Network bed data determination method and device, electronic equipment and storage medium
By acquiring historical mesh bed data and the current coordinates of reference points in the 3D printer, determining the transformation relationship, and calculating the current mesh bed data, the problem of time-consuming leveling of the printing platform each time is solved, achieving more efficient mesh bed data acquisition and simplified operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2026-03-31
AI Technical Summary
In the 3D printing process, the height of each area of the printing platform needs to be remeasured and leveled before each print, which is cumbersome and time-consuming, affecting the user experience.
By acquiring historical mesh bed data from the 3D printer and the current 3D coordinates of reference points, the transformation relationship is determined. Using this transformation relationship and historical mesh bed data, the current mesh bed data is calculated, simplifying the measurement operation.
It reduces the measurement time for netbed data, improves user experience, simplifies measurement operations, and increases acquisition efficiency.
Smart Images
Figure CN121756578A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of 3D printing, specifically to a method, apparatus, electronic device, and storage medium for determining mesh bed data. Background Technology
[0002] 3D printing, also known as additive manufacturing, is a technology that manufactures solid parts by adding materials layer by layer based on three-dimensional data. During the 3D printing process, the 3D printer needs to be leveled to ensure that the vertical distance between the nozzle and the printing platform below is consistent, thus guaranteeing the printing effect.
[0003] However, due to factors such as temperature variations, assembly errors, and differences in motor tension on the 3D printer's printing platform, the height of different areas of the printing platform may vary during each print. Therefore, before each print, users need to remeasure the height of different areas of the printing platform by leveling it to obtain the mesh bed data of the printing platform.
[0004] However, re-measuring and leveling the height of each area of the printing platform each time is cumbersome, time-consuming, and affects the user experience. Summary of the Invention
[0005] In view of the above, embodiments of this application provide a method, apparatus, electronic device, and computer-readable storage medium for determining net bed data, which can reduce the determination time of net bed data, simplify the measurement operation of net bed data, and improve the user experience.
[0006] In a first aspect, embodiments of this application provide a method for determining netbed data, including:
[0007] Acquire historical mesh bed data of the printing platform in a 3D printer. The historical mesh bed data includes the historical 3D coordinates of each measurement point in the printing platform. Each measurement point is configured with at least one reference point.
[0008] Obtain the current three-dimensional coordinates of the reference point;
[0009] Based on the historical three-dimensional coordinates of the reference point and the current three-dimensional coordinates of the reference point, determine the transformation relationship between the historical net bed data and the current net bed data;
[0010] The current mesh bed data of the printing platform is determined based on the transformation relationship and the historical mesh bed data.
[0011] The embodiments of this application can determine the transformation relationship of the reference point position based on the historical three-dimensional coordinates and the current three-dimensional coordinates of the reference point. This transformation relationship can reflect the transformation relationship of the netbed data to a certain extent. Therefore, based on this transformation relationship and the historical netbed data, the current netbed data of the printing platform can be determined, thereby simplifying the netbed data measurement operation, reducing the measurement time of the current netbed data, improving the acquisition efficiency of the current netbed data, and improving the user experience.
[0012] In some embodiments, multiple reference points are configured at each measurement point; determining the transformation relationship between the historical netbed data and the current netbed data based on the historical three-dimensional coordinates of the reference points and the current three-dimensional coordinates of the reference points includes:
[0013] Determine the plane bounded by the historical three-dimensional coordinates of the plurality of reference points to obtain at least one historical plane matrix;
[0014] Determine the plane bounded by the current three-dimensional coordinates of the plurality of reference points to obtain at least one current plane matrix;
[0015] Based on the at least one historical plane matrix and the at least one current plane matrix, at least one rotation matrix is obtained;
[0016] The at least one rotation matrix is used as the transformation relation.
[0017] In some embodiments, at least one rotation matrix is obtained based on the at least one historical plane matrix and the at least one current plane matrix, including:
[0018] Obtain a historical height matrix and a current height matrix. The historical height matrix includes the height values of each historical 3D coordinate in the historical plane matrix, and the current height matrix includes the height values of each current 3D coordinate in the current plane matrix.
