Method for automatic calibration of a 3D printing device and related device

Abstract

The application provides an automatic calibration method of a 3D printing device, a 3D printing device, an electronic device and a storage medium. The method comprises the following steps: controlling a first nozzle to move so that the nozzle of the first nozzle is aligned with the optical axis of a shooting device, and then controlling the shooting device to shoot a first image of a first identification device; controlling a second nozzle to move so that the nozzle of the second nozzle is aligned with the optical axis of the shooting device, and then controlling the shooting device to shoot a second image of a second identification device; calculating a first distance between the first identification device and the shooting device according to the first image and a first actual characteristic physical quantity of the first identification device; calculating a second distance between the second identification device and the shooting device according to the second image and a second actual characteristic physical quantity of the second identification device; and calculating the offset of the first nozzle and the second nozzle in the vertical direction according to the first distance and the second distance. The application can automatically calibrate the nozzles of the 3D printing device, has high calibration accuracy and can save labor cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printing, and particularly relates to an automatic calibration method of a 3D printing device and related equipment. BACKGROUND

[0002] With the popularization of concepts such as intelligent manufacturing engineering and industry 4.0, 3D printing technology is becoming more and more popular. 3D printing technology first appeared in the mid-1990s of the 20th century, and is actually the latest rapid prototyping device using light curing and paper layering technologies. It has basically the same working principle as ordinary printing, and the printer is equipped with liquid or powder "printing materials". After being connected with a computer, the "printing materials" are added layer by layer under the control of the computer, and finally the blueprint on the computer is turned into a real object. This printing technology is called 3D printing technology.

[0003] In the related art, the 3D printing device is a printer with double nozzles, and there is a deviation between the double nozzles. The user needs to adjust the double nozzles to the appropriate position, but the accuracy of manually adjusting the double nozzles is not high, and it needs to be repeatedly adjusted, printed, and adjusted again, which is tedious and time-consuming. SUMMARY

[0004] Therefore, the present application provides an automatic calibration method of a 3D printing device and related equipment, which can automatically calibrate the nozzles of the 3D printing device, has high calibration accuracy, and can save labor costs.

[0005] A first aspect of the present application provides an automatic calibration method of a 3D printing device, the 3D printing device comprising a first nozzle, a second nozzle, a shooting device, a first identification device, and a second identification device, the first identification device being arranged on the first nozzle, the second identification device being arranged on the second nozzle, and the shooting device being upward and having a vertical optical axis; the method comprising: controlling the first nozzle to move so that the nozzle of the first nozzle is aligned with the optical axis of the shooting device, and then controlling the shooting device to shoot a first image of the first identification device; controlling the second nozzle to move so that the nozzle of the second nozzle is aligned with the optical axis of the shooting device, and then controlling the shooting device to shoot a second image of the second identification device; calculating a first distance between the first identification device and the shooting device according to the first image and a first actual characteristic physical quantity of the first identification device; calculating a second distance between the second identification device and the shooting device according to the second image and a second actual characteristic physical quantity of the second identification device; and calculating a deviation amount of the first nozzle and the second nozzle in the vertical direction according to the first distance and the second distance.

[0006] Compared with related technologies, the embodiments of this application have at least the following advantages: by setting the shooting device to face upwards and with the optical axis perpendicular, and then controlling the first nozzle and the second nozzle to move to align with the optical axis of the shooting device, images of the first recognition device and the second recognition device are captured, enabling the acquisition of virtual feature physical quantities of the first recognition device in the first image and virtual feature physical quantities of the second recognition device in the second image. This allows the calculation of the first distance between the first recognition device and the shooting device based on the imaging principle of the shooting device and the first actual feature physical quantity of the first recognition device, and the calculation of the second distance between the second recognition device and the shooting device based on the imaging principle of the shooting device and the second actual feature physical quantity of the second recognition device. The difference between the first distance and the second distance yields the vertical offset of the first nozzle and the second nozzle, thus achieving automatic calibration of the first nozzle and the second nozzle. This calibration method is highly accurate and saves labor costs.

[0007] In some possible implementations, the first actual physical feature quantity is the first actual width; calculating the first distance between the first recognition device and the shooting device based on the first image and the first actual physical feature quantity of the first recognition device includes: obtaining the first virtual width of the first recognition device within the first image based on the first image; and calculating the first distance according to the following formula: d A =W A ×f A / w A ; where d A For the first distance, W A w is the first actual width. A This is the first virtual width.

