3D printer imaging calibration method and device, 3D printer

Abstract

The present application provides a 3D printer imaging calibration method and apparatus, as well as a 3D printer, for use in the field of 3D printing technology. The method comprises: obtaining pixel images of the optical machine imaging captured by an image detection module at multiple preset height imaging planes; determining the pixel clarity of the pixel images; determining the preset height imaging plane corresponding to the pixel image with the optimal pixel clarity as the target imaging plane of the optical machine; and adjusting the spatial position of the optical machine based on the target imaging plane. This can improve the printing accuracy of the 3D printer.

Description

Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to a 3D printer imaging calibration method and device, and a 3D printer. Background Art

[0002] DLP (digital light processing) is a rapid prototyping technology commonly used in 3D printing. It uses a digital micromirror device (DMD) to project a high-intensity ultraviolet beam, which cures liquid photosensitive resin layer by layer through photolithography to form a solid object.

[0003] Currently, most methods for adjusting the pixel clarity of optical machine imaging involve placing white paper or a light-diffusing film on the imaging surface, projecting a test image, and visually determining the image's clarity. This method only adjusts the pixel clarity of the optical machine at a macroscopic level, and for high-precision 3D printing applications, the pixel clarity it adjusts cannot meet the requirements. Another method involves using a camera to capture the image projected onto white paper from a distance. This method also uses a macroscopic approach, but its effectiveness decreases as the format of the DLP light-curing 3D printer increases.

[0004] Based on this, the present application provides an imaging calibration method for a 3D printer, which can improve the printing accuracy of the 3D printer. Summary of the Invention

[0005] The purpose of this application is to provide a 3D printer imaging calibration method and device, and a 3D printer, so as to improve the printing accuracy of the 3D printer.

[0006] In a first aspect, an embodiment of the present application provides an imaging calibration method for a 3D printer, which is applied to a 3D printer, wherein the 3D printer includes an optical machine; the method includes: obtaining pixel images of the optical machine imaging captured at multiple preset height imaging surfaces through an image detection module; determining the pixel clarity of the pixel image; determining the preset height imaging surface corresponding to the pixel image with the best pixel clarity as the target imaging surface of the optical machine; and adjusting the spatial position of the optical machine based on the target imaging surface.

[0007] The imaging calibration method and device for a 3D printer, and the 3D printer provided in the embodiments of the present application obtain pixel images of optical machine imaging collected at multiple preset height imaging surfaces through an image detection module, and by determining the pixel clarity of the pixel image, determine the preset height imaging surface corresponding to the pixel image with the best pixel clarity as the target imaging surface of the optical machine. Finally, based on the target imaging surface, the spatial position of the optical machine is adjusted. By automatically finding the optimal imaging surface of the 3D printer at the pixel level, the spatial position of the 3D printer is adjusted. This can reduce manual intervention and improve work efficiency while ensuring the accuracy of each adjustment and improving the printing accuracy of the 3D printer.

[0008] In one possible implementation, determining the pixel clarity of the pixel image includes: obtaining the sensor size of the image detection module; determining, for any preset height imaging surface among the multiple preset height imaging surfaces, the actual pixel area of ​​the actual pixel points in the pixel image based on the sensor size and the actual number of pixel points in the pixel image; obtaining the theoretical pixel area of ​​the pixel image; and determining the pixel clarity based on the theoretical pixel area and the actual pixel area.

[0009] In a possible implementation, determining the pixel definition according to the theoretical pixel area and the actual pixel area includes:

[0010]

[0011] Wherein, E is the pixel definition, S 实际 is the actual pixel area, S 理论 is the theoretical pixel area.

[0012] A possible implementation method is to obtain the theoretical pixel area of ​​the pixel image, including: obtaining the size of the theoretical pixel points of the pixel image and the gaps between the theoretical pixel points; determining the number of theoretical pixels based on the sensor size of the image detection module, the size of the theoretical pixel points of the pixel image and the gaps between the theoretical pixels; and determining the theoretical pixel area using the sensor size of the image detection module and the number of pixels.