[0019] Multiply the transpose of the historical height matrix by the current height matrix to obtain the first matrix;
[0020] Perform singular value decomposition on the first matrix to obtain the transpose of the right singular matrix and the left singular matrix;
[0021] Multiply the left singular matrix and the transpose of the right singular matrix to obtain the second matrix;
[0022] The rotation matrix is determined based on the second matrix.
[0023] In some embodiments, determining the rotation matrix based on the second matrix includes:
[0024] Perform determinant operations on the second matrix to obtain the result;
[0025] If the result of the operation is not negative, the second matrix is used as the rotation matrix;
[0026] If the result of the operation is negative, take the opposite of each element in the last column of the left singular matrix to obtain the inverted left singular matrix;
[0027] The rotation matrix is obtained by multiplying the inverted left singular matrix and the transpose of the right singular matrix.
[0028] In some embodiments, determining the current mesh bed data of the printing platform based on the transformation relationship and the historical mesh bed data includes:
[0029] When the transformation relationship includes multiple rotation matrices, the multiple rotation matrices are multiplied by the historical three-dimensional coordinates of the measurement point to obtain multiple rotated historical three-dimensional coordinates;
[0030] The current height of the measurement point is determined based on the height values in the multiple rotated historical three-dimensional coordinates.
[0031] The current mesh bed data is determined based on the current height of each measurement point in the printing platform.
[0032] In some embodiments, determining the current height of the measurement point based on the height values in the plurality of rotated historical three-dimensional coordinates includes:
[0033] Determine the median value among the height values of the plurality of rotated historical three-dimensional coordinates;
[0034] The median value is used as the current height of the measurement point.
[0035] In some embodiments, each measurement point is configured with at least four reference points, and any three of the four reference points are not collinear.
[0036] In some embodiments, the four reference points are four measurement points located at different vertices of the printing platform.
[0037] Secondly, embodiments of this application also provide a netbed data determination device, comprising:
[0038] The historical mesh bed acquisition module is used to acquire historical mesh bed data of the printing platform in the 3D printer. The historical mesh bed data includes the historical 3D coordinates of each measurement point in the printing platform, and each measurement point is configured with at least one reference point.
[0039] The measurement module is used to obtain the current three-dimensional coordinates of the reference point;
[0040] The transformation module is used to determine the transformation relationship between the historical net bed data and the current net bed data based on the historical three-dimensional coordinates of the reference point and the current three-dimensional coordinates of the reference point;
[0041] The current mesh bed acquisition module is used to determine the current mesh bed data of the printing platform based on the transformation relationship and the historical mesh bed data.
[0042] Thirdly, embodiments of this application also provide an electronic device, the electronic device including a processor and a memory, the memory being used to store instructions, and the processor being used to call the instructions in the memory, causing the electronic device to execute the net bed data determination method described in the first aspect.
[0043] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the webbed data determination method described in the first aspect. Attached Figure Description
[0044] Figure 1 This is a schematic diagram illustrating an implementation scenario of the method for determining net bed data according to an embodiment of this application.
[0045] Figure 2 This is a flowchart of the steps of a method for determining net bed data according to an embodiment of this application.
[0046] Figure 3 This is a schematic diagram of historical net bed data provided according to an embodiment of this application.
[0047] Figure 4 This is a schematic diagram of current netbed data provided according to an embodiment of this application.
[0048] Figure 5 This is a flowchart of the sub-steps of step 203 provided according to an embodiment of this application.
[0049] Figure 6 This is a schematic diagram of the structure of a net bed data determination device according to an embodiment of this application.
[0050] Figure 7 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation
[0051] 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.
[0052] 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.
[0053] 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.
[0054] 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.
[0055] 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 three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.
[0056] 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.
[0057] When a 3D printer is powered off or after printing a finished model, the printing platform will lower to the bottom. If printing continues, the motor will pull the printing platform. However, due to different pulling forces of the motor (such as a dual Z motor) on the printing platform, or due to temperature changes, assembly errors, etc., the height of each area of the printing platform may be different from the height of each area during the last printing. This will cause the mesh bed data obtained during the last leveling to deviate from the actual mesh bed data, thus affecting the quality of the first layer of the model.
