Method, system, device and storage medium for adjusting the height of dual print head nozzles

Abstract

The present application relates to the technical field of 3D printers, and more particularly to a method, system, device, and storage medium for adjusting the height of a dual printhead nozzle. The method comprises: obtaining target nozzle information corresponding to a target nozzle, wherein the target nozzle is a nozzle to be adjusted whose height difference from a preset desired height exceeds a preset height difference threshold; determining a corresponding objective function based on the target nozzle information, wherein the objective function is the deviation between the target nozzle information and the desired height; and sending a height adjustment instruction based on the objective function, wherein the height adjustment instruction is received by a corresponding execution terminal, and the execution terminal adjusts the target nozzle information according to the height adjustment instruction until the height difference is less than the height difference threshold. The present application can achieve the beneficial effect of improving the height adjustment accuracy of the dual printhead nozzles.

Description

Technical Field

[0001] The present application relates to the technical field of 3D printers, and in particular to a method, system, device, and storage medium for adjusting the height of a dual print head nozzle. Background Art

[0002] 3D printing, also known as additive manufacturing, is a technology that constructs objects by stacking materials layer by layer based on digital model files. As an emerging manufacturing technology, it is gradually changing the face of traditional manufacturing and providing more possibilities for personalized and customized production. However, the development of 3D printing also faces some difficulties, and height adjustment is one of them. In the application of dual print heads, the nozzle height of the dual print heads needs to be kept consistent, which requires reasonable height adjustment. The accuracy of height adjustment greatly affects the consistency of nozzle height. How to improve the height adjustment accuracy of the dual print head nozzles is a technical problem that needs to be solved urgently. Summary of the Invention

[0003] The embodiments of the present application provide a method, system, device, and storage medium for adjusting the height of the nozzles of a dual print head, which can achieve the beneficial effect of improving the height adjustment accuracy of the nozzles of the dual print head.

[0004] A first aspect of the present application provides a method for adjusting the height of a dual print head nozzle: a method for adjusting the height of a dual print head nozzle, the method comprising:

[0005] Acquiring target nozzle information corresponding to a target nozzle, wherein the target nozzle is a nozzle to be adjusted whose height difference from a preset desired height exceeds a preset height difference threshold;

[0006] According to the target nozzle information, a corresponding objective function is determined. The objective function is the deviation between the target nozzle information and the desired height. The objective function adopts the following formula:

[0007]

[0008] Where J is the value of the objective function, N is the total number of time steps, and h t is the actual height value at the tth moment of the time step, h target is the height value of the desired height;

[0009] According to the objective function, a height adjustment instruction is sent, and the height adjustment instruction is received by a corresponding execution end. The execution end adjusts the target nozzle information according to the height adjustment instruction until the height difference is less than the height difference threshold.

[0010] By adopting the above technical solution, the target nozzle information of the target nozzle that needs to adjust the height is obtained, that is, the actual height value of the target nozzle is obtained in real time, and the expected height in the corresponding objective function is determined according to the target nozzle information, and then the height adjustment instruction is dynamically controlled according to the objective function value. The height adjustment instruction will be received by the corresponding execution end, and the execution end will adjust the height of the nozzle according to the height adjustment instruction, thereby improving the height adjustment accuracy of the nozzle through dynamic adjustment.

[0011] Optionally, the method further includes:

[0012] Obtaining a penalty term of the objective function, wherein the penalty term is used to minimize a change in a control amount;

[0013] According to the penalty term, the objective function formula is adjusted to:

[0014]

[0015] Among them, λ is the penalty parameter, u t is the control quantity at time t, u t is the control quantity at time t+1.

[0016] By adopting the above technical solution, a penalty term for smoothing the output is added to the objective function to limit the range of variable changes, thereby minimizing the control amount changes and preventing drastic changes in the height value, thereby achieving the purpose of improving the adjustment accuracy.

