Calibration method based on a 3D printing device and related device

Abstract

The application provides a calibration method based on a 3D printing device and related equipment, the 3D printing device comprises a shooting assembly, a nozzle assembly, a printing platform and a positioning mark device, the shooting assembly is fixedly connected with the nozzle assembly, the positioning mark device is fixed on the printing platform, and the calibration method comprises the following steps: controlling the shooting assembly to shoot the positioning mark device to obtain a target image; processing the target image to obtain a first relative position relationship between the shooting assembly and the positioning mark device; obtaining a second relative position relationship between the nozzle assembly and the positioning mark device according to the first relative position relationship, and calibrating the nozzle assembly according to the second relative position relationship. The application can calibrate the nozzle assembly of the 3D printing device to ensure the stability of the 3D printing device, and the calibration cost of the nozzle assembly is low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printing, and in particular to a calibration method based on a 3D printing device and related equipment. BACKGROUND

[0002] With the continuous upgrading of 3D printing devices, 3D printing devices play an increasingly important role in improving production efficiency and promoting technological innovation; therefore, it is necessary to ensure the stability and reliability of 3D printing devices, and to prevent 3D printing device failures and downtime. In the field of industrial manufacturing, etc., inaccurate 3D printing device nozzle position can affect the printing effect of the 3D printing device, which may cause huge economic losses and a decline in production efficiency. Therefore, nozzle calibration of the 3D printing device is an important link in the management and maintenance of the 3D printing device, and through calibration of the 3D printing device nozzle, 3D printing device failures caused by nozzle position problems in the production process can be effectively avoided.

[0003] In related technologies, 3D printers often use manual calibration. Due to unavoidable human errors, after calibration, the nozzle often has a large error, the calibration accuracy is low, and the printing fails. Moreover, in the calibration process, detection needs to be assisted by other calibration devices, resulting in a too complex machine structure and high calibration cost. SUMMARY

[0004] Therefore, the present application provides a calibration method based on a 3D printing device and related equipment, which can calibrate the nozzle assembly of the 3D printing device to ensure the stability of the 3D printing device, and the calibration cost of the nozzle assembly is low.

[0005] A first aspect of the present application provides a calibration method based on a 3D printing device, the 3D printing device comprising a shooting assembly, a nozzle assembly, a printing platform, and a positioning mark device, the shooting assembly being fixedly connected with the nozzle assembly, the positioning mark device being fixed on the printing platform, the calibration method comprising: controlling the shooting assembly to shoot the positioning mark device to obtain a target image; processing the target image to obtain a first relative position relationship between the shooting assembly and the positioning mark device; obtaining a second relative position relationship between the nozzle assembly and the positioning mark device according to the first relative position relationship, and calibrating the nozzle assembly according to the second relative position relationship.

[0006] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the alignment mark device fixed to the printing platform, after the target image is obtained by the photographing assembly photographing the alignment mark device, the first relative position relationship between the photographing assembly and the alignment mark device can be obtained based on the target image, and since the photographing assembly and the nozzle assembly are fixedly connected, that is, the relative position relationship between the photographing assembly and the nozzle assembly is fixed, the second relative position relationship between the nozzle assembly and the alignment mark device can be obtained based on the first relative position relationship, and then the calibration of the nozzle assembly can be realized through the second relative position relationship, which improves the nozzle calibration accuracy and efficiency; in addition, this calibration method does not need to add additional expensive accessories or equipment, but only needs to fix the alignment mark device on the printing platform, thereby reducing the hardware cost and the complexity of operation and equipment.

[0007] In some possible implementation manners, the processing of the target image to obtain the first relative position relationship between the photographing assembly and the alignment mark device comprises: performing image recognition on the target image to obtain a first image contour of the photographing assembly and a second image contour of the alignment mark device; and obtaining the first relative position relationship according to the first image contour and the second image contour.

