High compensation method and device, computer equipment and storage medium

Abstract

The application relates to a height compensation method and device, computer equipment and a storage medium. The method comprises the following steps: obtaining a sampling result when a nozzle sprays a first layer of printing material along a printing platform and moves for sampling; performing data fusion processing on a first pressure measurement value and a second pressure measurement value to obtain a real pressure value at a current sampling time; obtaining a compensation model between a pressure value and a height compensation value, and determining a target height compensation value corresponding to the real pressure value according to the compensation model; and compensating an initial height value between the nozzle and the printing platform collected at the current sampling time according to the target height compensation value. The method can improve the accuracy of height compensation of the printing platform.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, and in particular to a height compensation method, apparatus, computer device, and storage medium. Background Technology

[0002] 3D printing is a rapid prototyping technology that uses digital model files as a basis and employs bondable materials such as special waxes, powdered metals, or plastics to construct three-dimensional solids layer by layer. Ensuring the horizontality of the printing material on the printing platform is a key focus of current research.

[0003] Currently, when measuring points on a printing platform, it is necessary to pre-determine multiple adjacent points within the area adjacent to the measurement point, construct a fitting plane using the coordinate data of these adjacent points, and then calculate the height compensation value corresponding to the measurement point based on the fitting plane. However, since the spraying of printing material is a real-time and dynamic process, if the printing platform experiences even minor vibrations but the height compensation value is still determined using the coordinate data of adjacent points, it will lead to errors in the height compensation calculation. Therefore, how to perform real-time height compensation during the spraying of printing material and ensure the accuracy of height compensation is the problem that this disclosure aims to solve. Summary of the Invention

[0004] Therefore, it is necessary to provide a height compensation method, apparatus, computer device, and computer-readable storage medium that can improve the accuracy of height compensation in response to the above-mentioned technical problems.

[0005] Firstly, this application provides a height compensation method. The method includes:

[0006] When the control nozzle sprays the first layer of printing material along the printing platform and performs moving sampling, the sampling results are obtained; the sampling results include the first pressure measurement value between the nozzle and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the nozzle and the printing platform collected at the current sampling time;

[0007] The first pressure measurement value and the second pressure measurement value are fused together to obtain the true pressure value at the current sampling time.

[0008] Obtain a compensation model between the pressure value and the height compensation value, and determine the target height compensation value corresponding to the actual pressure value based on the compensation model;

[0009] Based on the target height compensation value, the initial height value between the nozzle and the printing platform collected at the current sampling time is compensated.

[0010] In one embodiment, the first pressure measurement value is detected by a first pressure sensor, and the second pressure measurement value is detected by a second pressure sensor; the first pressure sensor is mounted on the printhead, and the second pressure sensor is mounted on the printing platform.

[0011] In one embodiment, the step of fusing the first pressure measurement value and the second pressure measurement value to obtain the true pressure value at the current sampling time includes: fusing the first pressure measurement value and the second pressure measurement value using a Kalman filter algorithm to obtain the true pressure value at the current sampling time.

[0012] In one embodiment, determining the target height compensation value corresponding to the true pressure value according to the compensation model includes: determining the historical true pressure value at the previous sampling time; determining a first difference value between the true pressure value and a preset pressure threshold, and determining a second difference value between the historical true pressure value and the preset pressure threshold; and determining the target height compensation value corresponding to the true pressure value according to the first difference value, the second difference value, and the compensation model.

[0013] In one embodiment, the compensation model includes a proportional sub-model, an integral sub-model, and a micro-molecular model; determining the target height compensation value corresponding to the true pressure value based on the first difference value, the second difference value, and the compensation model includes: substituting the first difference value into the proportional sub-model to obtain a first height compensation value; obtaining a second height compensation value based on the first difference value and the integral sub-model; substituting the first difference value and the second difference value into the micro-molecular model to obtain a third height compensation value; and superimposing the first height compensation value, the second height compensation value, and the third height compensation value to obtain the target height compensation value.

[0014] In one embodiment, superimposing the first height compensation value, the second height compensation value, and the third height compensation value to obtain a target height compensation value includes: superimposing the first height compensation value, the second height compensation value, and the third height compensation value to obtain a candidate height compensation value; when a preset compensation threshold and the candidate height compensation value meet a preset condition, the candidate height compensation value is used as the target height compensation value; when the preset compensation threshold and the candidate height compensation value do not meet the preset condition, the preset compensation threshold is used as the target height compensation value.