[0008] In some possible implementations, the second actual physical feature quantity is the second actual width; calculating the second distance between the second recognition device and the shooting device based on the second image and the second actual physical feature quantity of the second recognition device includes: obtaining the second virtual width of the second recognition device within the second image based on the second image; and calculating the second distance according to the following formula: d B =W B ×f B / w B ; where d B For the second distance, W B w is the second actual width. B This is the second virtual width.

[0009] In some possible implementations, the method further includes: determining a first feature point of the first identification device and a second feature point of the second identification device; obtaining a first virtual coordinate of the first feature point based on the first image and obtaining a second virtual coordinate of the second feature point based on the second image; calculating a first actual coordinate of the first feature point based on a preset ratio threshold and the first virtual coordinate; calculating a second actual coordinate of the second feature point based on the preset ratio threshold and the second virtual coordinate; and calculating the horizontal offset of the first nozzle and the second nozzle based on the first actual coordinate and the second actual coordinate.

[0010] In some possible implementations, the 3D printing equipment further includes a functional platform, on which the imaging device is mounted; wherein, in a first horizontal direction, the shortest horizontal distance between the imaging device and the edge of the functional platform is a third distance, and in a second horizontal direction, the shortest horizontal distance between the imaging device and the edge of the functional platform is a fourth distance, and the first horizontal direction and the second horizontal direction are perpendicular; the step of calculating the first actual coordinates of the first feature point based on a preset ratio threshold and the first virtual coordinates includes: calculating the first actual coordinates according to the following formula: A X =d X +KX A A Y =d Y +KY A Among them, A X Let A be the x-coordinate of the first actual coordinate. Y Let d be the ordinate of the first actual coordinate, K be the preset ratio threshold, and d be the ordinate of the first actual coordinate. x Let d be the third distance. Y For the fourth distance, X A Y is the x-coordinate of the first virtual coordinate system. A y is the ordinate of the first virtual coordinate.

[0011] In some possible implementations, calculating the second actual coordinates of the second feature point based on a preset ratio threshold and the second virtual coordinates includes: calculating the second actual coordinates according to the following formula: B X =d X +KX B B Y =d Y +KY B Among them, B X B is the x-coordinate of the first actual coordinate. Y Let d be the ordinate of the first actual coordinate, K be the preset ratio threshold, and d be the ordinate of the first actual coordinate. X Let d be the third distance. YFor the fourth distance, X B Y is the x-coordinate of the second virtual coordinate system. B y is the ordinate of the second virtual coordinate system.

[0012] In some possible implementations, calculating the horizontal offset of the first and second nozzles based on the first and second actual coordinates includes: calculating the horizontal offset of the first and second nozzles according to the following formula: Offset x =K(X) B -X A ); Offset y =K(Y B -Y A ); where Offset x Offset is the offset between the first nozzle and the second nozzle in the first horizontal direction. y X represents the offset of the first and second nozzles in the second horizontal direction, K is the preset proportional threshold, and X is the offset of the first and second nozzles in the second horizontal direction. A Y is the x-coordinate of the first virtual coordinate system. A Let X be the ordinate of the first virtual coordinate system. B Y is the x-coordinate of the second virtual coordinate system. B y is the ordinate of the second virtual coordinate system.

[0013] A second aspect of this application discloses a 3D printing device, comprising: a first nozzle, a second nozzle, an imaging device, a first recognition device, a second recognition device, and a control device. The first recognition device is disposed on the first nozzle, and the second recognition device is disposed on the second nozzle. The imaging device faces upward and its optical axis is perpendicular. The control device controls the movement of the first nozzle to align the nozzle of the first nozzle with the optical axis of the imaging device. After the nozzle of the first nozzle is aligned with the optical axis of the imaging device, the control device controls the imaging device to capture a first image of the first recognition device. The control device controls the movement of the second nozzle to align the nozzle of the second nozzle with the optical axis of the imaging device. After the nozzle of the second nozzle is aligned with the optical axis of the imaging device, the control device controls the imaging device to capture a second image of the second recognition device. The control device calculates a first distance between the first recognition device and the imaging device based on the first image and a first actual physical characteristic of the first recognition device. The control device calculates a second distance between the second recognition device and the imaging device based on the second image and a second actual physical characteristic of the second recognition device. The control device calculates the vertical offset of the first nozzle and the second nozzle based on the first distance and the second distance.