[0008] In some possible implementation manners, the obtaining of the first relative position relationship according to the first image contour and the second image contour comprises: obtaining a first coordinate of a center point of the photographing assembly in a pixel coordinate system according to the first image contour; obtaining a second coordinate of a center point of the alignment mark device in the pixel coordinate system according to the second image contour; converting the first coordinate into a first actual coordinate in a world coordinate system and converting the second coordinate into a second actual coordinate in the world coordinate system; and calculating the first relative position relationship according to the first actual coordinate and the second actual coordinate.

[0009] In some possible implementation manners, the processing of the target image to obtain the first relative position relationship between the photographing assembly and the alignment mark device comprises: inputting the target image into a preset algorithm model, and taking an input result of the algorithm model as the first relative position relationship; wherein the algorithm model is obtained by jointly training historical abnormal position relationship data and historical normal position relationship data between the photographing assembly and the alignment mark device, the algorithm model has a bidirectional input layer, and the bidirectional input layer of the algorithm model corresponds to the input of the historical abnormal position relationship data and the historical normal position relationship data, respectively.

[0010] In some possible implementation manners, the 3D printing device further includes a central processing unit, and the algorithm model is arranged in the central processing unit; the algorithm model is obtained by performing model quantization on an initial algorithm model and then performing model inference reconstruction, the model quantization is used to convert model precision of the initial algorithm model into preset model precision capable of accelerating a model data inference process, and the model inference reconstruction is used to reduce a space occupation size of the initial algorithm model.

[0011] In some possible implementation manners, the 3D printing device further includes a central processing unit, the central processing unit has a plurality of threads, and before the target image is processed, the method further includes: obtaining resource occupation information of each thread in the plurality of threads; determining, according to the resource occupation information of each thread, a target thread in the plurality of threads that meets a preset data processing requirement; and processing the target image includes processing the target image by using the target thread.

[0012] In some possible implementation manners, after the target image is processed, the method further includes: obtaining an image processing time corresponding to the target image; detecting whether the image processing time is less than or equal to a preset image processing time and whether a current resource occupation rate of the central processing unit is greater than a preset occupation rate; and processing the target image includes: when it is detected that the image processing time is less than or equal to the preset image processing time, processing the target image by using the target thread; and when it is detected that the image processing time is greater than the preset image processing time and the current resource occupation rate of the central processing unit is greater than the preset occupation rate, suspending processing of the target image, and when it is detected that the current resource occupation rate of the central processing unit is less than or equal to the preset occupation rate, processing the target image by using the target thread.

[0013] The second aspect of the present application discloses a calibration device based on a 3D printing device, the 3D printing device includes a shooting assembly, a nozzle assembly, a printing platform and a positioning mark device, the shooting assembly is fixedly connected with the nozzle assembly, the positioning mark device is fixed on the printing platform, and the calibration device includes: a control module, the control module is used for controlling the shooting assembly to shoot the positioning mark device to obtain a target image; a processing module, the processing module is used for processing the target image to obtain a first relative position relationship between the shooting assembly and the positioning mark device; and a calibration module, the calibration module is used for obtaining a second relative position relationship between the nozzle assembly and the positioning mark device according to the first relative position relationship, and calibrating the nozzle assembly according to the second relative position relationship.

[0014] The third aspect of the present application discloses an electronic device, the electronic device comprises a processor and a memory, the memory is used for storing instructions, the processor is used for calling the instructions in the memory, so that the electronic device executes the calibration method based on the 3D printing device.

[0015] The fourth aspect of the present application discloses a storage medium, comprising computer instructions, when the computer instructions run on the electronic device, so that the electronic device executes the calibration method based on the 3D printing device.

[0016] It can be understood that the device of the second aspect, the electronic device of the third aspect, and the storage medium of the fourth aspect provided above all correspond to the method of the first aspect, and therefore the beneficial effects achieved thereby can refer to the beneficial effects of the corresponding method provided above, which will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 The flow chart of the calibration method based on the 3D printing device provided by an embodiment of the present application.

