Method, device, equipment and storage medium for rapid printing of exhibit tactile models

Abstract

This application relates to the field of data processing and discloses a method, device, equipment, and storage medium for quickly printing tactile models of exhibits. By using 3D structured light to scan the object to be printed, the object point cloud information is aligned based on a feature matching point cloud alignment algorithm; a Gaussian filter algorithm is used to remove redundant details in the complete object model data; the geometric features of the filtered object model data are enhanced based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method, and the intensity value of the edge pixel is adjusted according to the importance of the edge and the required degree of sharpness; the topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the object is printed layer by layer based on the sharpened object model data and the object model structure data. This effectively solves the problem of inaccurate and incomplete scanning data, improves the geometric accuracy and integrity of the model, and makes the final printed object model closer to the real object.

Description

Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to a method, device, equipment and storage medium for quickly printing a tactile model of an exhibit. Background Art

[0002] With increasing societal attention to the needs of special groups and the development of the exhibition industry, providing tactile models for the visually impaired and others who rely on touch to understand exhibits is becoming increasingly important. However, existing technologies for manufacturing tactile models for exhibits present numerous challenges. The traditional tactile model manufacturing process typically involves three-dimensional data acquisition, model simplification and optimization, the addition of auxiliary elements, material selection, CNC machining, or die-casting. This complex production process involves numerous steps, and the cost of post-molding modifications is high.

[0003] Currently, conventional 3D printers typically require high-speed, computer-controlled inkjet printers for printing. Before use, various parameters, such as material type, quantity, thickness, and placement, must be set. The printing material is then loaded into the printer to create a three-dimensional object. This direct 3D printing method has significant shortcomings in creating tactile models for exhibition scenes. Firstly, obtaining the original 3D data of exhibits is difficult, and a single type of 3D structured light scanner cannot quickly provide accurate 3D data to the 3D printer. Secondly, 3D prints typically produce the entire 3D object, but many exhibition scenes only require displaying a single face, such as a tactile model of a person's facial features, without the need to print the back of the head or neck. Furthermore, conventional 3D printing processes cannot produce samples on-site quickly. A specialized structured light scanner is required to acquire 3D data, which is then processed, adjusted, and finally selected for 3D printing materials. This entire process is time-consuming and cannot accommodate the rapid iteration and update requirements of exhibits. Summary of the Invention

[0004] The present application provides a method for quickly printing a tactile model of an exhibit.

[0005] In a first aspect, an embodiment of the present application provides a method for quickly printing a tactile model of an exhibit, the method comprising the following steps:

[0006] Scanning the object to be printed using 3D structured light to obtain object point cloud information, and aligning the object point cloud information using a point cloud alignment algorithm based on feature matching to obtain printed object model data;

[0007] Processing the printed object model data using an outlier detection algorithm, deleting outliers, and obtaining initial object model data;

[0008] Intelligently fill in the holes and missing data in the initial object model data during scanning based on surrounding geometric features to obtain complete object model data;

[0009] Using a Gaussian filtering algorithm to remove redundant details from the complete object model data to obtain filtered object model data;

[0010] Performing geometric feature enhancement on the filtered object model data based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method, adjusting the intensity values ​​of edge pixels according to the importance of the edge and the required sharpening degree, to obtain sharpened object model data;

[0011] The topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the support position and structure are calculated according to the physical properties of the model shape and the material to obtain the object model structure data; the object is printed layer by layer based on the sharpened object model data and the object model structure data.

[0012] In one possible implementation, scanning the object to be printed using 3D structured light to obtain object point cloud information, and aligning the object point cloud information using a feature matching point cloud alignment algorithm to obtain printed object model data includes:

[0013] Use 3D structured light scanning equipment to scan the object to be printed, project the coded pattern onto the surface of the object to be printed through a projector, use a binocular camera to capture the light pattern reflected from the surface of the object from different angles, calculate the coordinates of each camera pixel in three-dimensional space, and obtain the object point cloud information ;in Indicates the The three-dimensional coordinates of a point;

[0014] Obtain each point cloud data point in the object point cloud information, calculate it through FPFH feature descriptor, and calculate all points in the point cloud data. The Euclidean distance of Points as );

[0015] for ) for each point , calculate its The relative position vector , through ) to obtain the points by plane fitting The normal vector of , for each relative position vector Calculate its normal vector Projection length on , and its normal vector Perpendicular vector ;Will( As a feature vector, for all The feature vectors calculated by the neighboring points are statistically analyzed by histogram to obtain the point FPFH feature descriptor ;

[0016] By comparing the feature descriptors of two point cloud data from different viewpoints, we can find corresponding points, calculate the Euclidean distance between the corresponding points, and use the least squares method to calculate the rotation and translation transformation matrix to align the two point cloud data. and is a pair of corresponding points, , , establish the error function:

[0017]

[0018] in, is the rotation matrix, is the translation vector, and is the three-dimensional coordinate of the corresponding point; the object point cloud information All points in are transformed to obtain the printed object model data.