[0014] A third aspect of this application discloses an electronic device, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory to cause the electronic device to execute the above-described automatic calibration method for 3D printing equipment.

[0015] The fourth aspect of this application discloses a storage medium including computer instructions that, when executed on an electronic device, cause the electronic device to perform the aforementioned automatic calibration method for a 3D printing device.

[0016] Understandably, the 3D printing equipment of the second aspect, the electronic equipment of the third aspect, and the storage medium of the fourth aspect all correspond to the method of the first aspect. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating an automatic calibration method for a 3D printing device provided in an embodiment of this application.

[0019] Figure 2 This is a partial structural schematic diagram of a 3D printing device provided in an embodiment of this application.

[0020] Figure 3 A flowchart illustrating an automatic calibration method for a 3D printing device provided in an embodiment of this application.

[0021] Figure 4 This is a partial structural schematic diagram of a 3D printing device provided in an embodiment of this application.

[0022] Figure 5 This is a schematic diagram of the functional modules of a 3D printing device provided in an embodiment of this application.

[0023] Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0024] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0025] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[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 herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0027] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0028] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural.

[0029] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0030] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0031] 3D printing equipment, also known as three-dimensional printers or stereo printers, is a rapid prototyping process that typically uses digital technology to print materials. 3D printing equipment is commonly used in mold making, industrial design, and other fields to create models or parts.

[0032] Please refer to Figure 1 This is a flowchart of an automatic calibration method for a 3D printing device provided in this application embodiment. The 3D printing device includes a first nozzle, a second nozzle, an imaging device, a first recognition device, and a second recognition device. The first recognition device is disposed on the first nozzle, and the second recognition device is disposed on the second nozzle. The imaging device faces upward and its optical axis is perpendicular. The automatic calibration method for the 3D printing device includes the following steps:

[0033] Step 101: Control the movement of the first nozzle to align the nozzle of the first nozzle with the optical axis of the imaging device, and then control the imaging device to capture the first image of the first recognition device.

[0034] In some embodiments, the first nozzle is controlled to move in the horizontal direction so that the nozzle of the first nozzle is aligned with the optical axis of the imaging device, that is, the nozzle of the first nozzle is facing the center of the imaging device.

[0035] Step 102: Control the movement of the second nozzle to align the nozzle of the second nozzle with the optical axis of the imaging device, and then control the imaging device to capture the second image of the second recognition device.

[0036] In some embodiments, the second nozzle is controlled to move in the horizontal direction so that the nozzle of the second nozzle is aligned with the optical axis of the shooting device, that is, the nozzle of the second nozzle is facing the center of the shooting device.

[0037] To facilitate understanding, the following will be combined with... Figure 2The moving process of the first and second nozzles in this embodiment, as well as the structure of the first and second identification devices, will be described in detail below:

[0038] Please refer to Figure 2 This is a partial structural diagram of the 3D printing equipment provided in this embodiment. Both the first identification device 3 and the second identification device 4 are identification collars installed on the first nozzle 1 and the second nozzle 2. After moving the first nozzle 1 to the center of the imaging device 5, the imaging device 5 is controlled to capture a first image of the first identification device 3. After moving the second nozzle 2 to the center of the imaging device 5, the imaging device 5 is controlled to capture a second image of the second identification device 4.

[0039] It is worth noting that, taking the example where both the first identification device 3 and the second identification device 4 are identification collars, the installation position of the first identification device 3 on the first nozzle 1 is the same as the installation position of the second identification device 4 on the second nozzle 2. For example, if the first identification device 3 is installed at the center of the first nozzle 1, then the second identification device 4 is also installed at the center of the second nozzle 2. This can improve the accuracy of subsequent calculations of the vertical offset between the first nozzle 1 and the second nozzle 2, thereby improving the printing effect of the 3D printing equipment.

[0040] In some embodiments, the material of the identification collar is not specifically limited. The identification collar can be a rope attached to the first nozzle 1 and the second nozzle 2, or it can be elastic plastic, etc. It is only necessary to ensure that the first identification device 3 and the second identification device 4 can be clearly distinguished in the first image and the second image.

[0041] In some embodiments, the first identification device 3 and the second identification device 4 may also be other structures, such as modules or spheres installed on the sides of the first nozzle 1 and the second nozzle 2.