[0017] Optionally, the method further includes:

[0018] Get the current ambient temperature and temperature compensation instructions;

[0019] According to the current ambient temperature and the temperature compensation instruction, the temperature control signal corresponding to the target nozzle is adjusted. The temperature compensation of the temperature control signal is calculated using the following formula:

[0020] u comp (t)=u(t)+K comp cdot(T ambient -T ref )

[0021] Among them, u comp (t) is the temperature control signal after time t compensation, u(t) is the temperature control signal before time t compensation, K comp is the temperature compensation coefficient, T ambient is the current ambient temperature, T ref is the expected temperature corresponding to the target nozzle.

[0022] By adopting the above technical solution, the ambient temperature changes are monitored in real time, and the measurement results are corrected through the temperature compensation algorithm to eliminate the impact of temperature changes on system accuracy, thereby improving the adjustment accuracy.

[0023] Optionally, before the step of obtaining target nozzle information corresponding to the target nozzle, the method includes:

[0024] Obtaining an original nozzle image corresponding to the nozzle to be adjusted;

[0025] Preprocessing the original nozzle image to be adjusted to obtain a preprocessed nozzle image to be adjusted;

[0026] The nozzle image to be adjusted is input into a height difference recognition model to obtain a height difference evaluation result corresponding to the nozzle image to be adjusted. The height difference recognition model is obtained by pre-training a training sample set through a convolutional neural network. The training sample set includes the original nozzle image corresponding to each printer in a plurality of printers, and the annotation information corresponding to the original nozzle image.

[0027] By adopting the above technical solution, the image of the nozzle to be adjusted is preprocessed to obtain an image that can be input into a pre-trained height difference recognition model to obtain a height difference evaluation result. The height difference evaluation result is determined based on the height difference between the actual height and the expected height. If the height difference exceeds the accuracy requirement range, the corresponding nozzle is determined to be the target nozzle.

[0028] Optionally, the method further includes:

[0029] Step 1: Acquire an original nozzle image corresponding to each of the plurality of printers to obtain an original nozzle image set, wherein each original nozzle image in the original nozzle image set includes annotation information;

[0030] Step 2: preprocessing each original nozzle image in the original nozzle image set to obtain a target training sample set;

[0031] Step 3: Construct an initial recognition model based on a multi-layer neural network structure;

[0032] Step 4: inputting a target training sample into the initial recognition model to obtain a recognition result corresponding to the target training sample, wherein the target training sample is any one training sample in the target training sample set;

[0033] Step 5: Adjusting the loss function of the initial recognition model based on the difference between the recognition result and the annotation information corresponding to the target training sample;

[0034] Step 6: Iteratively execute steps 4 to 5 based on the adjusted loss function until a preset iteration termination condition is reached, and determine the initial recognition model when the iteration termination condition is reached as the height difference recognition model.

[0035] By adopting the above technical solution, a large number of nozzle images and corresponding annotation information are obtained, that is, an original nozzle image set is obtained, and then each image in the original nozzle image set is preprocessed to obtain a target training sample set, and then the target training sample set is input into the preliminary constructed initial recognition model. Based on the difference between the obtained recognition results and the actual ones, the loss function of the initial recognition model is adjusted, and iterative training is performed to obtain a height difference recognition model for identifying height differences.

[0036] Optionally, the method further includes:

[0037] determining an actual diagnosis result corresponding to the original nozzle image;

[0038] The height difference recognition model is updated according to the difference between the actual diagnosis result and the recognition result corresponding to the original nozzle image.

[0039] By adopting the above technical solution, feedback adjustment is performed based on the actual diagnosis result corresponding to the original nozzle image and the difference from the evaluation result, so as to update the height difference recognition model in real time and improve the recognition accuracy and reliability.