[0015] In one embodiment, the method further includes: when the control nozzle sprays non-first-layer printing material along the printing platform and performs moving sampling, acquiring multiple measurement points in the printing platform and determining the measurement point to be compensated; determining multiple adjacent regions in the printing platform located near the measurement point to be compensated; each adjacent region includes at least two adjacent measurement points; the adjacent measurement points are the measurement points among the multiple measurement points that are adjacent to the measurement point to be compensated; projecting at least two adjacent measurement points in each adjacent region onto 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; determining 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 measurement points in each adjacent region, and the coordinate data of the measurement point to be compensated; projecting each compensation reference point onto a preset second projection plane to obtain coordinate data of each second projection point, and performing height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point.

[0016] Secondly, this application also provides a height compensation device. The device includes:

[0017] The moving sampling module is used to acquire sampling results when the printhead sprays the first layer of printing material along the printing platform and performs moving sampling; the sampling results include the first pressure measurement value between the printhead and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the printhead and the printing platform collected at the current sampling time;

[0018] The data fusion module is used to perform data fusion processing on the first pressure measurement value and the second pressure measurement value to obtain the true pressure value at the current sampling time;

[0019] The compensation value determination module is used to obtain a compensation model between the pressure value and the height compensation value, and to determine the target height compensation value corresponding to the actual pressure value according to the compensation model; and to compensate the initial height value between the nozzle and the printing platform collected at the current sampling time according to the target height compensation value.

[0020] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0021] Acquire multiple measurement points in the printing platform and determine the measurement points to be compensated;

[0022] Multiple adjacent regions located near the measurement point to be compensated in the printing platform are determined; when the nozzle is controlled to spray the first layer of printing material along the printing platform and perform moving sampling, the sampling result is obtained; the sampling result includes the first pressure measurement value between the nozzle and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the nozzle and the printing platform collected at the current sampling time;

[0023] The first pressure measurement value and the second pressure measurement value are fused together to obtain the true pressure value at the current sampling time.

[0024] Obtain a compensation model between the pressure value and the height compensation value, and determine the target height compensation value corresponding to the actual pressure value based on the compensation model;

[0025] Based on the target height compensation value, the initial height value between the nozzle and the printing platform collected at the current sampling time is compensated.

[0026] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the following steps:

[0027] When the control nozzle sprays the first layer of printing material along the printing platform and performs moving sampling, the sampling results are obtained; the sampling results include the first pressure measurement value between the nozzle and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the nozzle and the printing platform collected at the current sampling time;

[0028] The first pressure measurement value and the second pressure measurement value are fused together to obtain the true pressure value at the current sampling time.

[0029] Obtain a compensation model between the pressure value and the height compensation value, and determine the target height compensation value corresponding to the actual pressure value based on the compensation model;

[0030] Based on the target height compensation value, the initial height value between the nozzle and the printing platform collected at the current sampling time is compensated.

[0031] The aforementioned height compensation method, apparatus, computer equipment, and storage medium, when controlling the printhead to spray the first layer of printing material along the printing platform and perform moving sampling, acquire sampling results; the sampling results include a first pressure measurement value between the printhead and the first layer of printing material, a second pressure measurement value between the printing platform and the first layer of printing material, and an initial height value between the printhead and the printing platform, all acquired at the current sampling time; the first and second pressure measurement values ​​are fused to obtain the true pressure value at the current sampling time; a compensation model between the pressure value and the height compensation value is acquired, and a target height compensation value corresponding to the true pressure value is determined based on the compensation model; and the initial height value between the printhead and the printing platform acquired at the current sampling time is compensated based on the target height compensation value. Because this application determines the actual pressure value at the current sampling moment in real time during the nozzle movement sampling process, and then determines the target height compensation value corresponding to the actual pressure value at the current sampling moment through a compensation model, compared with the traditional method that requires pre-determining the coordinate data of multiple adjacent points, this application does not require adjusting the printing platform before the nozzle moves to sample. It can accurately determine the height compensation value of different sampling positions in real time during the spraying of printing materials, thereby avoiding the problem of uneven thickness of the sprayed printing materials when the movement of the nozzle on the printing platform is not absolutely parallel due to system errors or when there is unevenness in the printing platform. Attached Figure Description

[0032] Figure 1 This is a diagram illustrating the application environment of the height compensation method in one embodiment;

[0033] Figure 2 This is a flowchart illustrating a height compensation method in one embodiment;

[0034] Figure 3 This is a schematic diagram of the printing platform in one embodiment;

[0035] Figure 4 This is a flowchart illustrating the height compensation method in another embodiment;

[0036] Figure 5 This is a schematic diagram of the measurement point distribution of the printing platform in one embodiment;

[0037] Figure 6 This is a schematic diagram of the distribution of adjacent areas in one embodiment;