[0019] Figure 2 The flow chart of the calibration method based on the 3D printing device provided by an embodiment of the present application.

[0020] Figure 3 The flow chart of the calibration method based on the 3D printing device provided by an embodiment of the present application.

[0021] Figure 4 The flow chart of the calibration method based on the 3D printing device provided by an embodiment of the present application.

[0022] Figure 5 The functional module schematic diagram of the detection system of the 3D printing device provided by an embodiment of the present application.

[0023] Figure 6 The hardware structure schematic diagram of the electronic device of an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable a clearer understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The described embodiments are merely part of the embodiments of the present application, but not all the embodiments.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0027] Further, it should be pointed out that herein, the terms "comprising", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0028] In the present application, "at least one" means one or more, and "multiple" means two or more than two. The "and / or" describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0029] In the embodiments of the present application, the words such as "exemplary" or "for example" are used to mean serving as an example, instance or illustration. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the use of "exemplary" or "for example" is intended to present the relevant concept in a specific manner.

[0030] For the convenience of understanding, some explanations of concepts related to the embodiments of the present application are given by way of example for reference.

[0031] 3D printing equipment, also known as three-dimensional printer or stereoscopic printer, is a process equipment of rapid prototyping, which is usually realized by printing materials by using digital technology. The 3D printing equipment is often used for manufacturing models or parts in the fields of mold manufacturing and industrial design.

[0032] Please refer to Figure 1 A flowchart of a calibration method based on a 3D printing device is provided for an embodiment of the present application. The embodiment is applied to a 3D printing device, which includes a shooting assembly, a nozzle assembly, a printing platform, and a positioning mark device. The shooting assembly is fixedly connected with the nozzle assembly, and the positioning mark device is fixed on the printing platform. The calibration method includes the following steps:

[0033] Step 101: Control the shooting assembly to shoot the positioning mark device to obtain a target image.

[0034] In some embodiments, the shooting assembly is a camera fixed on the left side or the right side of the nozzle assembly. It can be understood that the present embodiment does not specifically limit the setting position of the shooting assembly, and only needs to ensure that the shooting assembly is fixedly connected with the nozzle assembly.

[0035] In some embodiments, the shooting assembly and the positioning mark device are arranged on the same side. For example, if the shooting assembly is fixed on the left side of the nozzle assembly, the positioning mark device is fixed on the left side of the printing platform. In this way, the shooting assembly can shoot the positioning mark device, thereby reducing the calibration difficulty.

[0036] It is worth noting that the present embodiment does not specifically limit the structure of the positioning mark device. For example, the positioning mark device can be a calibration plate, etc., which can be set according to actual needs.

[0037] Step 102: Process the target image to obtain a first relative position relationship between the shooting assembly and the positioning mark device.

[0038] It should be noted that how to process the target image is described in detail in subsequent embodiments. In order to avoid repetition, it will not be described here.

[0039] Step 103: Obtain a second relative position relationship between the nozzle assembly and the positioning mark device according to the first relative position relationship.

[0040] Specifically, since the shooting assembly is fixedly connected with the nozzle assembly, the relative position relationship between the shooting assembly and the nozzle assembly is fixed and known. Therefore, the second relative position relationship between the nozzle assembly and the positioning mark device can be calculated through the first relative position relationship between the shooting assembly and the positioning mark device.

[0041] Step 104: Calibrate the nozzle assembly according to the second relative position relationship.

[0042] In some embodiments, when the nozzle assembly is located at the preset calibration position and the nozzle assembly does not deviate, the relative positional relationship between the nozzle assembly and the alignment mark device is a standard relative positional relationship. In actual application, by moving the nozzle assembly to the calibration position, then obtaining the first relative positional relationship between the shooting assembly and the alignment mark device, and then calculating the second relative positional relationship between the nozzle assembly and the alignment mark device based on the first relative positional relationship, the deviation of the nozzle assembly can be obtained based on the difference between the standard relative positional relationship and the second relative positional relationship, and then the nozzle assembly can be calibrated according to the deviation.