[0058] To ensure the accuracy of the mesh bed data, users can remeasure the height of different areas of the printing platform before printing by leveling it, thereby obtaining the mesh bed data of the printing platform. For example, controlling the nozzle of the 3D printer to contact the printing platform can detect and obtain the mesh bed data.
[0059] However, if users have to remeasure the height of each area of the printing platform to obtain the wire bed data before each reprint, it will take a long time, be cumbersome, and affect the user experience.
[0060] In view of the above, embodiments of this application provide a method, apparatus, electronic device, and computer-readable storage medium for determining net bed data, which can reduce the determination time of net bed data, simplify the measurement operation of net bed data, and improve the user experience.
[0061] The wire bed data can be used to describe the height of various areas of the printing platform. Specifically, the printing platform has multiple measurement points, and the wire bed data is used to describe the height of each measurement point.
[0062] refer to Figure 1 As shown, Figure 1 This is a schematic diagram illustrating an implementation scenario of the netbed data determination method provided in this application embodiment.
[0063] This implementation scenario may include an electronic device 100 and a 3D printer 200. The electronic device 100 may be externally connected to the 3D printer 200 or may be an embedded computer of the 3D printer 200; this application embodiment does not limit this.
[0064] The electronic device 100 can be used to execute the mesh bed data determination method provided in the embodiments of this application to obtain the current mesh bed data, so as to level the printing platform of the 3D printer 200 using the current mesh bed data.
[0065] This electronic device is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, processors, microprogrammed controllers (MCUs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), and embedded devices. The electronic device can be a personal computer, a server, or an embedded computer in a 3D printer.
[0066] The 3D printer 200 includes a nozzle 210 and a printing platform 220. The nozzle 210 can move above the printing platform 220 to print slices of the model to be printed layer by layer to form the finished product.
[0067] Before 3D printing, the 3D printer can obtain the current mesh bed data of the printing platform 220 through leveling to ensure print quality. The current mesh bed data of the printing platform 220 can be used to describe the current height of each area in the printing platform 220. Specifically, multiple measurement points are set in the printing platform 220, and the current mesh bed data of the printing platform 220 includes the current height of each measurement point in the printing platform 220. The 3D printer can use the nozzle 210 to detect each measurement point of the printing platform 220 to obtain the current height of each measurement point, thereby obtaining the current mesh bed data.
[0068] The current net bed data can be described in three-dimensional coordinates, showing the measurement points and their current heights.
[0069] Continue to refer to Figure 1 As shown, assuming in Figure 1 In the coordinate system shown, the coordinates of a measurement point are (X, Y, Z), where (X, Y) are the coordinates of the measurement point on the printing platform plane, and Z is the height of the measurement point at (X, Y) relative to the origin of the Z-axis. The origin of the Z-axis can be at the same height as the center point of the printing platform 220.
[0070] In this coordinate system, the Z-axis can be in the same direction as the nozzle 210, the XOY plane is the printing platform plane, the XOY plane can be perpendicular to the Z-axis and pass through the center point of the printing platform 220, and the X-axis and Y-axis of the XOY plane can be parallel to the two sides of the printing platform 220 respectively.
[0071] The coordinate system described above is merely an example. In practical applications, coordinate systems can be created according to requirements, and this application does not limit this.
[0072] The printing platform 220 can be configured with m*n measurement points. The electronic device can obtain the current height of the m*n measurement points based on the net bed data determination method provided in this application embodiment to obtain the current net bed data.
[0073] Figure 2 This is a flowchart illustrating the steps of an embodiment of the method for determining network bed data according to this application. Depending on different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.
[0074] See Figure 2 As shown, the method for determining the net bed data may include the following steps.
[0075] Step 201: Obtain historical mesh bed data of the printing platform in the 3D printer.
[0076] Historical mesh bed data is used to describe the mesh bed data obtained in a previous 3D printing process prior to this 3D printing.
[0077] For example, electronic devices can store the actual mesh bed data measured during a previous 3D printing and use it as historical mesh bed data, or they can store the mesh bed data obtained during the last 3D printing and use it as historical mesh bed data.
[0078] Netbed data is used to describe the height of each measurement point; for example, it may include the three-dimensional coordinates of each measurement. Historical netbed data may include the historical three-dimensional coordinates of each measurement point in the printing platform.