[0019] In one possible implementation, the processing of the printed object model data using an outlier detection algorithm to delete outliers to obtain initial object model data includes:

[0020] The printed object model data is processed using an outlier detection algorithm based on statistical analysis, and the K-nearest neighbor algorithm is used to obtain the outlier detection algorithm for each point in the printed object model data. Neighborhood points of The nearest K points are taken as its neighborhood point set;

[0021] Calculation Point The distance statistics characteristics of its neighboring points are obtained through 3 The abnormal threshold is set according to the principle, and the abnormal point is judged by using the abnormal threshold;

[0022] All points in the printed object model data are traversed, and data determined to be abnormal points are deleted from the data set to obtain initial object model data.

[0023] In one possible implementation, intelligently filling holes and missing data in the scanned initial object model data based on surrounding geometric features to obtain complete object model data includes:

[0024] Calculating the normal vector of each point in the initial object model data based on a normal vector analysis method, and identifying holes and missing data areas in the initial object model data using the normal vector;

[0025] The holes and missing data areas are filled using a region growing algorithm. , initialize a growing queue , and create a visited point set , when the growth queue When it is not empty;

[0026] Take the point at the head of the queue , using the k-nearest neighbor algorithm to calculate the point and point Unvisited neighborhood points The Euclidean distance between them is used to select points with a distance less than the threshold as neighboring points;

[0027] Calculate neighborhood points With the current point The normal vector angle ,set up The normal vector is , The normal vector is ,but ,like If it is less than the threshold, it means that the normal vector directions are close;

[0028] Calculate neighborhood points Average distance to filled areas , let the point set of the filled area be ,but:

[0029]

[0030] in , , , , , is the three-dimensional coordinate of the neighborhood point, if If it is less than the threshold, the surface neighborhood point is close to the filled area;

[0031] If the neighboring points If the above conditions of normal vector angle and distance to the filled area are met, it will be added to the growth queue and the set of visited points , use it as a new filling point to update the geometric feature information of the filled area, and repeat the iteration to obtain the complete object model data.

[0032] In one possible implementation, removing redundant details from the complete object model data using a Gaussian filtering algorithm to obtain filtered object model data includes:

[0033] Using a Gaussian filtering algorithm to remove redundant details in the complete object model data, and determining neighborhood points in the complete object model data;

[0034] The weight of each neighborhood point is calculated based on a three-dimensional Gaussian function, the filtering degree is controlled according to the weight, and the new data value of each data point in the complete object model data is calculated according to the filtering degree; and filtered object model data is obtained.

[0035] In one possible implementation, the geometric feature enhancement of the filtered object model data is performed based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method, and the intensity values ​​of edge pixels are adjusted according to the importance of the edge and the required sharpening degree to obtain the sharpened object model data, including:

[0036] Performing geometric feature enhancement on the filtered object model data based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method;

[0037] Calculating the partial derivatives of the data points in the filtered object model data in the X, Y, and Z directions using the central difference method to obtain the gradient amplitude of the model data;

[0038] Compare the gradient magnitude of each point with the gradient magnitude of its neighboring points along the gradient direction to obtain edge point data and non-edge point data;

[0039] Calculate the average and standard deviation of the gradient amplitudes of all points in the region, determine the statistical characteristics of the local region based on the average and standard deviation, obtain a high threshold and a low threshold, mark points with a gradient amplitude greater than the high threshold as edge points, and mark points with a gradient amplitude less than the low threshold as non-edge points; connect the edge points to obtain a preliminary edge detection result;

[0040] The pixel intensity value is adjusted according to the importance of the edge and the required sharpening degree to obtain the sharpened object model data.

[0041] In one possible implementation, adjusting the topological relationship of the internal structure of the model according to the structural strength requirements to generate a support structure, calculating the support position and structure according to the physical properties of the model shape and material to obtain object model structure data; and printing the object layer by layer based on the sharpened object model data and the object model structure data, includes:

[0042] Divide the model into multiple small units according to its geometric shape, determine the node coordinates of each unit and the connection relationship between the nodes; input the elastic modulus, Poisson's ratio, density and thermal expansion coefficient of the material according to the material properties used;

[0043] Allowable stress is set, and the density-based topology optimization algorithm iteratively adjusts the material distribution of the unit to obtain the optimal topology structure that meets the structural strength requirements. The material density of the unit is updated according to the criteria of the topology optimization algorithm to obtain the optimized model topology structure.

[0044] Identify the cantilever structure, thin-wall structure, and hole structure of the model, calculate the curvature radius, wall thickness, and angle of different parts of the model, and obtain the structural data of the object model;

[0045] The object model structure data and the sharpened object model data are converted into G-CODE format data, and the model is sliced ​​reasonably according to the size of the model and the printing area size of the printer; the printing temperature, material flow and printing speed are controlled to print the model layer by layer.