[0043] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the alignment mark device fixed to the printing platform, after the shooting assembly shoots the alignment mark device to obtain a target image, the first relative positional relationship between the shooting assembly and the alignment mark device can be obtained based on the target image. Since the shooting assembly and the nozzle assembly are fixedly connected, that is, the relative positional relationship between the shooting assembly and the nozzle assembly is fixed, the second relative positional relationship between the nozzle assembly and the alignment mark device can be obtained based on the first relative positional relationship, and then the calibration of the nozzle assembly can be realized through the second relative positional relationship, which improves the nozzle calibration accuracy and efficiency. In addition, this calibration method does not need to add additional expensive accessories or equipment, but only needs to fix the alignment mark device on the printing platform, which reduces the hardware cost and the complexity of operation and equipment.

[0044] Please refer to Figure 2 The flowchart of the calibration method based on the 3D printing equipment provided by an embodiment of the present application. This embodiment is a specific description of the foregoing embodiment, which further describes one way of processing the target image.

[0045] The specific process of this embodiment is shown in Figure 2 The calibration method based on the 3D printing equipment provided by an embodiment of the present application. The specific process of this embodiment is shown in

[0046] Step 201: control the shooting assembly to shoot the alignment mark device to obtain a target image.

[0047] Step 202: perform image recognition on the target image to obtain a first image contour of the shooting assembly and a second image contour of the alignment mark device.

[0048] Step 203: obtain the first relative positional relationship between the shooting assembly and the alignment mark device according to the first image contour and the second image contour.

[0049] In some embodiments, a first coordinate of the center point of the shooting assembly in a pixel coordinate system is obtained according to the first image contour; a second coordinate of the center point of the alignment mark device in the pixel coordinate system is obtained according to the second image contour; the first coordinate is converted into a first actual coordinate in a world coordinate system, and the second coordinate is converted into a second actual coordinate in the world coordinate system; and a first relative position relationship is calculated according to the first actual coordinate and the second actual coordinate.

[0050] Specifically, after the first image contour and the second image contour are obtained, the pixel coordinates of the first image contour and the second image contour in the target image can be obtained. It can be understood that, due to the optical structure and the imaging system, the shooting assembly can map any point in its field of view to the pixel coordinate system of the image, and the expression is as follows, which indicates that the point in other coordinate systems (such as the camera coordinate system) is converted to the pixel coordinate system through the imaging model of the shooting assembly. The imaging model here is called an intrinsic matrix K, which is obtained through camera calibration.

[0051] ; wherein, , ) is a pixel coordinate, is an intrinsic matrix, and , , ) is a coordinate in the camera coordinate system. Therefore, the coordinate in the camera coordinate system can be obtained according to the above formula. Based on the extrinsic matrix of the shooting assembly, the coordinate in the camera coordinate system can be converted into a coordinate in the world coordinate system.

[0052] Step 204: A second relative position relationship between the nozzle assembly and the alignment mark device is obtained according to the first relative position relationship.

[0053] Step 205: The nozzle assembly is calibrated according to the second relative position relationship.

[0054] The steps 201, 204 and 205 of the present embodiment are similar to the steps 101, 103 and 104 of the foregoing embodiments, and are not described here again to avoid repetition.

[0055] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the alignment mark device fixed to the printing platform, after the target image is obtained by the photographing assembly photographing the alignment mark device, the first relative position relationship between the photographing assembly and the alignment mark device can be obtained based on the target image, and since the photographing assembly and the nozzle assembly are fixedly connected, that is, the relative position relationship between the photographing assembly and the nozzle assembly is fixed, the second relative position relationship between the nozzle assembly and the alignment mark device can be obtained based on the first relative position relationship, and then the calibration of the nozzle assembly can be realized through the second relative position relationship, which improves the nozzle calibration accuracy and efficiency. In addition, this calibration method does not need to add additional expensive accessories or equipment, but only needs to fix the alignment mark device on the printing platform, which reduces the hardware cost and the complexity of operation and equipment.