[0038] Figure 7 This is a structural block diagram of the height compensation device in one embodiment;

[0039] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] The height compensation method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed in the cloud or on other network servers. Terminal 102 generates sampling results when the nozzle sprays the first layer of printing material along the printing platform and performs mobile sampling. The sampling results are then sent to server 104. Server 104 performs data fusion processing on the first and second pressure measurements in the sampling results to obtain the true pressure value at the current sampling moment. Server 104 also obtains a compensation model between the pressure value and the height compensation value, and determines the target height compensation value corresponding to the true pressure value based on the compensation model. Based on the target height compensation value, it compensates for the initial height value between the nozzle and the printing platform collected at the current sampling moment. Terminal 102 can be, but is not limited to, various personal computers, 3D printers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0042] In one embodiment, such as Figure 2 As shown, a height compensation method is provided. Taking the application of this method to a computer device as an example, the computer device can provide... Figure 1 The terminal or server in the process includes the following steps:

[0043] Step 202: When the control nozzle sprays the first layer of printing material along the printing platform and performs moving sampling, the sampling result is obtained.

[0044] The sampling results include the first pressure measurement between the printhead and the first layer of printing material, the second pressure measurement between the printing platform and the first layer of printing material, and the initial height value between the printhead and the printing platform, all collected at the current sampling time. The first layer of printing material is the printing material that is in direct contact with the printing platform.

[0045] The printing platform is a type of platform in a 3D printer used to support 3D entities. When the print head contacts the plane of the printing platform, it can move and sample at a preset frequency, spraying printing material during the movement. The print head can be a device including a nozzle and a pressure sensor, for example... Figure 3As shown, Figure 3 This is a schematic diagram of the printing platform.

[0046] Specifically, when a user needs to perform a 3D printing task, the nozzle is first controlled to contact a measurement point on the printing platform. Then, after being raised to a certain height, the 3D printer's print head is triggered to move parallel to the printing platform and spray printing material according to a preset measurement frequency. That is, when the measurement frequency is f, the sampling time interval for the nozzle's movement is T = 1 / f. Therefore, sampling results corresponding to different sampling times can be obtained. Based on the distance the nozzle moves along the printing platform, the X and Y coordinates of the nozzle can be determined, and the initial height value between the nozzle and the printing platform can be determined from the print file. The pressure sensor on the print head can detect the first pressure measurement value between the nozzle and the first layer of printing material. If the current sampling time is considered as time t, then the first pressure measurement value is p1(t), the second pressure measurement value is p2(t), and the initial height value is Z(t).

[0047] In one embodiment, a first pressure measurement value is obtained by a first pressure sensor, and a second pressure measurement value is obtained by a second pressure sensor; the first pressure sensor is mounted on the printhead, and the second pressure sensor is mounted on the printing platform.

[0048] In one embodiment, since the printhead and the first layer of printing material are in a state of compression when the printhead sprays the first layer of printing material, and the material in the consumable roll is pulled during the movement of the printhead, the first pressure measurement value includes the first extrusion force exerted on the printhead by the first layer of printing material and the tension force exerted on the printhead by the material. The second pressure measurement value includes the second extrusion force exerted on the printing platform by the first layer of printing material and the gravity of the first layer of printing material. The tension force and gravity can be considered as interference signals, while the first extrusion force and the second extrusion force are considered as valid signals.

[0049] In one embodiment, the computer device can determine the minimum sampling time interval T during nozzle movement. min T min It can be determined based on factors such as the size of the printing platform, the maximum tilt angle of the printing platform, and the printing speed of the printhead in the Z direction.

[0050] Step 204: Perform data fusion processing on the first pressure measurement value and the second pressure measurement value to obtain the true pressure value at the current sampling time.

[0051] Among them, the data fusion processing method can adopt at least one of Bayesian criterion, Kalman filter algorithm, DS evidence theory, fuzzy set theory, artificial neural network, and machine learning.

[0052] In one embodiment, since random errors may occur when the printhead moves along the printing platform for sampling, the data initially sampled in the sampling results can be removed to ensure the accuracy of the true pressure value obtained through data fusion processing.

[0053] Step 206: Obtain the compensation model between the pressure value and the height compensation value, and determine the target height compensation value corresponding to the actual pressure value based on the compensation model.

[0054] The compensation model can be a closed-loop control model, that is, a control method that corrects based on the output feedback of the controlled object. When a deviation occurs between the measured actual quantity and the planned quantity, adaptive adjustment is performed according to the standard quantity. For example, the proportional-integral-differential (PID) model.