[0042] Step 103: Calculate the first distance between the first identification device and the shooting device based on the first image and the first actual physical quantity of the first identification device.

[0043] In some embodiments, the first actual feature physical quantity is the first actual width. First, based on the first image, the first virtual width of the first recognition device within the first image is obtained, and then the first distance is calculated according to the following formula:

[0044] d A =W A ×f A / w A ; where d A For the first distance, W A w is the first actual width. A f is the first virtual width. A The focal length of the imaging device.

[0045] Please refer to this again. Figure 2 ,from Figure 2 As can be seen, the ratio of the first actual width of the first recognition device to the first virtual width after imaging is equal to the ratio of the first distance to the focal length of the imaging device. Based on the above proportional relationship, the first distance can be calculated.

[0046] In some embodiments, the first actual physical characteristic quantity may also be other physical parameters, such as length, thickness, etc., and this embodiment does not specifically limit this.

[0047] Step 104: Calculate the second distance between the second identification device and the shooting device based on the second image and the second actual feature physical quantity of the second identification device.

[0048] In some embodiments, the second actual feature physical quantity is the second actual width. First, based on the second image, the second virtual width of the second recognition device within the second image is obtained, and then the second distance is calculated according to the following formula:

[0049] d B =W B ×f B / w B ; where d B For the second distance, W B For the second actual width, w B f is the second virtual width. B The focal length of the imaging device.

[0050] Please refer to this again. Figure 2 ,from Figure 2 As can be seen, the ratio of the second actual width of the second recognition device to the second virtual width after imaging is equal to the ratio of the second distance to the focal length of the imaging device. Based on the above proportional relationship, the second distance can be calculated.

[0051] In some embodiments, the second actual physical quantity can also be other physical parameters, such as length, thickness, etc., and this embodiment does not specifically limit this.

[0052] Step 105: Calculate the vertical offset of the first nozzle and the second nozzle based on the first distance and the second distance.

[0053] In some embodiments, since both the first identification device and the second identification device are located at the same position as the first and second nozzles, the first distance between the first identification device and the imaging device can be equivalent to the relative height of the first nozzle in the vertical direction; similarly, the second distance between the second identification device and the imaging device can be equivalent to the relative height of the second nozzle in the vertical direction. Therefore, by calculating the difference between the first distance and the second distance, the offset of the first and second nozzles in the vertical direction can be obtained.

[0054] In some embodiments, updating the offset to the system controlling the 3D printing equipment can calibrate the vertical offset of the first and second nozzles.

[0055] Compared with related technologies, the embodiments of this application have at least the following advantages: by setting the shooting device to face upwards and with the optical axis perpendicular, and then controlling the first nozzle and the second nozzle to move to align with the optical axis of the shooting device, images of the first recognition device and the second recognition device are captured, enabling the acquisition of virtual feature physical quantities of the first recognition device in the first image and virtual feature physical quantities of the second recognition device in the second image. This allows the calculation of the first distance between the first recognition device and the shooting device based on the imaging principle of the shooting device and the first actual feature physical quantity of the first recognition device, and the calculation of the second distance between the second recognition device and the shooting device based on the imaging principle of the shooting device and the second actual feature physical quantity of the second recognition device. The difference between the first distance and the second distance yields the vertical offset of the first nozzle and the second nozzle, thus achieving automatic calibration of the first nozzle and the second nozzle. This calibration method is highly accurate and saves labor costs.

[0056] Please refer to Figure 3 This is a flowchart of an automatic calibration method for a 3D printing device provided in this application embodiment. This embodiment is applied to the 3D printing device of the aforementioned embodiment and includes the following steps:

[0057] Perform steps 101 to 105 in the foregoing embodiments.

[0058] Step 201: Determine the first feature point of the first identification device and the second feature point of the second identification device.

[0059] In some embodiments, taking the example that both the first identification device and the second identification device are identification collars disposed on the first nozzle and the second nozzle, the first feature point of the first identification device is the center of the identification collar of the first nozzle, and the second feature point of the second identification device is the center of the identification collar of the second nozzle.

[0060] In some embodiments, the first feature point and the second feature point may be in other locations, such as when the first identification device is a module, the first feature point is the center of the module. This embodiment does not specifically limit this.

[0061] Step 202: Obtain the first virtual coordinates of the first feature point based on the first image, and obtain the second virtual coordinates of the second feature point based on the second image.