[0013] A possible implementation method is to obtain pixel images of the optical machine imaging captured on multiple preset height imaging surfaces through an image detection module, including: obtaining an initial pixel image captured on an initial imaging surface of the optical machine through an image detection module, wherein the multiple preset height imaging surfaces include the initial imaging surface; before determining the preset height imaging surface corresponding to the pixel image with optimal pixel clarity as the target imaging surface of the optical machine, the method further includes: adjusting the height of the image detection module based on a theoretical pixel area and an actual pixel area to obtain adjusted pixel images captured by the image detection module on the multiple adjusted imaging surfaces after adjustment, wherein the multiple preset height imaging surfaces include the adjusted imaging surface; and using the obtained multiple adjusted pixel images as the multiple pixel images to be processed.

[0014] A possible implementation method is that each of the pixel images includes multiple sub-region pixel images, and in any two of the pixel images, each sub-region pixel image of one pixel image corresponds one-to-one to each sub-region pixel image of the other pixel image, and the image acquisition areas of the corresponding two sub-region pixel images are the same; the determination of the preset height imaging surface corresponding to the pixel image with the best pixel clarity as the target imaging surface of the optical machine includes: dividing the multiple sub-region pixel images of each pixel image into corresponding image sets according to each image acquisition area, and the image acquisition areas corresponding to the multiple sub-region pixel images in each image set are the same; determining the target sub-region pixel image with the best pixel clarity in each image set; and determining the target imaging surface based on the target sub-region pixel image of each image set.

[0015] A possible implementation method, wherein the target imaging surface is determined based on the target sub-area pixel image of each image set, includes: determining the center position of the target sub-area pixel image based on the target sub-area pixel image of each image set; determining the plane equation of a first plane using a preset number of center positions among the center positions of the target sub-area pixel image; inputting the center positions of the target sub-area pixel image excluding the preset number of center positions into the plane equation of the first plane to determine the height difference; and determining the plane equation with the smallest height difference among the height differences as the target imaging surface.

[0016] In a possible implementation, adjusting the spatial position of the optical machine based on the target imaging plane includes: determining the optimal imaging plane of the optical machine based on the target imaging plane; and adjusting the spatial position of the optical machine using the optimal imaging plane of the optical machine.

[0017] In a second aspect, an embodiment of the present application provides an imaging calibration device for a 3D printer, including an image detection module, which is applied to a 3D printer, wherein the 3D printer includes an optical machine; the device includes: an acquisition module and a processing module.

[0018] The acquisition module is configured to acquire pixel images of the optical-mechanical imaging acquired by the image detection module at a plurality of imaging planes at preset heights;

[0019] A processing module is used to determine the pixel clarity of the pixel image; determine a preset height imaging plane corresponding to the pixel image with the best pixel clarity as the target imaging plane of the optical machine; and adjust the spatial position of the optical machine based on the target imaging plane.

[0020] In a third aspect, the present application provides a 3D printer capable of implementing the imaging calibration method for a 3D printer described in the first aspect or any possible implementation. This functionality can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned functionality.

[0021] In a fourth aspect, a computer-readable storage medium is provided, which stores instructions. When the computer-readable storage medium is run on a computer, the computer can execute the imaging calibration method of the 3D printer according to the first aspect or any possible implementation method.

[0022] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the imaging calibration method for a 3D printer according to the first aspect or any possible implementation thereof.

[0023] Among them, the technical effects brought about by any design method in the second to fifth aspects can refer to the technical effects brought about by different possible implementation methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 A schematic structural diagram of a 3D printer provided in an embodiment of the present application; in this case, the image detection module is located on the initial imaging surface;

[0026] Figure 2A schematic structural diagram of an imaging calibration device provided in an embodiment of the present application;

[0027] Figure 3 A schematic flow chart of a 3D printer imaging calibration method provided in an embodiment of the present application;

[0028] Figure 4 Another schematic diagram of a 3D printer imaging calibration method provided in an embodiment of the present application;

[0029] Figure 5 A schematic structural diagram of an imaging calibration device for a 3D printer provided in an embodiment of the present application;

[0030] Figure 6 A schematic structural diagram of an imaging calibration system for a 3D printer provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0033] Currently, most methods for adjusting the pixel clarity of optical machine imaging involve placing white paper or a light-diffusing film on the imaging surface, projecting a test image, and visually determining the image's clarity. This method only adjusts the pixel clarity of the optical machine at a macroscopic level, and for high-precision 3D printing applications, the pixel clarity it adjusts cannot meet the requirements. Another method involves using a camera to capture the image projected onto white paper from a distance. This method also uses a macroscopic approach, but its effectiveness decreases as the format of the DLP light-curing 3D printer increases.