[0046] In a second aspect, the present application provides a device for quickly printing a tactile model of an exhibit, the device comprising the following modules:

[0047] An object information scanning module is used to scan the object to be printed using 3D structured light to obtain object point cloud information, and align the object point cloud information using a point cloud alignment algorithm based on feature matching to obtain printed object model data;

[0048] an abnormal data deletion module, configured to process the printed object model data using an abnormal point detection algorithm, delete abnormal points, and obtain initial object model data;

[0049] A missing data filling module is used to intelligently fill in the holes and missing data that appear in the scan of the initial object model data according to the surrounding geometric features to obtain complete object model data;

[0050] a print data adjustment module, configured to remove redundant details from the complete object model data using a Gaussian filtering algorithm to obtain filtered object model data;

[0051] an object internal adjustment module, configured to perform geometric feature enhancement on the filtered object model data based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method, and adjust the intensity values ​​of edge pixels according to the importance of the edge and the required sharpening degree to obtain sharpened object model data;

[0052] The object 3D printing module is used to adjust the topological relationship of the model's internal structure according to the structural strength requirements to generate a support structure, calculate the support position and structure according to the model shape and the physical properties of the material, and obtain the object model structure data; and print the object layer by layer based on the sharpened object model data and the object model structure data.

[0053] In a third aspect, the present application provides a device for quickly printing tactile models of exhibits, comprising: a memory and at least one processor, wherein the memory stores instructions; the at least one processor calls the instructions in the memory so that the device for quickly printing tactile models of exhibits executes each step of the above-mentioned method for quickly printing tactile models of exhibits.

[0054] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed on a computer, enable the computer to execute the various steps of the above-mentioned method for rapidly printing a tactile model of an exhibit.

[0055] Based on the method provided in the present application, by using 3D structured light to scan the object to be printed, the object point cloud information is obtained, and the object point cloud information is aligned based on a feature matching point cloud alignment algorithm to obtain printed object model data; the printed object model data is processed using an outlier detection algorithm, and the outliers are deleted to obtain initial object model data; holes and missing data that appear in the initial object model data during scanning are intelligently filled according to the surrounding geometric features to obtain complete object model data; redundant details in the complete object model data are removed using a Gaussian filtering algorithm to obtain filtered object model data; geometric feature enhancement is performed on the filtered object model data based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method, and the intensity value of the edge pixel is adjusted according to the importance of the edge and the required sharpening degree to obtain sharpened object model data; the topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the support position and structure are calculated according to the model shape and the physical properties of the material to obtain object model structure data; and the object is printed layer by layer based on the sharpened object model data and the object model structure data. 1. Improved Model Accuracy: 3D structured light scanning and a series of data processing algorithms, such as point cloud alignment, outlier detection, and hole filling, effectively address the issues of inaccurate and incomplete scanned data, improving the geometric accuracy and integrity of the model, and making the final printed object model more realistic. 2. Improved Model Quality: Gaussian filtering removes unnecessary details, while Canny edge detection and adaptive threshold adjustment enhance geometric features, improving surface smoothness and edge definition, and enhancing model quality to meet practical application requirements. 3. Enhanced Structural Rationality: Topological relationships are adjusted and support structures are generated based on structural strength requirements. Support placement and structure are calculated based on the model's shape and material properties, improving the stability and success rate of the printing process and ensuring that the printed object model possesses excellent structural strength and stability. 4. Improved Printing Efficiency: Accurate model data and rational support structure design reduce errors and rework during the printing process, improving printing efficiency and saving time and material costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 This is a flow chart of an embodiment of the first method for quickly printing a tactile model of an exhibit provided in an embodiment of the present application;

[0057] Figure 2 This is a flow chart of an embodiment of the second method for quickly printing a tactile model of an exhibit provided in an embodiment of the present application;

[0058] Figure 3 This is a flow chart of an embodiment of the third method for quickly printing a tactile model of an exhibit provided in the embodiments of the present application;

[0059] Figure 4A schematic diagram of the structure of a device for quickly printing tactile models of exhibits provided in an embodiment of the present application;

[0060] Figure 5 This is a schematic diagram of the structure of a device for quickly printing tactile models of exhibits provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] The embodiment of the present application provides a method for quickly printing tactile models of exhibits, which can store asset registrations in a database and audit asset change request information through a multiple audit mechanism, thereby solving the problem of poor security in daily asset management.

[0062] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Among them, the terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0063] It is understood that any part of this application related to data acquisition or collection has been authorized by the user.

[0064] It is understandable that the execution entity of the present application may be a device for quickly printing the tactile model of an exhibit, or a mobile terminal or a server, which is not limited here.