[0056] Please refer to Figure 3 The flowchart of the calibration method based on the 3D printing equipment provided by an embodiment of the present application. This embodiment is a specific description of the foregoing embodiment, which further describes another way of processing the target image.

[0057] The specific process of this embodiment is shown in Figure 3 The calibration method based on the 3D printing equipment provided by an embodiment of the present application, which comprises the following steps:

[0058] Step 301: control the photographing assembly to photograph the alignment mark device to obtain a target image.

[0059] Step 302: input the target image into a preset algorithm model, and take the input result of the algorithm model as the first relative position relationship.

[0060] In some embodiments, the algorithm model is obtained by jointly training historical abnormal position relationship data and historical normal position relationship data between the photographing assembly and the alignment mark device, the algorithm model has a bidirectional input layer, and the bidirectional input layer of the algorithm model corresponds to the input of the historical abnormal position relationship data and the historical normal position relationship data, respectively.

[0061] In some embodiments, the 3D printing equipment further comprises a central processing unit, and the algorithm model is arranged in the central processing unit; the algorithm model is obtained by model quantization and model inference reconstruction of an initial algorithm model, the model quantization is used to convert the model precision of the initial algorithm model into a preset model precision capable of accelerating the model data inference process, and the model inference reconstruction is used to reduce the space occupation size of the initial algorithm model.

[0062] In some embodiments, the algorithm model is an LSTM (Long Short-Term Memory, long short-term memory network) model with a bidirectional input layer.

[0063] In some embodiments, the algorithm model is obtained by model quantization and model inference reconstruction on the initial algorithm model, the model quantization is used to convert the model precision of the initial algorithm model into a preset model precision capable of accelerating the model data inference process, and the model inference reconstruction is used to reduce the space occupation size of the initial algorithm model.

[0064] In some embodiments, the preset algorithm model is an algorithm model with a model size lower than a preset value and an algorithm model with a required computing power lower than a preset computing power, and the preset algorithm model has a bidirectional input layer.

[0065] In some embodiments, the preset algorithm model is an LSTM model, the LSTM model can effectively handle long sequence dependency problems and can prevent gradient disappearance problems, and has good learning ability.

[0066] Step 303: Obtain a second relative position relationship between the nozzle assembly and the alignment mark device according to the first relative position relationship.

[0067] Step 304: Calibrate the nozzle assembly according to the second relative position relationship.

[0068] The steps 301, 303 and 304 of the embodiment are similar to the steps 101, 103 and 104 of the foregoing embodiments, and are not repeated here to avoid repetition.

[0069] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the alignment mark device fixed on the printing platform, after the target image of the alignment mark device is obtained by the shooting assembly, the first relative position relationship between the shooting assembly and the alignment mark device can be obtained based on the target image, and since the shooting assembly and the nozzle assembly are fixedly connected, that is, the relative position relationship between the shooting assembly and the nozzle assembly is fixed, the second relative position relationship between the nozzle assembly and the alignment mark device can be obtained based on the first relative position relationship, and the calibration of the nozzle assembly can be realized through the second relative position relationship, which improves the accuracy of nozzle calibration and improves the efficiency of nozzle calibration. In addition, this calibration method does not need to add additional expensive accessories or equipment, but only needs to fix the alignment mark device on the printing platform, which reduces the hardware cost and the complexity of operation and equipment.

[0070] For reference Figure 4A flowchart of the calibration method based on the 3D printing device is provided for an embodiment of the present application. The embodiment is a further improvement based on the foregoing embodiment, and the main improvement is that in the embodiment, the resource occupation information of each thread in the central processor is also detected, and the threads in the multiple threads that meet the preset data processing requirements are taken as the target threads for image processing. In this way, reasonable resource scheduling can be performed, thereby improving the resource utilization rate of the central processor and ensuring the normal operation of the central processor.