[0034] Based on this, embodiments of the present application provide a 3D printer imaging calibration method and apparatus, and a 3D printer, which are applied to a 3D printer, which may include an optical machine. The method includes: obtaining, through an image detection module, pixel images of optical machine imaging captured at multiple preset height imaging planes. Determining the pixel clarity of the pixel images. Determining the preset height imaging plane corresponding to the pixel image with the best pixel clarity as the target imaging plane of the optical machine. Adjusting the spatial position of the optical machine based on the target imaging plane.

[0035] The imaging calibration method and device for a 3D printer, and the 3D printer provided in the embodiments of the present application obtain pixel images of optical machine imaging collected at multiple preset height imaging surfaces through an image detection module, and by determining the pixel clarity of the pixel image, determine the preset height imaging surface corresponding to the pixel image with the best pixel clarity as the target imaging surface of the optical machine. Finally, based on the target imaging surface, the spatial position of the optical machine is adjusted. By automatically finding the optimal imaging surface of the 3D printer at the pixel level, the spatial position of the 3D printer is adjusted. This can reduce manual intervention and improve work efficiency while ensuring the accuracy of each adjustment and improving the printing accuracy of the 3D printer.

[0036] The implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0037] On the one hand, the imaging calibration method of a 3D printer provided in the embodiment of the present application can be executed by the printer. Figure 1 As shown, the 3D printer 100 may include: an optical machine 102 and an optical machine adjustment device 103.

[0038] Among them, such as Figure 2 As shown, the imaging calibration device 101 applied to the 3D printer 100 may include: an image detection module 1011 and a positioning tool 1012. The image detection module 1011 may be a charge-coupled device (CCD) camera. The imaging sensor in the image detection module 1011 captures light and converts the light signal into an electrical signal, thereby forming a pixel image on its imaging surface. In this process, the pixel image is decomposed into many tiny elements, namely pixels, each of which has its corresponding brightness and color information. These pixels are combined to form a pixel image.

[0039] The image detection module 1011 may be equipped with a light-transmitting structure similar to that of the resin tank. The image detection module 1011 may also be equipped with an automatic lifting device for moving the image detection module 1011 up and down relative to the positioning tool 1012.

[0040] The positioning fixture 1012 is used to fix the image detection module 1011. The positioning fixture 1012 may include multiple fixing areas, and an image detection module 1011 may be deployed in each fixing area.

[0041] It should be noted that the positioning tool 1012 can be deployed in the original resin tank area of ​​the light-curing 3D printer, or can be deployed at a relative position to the original resin tank area, and this application is not limited to this.

[0042] The optical machine 102 can be a UV light source and an optical projection system. The optical machine 102 can be used to irradiate the photosensitive resin material. According to the slice information of each layer of the digital model, the optical machine 102 can accurately project a light spot or light pattern on the imaging surface of the light-curing 3D printer (specifically, the release film of the resin tank), causing the resin layer to undergo a photopolymerization reaction and solidify, and then accumulate layer by layer to form a three-dimensional object. The optical machine 102 can also be used to irradiate the image detection module 1011 so that the image detection module 1011 captures light and forms a pixel image on the imaging surface of the image detection module 1011. During imaging calibration, the resin tank originally installed on the middle plate (part of the mechanical structure of the 3D printer) is removed and the positioning fixture is installed on the middle plate. The positioning fixture 1012 is also used to align the initial imaging surface of the image detection module 1011 with the imaging surface of the original light-curing 3D printer. After imaging calibration, the positioning fixture 1012 is removed and the resin tank is installed back on the middle plate. The position of the middle plate is always fixed.

