third difference between each height data to be detected and each reference height data, and determine the fourth difference between each pressure data to be detected and each reference pressure data; based on the third difference and the fourth difference, determine multiple association relationships in the candidate data; judge whether each association relationship meets the preset association condition; if each association relationship meets the preset association condition, the second detection result is passed.

[0146] In one embodiment, the condition judgment module 904 further includes a third detection module 9044 for determining whether each pressure data to be detected is greater than a preset data threshold; if each pressure data to be detected is greater than the preset data threshold, the third detection result is passed.

[0147] In one embodiment, the corner pressure data determination module 906 is further used to determine the head height data, head pressure data, tail height data and tail pressure data in the candidate data; determine the fifth difference between the tail height data and the head height data, and determine the sixth difference between the tail pressure data and the head pressure data; determine the target conversion angle of the candidate data based on the fifth difference and the sixth difference; convert each candidate data according to the target conversion angle, the head height data and the head pressure data to obtain multiple conversion data; and filter out the corner pressure data that meets the preset conditions from the multiple conversion data.

[0148] In one embodiment, the corner pressure data determination module 906 is further used to determine, for each candidate height data among the multiple candidate height data, the seventh difference between the current candidate height data and the head height data; determine, for the current candidate pressure data corresponding to the current candidate height data, the eighth difference between the current candidate pressure data and the head pressure data; determine the target cosine value and the target sine value corresponding to the target conversion angle; obtain multiple height conversion data based on each seventh difference, target cosine value and target sine value; and obtain pressure conversion data corresponding to each height conversion data based on each eighth difference, target cosine value and target sine value.

[0149] Each module in the height data determination device described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0150] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 10As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used 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 operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store altitude data and pressure data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for determining altitude data is implemented.

[0151] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0152] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0153] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0154] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0155] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The above-described embodiments merely represent several embodiments of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. A person of ordinary skill in the art would be able to make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for determining height data, characterized in that: The method comprises: For each point to be measured on the printing platform, controlling the probe to move toward the current point to be measured on the printing platform and performing a first preset number of step samplings to obtain a sampling result; the sampling result includes a plurality of initial data; the initial data includes a plurality of height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each of the height data; Determination step: processing the sampling results to obtain candidate data of the current point to be measured, and determining whether the candidate data meets the preset data sampling conditions; the candidate data includes candidate height data and candidate pressure data; If the candidate data does not meet the data sampling condition, continue to control the probe to move toward the current point to be measured on the printing platform and perform step sampling a second preset number of times to obtain new initial data; add the new initial data to the sampling result, and remove the initial data of the second preset number of times obtained first from the sampling result to obtain a new sampling result; and enter the judgment step again; In the case where the candidate data meets the data sampling condition, determining corner pressure data among the plurality of candidate pressure data in the candidate data; the corner pressure data is used to indicate pressure data collected when the probe first contacts the printing platform; The target height data of the current point to be measured is determined according to the candidate height data corresponding to the corner pressure data.

2. The method according to claim 1, characterized in that The sampling result includes an initial subsequence corresponding to the height data and an initial subsequence corresponding to the pressure data; the candidate data includes a candidate subsequence corresponding to the candidate height data and a candidate subsequence corresponding to the candidate pressure data; The processing of the sampling results to obtain candidate data of the current point to be measured includes: For each of the initial subsequences, determining first threshold data and second threshold data in the current initial subsequence, and determining a first difference between the second threshold data and the first threshold data; For each initial data in the current initial subsequence, determining a second difference between the current initial data and the first threshold data; Obtain candidate data corresponding to the current initial data according to the first difference and the second difference; Combining the candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence; The candidate subsequences are synthesized to obtain candidate data corresponding to the current point to be measured.