[0055] Specifically, the computer device can obtain a pre-set compensation model and a preset pressure threshold from the model library. The pre-set compensation model indicates that multiple model parameters have been set. Therefore, the computer device can determine the target height compensation value based on the actual pressure value and the preset pressure threshold. In other words, the actual pressure value and the preset pressure threshold are substituted into the compensation model to obtain the target height compensation value.

[0056] In one embodiment, the computer device pre-determines the material height L formed when the printhead sprays the first layer of printing material, referring to... Figure 3 As shown, a preset pressure threshold corresponding to the material height is pre-set according to different material heights.

[0057] In one embodiment, determining the target height compensation value corresponding to the true pressure value according to the compensation model includes: determining the historical true pressure value at the previous sampling time; determining a first difference value between the true pressure value and a preset pressure threshold, and determining a second difference value between the historical true pressure value and the preset pressure threshold; and determining the target height compensation value corresponding to the true pressure value based on the first difference value, the second difference value, and the compensation model.

[0058] The preset pressure threshold represents the ideal pressure value that the printhead receives from the first layer of printing material when the height of the printing material is L.

[0059] Specifically, since the nozzle movement sampling process involves a dynamic closed-loop control, the computer equipment can determine the historical true pressure value at the previous sampling time. This historical true pressure value is obtained by fusing the first and second pressure measurements from the previous sampling time. The computer equipment then determines a first difference value between the true pressure value and a preset pressure threshold, and a second difference value between the historical true pressure value and the preset pressure threshold. For example, if the true pressure value is p(t), the historical true pressure value is p(t-1), and the preset pressure threshold is P, then the first difference value is e(t) = p(t) - P, and the second difference value is e(t-1) = p(t-1) - P. The computer equipment substitutes these first and second difference values ​​into the compensation model to determine the target height compensation value corresponding to the true pressure value, for example, z(t).

[0060] Step 208: Based on the target height compensation value, compensate for the initial height value between the nozzle and the printing platform collected at the current sampling time.

[0061] Specifically, refer to Figure 3 As shown, point O is the zero point preset by the user, where Z = 0. The initial height value between the printhead and the printing platform is the vertical height of the printhead's position relative to the zero point, as set in the print file. Under ideal conditions, such as a perfectly flat printing platform, the vertical height of the printhead's position relative to the zero point should be the same at each sampling moment when sampling the first layer of printing material; that is, the initial height value should be the same, as shown in the figure as Z(t). However, due to unevenness of the printing platform, Z(t) will change with the actual pressure value at different sampling moments. Therefore, it is necessary to compensate for the initial height value at the corresponding sampling moment using the target height compensation value corresponding to the actual pressure value. For example, if a small bump occurs on the printing platform, it is necessary to determine the difference between the initial height value and the corresponding target height compensation value, i.e., to perform Z(t) - z(t), thereby achieving height compensation.

[0062] In one embodiment, the target height compensation value is used to compensate for the initial height value of the current sampling position. However, since the nozzle is constantly moving during the sampling process, the target height compensation value will be compensated between the current sampling time and the next sampling time.

[0063] In one embodiment, the sampling time interval T that triggers the nozzle to move and sample needs to be greater than or equal to the minimum sampling time interval T. min This ensures that the target height compensation value is completed between the current sampling time and the next sampling time.

[0064] In the aforementioned height compensation method, when the printhead sprays the first layer of printing material along the printing platform and performs moving sampling, sampling results are obtained. The sampling results include the first pressure measurement value between the printhead and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the printhead and the printing platform, all collected at the current sampling time. The first and second pressure measurement values ​​are fused to obtain the true pressure value at the current sampling time. A compensation model between the pressure value and the height compensation value is obtained, and the target height compensation value corresponding to the true pressure value is determined based on the compensation model. The initial height value between the printhead and the printing platform collected at the current sampling time is compensated based on the target height compensation value. Because this application determines the actual pressure value at the current sampling moment in real time during the nozzle movement sampling process, and then determines the target height compensation value corresponding to the actual pressure value at the current sampling moment through a compensation model, compared with the traditional method that requires pre-determining the coordinate data of multiple adjacent points, this application does not require adjusting the printing platform before the nozzle moves to sample. It can accurately determine the height compensation value of different sampling positions in real time during the spraying of printing materials, thereby avoiding the problem of uneven thickness of the sprayed printing materials when the movement of the nozzle on the printing platform is not absolutely parallel due to system errors or when there is unevenness in the printing platform.

[0065] In one embodiment, fusing the first pressure measurement value and the second pressure measurement value to obtain the true pressure value at the current sampling time includes: fusing the first pressure measurement value and the second pressure measurement value using a Kalman filter algorithm to obtain the true pressure value at the current sampling time.