[0062] In some embodiments, image recognition is performed on the first image and the second image to obtain the first virtual coordinates and the second virtual coordinates.

[0063] Step 203: Calculate the first actual coordinates of the first feature point based on the preset ratio threshold and the first virtual coordinates.

[0064] Please refer to Figure 4 This is a partial structural schematic diagram of the 3D printing equipment provided in an embodiment of this application. The 3D printing equipment also includes a functional platform 6, and an imaging device 5 is disposed on the functional platform 6; wherein, in the first horizontal direction X, the shortest horizontal distance between the imaging device 5 and the edge of the functional platform 6 is a third distance d. X In the second horizontal direction Y, the shortest horizontal distance between the shooting device 5 and the edge of the functional platform 6 is the fourth distance d. Y The first horizontal direction X is perpendicular to the second horizontal direction Y.

[0065] Combination Figure 4 The first actual coordinates can be calculated using the following formula: A X =d X +KX A A Y =d Y +KY A ;

[0066] Among them, A X Let A be the x-coordinate of the first actual coordinate. Y Let d be the ordinate of the first actual coordinate, K be the preset ratio threshold, and d be the ordinate of the first actual coordinate. X Let d be the third distance. Y For the fourth distance, X A Let y be the x-coordinate of the first virtual coordinate. A y is the ordinate of the first virtual coordinate.

[0067] It is understood that in this embodiment, the preset ratio threshold K is the ratio of the first virtual width to the first actual width of the first identification device in the aforementioned embodiment.

[0068] Step 204: Calculate the second actual coordinates of the second feature point based on the preset ratio threshold and the second virtual coordinates.

[0069] Combination Figure 4 The second actual coordinate can be calculated using the following formula: B X =d X +KX B B Y =d Y +KY B ;

[0070] Among them, B X B is the x-coordinate of the first actual coordinate. Y Let d be the ordinate of the first actual coordinate, K be the preset ratio threshold, and d be the ordinate of the first actual coordinate. X Let d be the third distance. Y For the fourth distance, X B Y is the x-coordinate of the second virtual coordinate system. B y is the ordinate of the second virtual coordinate system.

[0071] Step 205: Calculate the horizontal offset of the first nozzle and the second nozzle based on the first actual coordinate and the second actual coordinate.

[0072] In some embodiments, the horizontal offset between the first nozzle and the second nozzle is calculated according to the following formula: Offset x =K(X) B -X A ); Offset y =K(Y B -Y A );

[0073] Among them, Offset x Offset is the offset between the first nozzle and the second nozzle in the first horizontal direction. y X represents the offset of the first and second nozzles in the second horizontal direction, K is the preset proportional threshold, and X is the offset of the first and second nozzles in the second horizontal direction. A Y is the x-coordinate of the first virtual coordinate system. A Let X be the ordinate of the first virtual coordinate system. B Y is the x-coordinate of the second virtual coordinate system. B The ordinate of the second virtual coordinate

[0074] Compared with related technologies, the embodiments of this application have at least the following advantages: by setting the shooting device to face upwards and with the optical axis perpendicular, and then controlling the first nozzle and the second nozzle to move to align with the optical axis of the shooting device, images of the first recognition device and the second recognition device are captured, enabling the acquisition of virtual feature physical quantities of the first recognition device in the first image and virtual feature physical quantities of the second recognition device in the second image. This allows the calculation of the first distance between the first recognition device and the shooting device based on the imaging principle of the shooting device and the first actual feature physical quantity of the first recognition device, and the calculation of the second distance between the second recognition device and the shooting device based on the imaging principle of the shooting device and the second actual feature physical quantity of the second recognition device. The difference between the first distance and the second distance yields the vertical offset of the first nozzle and the second nozzle, thus achieving automatic calibration of the first nozzle and the second nozzle. This calibration method is highly accurate and saves labor costs.