[0079] For example, refer to Figure 3 As shown, Figure 3 This is a schematic diagram of historical netbed data. Historical netbed data can be represented as an m x n matrix A. m×n (m,n∈[2,∞)), A m×n An element in the matrix represents the historical three-dimensional coordinates of a measurement point, which can be denoted as a. ij =(x ij ,y ij ,z ij )(i∈[0,m-1],j∈(0,n-1)), a ij x represents the measurement point in the i-th row and j-th column of the matrix. ij ,y ij For measurement point a ij The coordinates (based on the Cartesian coordinate system) at the printing platform plane, z ij For measurement point a ij The height value relative to the origin of the Z-axis, where A m×n It can be as follows:
[0080]
[0081] Step 202: Obtain the current three-dimensional coordinates of the reference point.
[0082] Each measurement point is equipped with at least one reference point.
[0083] In some embodiments, the number of reference points configured in the measurement points may be greater than or equal to three.
[0084] Since the change of the printing platform position is a planar transformation, if the number of reference points is greater than or equal to three, a plane can be formed between the reference points. The change of the reference point position can better reflect the change of the printing platform's corresponding plane position, thus making the calculation of the current wire bed data more accurate.
[0085] Furthermore, in some embodiments, among the measurement points of the printing platform, at least four measurement points are configured as reference points, and any three of the four reference points are not collinear, that is, any three of the four measurement points can form a plane, and the four measurement points can form four planes.
[0086] For example, four measurement points that meet the above conditions can be randomly selected from the various measurement points on the printing platform as reference points. For instance, select point a. 0(n-2) a 11 a (m-2)(n-1) a (m-1)3 These four measurement points serve as reference points, but are not limited to these.
[0087] This embodiment can form four measurement points on four planes as reference points. The changes in these four planes can basically reflect the positional changes of the printing platform, thereby improving the accuracy of the wire bed data.
[0088] Furthermore, these four reference points are four measurement points located at the apex of the printing platform. That is, a can be... 00 a 0(n-1) a (m-1)0 a (m-1)(n-1) These four measurement points located at the vertices serve as reference points.
[0089] The planes formed by the four measurement points at the apex can cover each measurement point in the printing platform. Therefore, the positional changes of these four reference points can more accurately reflect the positional changes of the printing platform, thus enabling more precise calculation of the current wire bed data.
[0090] For example, refer to Figure 4 As shown, before 3D printing, the current height of the four vertices of the printing platform (also known as the heated bed) can be remeasured. These four vertices are the reference points. Based on the height of these four reference points, their current three-dimensional coordinates can be obtained. In the current heated bed data, these four reference points can be denoted as P0, P1, P2, and P3, and their current three-dimensional coordinates can be denoted as P0(x...). 00 ,y 00 ,z 00 ), P1(x u0 ,y u0 ,z u0 ), P2(x 0v ,y 0v ,z 0v ), P3(x uv ,y uv ,z uv ), where u=m-1, v=n-1.
[0091] Step 203: Based on the historical three-dimensional coordinates of the reference point and the current three-dimensional coordinates of the reference point, determine the transformation relationship between the historical netbed data and the current netbed data.
[0092] In other words, electronic devices can determine the transformation relationship of reference points based on the historical three-dimensional coordinates and the current three-dimensional coordinates of reference points, and use the transformation relationship of reference points as the change relationship between historical net bed data and current net bed data.
[0093] In some embodiments, when one or two reference points are configured in the measurement points, the height changes of these reference points can be used as the height change relationship between historical netbed data and current netbed data.
[0094] In other embodiments, each measurement point may be configured with multiple reference points. Specifically, the number of reference points configured in each reference point is greater than or equal to three, and the transformation relationship includes at least one rotation matrix.
[0095] Specifically, refer to Figure 5 As shown, step 203 can be achieved in the following way:
[0096] Step 501: Determine the plane enclosed by the historical three-dimensional coordinates of multiple reference points to obtain at least one historical plane matrix.
[0097] Specifically, the historical plane matrix may include the historical three-dimensional coordinates of at least three reference points, which can enclose a plane, that is, the historical three-dimensional coordinates of the at least three reference points can serve as the vertices of the enclosed plane.