[0040] Optionally, the method further includes:

[0041] Get mode adjustment instructions;

[0042] determining a height adjustment mode according to the mode adjustment instruction, wherein the height adjustment mode includes a desired adjustment mode and a reference adjustment mode;

[0043] In the desired adjustment mode, the preset desired height is acquired. In the reference adjustment mode, the nozzle height corresponding to the determined reference nozzle is determined as the desired height of the target nozzle.

[0044] By adopting the above technical solution, the mode adjustment instructions sent by relevant personnel are obtained, and the nozzle is adjusted according to actual needs. One method is to calibrate the height of the corresponding nozzle according to the preset expected height, and the other method is to use the calibrated nozzle height as the expected height, thereby meeting the needs of various scenarios.

[0045] A second aspect of the present application provides a dual print head nozzle height adjustment system, comprising:

[0046] a nozzle height acquisition module, configured to acquire target nozzle information corresponding to a target nozzle, wherein the target nozzle is a nozzle to be adjusted whose height difference from a preset desired height exceeds a preset height difference threshold;

[0047] The objective function determination module is used to determine the corresponding objective function according to the target nozzle information. The objective function is the deviation between the target nozzle information and the desired height. The objective function adopts the following formula:

[0048]

[0049] Where J is the value of the objective function, N is the total number of time steps, and h t is the actual height value at the tth moment of the time step, h target is the height value of the desired height;

[0050] The adjustment instruction sending module is used to send a height adjustment instruction according to the objective function. The height adjustment instruction is received by the corresponding execution end, and the execution end adjusts the target nozzle information according to the height adjustment instruction until the height difference is less than the height difference threshold.

[0051] The third aspect of the present application provides a device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for adjusting the height of the dual print head nozzles when executing the computer program.

[0052] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned method for adjusting the height of the dual print head nozzles when executed by a processor.

[0053] In summary, this application has at least one of the following beneficial effects:

[0054] 1. Obtain the target nozzle information of the target nozzle that needs to be adjusted in height, that is, obtain the actual height value of the target nozzle in real time, and determine the expected height in the corresponding objective function based on the target nozzle information, and then dynamically control the height adjustment instruction according to the objective function value. The height adjustment instruction will be received by the corresponding execution end, and the execution end will adjust the height of the nozzle according to the height adjustment instruction, thereby improving the height adjustment accuracy of the nozzle through dynamic adjustment.

[0055] 2. Add a penalty term for smoothing the output in the objective function to limit the range of variable changes, thereby minimizing the change in the control amount and preventing drastic changes in the height value, thereby achieving the purpose of improving the adjustment accuracy.

[0056] 3. Monitor ambient temperature changes in real time and correct the measurement results through temperature compensation algorithms to eliminate the impact of temperature changes on system accuracy, thereby improving adjustment accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 1 is a flow chart of a method for adjusting the height of a dual print head nozzle provided in an embodiment of the present application;

[0058] Figure 2 This is a virtual structural diagram of the dual print head nozzle height adjustment system provided in this application. DETAILED DESCRIPTION

[0059] The following examples will help those skilled in the art further understand the purpose of this application, but are not intended to limit this application in any form. It should be noted that those skilled in the art may make several modifications and improvements without departing from the scope of this application. These modifications and improvements are all within the scope of this application.

[0060] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0061] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0062] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0063] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0064] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0065] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0066] In order to make the purpose, technical solutions and advantages of this application clearer, the height adjustment method of the dual print head nozzles of this application is explained below from the perspective of the height adjustment device of the dual print head nozzles. The height adjustment device of the dual print head nozzles can be an electronic device, which can be, for example, a mobile phone terminal, a computer terminal and other devices.

[0067] The present application is further described in detail below with reference to the accompanying drawings.

[0068] Reference Figure 1 , which is a flow chart of an embodiment of the present application, specifically includes the following steps, which are described in detail below:

[0069] In step S1 , target nozzle information corresponding to a target nozzle is acquired, where the target nozzle is a nozzle to be adjusted whose height difference from a preset desired height exceeds a preset height difference threshold.