[0075] Please refer to Figure 5 This is a functional module diagram of the 3D printing equipment provided in this application embodiment. It includes a first nozzle 501, a second nozzle 502, an imaging device 503, a first recognition device 504, a second recognition device 505, and a control device 506. The first recognition device 504 is disposed on the first nozzle 501, and the second recognition device 505 is disposed on the second nozzle 502. The imaging device 503 faces upwards and its optical axis is perpendicular. The control device 506 controls the movement of the first nozzle 501 to align the nozzle of the first nozzle 501 with the optical axis of the imaging device 503, and then controls the imaging device 503 to capture the first image from the first recognition device 504. The control device 506 also controls the movement of the second nozzle 502 to align the nozzle of the second nozzle 502 with the optical axis of the imaging device 503, and then controls the imaging device 503 to capture the first image from the first recognition device 504. The nozzle is aligned with the optical axis of the imaging device 503, and then the imaging device 503 is controlled to capture the second image of the second recognition device 505; the control device 506 calculates the first distance between the first recognition device 504 and the imaging device 503 based on the first image and the first actual physical quantity of the first recognition device 504; the control device 506 calculates the second distance between the second recognition device 505 and the imaging device 503 based on the second image and the second actual physical quantity of the second recognition device 505; the control device 506 calculates the offset of the first nozzle 501 and the second nozzle 502 in the vertical direction based on the first distance and the second distance.

[0076] Please refer to Figure 6 This is a schematic diagram of the hardware structure of the electronic device 1000 provided in an embodiment of this application. Figure 6As shown, the electronic device 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used 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 methods described above in the electronic device 1000.

[0077] It is understood that the structure illustrated in this embodiment does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements.

[0078] Processor 1001 may include one or more processing units, such as application processors (APs), modems, graphics processing units (GPUs), image signal processors (ISPs), controllers, video codecs, digital signal processors (DSPs), baseband processors, and / or neural network processing units (NPUs). These different processing units may be independent devices or integrated into one or more processors.

[0079] The processor 1001 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. This memory can store instructions or data that the processor 1001 has just used or that are used repeatedly. If the processor 1001 needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0080] In some embodiments, the processor 1001 may include one or more interfaces. Interfaces may 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.

[0081] In some embodiments, memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0082] This embodiment also provides a computer-readable storage medium storing computer instructions. When the instructions are executed on an electronic device, the electronic device performs the aforementioned method steps to implement the methods described in the above embodiments.

[0083] In this embodiment, the electronic device and computer storage medium are used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0084] In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0085] In the several embodiments provided in this application, the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are illustrative. For instance, the division of modules or units is a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0086] The unit described as a separate component may or may not be physically separate. The component shown as a unit can be one physical unit or multiple physical units, that is, it can be located in one place or distributed in multiple different places. Some or all of the units can be selected to achieve the purpose of the solution in this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. An automatic calibration method for a 3D printing device, characterized in that, The 3D printing equipment includes a first nozzle, a second nozzle, an imaging device, a first recognition device, and a second recognition device. The first recognition device is disposed on the first nozzle, the second recognition device is disposed on the second nozzle, and the imaging device faces upward and its optical axis is perpendicular. The method includes: Control the movement of the first nozzle so that the nozzle of the first nozzle is aligned with the optical axis of the imaging device, and then control the imaging device to capture the first image of the first recognition device; Control the movement of the second nozzle to align the nozzle of the second nozzle with the optical axis of the imaging device, and then control the imaging device to capture the second image of the second recognition device; Based on the first image and the first actual physical characteristic of the first recognition device, a first distance between the first recognition device and the shooting device is calculated; based on the second image and the second actual physical characteristic of the second recognition device, a second distance between the second recognition device and the shooting device is calculated. The vertical offset of the first nozzle and the second nozzle is calculated based on the first distance and the second distance.

2. The automatic calibration method for 3D printing equipment as described in claim 1, characterized in that, The first actual physical quantity is the first actual width; The step of calculating the first distance between the first recognition device and the capturing device based on the first image and the first actual physical characteristic of the first recognition device includes: Based on the first image, the first virtual width of the first recognition device within the first image is obtained; The first distance is calculated using the following formula: d A =W A ×f A / w A ; where d A For the first distance, W A w is the first actual width. A f is the first virtual width. A The focal length of the shooting device is denoted as .

3. The automatic calibration method for 3D printing equipment as described in claim 1, characterized in that, The second actual physical quantity is the second actual width; The step of calculating the second distance between the second recognition device and the shooting device based on the second image and the second actual physical characteristic of the second recognition device includes: Based on the second image, the second virtual width of the second recognition device within the second image is obtained; The second distance is calculated using the following formula: d B =W B ×f B / w B ; where d B For the second distance, W B w is the second actual width. B f is the second virtual width. B The focal length of the shooting device is denoted as .