[0043] The optical machine adjustment device 103 is used to deploy the optical machine 102. The spatial position of the optical machine can be adjusted by adjusting the optical machine adjustment device 103.

[0044] On the one hand, the embodiment of the present application discloses a 3D printer imaging calibration method, which can be Figure 1 The 3D printer 100 shown in FIG. Figure 3 As shown, the method may include:

[0045] S301 , obtaining, by an image detection module, pixel images of optical-mechanical imaging collected at imaging planes at multiple preset heights.

[0046] The pixel image is an image formed by the optical machine on the image detection module when the image detection module is at a preset height imaging surface.

[0047] In one possible implementation, an initial pixel image captured on an initial imaging surface of the optical machine is acquired through an image detection module.

[0048] The plurality of preset height imaging surfaces include an initial imaging surface.

[0049] In one possible implementation, before determining the preset-height imaging plane corresponding to the pixel image with optimal pixel clarity as the target imaging plane of the optical machine, the height of the image detection module can be adjusted based on the theoretical and actual pixel areas of the pixel image to obtain adjusted pixel images captured by the image detection module at multiple adjusted imaging planes after adjustment. The multiple preset-height imaging planes include the adjusted imaging plane. The multiple adjusted pixel images obtained are used as the multiple pixel images to be processed.

[0050] S302: Determine the pixel definition of the pixel image.

[0051] One possible implementation involves obtaining the sensor size of an image detection module. For any of a plurality of preset height imaging planes, the actual pixel area of ​​the actual pixel in the pixel image is determined based on the sensor size and the actual number of pixels in the pixel image. A theoretical pixel area of ​​the pixel image is obtained. Pixel clarity is determined based on the theoretical pixel area and the actual pixel area.

[0052] For example, by adjusting the automatic lifting device to adjust the image detection module to multiple preset heights, the pixel images of the optical imaging captured by the imaging surface at multiple preset heights are obtained. The image detection module is used to obtain pixel images at multiple preset heights. The pixel image is divided into sub-pixels according to the sensor size of the image detection module, length x, and width y, and the actual captured image is set according to the grayscale range. Among them, the grayscale range (0, a) is determined as a pixel point, and there are m sub-pixels determined as pixel points. The grayscale range (b, 255) is determined as the gap between pixel points, a can be 10, and b can be 245. Among them, the grayscale range (a, b) is blurred.

[0053] Then, the actual pixel area of ​​the actual pixel in the pixel image is determined based on the sensor size and the actual number of pixels in the pixel image.

[0054]

[0055] Among them, S 实际 is the actual pixel area.

[0056] In one possible implementation, the process of obtaining the theoretical pixel area of ​​the pixel image may include obtaining the theoretical pixel size and the theoretical spacing between pixels in the pixel image. The theoretical number of pixels in the pixel image is determined based on the sensor size of the detection module, the theoretical pixel size of the pixel image, and the theoretical spacing between pixels. The theoretical pixel area of ​​the pixel image is determined using the sensor size and the number of pixels in the image detection module.

[0057] For example, since the area captured by the image detection module is fixed, the theoretical pixel size is fixed, and the theoretical spacing between pixels is fixed, the theoretical total pixel area S of the captured area can be calculated. 理论 , and the total gap area S between the theoretical pixels 理论间隙 .

[0058] Then, the pixel clarity of the pixel image is determined based on the theoretical pixel area and the actual pixel area.

[0059]

[0060] Among them, E is pixel definition, S 实际 is the actual pixel area, S 理论 is the theoretical area.

[0061] It should be noted that when When , the preset height is higher than the target imaging surface. When the preset height is lower than the optimal imaging plane, the height of the image detection module can be adjusted based on this.

[0062] S303 , determining an imaging plane at a preset height corresponding to the pixel image with the best pixel definition as a target imaging plane of the optical machine.

[0063] Among them, each pixel image includes multiple sub-region pixel images. Among any two pixel images, each sub-region pixel image of one pixel image corresponds one-to-one to each sub-region pixel image of the other pixel image, and the image acquisition areas of the corresponding two sub-region pixel images are the same.