[0070] Specifically, the target nozzle is identified by the relevant height difference recognition model, and the corresponding actual height and the desired height of the nozzle to be adjusted exceed the preset height difference threshold. The height difference threshold can be set by relevant personnel and directly affects the adjustment accuracy of the nozzle height adjustment. The higher the adjustment accuracy, the higher the accuracy requirements of the related equipment required, such as image acquisition equipment and related sensors. In actual use, it can be adjusted according to needs. The target nozzle information includes but is not limited to the actual height of the target nozzle, the nozzle model and the nozzle radius and other parameters. The nozzle information can be used to obtain the first-level height corresponding to the nozzle, that is, the height of the nozzle from the work platform, and this height can be set to the desired height without other settings.

[0071] More specifically, before the step of obtaining the target nozzle information corresponding to the target nozzle, an image of the nozzle may be obtained first, and image recognition evaluation may be performed on the nozzle image to determine whether the nozzle needs to be adjusted. The following is a detailed description:

[0072] Obtaining an original nozzle image corresponding to the nozzle to be adjusted;

[0073] Preprocessing the original nozzle image to be adjusted to obtain a preprocessed nozzle image to be adjusted;

[0074] The nozzle image to be adjusted is input into a height difference recognition model to obtain a height difference evaluation result corresponding to the nozzle image to be adjusted. The height difference recognition model is obtained by pre-training a training sample set through a convolutional neural network. The training sample set includes the original nozzle image corresponding to each printer in a plurality of printers, and the annotation information corresponding to the original nozzle image.

[0075] Specifically, the original nozzle image is an image of the nozzle whose height adjustment is to be determined. Improving recognition accuracy requires the use of image acquisition equipment with a resolution above a certain level. Sub-pixel image processing techniques can also be used to further enhance measurement accuracy. After acquiring the original nozzle image, the image must be preprocessed. This preprocessing includes, but is not limited to, centering and normalizing the original nozzle image. Image enhancement is then performed on the processed image. Image enhancement includes, but is not limited to, random noise addition and Gaussian filtering. This improves the accuracy of the acquired image and facilitates subsequent model recognition.

[0076] More specifically, the height difference recognition model may include a convolution layer, a maximum pooling layer, a global average pooling layer, and a softmax layer. The convolution kernel size of the convolution layer is 3×3, with a stride of 1, the pooling size of the maximum pooling layer is 2×2, with a stride of 2, the output size of the global average pooling layer is 1×1, and the number of categories of the softmax layer is N. The height difference recognition model is formed by iterative training of a pre-built initial model. The iterative training process is described in detail below:

[0077] Step 1: Acquire an original nozzle image corresponding to each of the plurality of printers to obtain an original nozzle image set, wherein each original nozzle image in the original nozzle image set includes annotation information;

[0078] Step 2: preprocessing each original nozzle image in the original nozzle image set to obtain a target training sample set;

[0079] Step 3: Construct an initial recognition model based on a multi-layer neural network structure;

[0080] Step 4: inputting a target training sample into the initial recognition model to obtain a recognition result corresponding to the target training sample, wherein the target training sample is any one training sample in the target training sample set;

[0081] Step 5: Adjusting the loss function of the initial recognition model based on the difference between the recognition result and the annotation information corresponding to the target training sample;

[0082] Step 6: Iteratively execute steps 4 to 5 based on the adjusted loss function until a preset iteration termination condition is reached, and determine the initial recognition model when the iteration termination condition is reached as the height difference recognition model.

[0083] Specifically, a large number of original images are first acquired. The original images are nozzle images obtained from a variety of printers. Other images other than nozzles can also be acquired for iterative learning. Each image corresponds to a label information. All images together constitute the original nozzle image set. After the above preprocessing operation, the original nozzle image set forms the target training sample set. The target training sample set is then input into the pre-built initial recognition model. Based on the difference between the evaluation results of model recognition and the actual results, the objective function of the model is adjusted. Training is repeated until the iteration condition is met. The iteration condition can be a preset number of times or a preset difference range, which is set by relevant personnel based on actual needs. The model that meets the iteration condition is determined to be the height difference recognition model.