[0065] The specific process of the embodiment of this application is described below. Figure 1 , Figure 1 This is a flow chart of an embodiment of a method for quickly printing a tactile model of an exhibit provided in an embodiment of the present application, comprising:

[0066] 101. Scan the object to be printed using 3D structured light to obtain object point cloud information, align the object point cloud information using a feature matching point cloud alignment algorithm to obtain printed object model data;

[0067] It can be understood that the 3D structured light scanning device is used to scan the object to be printed, the coded pattern is projected onto the surface of the object to be printed by the projector, the binocular camera is used to shoot the light pattern reflected from the surface of the object from different angles, and the coordinates of each camera pixel in three-dimensional space are calculated to obtain the object point cloud information. ;in Indicates the The three-dimensional coordinates of a point;

[0068] Get each point cloud data point in the object point cloud information, calculate it through FPFH feature descriptor, and calculate all points in the point cloud data. The Euclidean distance of Points as );

[0069] for ) for each point , calculate its The relative position vector , through ) to obtain the points by plane fitting The normal vector of , for each relative position vector Calculate its normal vector Projection length on , and its normal vector Perpendicular vector ;Will( As a feature vector, for all The feature vectors calculated by the neighboring points are statistically analyzed by histogram to obtain the point FPFH feature descriptor ;

[0070] By comparing the feature descriptors of two point cloud data from different viewpoints, we can find corresponding points, calculate the Euclidean distance between the corresponding points, and use the least squares method to calculate the rotation and translation transformation matrix to align the two point cloud data. and is a pair of corresponding points, , , establish the error function:

[0071]

[0072] in, is the rotation matrix, is the translation vector, and is the three-dimensional coordinate of the corresponding point; the object point cloud information All points in are transformed to obtain the printed object model data.

[0073] 102. Process the printed object model data using an outlier detection algorithm, delete outliers, and obtain initial object model data;

[0074] It is understandable that the outlier detection algorithm based on statistical analysis is used to process the printed object model data, and the K-nearest neighbor algorithm is used to obtain the outlier detection algorithm of each point in the printed object model data. Neighborhood points of The nearest K points are taken as its neighborhood point set;

[0075] Calculation Point The distance statistics characteristics of its neighboring points are obtained through 3 The abnormal threshold is set according to the principle, and the abnormal point is judged by the abnormal threshold;

[0076] Traverse all points in the printed object model data, delete the data determined to be abnormal points from the data set, and obtain the initial object model data.

[0077] 103. Intelligently fill in the holes and missing data in the initial object model data during scanning based on the surrounding geometric features to obtain the complete object model data;

[0078] It can be understood that the normal vector of each point in the initial object model data is calculated based on the normal vector analysis method, and holes and missing data areas in the initial object model data are identified through the normal vectors;

[0079] The region growing algorithm is used to fill the holes and missing data areas. , initialize a growing queue , and create a visited point set , when the growth queue When it is not empty;

[0080] Take the point at the head of the queue , using the k-nearest neighbor algorithm to calculate the point and point Unvisited neighborhood points The Euclidean distance between them is used to select points with a distance less than the threshold as neighboring points;

[0081] It is understandable that the threshold is 0.5-1;

[0082] Calculate neighborhood points With the current point The normal vector angle ,set up The normal vector is , The normal vector is ,but ,like If it is less than the threshold, it means that the normal vector directions are close;

[0083] Calculate neighborhood points Average distance to filled areas , let the point set of the filled area be ,but:

[0084]

[0085] in , , , , , is the three-dimensional coordinate of the neighborhood point, if If it is less than the threshold, the surface neighborhood point is close to the filled area;

[0086] If the neighboring points If the above conditions of normal vector angle and distance to the filled area are met, it will be added to the growth queue and the set of visited points , use it as a new filling point to update the geometric feature information of the filled area, and repeat the iteration to obtain the complete object model data.

[0087] 104. Using a Gaussian filtering algorithm to remove redundant details from the complete object model data to obtain filtered object model data;

[0088] It can be understood that the Gaussian filtering algorithm is used to remove redundant details in the complete object model data and determine the neighborhood points in the complete object model data;

[0089] The weight of each neighborhood point is calculated based on the three-dimensional Gaussian function, the filtering degree is controlled according to the weight, and the new data value of each data point in the complete object model data is calculated according to the filtering degree; and the filtered object model data is obtained.

[0090] 105. Perform geometric feature enhancement on the filtered object model data based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method, adjust the intensity value of the edge pixel according to the importance of the edge and the required sharpening degree, and obtain the sharpened object model data;

[0091] It can be understood that the geometric features of the filtered object model data are enhanced based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method;

[0092] The central difference method is used to calculate the partial derivatives of the data points in the X, Y, and Z directions in the filtered object model data to obtain the gradient amplitude of the model data;

[0093] Compare the gradient magnitude of each point with the gradient magnitude of its neighboring points along the gradient direction to obtain edge point data and non-edge point data;

[0094] Calculate the average and standard deviation of the gradient amplitude of all points in the area, determine the statistical characteristics of the local area based on the average and standard deviation, obtain the high threshold and low threshold, mark the points with gradient amplitude greater than the high threshold as edge points, and mark the points with gradient amplitude less than the low threshold as non-edge points; connect the edge points to obtain the preliminary edge detection results;

[0095] It is understandable that the high threshold is 30-50 and the low threshold is 5-10;

[0096] The pixel intensity value is adjusted according to the importance of the edge and the required sharpening degree to obtain the sharpened object model data.