[0064] For example, Figure 4 As shown, the pixel image may include sub-region pixel images a1, a2, a3...a n .

[0065] One possible implementation involves dividing the multiple sub-region pixel images of each pixel image into corresponding image sets based on the image acquisition regions. The multiple sub-region pixel images in each image set correspond to the same image acquisition region. A target sub-region pixel image with optimal pixel clarity is determined in each image set. A target imaging surface is determined based on the target sub-region pixel images in each image set.

[0066] In one possible implementation, the process of determining the target imaging plane based on the target sub-region pixel image of each image set may include determining the center position of the target sub-region pixel image based on the target sub-region pixel image of each image set. A plane equation of a first plane is determined using a preset number of center positions of the target sub-region pixel image. The center positions of the target sub-region pixel image, excluding the preset number of center positions, are input into the plane equation of the first plane to determine the sum of squared height differences. The plane equation with the minimum sum of squared height differences among the height differences is determined as the target imaging plane.

[0067] For example, in each image set, a target sub-region pixel image with the best pixel definition is determined, and the preset height corresponding to the target sub-region pixel image is z n , get the center position of each target sub-region pixel image (x n ,y n ). Using the center position and the preset height, the three-dimensional coordinates of the center position of the pixel image of each target sub-region are determined as (x1, y1, z1), (x2, y2, z2), ..., (x n ,y n , z n ).

[0068] From the three-dimensional coordinates of the center position of the pixel image of each target sub-region (x1, y1, z1), (x2, y2, z2), ..., (x n ,y n , z n ) to form a plane, we can get A plane.

[0069] Taking three three-dimensional point coordinates P1 (x1, y1, z1), P2 (x2, y2, z2), and P3 (x3, y3, z3) as an example, determine the plane formed by the three three-dimensional point coordinates.

[0070] First, calculate two vectors:

[0071]

[0072] Use the vector outer product to find the normal vector of the plane:

[0073] Let the normal vector of the plane be but

[0074]

[0075] Among them, i, j, k are the unit vectors of x, y, and z axes respectively;

[0076]

[0077] The plane is determined by the point normal equation. The point normal equation of the plane is: a(x-x1)+b(y-y1)+c(z-z1)=0.

[0078] Will Substituting the values ​​of P1(x1, y1, z1) into the point normal equation of the plane, we can get the plane equation determined by the three points P1(x1, y1, z1), P2(x2, y2, z2), and P3(x3, y3, z3):

[0079] Ax+By+Cz+D=0. Among them, numerically A=a,B=b,C=c,

[0080] D=-ax1-by1-cz1

[0081] The x coordinates of the three-dimensional points in each sub-area n 、y n Substitute into the plane equation to calculate z 计算n , calculated z 计算n and the z coordinates of the original three-dimensional point n Subtract to get Δz, and add up the squares of Δz in all sub-areas:

[0082]

[0083] Then calculate the q value of each plane equation, and the plane equation with the smallest q value is the optimal imaging plane equation.

[0084] S304: Adjust the spatial position of the optical machine based on the target imaging surface.

[0085] One possible implementation method is to determine the optimal imaging plane of the optical machine based on the target imaging plane, and use the optimal imaging plane of the optical machine to adjust the spatial position of the optical machine.

[0086] For example, based on the imaging plane, the optical machine position is adjusted in the opposite direction, and the spatial position of the optical machine is obtained as

[0087] After adjusting the spatial position of the optical machine and completing the imaging calibration, remove the positioning fixture and install the resin tank to its initial position.

[0088] The imaging calibration method and device for a 3D printer, and the 3D printer provided in the embodiments of the present application obtain pixel images of optical machine imaging collected at multiple preset height imaging surfaces through an image detection module, and by determining the pixel clarity of the pixel image, determine the preset height imaging surface corresponding to the pixel image with the best pixel clarity as the target imaging surface of the optical machine. Finally, based on the target imaging surface, the spatial position of the optical machine is adjusted. By automatically finding the optimal imaging surface of the 3D printer at the pixel level, the spatial position of the 3D printer is adjusted. This can reduce manual intervention and improve work efficiency while ensuring the accuracy of each adjustment and improving the printing accuracy of the 3D printer.