[0084] More specifically, in order to maintain reliability and recognition accuracy, the height difference recognition model also needs to add feedback adjustment. The following is a detailed description of the feedback adjustment of the model:

[0085] determining an actual diagnosis result corresponding to the original nozzle image;

[0086] The height difference recognition model is updated according to the difference between the actual diagnosis result and the recognition result corresponding to the original nozzle image.

[0087] Specifically, the height difference adjustment model is updated according to the difference between the evaluation result and the actual diagnosis result. This process can be implemented in combination with relevant sensors to minimize the difference as much as possible, thereby achieving feedback adjustment.

[0088] In step S2, a corresponding objective function is determined according to the target nozzle information, where the objective function is the deviation between the target nozzle information and the desired height.

[0089] Specifically, the desired height of the target nozzle is determined according to the target nozzle information. The desired height can be determined by the model parameters of the target nozzle, etc., which refers to the height difference between the target nozzle and the corresponding work platform. The desired height is then entered into the corresponding objective function, where the objective function is expressed by the following formula:

[0090]

[0091] Where J is the value of the objective function, N is the total number of time steps, and h t is the actual height value at the tth moment of the time step, h target is the height value of the desired height.

[0092] Furthermore, in order to limit the change of the control amount, that is, to limit the upper and lower limits of the height difference adjustment, this application proposes to add a penalty term to the objective function for limitation. The penalty term is specifically described below:

[0093] Obtaining a penalty term of the objective function, wherein the penalty term is used to minimize a change in a control amount;

[0094] According to the penalty term, the objective function formula is adjusted to:

[0095]

[0096] Among them, λ is the penalty parameter, u t is the control quantity at time t, u t is the control quantity at time t+1.

[0097] Specifically, the penalty term parameter is used to determine the adjustment amplitude. The penalty term is an additional value of the objective function and is related to the change in the control quantity. The purpose of this additional term is to penalize the change in the control variable during the optimization process, so that the value of the objective function will deteriorate when the change is too large. Based on this feature, the change in quantity can be minimized. Therefore, when the height of the target nozzle is close to the range, the penalty term is used to limit the accuracy of the adjustment, which can minimize the change in quantity and further improve the adjustment accuracy.

[0098] In step S3, a height adjustment instruction is sent according to the objective function. The height adjustment instruction is received by the corresponding execution end, and the execution end adjusts the target nozzle information according to the height adjustment instruction until the height difference is less than the height difference threshold.

[0099] Specifically, according to the objective function value, a height adjustment instruction is sent to the relevant execution end. The execution end refers to the corresponding equipment or device that can control the target nozzle height. Actuators such as stepper motors and piezoelectric ceramics with a certain level of precision can be selected to facilitate fine-tuning accuracy. Reasonable mechanical structures and transmission devices can also be designed to reduce transmission errors and return errors to ensure the motion accuracy of the actuator.

[0100] More specifically, the nozzle of a 3D printer needs to be preheated. This can be controlled using a PID controller. PID is an algorithm widely used in industrial control systems. Its full name is Proportional-Integral-Derivative controller. It monitors the ambient temperature in real time and performs temperature compensation based on the ambient temperature to ensure accurate nozzle temperature. The following is a detailed explanation of temperature compensation:

[0101] Get the current ambient temperature and temperature compensation instructions;

[0102] According to the current ambient temperature and the temperature compensation instruction, the temperature control signal corresponding to the target nozzle is adjusted. The temperature compensation of the temperature control signal is calculated using the following formula:

[0103] u comp (t)=u(t)+K comp cdot(T ambient -T ref )

[0104] Among them, u comp (t) is the temperature control signal after time t compensation, u(t) is the temperature control signal before time t compensation, K comp is the temperature compensation coefficient, T ambient is the current ambient temperature, T ref is the expected temperature corresponding to the target nozzle.