[0097] 106. Adjust the topological relationship of the model's internal structure according to the structural strength requirements to generate a support structure. Calculate the support position and structure based on the model shape and the physical properties of the material to obtain the object model structure data. Print the object layer by layer based on the sharpened object model data and the object model structure data.

[0098] It can be understood that the model is divided into multiple small units according to its geometric shape, and the node coordinates of each unit and the connection relationship between the nodes are determined; according to the material properties used, the elastic modulus, Poisson's ratio, density and thermal expansion coefficient of the material are input;

[0099] Allowable stress is set, and the density-based topology optimization algorithm iteratively adjusts the material distribution of the unit to obtain the optimal topology structure that meets the structural strength requirements. The material density of the unit is updated according to the criteria of the topology optimization algorithm to obtain the optimized model topology structure.

[0100] Identify the cantilever structure, thin-wall structure, and hole structure of the model, calculate the curvature radius, wall thickness, and angle of different parts of the model, and obtain the structural data of the object model;

[0101] Convert the object model structure data and sharpened object model data into G-CODE format data, slice the model reasonably according to the size of the model and the printing area size of the printer; control the printing temperature, material flow and printing speed to print the model layer by layer.

[0102] Based on the method provided in the present application, by using 3D structured light to scan the object to be printed, the object point cloud information is obtained, and the object point cloud information is aligned based on a feature matching point cloud alignment algorithm to obtain printed object model data; the printed object model data is processed using an outlier detection algorithm, and the outliers are deleted to obtain initial object model data; holes and missing data that appear in the initial object model data during scanning are intelligently filled according to the surrounding geometric features to obtain complete object model data; a Gaussian filtering algorithm is used to remove redundant details in the complete object model data to obtain filtered object model data; the geometric features of the filtered object model data are enhanced based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method, and the intensity value of the edge pixel is adjusted according to the importance of the edge and the required sharpening degree to obtain sharpened object model data; the topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the support position and structure are calculated according to the model shape and the physical properties of the material to obtain object model structure data; the object is printed layer by layer based on the sharpened object model data and the object model structure data. 1. Improved Model Accuracy: 3D structured light scanning and a series of data processing algorithms, such as point cloud alignment, outlier detection, and hole filling, effectively address inaccurate and incomplete scan data, improving the geometric accuracy and integrity of the model, and making the final printed object model more realistic. 2. Improved Model Quality: Gaussian filtering removes unnecessary details, while Canny edge detection and adaptive threshold adjustment enhance geometric features, improving surface smoothness and edge definition, and enhancing model quality to meet practical application requirements. 3. Enhanced Structural Rationality: Topological relationships are adjusted and support structures are generated based on structural strength requirements. Support placement and structure are calculated based on the model's shape and material properties, improving the stability and success rate of the printing process and ensuring that the printed object model possesses excellent structural strength and stability. 4. Improved Printing Efficiency: Accurate model data and rational support structure design reduce errors and rework during the printing process, improving printing efficiency and saving time and material costs.

[0103] See also Figure 2 , Figure 2 This is a flow chart of an embodiment of a third method for quickly printing a tactile model of an exhibit provided in an embodiment of the present application, comprising:

[0104] 201. Based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method, the geometric features of the filtered object model data are enhanced;

[0105] 202. Calculate the partial derivatives of the data points in the filtered object model data in the X, Y, and Z directions using the central difference method to obtain the gradient amplitude of the model data;

[0106] 203. Compare the gradient magnitude of each point with the gradient magnitude of its neighboring points along the gradient direction to obtain edge point data and non-edge point data;

[0107] 204. Calculate the average value and standard deviation of the gradient amplitude of all points in the region, determine the statistical characteristics of the local region based on the average value and standard deviation, obtain a high threshold and a low threshold, mark points with a gradient amplitude greater than the high threshold as edge points, and mark points with a gradient amplitude less than the low threshold as non-edge points; connect the edge points to obtain a preliminary edge detection result;

[0108] 205. Adjust the pixel intensity value according to the importance of the edge and the required sharpening degree to obtain sharpened object model data.

[0109] Based on the method provided in the embodiment of the present application, the geometric features of the filtered object model data are enhanced by combining the Canny edge detection algorithm with the adaptive threshold adjustment method, and the intensity value of the edge pixel is adjusted according to the importance of the edge and the required degree of sharpness to obtain the sharpened object model data. It can accurately identify and enhance the edges, making the model edges clearer and the details more prominent. Adjusting the intensity value according to the importance and sharpness of the edge can highlight key features, improve the model recognition, and facilitate observation and use. Geometric feature enhancement improves the overall quality of the model, making it more in line with actual needs and better reflecting the characteristics of the object in subsequent applications.

[0110] See also Figure 3 , Figure 3 This is a flow chart of an embodiment of a third method for quickly printing a tactile model of an exhibit provided in an embodiment of the present application, comprising:

[0111] 301. Divide the model into multiple small units according to its geometric shape, determine the node coordinates of each unit and the connection relationship between the nodes; input the elastic modulus, Poisson's ratio, density and thermal expansion coefficient of the material according to the material properties used;

[0112] 302. Set the allowable stress. The density-based topology optimization algorithm iteratively adjusts the material distribution of the unit to obtain the optimal topology structure that meets the structural strength requirements. The material density of the unit is updated according to the criteria of the topology optimization algorithm to obtain the optimized model topology structure.