[0089] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the working principle of the device. It can be understood that in order to realize the above functions, the imaging calibration device of the 3D printer includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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 to be beyond the scope of this application.

[0090] In the embodiments of the present application, the imaging calibration device for a 3D printer can be divided into functional modules according to the above-described method example. For example, different functional modules can be divided according to different functions, or two or more functions can be integrated into a single processing module. The integrated modules can be implemented in the form of hardware or software functional modules.

[0091] It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods. Figure 5 FIG. 1 shows a possible schematic diagram of the composition of the imaging calibration device of the 3D printer involved in the above and embodiments. Figure 5 As shown, the imaging calibration device 500 of the 3D printer may include: an acquisition module 501 and a processing module 502.

[0092] The acquisition module 501 is used to support the imaging calibration device 500 of the 3D printer to execute Figure 3 S301 in the imaging calibration method of the 3D printer shown.

[0093] Processing module 502, used to support the 3D printer imaging calibration device 500 to execute Figure 3 S302 or S303 or S305 in the imaging calibration method of the 3D printer shown.

[0094] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0095] The imaging calibration device 500 of the 3D printer provided in the embodiment of the present application is used to perform the above Figure 3 Or the imaging calibration method of the 3D printer shown in 3, so it can achieve the same effect as the imaging calibration method of the 3D printer mentioned above.

[0096] The present application also provides a 3D printer, which can be the one described in the above embodiment. Figure 1 The 3D printer 100 shown can execute the imaging calibration method and related steps of the 3D printer in the above method embodiment.

[0097] An embodiment of the present application further provides a computer-readable storage medium having instructions stored thereon, which, when executed, execute the imaging calibration method and related steps of the 3D printer in the above method embodiment.

[0098] An embodiment of the present application further provides a computer program product, which, when executed on a computer, enables the computer to execute the imaging calibration method and related steps of the 3D printer in the above method embodiment.

[0099] In some embodiments, the methods described herein may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or on other non-transitory media or articles of manufacture.

[0100] The present application also provides an imaging calibration system 600 for a 3D printer. Figure 6 As shown, the imaging calibration system 600 of the 3D printer includes at least one processor 601 and at least one interface circuit 602 .

[0101] As an example, when the imaging calibration system 600 of the 3D printer includes a processor and an interface circuit, the processor may be Figure 6 The processor 601 shown in the solid line frame (or the processor 601 shown in the dotted line frame) may be Figure 6 The interface circuit 602 shown in the solid line frame (or the interface circuit 602 shown in the dotted line frame). When the chip system 600 includes two processors and two interface circuits, the two processors include Figure 6The processor 601 shown in the solid line frame and the processor 601 shown in the dotted line frame, the two interface circuits include Figure 6 The interface circuit 602 shown in the solid line frame and the interface circuit 602 shown in the dotted line frame are not limited to this.

[0102] The processor 601 and the interface circuit 602 can be interconnected via a line. For example, the interface circuit 602 can be used to receive signals. For another example, the interface circuit 602 can be used to send signals to other devices (such as the processor 601). For example, the interface circuit 602 can read computer instructions stored in the memory and send the computer instructions to the processor 601. The processor 601 executes the instructions and, in conjunction with the input and output devices, implements the various steps in the above embodiments, such as implementing Figure 3 or Figure 4 The various steps performed in the method embodiment shown are shown. Of course, the chip system may also include other discrete devices, which are not specifically limited in the embodiment of the present application.

[0103] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the 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 device, 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.

[0105] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0107] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the contributing part or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0108] The above content is only a specific embodiment of this application, but the scope of protection of this application is not limited to this. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A 3D printer imaging calibration method, characterized in that: Applied to a 3D printer, the 3D printer includes an optical machine; the method includes: Acquiring pixel images of the optical-mechanical imaging collected at multiple imaging planes at preset heights through an image detection module; determining pixel clarity of the pixel image; Determine an imaging plane at a preset height corresponding to the pixel image with the best pixel definition as a target imaging plane of the optical machine; Based on the target imaging plane, the spatial position of the optical machine is adjusted.