[0105] Specifically, temperature compensation instructions can be issued by sensors when they detect that the current ambient temperature exceeds a preset temperature range. Alternatively, a standard ambient temperature can be set for real-time compensation. This compensation mechanism ensures that the control system maintains stable performance under varying ambient temperatures. For example, in temperature sensors or electronic devices, temperature fluctuations can affect device behavior and performance. By using temperature compensation, control signals can be adjusted to offset these effects, thereby further improving adjustment accuracy.

[0106] On the other hand, this application discloses a height adjustment system for the nozzles of a dual print head, see Figure 2 , Figure 2: is a virtual structural diagram of the dual print head nozzle height adjustment system provided by the present application, and the dual print head nozzle height adjustment system includes:

[0107] The nozzle height acquisition module 100 is used to acquire target nozzle information corresponding to a target nozzle, wherein the target nozzle is a nozzle to be adjusted whose height difference from a preset desired height exceeds a preset height difference threshold;

[0108] The objective function determination module 200 is used to determine a corresponding objective function based on the target nozzle information. The objective function is the deviation between the target nozzle information and the desired height. The objective function adopts the following formula:

[0109]

[0110] Where J is the value of the objective function, N is the total number of time steps, and h t is the actual height value at the tth moment of the time step, h target is the height value of the desired height;

[0111] The adjustment instruction sending module 300 is used to send a height adjustment instruction according to the objective function. The height adjustment instruction is received by the corresponding execution end, and the execution end adjusts the target nozzle information according to the height adjustment instruction until the height difference is less than the height difference threshold.

[0112] The specific definitions of the dual printhead nozzle height adjustment system can be found in the definitions of the dual printhead nozzle height adjustment method described above and will not be repeated here. Each module in the dual printhead nozzle height adjustment system described above can be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each of these modules.

[0113] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0114] The embodiment of the present application provides a method for adjusting the height of a dual print head nozzle that can be applied to terminal devices such as electronic devices, computers, wearable devices, vehicle-mounted devices, tablet computers, laptop computers, netbooks, personal digital assistants (PDAs), augmented reality (AR) / virtual reality (VR) devices, and mobile phones. The embodiment of the present application does not impose any restrictions on the specific type of terminal device.

[0115] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each embodiment of the above method can be implemented.

[0116] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in each embodiment of the above method when executing the computer program product.

[0117] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the process in the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, based on legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0118] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0119] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0121] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0122] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for adjusting the height of a dual print head nozzle, characterized in that: The method comprises: Acquiring target nozzle information corresponding to a target nozzle, wherein the target nozzle is a nozzle to be adjusted whose height difference from a preset desired height exceeds a preset height difference threshold; According to the target nozzle information, a corresponding objective function is determined. The objective function is the deviation between the target nozzle information and the desired height. The objective function adopts the following formula: Where J is the value of the objective function, N is the total number of time steps, and h t is the actual height value at the tth moment of the time step, h target is the height value of the desired height; According to the objective function, a height adjustment instruction is sent, and the height adjustment instruction is received by a corresponding execution end. The execution end adjusts the target nozzle information according to the height adjustment instruction until the height difference is less than the height difference threshold.

2. The method for adjusting the height of the dual print head nozzles according to claim 1, wherein: The method further comprises: Obtaining a penalty term of the objective function, wherein the penalty term is used to minimize a change in a control amount; According to the penalty term, the objective function formula is adjusted to: Among them, λ is the penalty parameter, u t is the control quantity at time t, u t is the control quantity at time t+1.