[0098] For example, continue to refer to Figure 3 As shown, assuming the multiple reference points are four measurement points located at the apex of the printing platform, in the historical mesh bed data, these four reference points are denoted as O0, O1, O2, and O3, respectively, and their historical three-dimensional coordinates can be denoted as O0(x...). 00 ,y 00 ,z 00 ), O1(x u0 ,y u0 ,z u0 O2(x) 0v ,y 0v ,z 0v O3(x) uv ,y uv ,z uv ), where u=m-1, v=n-1.
[0099] Any three reference points O1, O2, and O3 can form a plane. Therefore, O0, O1, O2, and O3 can form four planes, which can be denoted as historical planes. The three reference points that form these historical planes can form historical plane matrices. These four historical plane matrices are as follows:
[0100] O0 m×n (O0, O1, O2), O1 m×n (O0, O1, O3), O2 m×n (O0, O2, O3), O3 m×n (O1, O2, O3).
[0101] That is, the historical plane matrix O0 m×n Includes the historical 3D coordinates of three reference points O0, O1, and O2; historical plane matrix O1 m×n Includes the historical 3D coordinates of three reference points O0, O1, and O3; historical plane matrix O2 m×n Includes the historical 3D coordinates of three reference points O0, O2, and O3; historical plane matrix O3 m×n This includes the historical three-dimensional coordinates of three reference points: O1, O2, and O3.
[0102] Step 502: Determine the plane enclosed by the current three-dimensional coordinates of multiple reference points to obtain at least one current plane matrix.
[0103] Specifically, the current plane matrix may include the current three-dimensional coordinates of at least three reference points, which can enclose a plane, that is, the current three-dimensional coordinates of the at least three reference points can be used as the vertices of the enclosed plane.
[0104] For example, refer to Figure 4 As shown, assuming the multiple reference points are four measurement points located at the vertices of the printing platform, in the current mesh bed data, these four reference points are denoted as P0, P1, P2, and P3, respectively, and their current three-dimensional coordinates can be denoted as P0(x...). 00 ,y 00 ,z 00 ), P1(x u0 ,y u0 ,z u0 ), P2(x 0v ,y 0v ,z 0v ), P3(x uv ,y uv ,z uv ), where u=m-1, v=n-1.
[0105] Any three reference points P0, P1, P2, and P3 can enclose a plane. Therefore, P0, P1, P2, and P3 can enclose four planes, which can be denoted as the current plane. The three reference points enclosing this current plane can form the current plane matrix. These four current plane matrices are: p0 m×n (P0, P1, P2), p1 m×n (P0, P1, P3), p2 m×n (P0, P2, P3), p3 m×n (P1, P2, P3).
[0106] That is, the current planar matrix p0 m×n Includes the current 3D coordinates of three reference points P0, P1, and P2; and the current planar matrix p1. m×n Includes the current 3D coordinates of three reference points P0, P1, and P3; and the current planar matrix p2. m×n Includes the current 3D coordinates of three reference points P0, P2, and P3; and the current planar matrix p3. m×n This includes the current three-dimensional coordinates of the three reference points P1, P2, and P3.
[0107] Step 503: Based on at least one historical plane matrix and at least one current plane matrix, obtain at least one rotation matrix.
[0108] In some embodiments, step 503 can be implemented in the following manner:
[0109] Step 5031: Obtain the historical height matrix and the current height matrix.
[0110] The historical height matrix includes the height values of each historical 3D coordinate in the historical plane matrix. For example, suppose the historical plane matrix is O0. m×n , will O0 m×n The historical height matrix OA is obtained by using the Z-axis coordinates of the historical three-dimensional coordinates (i.e., O0, O1, O2) of each reference point as the height values. m×n .
[0111] The current height matrix includes the height values of each current 3D coordinate in the current plane matrix. For example, suppose the current plane matrix is p0. m×n , will p0 m×n The Z-axis coordinates of the historical 3D coordinates (i.e., P0, P1, P2) of each reference point are used as the height values to obtain the current height matrix PA. m×n .
[0112] Step 5032: Multiply the transpose of the historical height matrix with the current height matrix to obtain the first matrix.
[0113] For example, the transpose of the historical height matrix OTm×n =OA m×n ^T; where ^T represents the matrix transpose operator, OA m×n This is a historical height matrix.