4. The automatic calibration method for 3D printing equipment as described in claim 1, characterized in that, Also includes: Determine the first feature point of the first identification device and the second feature point of the second identification device; The first virtual coordinates of the first feature point are obtained from the first image, and the second virtual coordinates of the second feature point are obtained from the second image. The first actual coordinates of the first feature point are calculated based on a preset ratio threshold and the first virtual coordinates. Calculate the second actual coordinates of the second feature point based on the preset ratio threshold and the second virtual coordinates; The horizontal offset of the first nozzle and the second nozzle is calculated based on the first actual coordinate and the second actual coordinate.

5. The automatic calibration method for 3D printing equipment as described in claim 4, characterized in that, The 3D printing equipment also includes a functional platform, and the imaging device is disposed on the functional platform; wherein, in a first horizontal direction, the shortest horizontal distance between the imaging device and the edge of the functional platform is a third distance, and in a second horizontal direction, the shortest horizontal distance between the imaging device and the edge of the functional platform is a fourth distance, and the first horizontal direction and the second horizontal direction are perpendicular to each other; The step of calculating the first actual coordinates of the first feature point based on a preset ratio threshold and the first virtual coordinates includes: calculating the first actual coordinates according to the following formula: HAS X =d X +KX A ;HAS Y =d Y +KY A ; Among them, A X Let A be the x-coordinate of the first actual coordinate. Y Let d be the ordinate of the first actual coordinate, K be the preset ratio threshold, and d be the ordinate of the first actual coordinate. X Let d be the third distance. Y For the fourth distance, X A Y is the x-coordinate of the first virtual coordinate system. A y is the ordinate of the first virtual coordinate.

6. The automatic calibration method for 3D printing equipment as described in claim 5, characterized in that, The step of calculating the second actual coordinates of the second feature point based on the preset ratio threshold and the second virtual coordinates includes: calculating the second actual coordinates according to the following formula: B X =d X +KX B ;B Y =d Y +KY B ; Among them, B X B is the x-coordinate of the first actual coordinate. Y Let d be the ordinate of the first actual coordinate, K be the preset ratio threshold, and d be the ordinate of the first actual coordinate. X Let d be the third distance. Y For the fourth distance, X B Y is the x-coordinate of the second virtual coordinate system. B y is the ordinate of the second virtual coordinate system.

7. The automatic calibration method for 3D printing equipment as described in claim 6, characterized in that, The step of calculating the horizontal offset of the first nozzle and the second nozzle based on the first actual coordinate and the second actual coordinate includes: calculating the horizontal offset of the first nozzle and the second nozzle according to the following formula: Offset x =K(X B -X A );Offset y =K(Y B -Y A ); Among them, Offset x Offset is the offset between the first nozzle and the second nozzle in the first horizontal direction. y X represents the offset of the first and second nozzles in the second horizontal direction, K is the preset proportional threshold, and X is the offset of the first and second nozzles in the second horizontal direction. A Y is the x-coordinate of the first virtual coordinate system. A Let X be the ordinate of the first virtual coordinate system. B Y is the x-coordinate of the second virtual coordinate system. B y is the ordinate of the second virtual coordinate.

8. A 3D printing device, characterized in that, include: The device comprises a first nozzle, a second nozzle, an imaging device, a first identification device, a second identification device, and a control device. The first identification device is disposed on the first nozzle, and the second identification device is disposed on the second nozzle. The imaging device faces upward and its optical axis is perpendicular. The control device controls the movement of the first nozzle to align the nozzle of the first nozzle with the optical axis of the imaging device, and then controls the imaging device to capture the first image of the first recognition device. The control device controls the movement of the second nozzle to align the nozzle of the second nozzle with the optical axis of the imaging device, and then controls the imaging device to capture the second image of the second recognition device; The control device calculates a first distance between the first recognition device and the shooting device based on the first image and a first actual physical characteristic of the first recognition device; The control device calculates a second distance between the second recognition device and the shooting device based on the second image and the second actual physical characteristic of the second recognition device; The control device calculates the vertical offset of the first nozzle and the second nozzle based on the first distance and the second distance.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory being used to store instructions, and the processor being used to invoke the instructions in the memory, causing the electronic device to execute the automatic calibration method of the 3D printing device according to any one of claims 1 to 7.

10. A storage medium, characterized in that, Includes computer instructions that, when executed on an electronic device, cause the electronic device to perform an automatic calibration method for a 3D printing device as claimed in any one of claims 1 to 7.

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