3. The method for adjusting the height of the dual print head nozzles according to claim 1, wherein: The method further comprises: Get the current ambient temperature and temperature compensation instructions; According to the current ambient temperature and the temperature compensation instruction, the temperature control signal corresponding to the target nozzle is adjusted. The temperature compensation of the temperature control signal is calculated using the following formula: u comp (t)=u(t)+K comp cdot(T ambient -T ref ) Among them, u comp (t) is the temperature control signal after time t compensation, u(t) is the temperature control signal before time t compensation, K comp is the temperature compensation coefficient, T ambient is the current ambient temperature, T ref is the expected temperature corresponding to the target nozzle.

4. The method for adjusting the height of the dual print head nozzles according to claim 1, wherein: Before the step of obtaining target nozzle information corresponding to the target nozzle, the method includes: Obtaining an original nozzle image corresponding to the nozzle to be adjusted; Preprocessing the original nozzle image to be adjusted to obtain a preprocessed nozzle image to be adjusted; The nozzle image to be adjusted is input into a height difference recognition model to obtain a height difference evaluation result corresponding to the nozzle image to be adjusted. The height difference recognition model is obtained by pre-training a training sample set through a convolutional neural network. The training sample set includes the original nozzle image corresponding to each printer in a plurality of printers, and the annotation information corresponding to the original nozzle image.

5. The method for adjusting the height of the dual print head nozzles according to claim 4, wherein: The method further comprises: Step 1: Acquire an original nozzle image corresponding to each of the plurality of printers to obtain an original nozzle image set, wherein each original nozzle image in the original nozzle image set includes annotation information; Step 2: preprocessing each original nozzle image in the original nozzle image set to obtain a target training sample set; Step 3: Construct an initial recognition model based on a multi-layer neural network structure; Step 4: inputting a target training sample into the initial recognition model to obtain a recognition result corresponding to the target training sample, wherein the target training sample is any one training sample in the target training sample set; Step 5: Adjusting the loss function of the initial recognition model based on the difference between the recognition result and the annotation information corresponding to the target training sample; Step 6: Iteratively execute steps 4 to 5 based on the adjusted loss function until a preset iteration termination condition is reached, and determine the initial recognition model when the iteration termination condition is reached as the height difference recognition model.

6. The method for adjusting the height of the dual print head nozzles according to claim 5, wherein: The method further includes: determining an actual diagnosis result corresponding to the original nozzle image; The height difference recognition model is updated according to the difference between the actual diagnosis result and the recognition result corresponding to the original nozzle image.

7. The method for adjusting the height of the dual print head nozzles according to claim 1, wherein: The method further includes: obtaining a mode adjustment instruction; determining a height adjustment mode according to the mode adjustment instruction, wherein the height adjustment mode includes a desired adjustment mode and a reference adjustment mode; In the desired adjustment mode, the preset desired height is acquired. In the reference adjustment mode, the nozzle height corresponding to the determined reference nozzle is determined as the desired height of the target nozzle.

8. A height adjustment system for a dual print head nozzle, characterized in that: include: a nozzle height acquisition module, configured to acquire target nozzle information corresponding to a target nozzle, wherein the target nozzle is a nozzle to be adjusted whose height difference from a preset desired height exceeds a preset height difference threshold; The objective function determination module is used to determine the corresponding objective function according to the target nozzle information. The objective function is the deviation between the target nozzle information and the desired height. The objective function adopts the following formula: Where J is the value of the objective function, N is the total number of time steps, and h t is the actual height value at the tth moment of the time step, h target is the height value of the desired height; The adjustment instruction sending module is used to send a height adjustment instruction according to the objective function. The height adjustment instruction is received by the corresponding execution end, and the execution end adjusts the target nozzle information according to the height adjustment instruction until the height difference is less than the height difference threshold.

9. A device, characterized in that The system comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for adjusting the height of the dual print head nozzles according to any one of claims 1 to 7 are implemented.

10. 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 for adjusting the height of the dual print head nozzles according to any one of claims 1 to 7 are implemented.

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