[0114] First matrix PO m×n =OT m×n ×PA m×n ; where PA m×n This is the current height matrix.
[0115] Step 5033: Perform singular value decomposition on the first matrix to obtain the transpose of the right singular matrix and the left singular matrix.
[0116] For the first matrix PO m×n The formula for performing singular value decomposition is as follows:
[0117] PO m×n =U m×n ∑ m×n V m T ×n ;
[0118] Among them, U m×n It is a left singular matrix. It is the transpose of the right singular matrix.
[0119] Step 5034: Multiply the transposes of the left singular matrix and the right singular matrix to obtain the second matrix.
[0120] That is, Among them, OP0 m×n This is the second matrix.
[0121] Step 5034: Determine the rotation matrix based on the second matrix.
[0122] In some embodiments, step 5035 can be implemented in the following manner:
[0123] First, perform determinant operations on the second matrix to obtain the result.
[0124] If the result of the calculation is not negative, the second matrix is used as the rotation moment. For example, an electronic device can use OP0. m×n As the current plane matrix p0 m×n With historical plane matrix O0 m×n The rotation matrix corresponding to the mid-height value.
[0125] If the result of the operation is negative, it indicates that the second matrix is a reflection matrix rather than a rotation matrix. Therefore, the electronic device can take the opposite of each element in the last column of the left singular matrix to obtain the inverted left singular matrix. Then, the inverted left singular matrix is multiplied by the transpose of the right singular matrix to obtain the rotation matrix.
[0126] The above is used to calculate the current plane matrix p0. m×n With historical plane matrix O0 m×n Taking the rotation matrix corresponding to the mid-height value as an example, p1 can be calculated similarly using the steps described above. m×n With O1 m×n p2 m×n With O2 m×n and p3 m×n With O3 m×n The rotation matrix corresponding to the height value.
[0127] Referring to Table 1 below, the rotation matrices corresponding to each historical plane matrix and the current plane matrix are shown below:
[0128] Table 1
[0129] Current plane matrix Historical Plane Matrix Rotation matrix <![CDATA[p0 m×n ]]> <![CDATA[O0 m×n ]]> <![CDATA[R0 m×n ]]> <![CDATA[p1 m×n ]]> <![CDATA[O1 m×n ]]> <![CDATA[R1 m×n ]]> <![CDATA[p2 m×n ]]> <![CDATA[O2 m×n ]]> <![CDATA[R2 m×n ]]> <![CDATA[p3 m×n ]]> <![CDATA[O3 m×n ]]> <![CDATA[R3 m×n ]]>
[0130] Step 204: Determine the current mesh bed data of the printing platform based on the transformation relationship and historical mesh bed data.
[0131] In some embodiments, step 204 can be implemented in the following manner:
[0132] When the transformation relationship includes multiple rotation matrices, the electronic device can multiply the multiple rotation matrices by the historical three-dimensional coordinates of the measurement point to obtain multiple rotated historical three-dimensional coordinates; determine the current height of the measurement point based on the height values in the multiple rotated historical three-dimensional coordinates; and determine the current mesh bed data based on the current height of each measurement point in the printing platform.
[0133] For example, suppose the transformation relation includes R0 m×n R1 m×n R2 m×n R3 m×n These four rotation matrices can be compared with historical net bed data A by the electronic device. m×n a ij Multiplying the historical three-dimensional coordinates yields the multiple rotated historical three-dimensional coordinates B0. m×n B1 m×n B2 m×n and B3 m×n .
[0134] Furthermore, the determination of the current height of the measurement point based on the height values in the plurality of rotated historical three-dimensional coordinates can be achieved as follows: determine the median value among the height values in the plurality of rotated historical three-dimensional coordinates; and use the median value as the current height of the measurement point.
[0135] For example, electronic devices can take B0. m×n B1 m×n B2 m×n and B3 m×n height value z k , (k∈[0,4]), and set each height value z k The median is denoted as ze. k , will ze k As measurement point a in the current network bed data ij The corresponding current height value can be used to obtain the current height value of each measurement point, thereby obtaining the current net bed data.