[0113] 303. Identify the cantilever structure, thin-wall structure, and hole structure of the model, calculate the curvature radius, wall thickness, and angle of different parts of the model, and obtain the object model structure data;

[0114] 304. Convert the object model structure data and the sharpened object model data into G-CODE format data, slice the model reasonably according to the size of the model and the printing area size of the printer; control the printing temperature, material flow rate and printing speed to print the model layer by layer.

[0115] Based on the method provided in the embodiments of the present application, the topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the support position and structure are calculated based on the physical properties of the model shape and material to obtain the object model structure data; the object is printed layer by layer based on the sharpened object model data and the object model structure data. Adjusting the topological relationship and generating the support structure according to the structural strength requirements can optimize stress distribution, make the model more bearable, and reduce the risk of deformation and damage. The support position structure is calculated based on the shape and material properties to ensure reasonable support and improve structural stability. The support structure ensures printing continuity, improves the success rate, and reduces material and time waste.

[0116] The above describes the method for quickly printing the tactile model of an exhibit in the embodiment of the present application. The following describes the device for quickly printing the tactile model of an exhibit in the embodiment of the present application. Figure 4 , Figure 4 A schematic diagram of a device for quickly printing a tactile model of an exhibit provided in an embodiment of the present application includes:

[0117] The object information scanning module 401 is used to scan the object to be printed using 3D structured light to obtain object point cloud information, and align the object point cloud information using a point cloud alignment algorithm based on feature matching to obtain printed object model data;

[0118] An abnormal data deletion module 402 is used to process the printed object model data using an abnormal point detection algorithm, delete abnormal points, and obtain initial object model data;

[0119] Missing data filling module 403, used to intelligently fill holes and missing data in the initial object model data during scanning based on surrounding geometric features to obtain complete object model data;

[0120] a print data adjustment module 404 for removing redundant details from the complete object model data using a Gaussian filtering algorithm to obtain filtered object model data;

[0121] The object internal adjustment module 405 is used to perform geometric feature enhancement on the filtered object model data based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method, and adjust the intensity value of the edge pixel according to the importance of the edge and the required sharpness to obtain the sharpened object model data;

[0122] The object 3D printing module 406 is used to adjust the topological relationship of the internal structure of the model according to the structural strength requirements to generate a support structure, calculate the support position and structure according to the physical properties of the model shape and material, and obtain the object model structure data; and print the object layer by layer based on the sharpened object model data and the object model structure data.

[0123] Based on the device provided by the present application, by using 3D structured light to scan the object to be printed, the object point cloud information is obtained, and the object point cloud information is aligned based on a feature matching point cloud alignment algorithm to obtain printed object model data; the printed object model data is processed using an outlier detection algorithm, and the outliers are deleted to obtain initial object model data; holes and missing data that appear in the initial object model data during scanning are intelligently filled according to the surrounding geometric features to obtain complete object model data; a Gaussian filtering algorithm is used to remove redundant details in the complete object model data to obtain filtered object model data; the geometric features of the filtered object model data are enhanced based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method, and the intensity value of the edge pixel is adjusted according to the importance of the edge and the required sharpening degree to obtain sharpened object model data; the topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the support position and structure are calculated according to the model shape and the physical properties of the material to obtain object model structure data; the object is printed layer by layer based on the sharpened object model data and the object model structure data. 1. Improved Model Accuracy: 3D structured light scanning and a series of data processing algorithms, such as point cloud alignment, outlier detection, and hole filling, effectively address inaccurate and incomplete scan data, improving the geometric accuracy and integrity of the model, and making the final printed object model more realistic. 2. Improved Model Quality: Gaussian filtering removes unnecessary details, while Canny edge detection and adaptive threshold adjustment enhance geometric features, improving surface smoothness and edge definition, and enhancing model quality to meet practical application requirements. 3. Enhanced Structural Rationality: Topological relationships are adjusted and support structures are generated based on structural strength requirements. Support placement and structure are calculated based on the model's shape and material properties, improving the stability and success rate of the printing process and ensuring that the printed object model possesses excellent structural strength and stability. 4. Improved Printing Efficiency: Accurate model data and rational support structure design reduce errors and rework during the printing process, improving printing efficiency and saving time and material costs.

[0124] See also Figure 5 , Figure 5FIG2 is a schematic diagram of the structure of a device for quickly printing tactile models of exhibits provided in an embodiment of the present application. The device 500 may vary significantly depending on configuration or performance. The device may include one or more processors 510 (e.g., one or more processors), memory 520, and one or more storage media 530 storing application programs 533 or data 532. The memory 520 and storage media 530 may be either transient or persistent storage. The program stored in the storage medium 530 may include one or more modules (not shown), each of which may include a series of instructions for operating the device 500. Furthermore, the processor 510 may be configured to communicate with the storage medium 5630 to execute the series of instructions stored in the storage medium 530 on the device 500.