[0066] Among them, the Kalman filter algorithm is a method to accurately obtain the true value at the current sampling time by using the measured value at the current sampling time and the estimated value at the previous sampling time.

[0067] In this embodiment, the data fusion process using the Kalman filter algorithm not only achieves the weighted fusion of the first and second pressure measurements, but also recursively calculates the stress state of the printing material from the previous sampling time to the current sampling time, accurately obtaining the true value at the current sampling time. Therefore, the global optimal estimate is obtained, ensuring the accuracy of the true pressure value when the nozzle is sampling.

[0068] In one embodiment, determining the target height compensation value corresponding to the true pressure value based on the first difference value, the second difference value, and the compensation model includes: substituting the first difference value into the proportional sub-model to obtain the first height compensation value; obtaining the second height compensation value based on the first difference value and the integral sub-model; substituting the first difference value and the second difference value into the micro-molecular model to obtain the third height compensation value; and superimposing the first height compensation value, the second height compensation value, and the third height compensation value to obtain the target height compensation value.

[0069] The compensation model can be a positional PID model, which includes proportional sub-models, integral sub-models, and molecular models, for example:

[0070]

[0071] Among them, K P K is the proportional control parameter in the proportional sub-model. I K represents the integral control parameter in the integral sub-model, M represents the integral depth parameter in the integral sub-model, and K represents the integral depth parameter in the integral sub-model. D These are the differential control parameters in the molecular model. Referring to the above, e(t) is the first difference value, and e(t-1) is the second difference value.

[0072] Specifically, the computer device obtains a first height compensation value based on a first difference value and a proportional sub-model, and substitutes the first difference value into an integral sub-model to obtain a second height compensation value. The computer device determines a third difference value between the first and second difference values, and substitutes the third difference value into a micro-molecular model to obtain a third height compensation value, so that the target height compensation value is obtained based on the first, second, and third height compensation values. Therefore, this embodiment can quickly determine the target height compensation value at the current acquisition time through a positional PID model, improving the efficiency of data processing.

[0073] In one embodiment, the target height compensation value is obtained by superimposing the first height compensation value, the second height compensation value, and the third height compensation value. This includes: superimposing the first height compensation value, the second height compensation value, and the third height compensation value to obtain a candidate height compensation value; when a preset condition is met between the preset compensation threshold and the candidate height compensation value, the candidate height compensation value is used as the target height compensation value; when the preset condition is not met between the preset compensation threshold and the candidate height compensation value, the preset compensation threshold is used as the target height compensation value.

[0074] The preset compensation threshold is a maximum dynamic compensation range e. Since the height difference of a typical printing platform is about 3mm, and the maximum is about 10mm, the preset compensation threshold is usually different for different models of 3D printers.

[0075] Specifically, if z(t) obtained by superimposing the first, second, and third height compensation values ​​is considered as a candidate height compensation value, then it is necessary to compare the candidate height compensation value with a preset compensation threshold, that is, to determine whether the preset compensation threshold and the candidate height compensation value meet a preset condition. If the candidate height compensation value is less than or equal to the preset compensation threshold, it can be considered that the preset compensation threshold and the candidate height compensation value meet the preset condition, and the candidate height compensation value is then used as the target height compensation value; if the candidate height compensation value is greater than the preset compensation threshold, it can be considered that the preset compensation threshold and the candidate height compensation value do not meet the preset condition, and the preset compensation threshold is then used as the target height compensation value.

[0076] In this embodiment, by determining whether the preset compensation threshold and the candidate height compensation value meet the preset conditions, the preset compensation threshold or the candidate height compensation value can be flexibly selected as the target height compensation value under different circumstances, thereby improving the accuracy of subsequent height compensation.

[0077] In one embodiment, when the printhead sprays the first layer of printing material along the printing platform and performs moving sampling, the obtained sampling results may also include printhead motor current, printhead motor vibration frequency, etc., and the target height compensation value may also be determined by a material blockage detector, artificial intelligence camera, etc.

[0078] In one embodiment, such as Figure 4 As shown, the height compensation method in this application further includes the following steps:

[0079] Step 402: When the control nozzle sprays non-first layer printing material along the printing platform and performs moving sampling, multiple measurement points in the printing platform are acquired, and the measurement points to be compensated are determined.