3. The method according to claim 1, characterized in that The candidate data includes a pressure candidate subsequence corresponding to the candidate pressure data and a height candidate subsequence corresponding to the candidate height data; The determining whether the candidate data meets a preset data sampling condition includes: taking the last n candidate pressure data in the pressure candidate subsequence as the pressure data to be detected and the other candidate pressure data except the last n candidate pressure data as the reference pressure data; The last n candidate height data in the height candidate subsequence are used as the height data to be detected and the other candidate height data except the last n candidate height data are used as reference height data; determining a first detection result according to the magnitude relationship between the pressure data to be detected and the magnitude relationship between the pressure data to be detected and the reference pressure data; determining a second detection result according to a difference between each of the pressure data to be detected and the reference pressure data, and a difference between each of the height data to be detected and the reference height data; determining a third detection result according to a relationship between the pressure data to be detected and a preset data threshold; Determine whether the candidate data meets a preset data sampling condition based on the first detection result, the second detection result, and the third detection result.

4. The method according to claim 3, characterized in that Determining the first detection result according to the magnitude relationship between the pressure data to be detected and the magnitude relationship between the pressure data to be detected and the reference pressure data includes: If the pressure data to be detected in the latter order is not less than the pressure data to be detected in the former order, and each of the pressure data to be detected is not less than each of the reference pressure data, the first detection result is passed.

5. The method according to claim 3, characterized in that Determining a second detection result according to a difference between each of the pressure data to be detected and the reference pressure data, and a difference between each of the height data to be detected and the reference height data, includes: determining a third difference between each of the height data to be detected and each of the reference height data, and determining a fourth difference between each of the pressure data to be detected and each of the reference pressure data; determining a plurality of association relationships in the candidate data according to the third difference and the fourth difference; Determining whether each of the associations meets the preset association conditions; If each of the association relationships meets the preset association conditions, the second detection result is passed.

6. The method according to claim 3, characterized in that The determining of the third detection result according to the relationship between the pressure data to be detected and the preset data threshold includes: Determining whether each of the pressure data to be detected is greater than a preset data threshold; If all the pressure data to be detected are greater than the preset data threshold, the third detection result is passed.

7. The method according to claim 1, characterized in that The determining of corner pressure data among a plurality of candidate pressure data in the candidate data comprises: Determining the head height data, the head pressure data, the tail height data, and the tail pressure data among the candidate data; determining a fifth difference between the tail height data and the bow height data, and determining a sixth difference between the tail pressure data and the bow pressure data; determining a target conversion angle of the candidate data according to the fifth difference and the sixth difference; Convert each candidate data according to the target conversion angle, the head height data and the head pressure data to obtain a plurality of conversion data; Corner pressure data meeting a preset condition is screened out from the plurality of conversion data.

8. The method according to claim 7, characterized in that The conversion data includes height conversion data and pressure conversion data corresponding to the height conversion data; and each candidate data is converted according to the target conversion angle, the head height data, and the head pressure data to obtain a plurality of conversion data, including: For each candidate height data in the plurality of candidate height data, determining a seventh difference between the current candidate height data and the first height data; determining, for current candidate pressure data corresponding to the current candidate height data, an eighth difference between the current candidate pressure data and the header pressure data; Determining a target cosine value and a target sine value corresponding to the target conversion angle; obtaining a plurality of height conversion data according to each of the seventh differences, the target cosine value, and the target sine value; Pressure conversion data corresponding to each of the height conversion data is obtained according to each of the eighth differences, the target cosine value, and the target sine value.

9. A device for determining height data, characterized in that: The device comprises: a data sampling module configured to control the probe to move toward each point to be measured on the printing platform and perform a first preset number of step samplings to obtain a sampling result; the sampling result includes a plurality of initial data; the initial data includes a plurality of height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each of the height data; a condition judgment module, configured to implement a judgment step: processing the sampling results to obtain candidate data of the current point to be measured, and judging whether the candidate data meets a preset data sampling condition; the candidate data includes candidate height data and candidate pressure data; The data sampling module is configured to, if the candidate data does not satisfy the data sampling condition, continue to control the probe to move toward the current point to be measured on the printing platform and perform step sampling a second preset number of times to obtain new initial data; add the new initial data to the sampling result, and remove the second preset number of initial data obtained first from the sampling result to obtain a new sampling result; and enter the judgment step again; a corner pressure data determination module, configured to determine corner pressure data from among a plurality of candidate pressure data in the candidate data when the candidate data satisfies a data sampling condition; the corner pressure data being used to indicate pressure data collected when the probe first contacts the printing platform; The target height data determination module is used to determine the target height data of the current point to be measured based on the candidate height data corresponding to the corner pressure data.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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