[0125] The rapid printing device 500 for exhibit tactile models may further include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input and output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be understood by those skilled in the art that Figure 5 The structure of the rapid printing device for exhibit tactile models shown does not constitute a limitation on the rapid printing device for exhibit tactile models, and the device may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0126] The present application also provides a device for rapidly printing tactile models of exhibits. The computer device includes a memory and a processor. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor performs the various steps of the method for rapidly printing tactile models of exhibits in the aforementioned embodiments. The present application also provides a computer-readable storage medium. The computer-readable storage medium can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer performs the various steps of the method for rapidly printing tactile models of exhibits.

[0127] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0128] 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 computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0129] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0130] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for quickly printing a tactile model of an exhibit, characterized in that: The method for quickly printing an exhibit tactile model comprises the following steps: Scanning the object to be printed using 3D structured light to obtain object point cloud information, and aligning the object point cloud information using a point cloud alignment algorithm based on feature matching to obtain printed object model data; Processing the printed object model data using an outlier detection algorithm, deleting outliers, and obtaining initial object model data; Intelligently fill in the holes and missing data in the initial object model data during scanning based on surrounding geometric features to obtain complete object model data; Using a Gaussian filtering algorithm to remove redundant details from the complete object model data to obtain filtered object model data; Performing geometric feature enhancement on the filtered object model data based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method, adjusting the intensity values ​​of edge pixels according to the importance of the edge and the required sharpening degree, to obtain sharpened object model data; The topological relationship of the internal structure of the model is adjusted according to the structural strength requirements to generate a support structure, and the support position and structure are calculated according to the physical properties of the model shape and the material to obtain the object model structure data; the object is printed layer by layer based on the sharpened object model data and the object model structure data.

2. The method for quickly printing a tactile model of an exhibit according to claim 1, wherein: The method of scanning the object to be printed using 3D structured light to obtain object point cloud information, and aligning the object point cloud information using a point cloud alignment algorithm based on feature matching to obtain printed object model data includes: Use 3D structured light scanning equipment to scan the object to be printed, project the coded pattern onto the surface of the object to be printed through a projector, use a binocular camera to capture the light pattern reflected from the surface of the object from different angles, calculate the coordinates of each camera pixel in three-dimensional space, and obtain the object point cloud information ;in Indicates the The three-dimensional coordinates of a point; Obtain each point cloud data point in the object point cloud information, calculate it through FPFH feature descriptor, and calculate all points in the point cloud data. The Euclidean distance of Points as ); for ) for each point , calculate its The relative position vector , through ) to obtain the points by plane fitting The normal vector of , for each relative position vector Calculate its normal vector Projection length on , and its normal vector Perpendicular vector ;Will( As a feature vector, for all The feature vectors calculated by the neighboring points are statistically analyzed by histogram to obtain the point FPFH feature descriptor ; By comparing the feature descriptors of two point cloud data from different viewpoints, we can find corresponding points, calculate the Euclidean distance between the corresponding points, and use the least squares method to calculate the rotation and translation transformation matrix to align the two point cloud data. and is a pair of corresponding points, , , establish the error function: in, is the rotation matrix, is the translation vector, and is the three-dimensional coordinate of the corresponding point; the object point cloud information All points in are transformed to obtain the printed object model data.

3. The method for quickly printing a tactile model of an exhibit according to claim 1, wherein: The process of processing the printed object model data using an outlier detection algorithm, deleting outliers, and obtaining initial object model data includes: The printed object model data is processed using an outlier detection algorithm based on statistical analysis, and the K-nearest neighbor algorithm is used to obtain the outlier detection algorithm for each point in the printed object model data. Neighborhood points of The nearest K points are taken as its neighborhood point set; Calculation Point The distance statistics characteristics of its neighboring points are obtained through 3 The abnormal threshold is set according to the principle, and the abnormal point is judged by using the abnormal threshold; All points in the printed object model data are traversed, and data determined to be abnormal points are deleted from the data set to obtain initial object model data.

4. The method for quickly printing a tactile model of an exhibit according to claim 1, wherein: The intelligent filling of holes and missing data in the initial object model data during scanning based on surrounding geometric features to obtain complete object model data includes: Calculating the normal vector of each point in the initial object model data based on a normal vector analysis method, and identifying holes and missing data areas in the initial object model data using the normal vector; The holes and missing data areas are filled using a region growing algorithm. , initialize a growing queue , and create a visited point set , when the growth queue When it is not empty; Take the point at the head of the queue , using the k-nearest neighbor algorithm to calculate the point and point Unvisited neighborhood points The Euclidean distance between them is used to select points with a distance less than the threshold as neighboring points; Calculate neighborhood points With the current point The normal vector angle ,set up The normal vector is , The normal vector is ,but ,like If it is less than the threshold, it means that the normal vector directions are close; Calculate neighborhood points Average distance to filled areas , let the point set of the filled area be ,but: in , , , , , is the three-dimensional coordinate of the neighborhood point, if If it is less than the threshold, the surface neighborhood point is close to the filled area; If the neighboring points If the above conditions of normal vector angle and distance to the filled area are met, it will be added to the growth queue and the set of visited points , use it as a new filling point to update the geometric feature information of the filled area, and repeat the iteration to obtain the complete object model data.