[0080] In this process, when the printhead sprays non-first-layer printing material along the printing platform and performs moving sampling, the detection unit on the printhead can measure the coordinate data corresponding to each measurement point in the printing platform. Non-first-layer printing material is the printing material that is sprayed on top of the first-layer printing material after the printhead has finished spraying it. For example... Figure 5 As shown, Figure 5 This is a schematic diagram of the measurement point distribution on printing platform 501. The measurement points on the printing platform consist of an m x n matrix, as follows:

[0081]

[0082] The coordinate data of the measurement point is a. ij =(x ij y ij , z ij)(i∈[0, m-1], j∈(0, n-1)).

[0083] Specifically, when a user continues a 3D printing task based on the initial layer of printing material, the 3D printer's print head can be moved. When the print head moves to the corresponding position on the printing platform, the detection unit on the print head can measure the measurement point that needs height compensation and transmit the coordinate data of the measurement point to the computer device.

[0084] In one embodiment, for each of the multiple measurement points corresponding to the current printing task, the current measurement point is regarded as the measurement point to be compensated, thereby realizing height compensation for the measurement point to be compensated.

[0085] Step 404: Determine multiple neighboring regions in the printing platform located near the measurement point to be compensated; each neighboring region includes at least two adjacent measurement points; adjacent measurement points are measurement points that are adjacent to the measurement point to be compensated among the multiple measurement points.

[0086] Specifically, the computer device can perform neighbor region detection on the measurement point to be compensated, and regard neighbor regions that conform to a preset direction as the neighbor regions corresponding to the measurement point to be compensated. The neighbor regions in the preset direction can be determined according to a preset first projection plane. For example... Figure 6 As shown, Figure 6 This is a schematic diagram of the distribution of neighboring areas on the printing platform. The neighboring locations of the measurement point Q to be compensated include areas 1, 2, 3 and 4. When the preset first projection plane is the YZ plane, the neighboring areas in the preset direction are areas 1 and 2. When the preset first projection plane is the XZ plane, the neighboring areas in the preset direction are areas 3 and 4.

[0087] Furthermore, for each neighboring region, the computer device determines the adjacent measurement points located in the current neighboring region that are adjacent to the measurement point to be compensated. Each neighboring region includes at least two adjacent measurement points, which are selected from the measurement points. For example, adjacent measurement point A and adjacent measurement point B in region 1 are determined.

[0088] In one embodiment, the computer device retrieves neighboring measurement points at locations near the measurement point to be compensated from a preset database based on the coordinate data of the measurement point to be compensated.

[0089] Step 406: Project at least two adjacent measurement points in each neighboring region onto 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 at least two first projection points to obtain the first fitting line corresponding to each neighboring region.

[0090] The preset first projection plane can be a user-defined projection plane, such as the YZ plane in a three-dimensional coordinate system. Since the processing procedure for at least two adjacent measurement points in each neighboring region is the same, for the sake of better describing this application, the following description will focus on at least two adjacent measurement points in any one neighboring region.

[0091] Specifically, the computer device projects each of at least two adjacent measurement points onto a preset first projection plane, obtaining a first projection point corresponding to each adjacent measurement point, that is, converting three-dimensional coordinates into two-dimensional coordinates. For example, projecting adjacent measurement points A and B in region 1 onto a preset YZ plane, obtaining first projection point a and first projection point b. The computer device performs linear fitting on each first projection point to obtain a first fitting line corresponding to the first adjacent measurement point, that is, linearly fitting first projection point a and first projection point b. The linear fitting method can be least squares fitting, etc., and this application does not limit it.

[0092] Step 408: Determine the coordinate data of each compensation reference point based on the first fitting line corresponding to each neighboring region, the coordinate data of at least two adjacent measurement points in each neighboring region, and the coordinate data of the measurement point to be compensated.

[0093] When there are two neighboring regions, there are two first fitting lines, and the number of compensation reference points in each neighboring region is also two.

[0094] Specifically, the computer equipment determines whether the abscissa data of at least two adjacent measurement points in each neighboring area are the same. When the abscissa data of at least two adjacent measurement points are the same, a first benchmark point determination model is retrieved 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 input into the first benchmark point determination model to obtain the coordinate data of the compensation benchmark point. When the abscissa data of at least two adjacent measurement points are not the same, a second benchmark point determination model is retrieved 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 input into the second benchmark point determination model to obtain the coordinate data of the compensation benchmark point. The first benchmark point determination model does not require coordinate transformation of the coordinate data of adjacent measurement points; the second benchmark point determination model requires constructing a right-angled triangle using the coordinate data of adjacent measurement points.

[0095] In one embodiment, the computer device can determine the coordinate data of each compensation reference point based on the first fitted line corresponding to each neighboring region and the coordinate data of the measurement point to be compensated.