[0071] The specific process of the embodiment is shown in Figure 2 The embodiment is applied to a 3D printing device and includes the following steps.

[0072] Step 401: Control the shooting assembly to shoot the alignment mark device to obtain a target image.

[0073] Step 402: Obtain the resource occupation information of each thread in the current multiple threads.

[0074] Step 403: Determine the target threads in the multiple threads that meet the preset data processing requirements according to the resource occupation information of each thread.

[0075] In some embodiments, if a thread currently has no task being processed, it indicates that the thread meets the preset data processing requirements.

[0076] Step 404: Process the target image through the target threads to obtain a first relative position relationship between the shooting assembly and the alignment mark device.

[0077] In some embodiments, the target threads execute the task of processing the target image. In this way, the idle threads can be used to execute the image processing task, thereby improving the resource utilization rate of the central processor.

[0078] In some embodiments, before processing the target image through the target threads, the method further includes: obtaining an image processing time corresponding to the target image; detecting whether the image processing time is less than or equal to a preset image processing time and whether the current resource occupation rate of the central processor is greater than a preset occupation rate; and processing the target image through the target threads includes: processing the target image through the target threads when it is detected that the image processing time is less than or equal to the preset image processing time; and pausing the processing of the target image when it is detected that the image processing time is greater than the preset image processing time and the current resource occupation rate of the central processor is greater than the preset occupation rate, and processing the target image through the target threads when it is detected that the current resource occupation rate of the central processor is less than or equal to the preset occupation rate.

[0079] In some embodiments, when it is detected that the current resource occupancy of the central processor is greater than the preset occupancy, it indicates that the central processor process is busy at this time, and if the data inference time is greater than the preset data inference time, the central processor needs more time and resources to process the inference task corresponding to the sensing data. By performing thread sleep processing on the inference task corresponding to the sensing data, the intensive use of the central processor can be slowed down, thereby further reducing the resources required for model inference.

[0080] In some embodiments, the preset occupancy can be set according to actual needs, for example, the preset occupancy can be set to 80%, 85%, etc., as long as the current resource occupancy of the central processor is greater than the preset occupancy, the central processor process is busy.

[0081] Step 405: Obtain a second relative position relationship between the nozzle assembly and the alignment mark device according to the first relative position relationship.

[0082] Step 406: Calibrate the nozzle assembly according to the second relative position relationship.

[0083] The steps 401, 405 and 406 of the embodiment are similar to the steps 101, 103 and 104 of the foregoing embodiment, and are not repeated here to avoid repetition.

[0084] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the alignment mark device fixed on the printing platform, after the target image of the alignment mark device is obtained by the shooting assembly, the first relative position relationship between the shooting assembly and the alignment mark device can be obtained based on the target image. Since the shooting assembly and the nozzle assembly are fixedly connected, that is, the relative position relationship between the shooting assembly and the nozzle assembly is fixed, the second relative position relationship between the nozzle assembly and the alignment mark device can be obtained based on the first relative position relationship, and the calibration of the nozzle assembly can be realized through the second relative position relationship. The accuracy of the nozzle calibration is improved, and the efficiency of the nozzle calibration is improved. In addition, this calibration method does not need to add additional expensive accessories or equipment, but only needs to fix the alignment mark device on the printing platform, thereby reducing the hardware cost and the complexity of operation and equipment.

[0085] Please refer to Figure 5 The functional module schematic diagram of the calibration device based on the 3D printing equipment provided by the embodiments of the present application is shown. The 3D printing equipment includes a shooting assembly, a nozzle assembly, a printing platform and an alignment mark device. The shooting assembly is fixedly connected with the nozzle assembly, and the alignment mark device is fixed on the printing platform. The calibration device based on the 3D printing equipment 100 includes a control module 1, a processing module 2 and a calibration module 3.