5. The method for quickly printing a tactile model of an exhibit according to claim 1, wherein: The step of removing redundant details from the complete object model data using a Gaussian filtering algorithm to obtain filtered object model data includes: Using a Gaussian filtering algorithm to remove redundant details in the complete object model data, and determining neighborhood points in the complete object model data; The weight of each neighborhood point is calculated based on a three-dimensional Gaussian function, the filtering degree is controlled according to the weight, and the new data value of each data point in the complete object model data is calculated according to the filtering degree; and filtered object model data is obtained.

6. The method for quickly printing a tactile model of an exhibit according to claim 1, wherein: The method of performing geometric feature enhancement on the filtered object model data based on the Canny edge detection algorithm combined with the adaptive threshold adjustment method, adjusting the intensity value of the edge pixel according to the importance of the edge and the required sharpening degree, and obtaining the sharpened object model data, includes: Performing geometric feature enhancement on the filtered object model data based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method; Calculating the partial derivatives of the data points in the filtered object model data in the X, Y, and Z directions using the central difference method to obtain the gradient amplitude of the model data; Compare the gradient magnitude of each point with the gradient magnitude of its neighboring points along the gradient direction to obtain edge point data and non-edge point data; Calculate the average and standard deviation of the gradient amplitudes of all points in the region, determine the statistical characteristics of the local region based on the average and standard deviation, obtain a high threshold and a low threshold, mark points with a gradient amplitude greater than the high threshold as edge points, and mark points with a gradient amplitude less than the low threshold as non-edge points; connect the edge points to obtain a preliminary edge detection result; The pixel intensity value is adjusted according to the importance of the edge and the required sharpening degree to obtain the sharpened object model data.

7. The method for quickly printing a tactile model of an exhibit according to claim 1, wherein: The method comprises: adjusting the topological relationship of the internal structure of the model according to the structural strength requirement to generate a support structure, calculating the support position and structure according to the physical properties of the model shape and the material, and obtaining the object model structure data; and printing the object layer by layer based on the sharpened object model data and the object model structure data, including: Divide the model into multiple small units according to its geometric shape, determine the node coordinates of each unit and the connection relationship between the nodes; input the elastic modulus, Poisson's ratio, density and thermal expansion coefficient of the material according to the material properties used; Allowable stress is set, and the density-based topology optimization algorithm iteratively adjusts the material distribution of the unit to obtain the optimal topology structure that meets the structural strength requirements. The material density of the unit is updated according to the criteria of the topology optimization algorithm to obtain the optimized model topology structure. Identify the cantilever structure, thin-wall structure, and hole structure of the model, calculate the curvature radius, wall thickness, and angle of different parts of the model, and obtain the structural data of the object model; The object model structure data and the sharpened object model data are converted into G-CODE format data, and the model is sliced ​​reasonably according to the size of the model and the printing area size of the printer; the printing temperature, material flow and printing speed are controlled to print the model layer by layer.

8. A device for quickly printing tactile models of exhibits, characterized in that: The device for quickly printing tactile models of exhibits includes the following modules: An object information scanning module is used to scan the object to be printed using 3D structured light to obtain object point cloud information, and align the object point cloud information using a point cloud alignment algorithm based on feature matching to obtain printed object model data; an abnormal data deletion module, configured to process the printed object model data using an abnormal point detection algorithm, delete abnormal points, and obtain initial object model data; A missing data filling module is used to intelligently fill in the holes and missing data that appear in the scan of the initial object model data according to the surrounding geometric features to obtain complete object model data; a print data adjustment module, configured to remove redundant details from the complete object model data using a Gaussian filtering algorithm to obtain filtered object model data; an object internal adjustment module, configured to perform geometric feature enhancement on the filtered object model data based on a Canny edge detection algorithm combined with an adaptive threshold adjustment method, and adjust the intensity values ​​of edge pixels according to the importance of the edge and the required sharpening degree to obtain sharpened object model data; The object 3D printing module is used to adjust the topological relationship of the model's internal structure according to the structural strength requirements to generate a support structure, calculate the support position and structure according to the model shape and the physical properties of the material, and obtain the object model structure data; and print the object layer by layer based on the sharpened object model data and the object model structure data.

9. A rapid printing device for tactile models of exhibits, characterized in that: The device for quickly printing the exhibit tactile model comprises: a memory and at least one processor, wherein the memory stores instructions; The at least one processor calls the instructions in the memory to enable the device for quickly printing the exhibit tactile model to execute each step of the method for quickly printing the exhibit tactile model according to any one of claims 1 to 7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the steps of the method for quickly printing a tactile model of an exhibit are implemented.

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