[0096] Step 410: Project each compensation reference point onto a preset second projection plane to obtain the coordinate data of each second projection point, and perform height compensation on the coordinate data of the measurement point to be compensated based on the coordinate data of each second projection point.

[0097] The preset second projection plane is a plane of a different type than 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.

[0098] Specifically, the computer equipment projects each compensation reference point onto a preset second projection plane, obtaining a corresponding second projection point for each compensation reference point, that is, converting the three-dimensional coordinates of the compensation reference point into two-dimensional coordinates. For example, compensation reference points M and N are projected onto the preset second projection plane to obtain second projection point m and second projection point n. The computer equipment performs linear fitting processing on the coordinate data of each second projection point to obtain a second fitting line, and performs height compensation on the measurement point to be compensated using the second fitting line. That is, the coordinate data of the measurement point to be compensated is substituted 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, and then the height compensation value is used to compensate the height of the measurement point to be compensated.

[0099] In this embodiment, for multiple measurement points to be compensated obtained by moving sampling when the nozzle sprays non-first layer printing material, since the first fitting line is determined by the adjacent measurement points corresponding to the measurement points to be compensated, and then the compensation reference point is determined according to the first fitting line, and then the height compensation of the measurement points to be compensated can be realized according to the second projection point after the compensation reference point is projected, so the height compensation of each measurement point to be compensated can be targeted, thus improving the accuracy of the height compensation of the printing platform.

[0100] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0101] Based on the same inventive concept, this application also provides a height compensation device for implementing the height compensation method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more height compensation device embodiments provided below can be found in the limitations of the height compensation method described above, and will not be repeated here.

[0102] In one embodiment, such as Figure 7 As shown, a height compensation device 700 is provided, including: a moving sampling module 702, a data fusion module 704, and a compensation value determination module 706, wherein:

[0103] The moving sampling module 702 is used to acquire sampling results when the printhead sprays the first layer of printing material along the printing platform and performs moving sampling. The sampling results include the first pressure measurement value between the printhead and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the printhead and the printing platform, which are collected at the current sampling time.

[0104] The data fusion module 704 is used to perform data fusion processing on the first pressure measurement value and the second pressure measurement value to obtain the true pressure value at the current sampling time.

[0105] The compensation value determination module 706 is used to obtain the compensation model between the pressure value and the height compensation value, and to determine the target height compensation value corresponding to the actual pressure value based on the compensation model; and to compensate the initial height value between the nozzle and the printing platform collected at the current sampling time based on the target height compensation value.

[0106] In one embodiment, the data fusion module 704 is further configured to perform data fusion processing on the first pressure measurement value and the second pressure measurement value using a Kalman filter algorithm to obtain the true pressure value at the current sampling time.

[0107] In one embodiment, the compensation value determination module 706 is further configured to determine the historical true pressure value at the previous sampling time; determine a first difference value between the true pressure value and a preset pressure threshold, and determine a second difference value between the historical true pressure value and the preset pressure threshold; and determine the target height compensation value corresponding to the true pressure value based on the first difference value, the second difference value, and the compensation model.

[0108] In one embodiment, the compensation value determination module 706 is further configured to substitute the first difference value into the proportional sub-model to obtain a first height compensation value; obtain a second height compensation value based on the first difference value and the integral sub-model; substitute the first difference value and the second difference value into the micro-molecular model to obtain a third height compensation value; and superimpose the first height compensation value, the second height compensation value and the third height compensation value to obtain a target height compensation value.

[0109] In one embodiment, the compensation value determination module 706 is further configured to superimpose the first height compensation value, the second height compensation value, and the third height compensation value to obtain a candidate height compensation value; when the preset compensation threshold and the candidate height compensation value meet a preset condition, the candidate height compensation value is used as the target height compensation value; when the preset compensation threshold and the candidate height compensation value do not meet the preset condition, the preset compensation threshold is used as the target height compensation value.

[0110] In one embodiment, the height compensation device 700 further includes a measurement point compensation module 708, used to acquire multiple measurement points in the printing platform and determine the measurement point to be compensated when the control nozzle sprays non-first-layer printing material along the printing platform and performs moving sampling; determine multiple adjacent regions in the printing platform located near the measurement point to be compensated; each adjacent region includes at least two adjacent measurement points; the adjacent measurement points are the measurement points adjacent to the measurement point to be compensated among the multiple measurement points; project at least two adjacent measurement points in each adjacent region onto 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 at least two first projection points to obtain a first fitting line corresponding to each adjacent region; determine 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 measurement points in each adjacent region, and the coordinate data of the measurement point to be compensated; project each compensation reference point onto a preset second projection plane to obtain coordinate data of each second projection point, and perform height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point.