[0086] The control module 1 is configured to control the photographing assembly to photograph the alignment mark device to obtain a target image; the processing module 2 is configured to process the target image to obtain a first relative position relationship between the photographing assembly and the alignment mark device; and the calibration module 3 is configured to obtain a second relative position relationship between the nozzle assembly and the alignment mark device according to the first relative position relationship, and calibrate the nozzle assembly according to the second relative position relationship.

[0087] Please refer to Figure 6 , the hardware structure schematic diagram of the electronic device 1000 provided in the embodiments of the present application. As shown in the figure, Figure 6 The electronic device 1000 can include a processor 1001, a memory 1002. The memory 1002 is configured to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions that can be used to implement the calibration method based on the 3D printing device described above in the electronic device 1000.

[0088] It can be understood that the structure illustrated in the embodiments does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 can include more or fewer components than illustrated, or combine certain components, or split certain components, or different component arrangements.

[0089] The processor 1001 can include one or more processing units, for example: the processor 1001 can include an application processor (application processor, AP), a modem, a graphics processing unit (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and / or a neural network processing unit (neural-network processing unit, NPU) and the like. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0090] The processor 1001 can also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory can hold instructions or data that the processor 1001 has just used or is using in a loop. If the processor 1001 needs to use the instructions or data again, it can be called directly from the memory. This avoids repeated access and reduces the waiting time of the processor 1001, thus improving the efficiency of the system.

[0091] In some embodiments, the processor 1001 can include one or more interfaces. The interfaces can include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0092] In some embodiments, the memory 1002 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash storage device, or other volatile solid-state storage device.

[0093] The embodiment also provides a computer readable storage medium, the storage medium stores computer instructions, when the instructions run on an electronic device, the electronic device executes the above-mentioned related method steps to realize the calibration method based on the 3D printing device in the above-mentioned embodiment.

[0094] Among them, the detection device based on the 3D printing device, the electronic device and the storage medium provided by the embodiment are used to execute the corresponding method provided above, so the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, which will not be repeated here.

[0095] In actual application, the above-mentioned function distribution can be completed by different function modules according to needs, that is, the internal structure of the device is divided into different function modules to complete all or part of the above-mentioned functions.

[0096] In several embodiments provided in the present application, the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are illustrative, for example, the division of the module or unit is a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0097] The units described as separate components can or can not be physically separate, and the components shown as units can be one physical unit or multiple physical units, that is, can be located in one place or distributed to multiple different places. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0098] In addition, the function units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0099] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or the parts that make contributions to the prior art or all or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium, including a plurality of instructions to make a device (which can be a single chip microcomputer, a chip, etc.) or a processor execute all or part of the steps of the method described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0100] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application.

Claims

1. A calibration method based on a 3D printing device, characterized in that, The 3D printing device comprises a shooting assembly, a nozzle assembly, a printing platform and a positioning mark device, the shooting assembly is fixedly connected with the nozzle assembly, the positioning mark device is fixed on the printing platform, and the calibration method comprises: controlling the shooting assembly to shoot the positioning mark device to obtain a target image; processing the target image to obtain a first relative position relationship between the shooting assembly and the positioning mark device; obtaining a second relative position relationship between the nozzle assembly and the positioning mark device according to the first relative position relationship, and calibrating the nozzle assembly according to the second relative position relationship; the processing of the target image to obtain the first relative position relationship between the shooting assembly and the positioning mark device comprises: performing image recognition on the target image to obtain a first image contour of the shooting assembly and a second image contour of the positioning mark device; obtaining the first relative position relationship according to the first image contour and the second image contour.