[0136] The embodiments of this application can determine the transformation relationship of the reference point position based on the historical three-dimensional coordinates and the current three-dimensional coordinates of the reference point. This transformation relationship can reflect the transformation relationship of the netbed data to a certain extent. Therefore, based on this transformation relationship and the historical netbed data, the current netbed data of the printing platform can be determined, thereby simplifying the netbed data measurement operation, reducing the measurement time of the current netbed data, improving the acquisition efficiency of the current netbed data, and improving the user experience.
[0137] Furthermore, in this embodiment, the reference points can be four measurement points located at the apex. Since the planes formed by these four measurement points can cover each measurement point in the printing platform, the positional changes of these four reference points can more accurately reflect the positional changes of the mesh bed, thus making the current mesh bed data more accurate. Moreover, in this case, when the electronic device determines the current mesh bed data, the user can at least detect the height of these four measurement points, ensuring the accuracy of the mesh bed data while minimizing the user's workload in height measurement.
[0138] Based on the same idea as the net bed data determination method in the above embodiments, this application also provides a net bed data determination apparatus, which can be used to execute the above net bed data determination method. For ease of explanation, the structural schematic diagram of the net bed data determination apparatus embodiment only shows the parts related to the embodiments of this application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the apparatus, and may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.
[0139] like Figure 6As shown, the netbed data determination device includes a historical netbed acquisition module 601, a measurement module 602, a transformation module 603, and a current netbed acquisition module 604. In some embodiments, the above modules can be programmable software instructions stored in memory and executable by a processor. It is understood that in other embodiments, the above modules can also be program instructions or firmware embedded in the processor.
[0140] The historical mesh bed acquisition module 601 is used to acquire historical mesh bed data of the printing platform in the 3D printer. The historical mesh bed data includes the historical 3D coordinates of each measurement point in the printing platform, and each measurement point is configured with at least one reference point.
[0141] The measurement module 602 is used to obtain the current three-dimensional coordinates of the reference point.
[0142] The transformation module 603 is used to determine the transformation relationship between the historical net bed data and the current net bed data based on the historical three-dimensional coordinates of the reference point and the current three-dimensional coordinates of the reference point.
[0143] The current mesh bed acquisition module 604 is used to determine the current mesh bed data of the printing platform based on the transformation relationship and the historical mesh bed data.
[0144] Figure 7 This is a schematic diagram of an embodiment of the electronic device of this application.
[0145] The electronic device 100 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, it implements the steps described in the above-described webbed data determination method embodiment, for example... Figure 2 Steps 201 to 204 are shown.
[0146] For example, computer program 40 can also be divided into one or more modules / units, which are stored in memory 20 and executed by processor 30. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 40 in electronic device 100. For example, it can be divided into... Figure 6 The historical netbed acquisition module 601, measurement module 602, transformation module 603, and current netbed acquisition module 604 are shown.
[0147] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 100 and does not constitute a limitation on the electronic device 100. It may include more or fewer components than shown in the diagram, or combine certain components, or different components. For example, the electronic device 100 may also include input / output devices, network access devices, buses, etc.
[0148] Processor 30 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, a single-chip microcomputer, or any conventional processor.
[0149] The memory 20 can be used to store computer programs 40 and / or modules / units. The processor 30 implements various functions of the electronic device 100 by running or executing the computer programs and / or modules / units stored in the memory 20 and by calling data stored in the memory 20. The memory 20 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device 100 (such as audio data), etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, 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 non-volatile solid-state storage device.
[0150] If the modules / units integrated in the electronic device 100 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.
[0151] In the several embodiments provided in this application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the electronic device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and other division methods may be used in actual implementation.
[0152] Furthermore, the functional units in the various embodiments of this application can be integrated into the same processing unit, or each unit can exist physically separately, or two or more units can be integrated into the same unit. The integrated units described above can be implemented in hardware or in the form of hardware plus software functional modules.
[0153] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and not restrictive in all respects. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or electronic devices recited in the electronic device claims may also be implemented by the same unit or electronic device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.
[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.
Claims
1. A mesh bed data determination method, characterized by, The method comprises: obtaining historical mesh data of a printing platform in a three-dimensional printer, the historical mesh data comprising historical three-dimensional coordinates of each measuring point in the printing platform, at least one reference point being arranged in the each measuring point; obtaining current three-dimensional coordinates of the reference point; determining a transformation relationship between the historical mesh data and current mesh data based on the historical three-dimensional coordinates of the reference point and the current three-dimensional coordinates of the reference point; determining the current mesh data of the printing platform based on the transformation relationship and the historical mesh data.