[0111] Each module in the aforementioned height compensation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0112] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores height compensation data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a height compensation method for a printing platform.

[0113] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0114] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0115] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0116] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can 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 can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0117] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0118] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A height compensation method, characterized in that, The method includes: When the control nozzle sprays the first layer of printing material along the printing platform and performs moving sampling, the sampling results are obtained; the sampling results include the first pressure measurement value between the nozzle and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the nozzle and the printing platform collected at the current sampling time; The first pressure measurement value and the second pressure measurement value are fused using the Kalman filter algorithm to obtain the true pressure value at the current sampling time. A compensation model is obtained between the pressure value and the height compensation value, and the target height compensation value corresponding to the actual pressure value is determined based on the compensation model; the compensation model includes a PID model. Based on the target height compensation value, the initial height value between the nozzle and the printing platform collected at the current sampling time is compensated.

2. The method according to claim 1, characterized in that, The first pressure measurement value is obtained by detecting the first pressure sensor, and the second pressure measurement value is obtained by detecting the second pressure sensor; the first pressure sensor is installed on the printhead, and the second pressure sensor is installed on the printing platform.

3. The method according to claim 1, characterized in that, Based on the compensation model, the target height compensation value corresponding to the true pressure value is determined, including: Determine the historical true pressure value at the previous sampling time; Determine a first difference value between the actual pressure value and the preset pressure threshold, and determine a second difference value between the historical actual pressure value and the preset pressure threshold; Based on the first difference value, the second difference value, and the compensation model, the target height compensation value corresponding to the true pressure value is determined.

4. The method according to claim 3, characterized in that, The compensation model includes a proportional sub-model, an integral sub-model, and a micro-molecular model; determining the target height compensation value corresponding to the true pressure value based on the first difference value, the second difference value, and the compensation model includes: Substituting the first difference value into the proportional sub-model, we obtain the first height compensation value; Based on the first difference value and the integral sub-model, the second height compensation value is obtained; Substituting the first difference value and the second difference value into the micro-molecule model, a third height compensation value is obtained; The first height compensation value, the second height compensation value, and the third height compensation value are superimposed to obtain the target height compensation value.

5. The method according to claim 4, characterized in that, The step of superimposing the first height compensation value, the second height compensation value, and the third height compensation value to obtain the target height compensation value includes: The first height compensation value, the second height compensation value, and the third height compensation value are superimposed to obtain the candidate height compensation value; When the preset compensation threshold and the candidate height compensation value meet the preset conditions, the candidate height compensation value is taken as the target height compensation value. When the preset compensation threshold and the candidate height compensation value do not meet the preset conditions, the preset compensation threshold is used as the target height compensation value.

6. The method according to claim 1, characterized in that, The method further includes: When the control nozzle sprays non-first layer printing material along the printing platform and performs moving sampling, multiple measurement points in the printing platform are acquired, and the measurement points to be compensated are determined. Multiple neighboring regions are identified in the printing platform located near the measurement point to be compensated; each neighboring region includes at least two adjacent measurement points; the adjacent measurement points are the measurement points that are adjacent to the measurement point to be compensated among the multiple measurement points. At least two adjacent measurement points in each neighboring region are projected onto a preset first projection plane to obtain coordinate data of at least two first projection points. The coordinate data of the at least two first projection points are then linearly fitted to obtain the first fitting line corresponding to each neighboring region. Based on the first fitting line corresponding to each neighboring region, the coordinate data of at least two adjacent measurement points in each neighboring region, and the coordinate data of the measurement point to be compensated, the coordinate data of each compensation reference point are determined respectively. Each of the compensation reference points is projected onto a preset second projection plane to obtain the coordinate data of each second projection point, and the coordinate data of the measurement point to be compensated is height compensated based on the coordinate data of each second projection point.

7. A height compensation device, characterized in that, The device includes: The moving sampling module is used to acquire sampling results when the printhead sprays the first layer of printing material along the printing platform and performs moving sampling; the sampling results include the first pressure measurement value between the printhead and the first layer of printing material, the second pressure measurement value between the printing platform and the first layer of printing material, and the initial height value between the printhead and the printing platform collected at the current sampling time; The data fusion module is used to perform data fusion processing on the first pressure measurement value and the second pressure measurement value through the Kalman filter algorithm to obtain the true pressure value at the current sampling time; The compensation value determination module is used to obtain a compensation model between the pressure value and the height compensation value, and to determine the target height compensation value corresponding to the actual pressure value based on the compensation model; the compensation model includes a PID model; and to compensate the initial height value between the nozzle and the printing platform collected at the current sampling time based on the target height compensation value.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images