2. The calibration method based on a 3D printing device according to claim 1, wherein, the obtaining of the first relative position relationship according to the first image contour and the second image contour comprises: obtaining a first coordinate of a center point of the shooting assembly in a pixel coordinate system according to the first image contour; obtaining a second coordinate of a center point of the positioning mark device in the pixel coordinate system according to the second image contour; converting the first coordinate into a first actual coordinate in a world coordinate system, and converting the second coordinate into a second actual coordinate in the world coordinate system; calculating the first relative position relationship according to the first actual coordinate and the second actual coordinate. 3.The 3D printing device-based calibration method of claim 1, wherein, the processing of the target image to obtain the first relative position relationship between the shooting assembly and the positioning mark device comprises: inputting the target image into a preset algorithm model, and taking an input result of the algorithm model as the first relative position relationship; wherein the algorithm model is obtained by jointly training historical abnormal position relationship data and historical normal position relationship data between the shooting assembly and the positioning mark device, the algorithm model has a bidirectional input layer, and the bidirectional input layer of the algorithm model corresponds to the input of the historical abnormal position relationship data and the historical normal position relationship data respectively.

4. The calibration method based on a 3D printing device according to claim 3, wherein, the 3D printing device further comprises a central processing unit, and the algorithm model is arranged in the central processing unit; the algorithm model is obtained by model quantization and model inference reconstruction of an initial algorithm model, the model quantization is used to convert the model precision of the initial algorithm model into a preset model precision capable of accelerating the model data inference process, and the model inference reconstruction is used to reduce the space occupation size of the initial algorithm model. 5.The 3D printing device based calibration method of claim 1, wherein, the 3D printing device further comprises a central processing unit, and the central processing unit has a plurality of threads; before the processing of the target image, the method further comprises: obtaining resource occupation information of each thread in the plurality of threads; determining target threads in the plurality of threads that meet a preset data processing requirement according to the resource occupation information of each thread; The processing of the target image comprises: processing the target image by the target thread.

6. The calibration method based on a 3D printing device according to claim 5, wherein, Before processing the target image by the target thread, further comprising: acquiring an image processing time corresponding to the target image; detecting whether the image processing time is less than or equal to a preset image processing time and whether a current resource occupancy rate of the central processor is greater than a preset occupancy rate; The processing of the target image by the target thread comprises: when it is detected that the image processing time is less than or equal to the preset image processing time, processing the target image by the target thread; when it is detected that the image processing time is greater than the preset image processing time and the current resource occupancy rate of the central processor is greater than the preset occupancy rate, suspending the processing of the target image until it is detected that the current resource occupancy rate of the central processor is less than or equal to the preset occupancy rate, and then processing the target image by the target thread.

7. A calibration apparatus based on a 3D printing device, characterized by, The 3D printing device comprises a shooting assembly, a nozzle assembly, a printing platform, and a positioning mark device. The shooting assembly is fixedly connected with the nozzle assembly. The positioning mark device is fixed on the printing platform. The calibration device comprises: a control module, configured to control the shooting assembly to shoot the positioning mark device to obtain a target image; a processing module, configured to process the target image to obtain a first relative position relationship between the shooting assembly and the positioning mark device; a calibration module, configured to acquire a second relative position relationship between the nozzle assembly and the positioning mark device according to the first relative position relationship, and calibrate the nozzle assembly according to the second relative position relationship; The processing of the target image by the processing module to obtain the first relative position relationship between the shooting assembly and the positioning mark device comprises: performing image recognition on the target image to obtain a first image contour of the shooting assembly and a second image contour of the positioning mark device; acquiring the first relative position relationship according to the first image contour and the second image contour.

8. An electronic device, comprising: The electronic device comprises a processor and a memory. The memory is configured to store instructions. The processor is configured to invoke the instructions in the memory, so that the electronic device performs the calibration method based on the 3D printing device according to any one of claims 1 to 6.

9. A storage medium, characterized by The computer instructions, when executed on an electronic device, cause the electronic device to perform the calibration method based on the 3D printing device according to any one of claims 1 to 6.

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