2. The webbed bed data determination method of claim 1, wherein, The each measuring point is arranged with a plurality of reference points; The determining the transformation relationship between the historical mesh data and current mesh data based on the historical three-dimensional coordinates of the reference point and the current three-dimensional coordinates of the reference point comprises: determining a plane surrounded by the historical three-dimensional coordinates of the plurality of reference points to obtain at least one historical plane matrix; determining a plane surrounded by the current three-dimensional coordinates of the plurality of reference points to obtain at least one current plane matrix; obtaining at least one rotation matrix based on the at least one historical plane matrix and the at least one current plane matrix; The at least one rotation matrix is taken as the transformation relationship.
3. The webbed bed data determination method of claim 2, wherein, The obtaining at least one rotation matrix based on the at least one historical plane matrix and the at least one current plane matrix comprises: obtaining a historical height matrix and a current height matrix, the historical height matrix comprising height values of each historical three-dimensional coordinate in the historical plane matrix, and the current height matrix comprising height values of each current three-dimensional coordinate in the current plane matrix; multiplying a transposed matrix of the historical height matrix with the current height matrix to obtain a first matrix; singular value decomposition is performed on the first matrix to obtain a transposed matrix of a right singular matrix and a left singular matrix; multiplying the left singular matrix and the transposed matrix of the right singular matrix to obtain a second matrix; determining the rotation matrix based on the second matrix.
4. The webbed bed data determination method of claim 3, wherein, The determining the rotation matrix based on the second matrix comprises: performing determinant operation on the second matrix to obtain an operation result; in a case where the operation result is not negative, taking the second matrix as the rotation matrix; in a case where the operation result is negative, taking the inverse of each element in the last column of the left singular matrix to obtain an inverted left singular matrix; multiplying the inverted left singular matrix and the transposed matrix of the right singular matrix to obtain the rotation matrix.
5. The webbed bed data determination method of claim 2, wherein, The determining the current mesh data of the printing platform based on the transformation relationship and the historical mesh data comprises: in a case where the transformation relationship comprises a plurality of rotation matrices, multiplying the plurality of rotation matrices with the historical three-dimensional coordinates of the measuring points respectively to obtain a plurality of rotated historical three-dimensional coordinates; determining current heights of the measuring points based on height values in the plurality of rotated historical three-dimensional coordinates; determining the current mesh data based on the current heights of the each measuring point in the printing platform.
6. The webbed bed data determination method of claim 5, wherein, The determining the current heights of the measuring points based on the height values in the plurality of rotated historical three-dimensional coordinates comprises: determining a median value in the plurality of rotated height values of the historical three-dimensional coordinates; using the median value as the current height of the measurement point.
7. The mesh bed data determination method of any one of claims 1 to 6, wherein, Each of the measurement points is configured with at least four reference points, and any three of the four reference points are not collinear.
8. The webbed bed data determination method of claim 7, wherein, The four reference points are four measurement points located at different vertices of the printing platform.
9. A mesh bed data determining apparatus characterized by comprising: comprising: a historical mesh acquisition module configured to acquire historical mesh data of a printing platform in a three-dimensional printer, the historical mesh data including historical three-dimensional coordinates of each measurement point in the printing platform, each of the measurement points being configured with at least one reference point; a measurement module configured to acquire current three-dimensional coordinates of the reference points; a transformation module configured to determine a transformation relationship between the historical mesh data and current mesh data based on the historical three-dimensional coordinates of the reference points and the current three-dimensional coordinates of the reference points; a current mesh acquisition module configured to determine current mesh data of the printing platform based on the transformation relationship and the historical mesh data.
10. An electronic device comprising a processor and a memory, wherein the electronic device is configured to: The memory is configured to store instructions, and the processor is configured to invoke the instructions in the memory to cause the electronic device to perform the mesh data determination method according to any one of claims 1 to 8.
11. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, which, when executed on an electronic device, cause the electronic device to perform the mesh data determination method according to any one of claims 1 to 8.