2. The method according to claim 1, characterized in that Determining the pixel definition of the pixel image includes: Obtaining the sensor size of the image detection module; For any preset height imaging plane among the plurality of preset height imaging planes, determining an actual pixel area of ​​an actual pixel point in the pixel image according to the sensor size and the actual number of pixels in the pixel image; Obtaining a theoretical pixel area of ​​the pixel image; The pixel definition is determined according to the theoretical pixel area and the actual pixel area.

3. The method according to claim 2, characterized in that The determining of the pixel definition according to the theoretical pixel area and the actual pixel area includes: Wherein, E is the pixel definition, S 实际 is the actual pixel area, S 理论 is the theoretical pixel area.

4. The method according to claim 2, characterized in that The obtaining of the theoretical pixel area of ​​the pixel image includes: Obtaining the size of theoretical pixels of the pixel image and the gaps between the theoretical pixels; Determining the theoretical number of pixels according to the sensor size of the image detection module, the size of the theoretical pixels of the pixel image, and the gaps between the theoretical pixels; The theoretical pixel area is determined using the sensor size of the image detection module and the number of pixels.

5. The method according to claim 1, wherein The step of acquiring pixel images of the optical-mechanical imaging collected at a plurality of imaging planes at preset heights by an image detection module includes: Acquiring an initial pixel image collected on an initial imaging plane of the optical machine through an image detection module, wherein the plurality of preset height imaging planes include the initial imaging plane; Before determining the preset height imaging plane corresponding to the pixel image with the best pixel definition as the target imaging plane of the optical machine, the method further includes: Adjusting the height of the image detection module based on the theoretical pixel area and the actual pixel area to obtain adjusted pixel images captured by the image detection module on multiple adjusted imaging planes after adjustment, wherein the multiple preset height imaging planes include the adjusted imaging plane; The obtained multiple adjusted pixel images are used as the multiple pixel images to be processed.

6. The method according to claim 1, characterized in that Each of the pixel images includes a plurality of sub-region pixel images, and among any two of the pixel images, each sub-region pixel image of one pixel image corresponds one-to-one to each sub-region pixel image of the other pixel image, and the image acquisition areas of the corresponding two sub-region pixel images are the same; The step of determining the preset height imaging plane corresponding to the pixel image with the best pixel definition as the target imaging plane of the optical machine includes: According to each image acquisition area, the multiple sub-area pixel images of each pixel image are divided into corresponding image sets, and the multiple sub-area pixel images in each image set correspond to the same image acquisition area; Determine a target sub-region pixel image with optimal pixel definition in each of the image sets; The target imaging surface is determined based on the target sub-region pixel image of each image set.

7. The method according to claim 6, characterized in that The determining of the target imaging surface based on the target sub-region pixel image of each image set includes: determining a center position of the target sub-region pixel image based on the target sub-region pixel image of each image set; Determining a plane equation of a first plane using a preset number of center positions of the center positions of the pixel image of the target sub-region; Inputting the center positions of the target sub-region pixel image except the preset number of center positions into the plane equation of the first plane to determine the sum of squares of height differences; The plane equation with the minimum sum of squares of the height differences among the height differences is determined as the target imaging plane.

8. The method according to claim 1, characterized in that The adjusting the spatial position of the optical machine based on the target imaging plane includes: Determining an optimal imaging plane of the optical machine based on the target imaging plane; The spatial position of the optical machine is adjusted by utilizing the optimal imaging plane of the optical machine.

9. An imaging calibration device for a 3D printer, comprising an image detection module, characterized in that: Applied to a 3D printer, the 3D printer includes an optical machine; the device includes: An acquisition module, configured to acquire pixel images of the optical-mechanical imaging collected at imaging planes at a plurality of preset heights through an image detection module; A processing module is used to determine the pixel clarity of the pixel image; determine a preset height imaging plane corresponding to the pixel image with the best pixel clarity as the target imaging plane of the optical machine; and adjust the spatial position of the optical machine based on the target imaging plane.

10. A 3D printer, characterized in that: The 3D printer includes a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the imaging calibration method of the 3D printer according to any one of claims 1 to 8.

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