Automatic calibration method for 3D printing device, and related device

Abstract

The present application provides an automatic calibration method for a 3D printing device, a 3D printing device, an electronic device and a storage medium. The method comprises: controlling a first jet to move, so that a nozzle of the first jet is aligned with an optical axis of an imaging apparatus, and then controlling the imaging apparatus to take a first image of a first recognition apparatus; controlling a second jet to move, so that a nozzle of the second jet is aligned with the optical axis of the imaging apparatus, and then controlling the imaging apparatus to take a second image of a second recognition apparatus; on the basis of the first image and a first actual characteristic physical quantity of the first recognition apparatus, calculating a first distance between the first recognition apparatus and the imaging apparatus; on the basis of the second image and a second actual characteristic physical quantity of the second recognition apparatus, calculating a second distance between the second recognition apparatus and the imaging apparatus; on the basis of the first distance and the second distance, calculating a vertical offset of the first jet and the second jet. The present application can automatically calibrate the jets of a 3D printing device with high calibration accuracy, and can save labor costs.

Description

Automatic calibration method for 3D printing equipment and related equipment Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to an automatic calibration method for 3D printing equipment and related equipment. Background Art

[0002] With the rise of concepts like smart manufacturing and Industry 4.0, 3D printing technology is becoming increasingly widespread. 3D printing, first appearing in the mid-1990s, is essentially a state-of-the-art rapid prototyping device utilizing technologies like photocuring and paper lamination. It operates on essentially the same principle as conventional printing: a printer is filled with "printing material" such as liquid or powder. Once connected to a computer, the computer controls the process of layering the "printing material," ultimately transforming the blueprint on the computer into a physical object. This printing technology is known as 3D printing.

[0003] In related technologies, 3D printing equipment is a dual-nozzle printer. There is an offset between the dual nozzles, and users need to adjust the dual nozzles to the appropriate position. However, the accuracy of manual adjustment of the dual nozzles is not high, and repeated adjustment, printing, and readjustment are required. The process is cumbersome and time-consuming.

[0004] Summary of the Invention

[0005] In view of this, the present application provides an automatic calibration method for a 3D printing device and related equipment, which can automatically calibrate the nozzle of the 3D printing device, with high calibration accuracy and can save labor costs.

[0006] A first aspect of the present application provides an automatic calibration method for a 3D printing device, wherein the 3D printing device includes a first nozzle, a second nozzle, a shooting device, a first recognition device, and a second recognition device, wherein the first recognition device is arranged on the first nozzle, the second recognition device is arranged on the second nozzle, and the shooting device faces upward with an optical axis vertical; the method includes: controlling the movement of the first nozzle 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 recognition device; controlling the movement of the second nozzle 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 recognition device; calculating a first distance between the first recognition device and the shooting device based on the first image and a first actual characteristic physical quantity of the first recognition device; calculating a second distance between the second recognition device and the shooting device based on the second image and a second actual characteristic physical quantity of the second recognition device; and calculating an offset of the first nozzle and the second nozzle in a vertical direction based on the first distance and the second distance.

[0007] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the shooting device to face upward and the optical axis vertical, and then controlling the first nozzle and the second nozzle to move to align with the optical axis of the shooting device respectively, the images of the first recognition device and the second recognition device are captured, so that the virtual characteristic physical quantity of the first recognition device in the first image and the virtual characteristic physical quantity of the second recognition device in the second image can be obtained, so that the first distance between the first recognition device and the shooting device can be calculated according to the imaging principle of the shooting device and the first actual characteristic physical quantity of the first recognition device, and the second distance between the second recognition device and the shooting device can be calculated according to the imaging principle of the shooting device and the second actual characteristic physical quantity of the second recognition device, and then the vertical offset of the first nozzle and the second nozzle can be obtained according to the difference between the first distance and the second distance, thereby realizing automatic calibration of the first nozzle and the second nozzle, and this calibration method has high accuracy and saves labor costs.

[0008] In some possible implementations, the first actual characteristic physical quantity is a first actual width; and calculating the first distance between the first recognition device and the photographing device based on the first image and the first actual characteristic physical quantity of the first recognition device includes: obtaining a 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 ; Among them, d A is the first distance, W A is the first actual width, w A is the first virtual width.

[0009] In some possible implementations, the second actual characteristic physical quantity is a second actual width; and calculating the second distance between the second recognition device and the photographing device based on the second image and the second actual characteristic physical quantity of the second recognition device includes: obtaining a 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 ; Among them, d B is the second distance, W B is the second actual width, w B is the second virtual width.

[0010] In some possible implementations, it also includes: determining a first feature point of the first recognition device and a second feature point of the second recognition 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.

[0011] In some possible implementations, the 3D printing device further includes a functional platform, and the camera is disposed on the functional platform; wherein, in a first horizontal direction, the shortest horizontal distance between the camera and an edge of the functional platform is a third distance, and in a second horizontal direction, the shortest horizontal distance between the camera and an edge of the functional platform is a fourth distance, and the first horizontal direction is perpendicular to the second horizontal direction; and calculating the first actual coordinate of the first feature point according to a preset ratio threshold and the first virtual coordinate includes: calculating the first actual coordinate according to the following formula: A X =d X +KX A ; A Y =d Y +KY A Among them, A X is the abscissa of the first actual coordinate, A Y is the vertical coordinate of the first actual coordinate, K is the preset ratio threshold, d X is the third distance, d Y is the fourth distance, X A is the horizontal coordinate of the first virtual coordinate, Y A is the vertical coordinate of the first virtual coordinate.

[0012] In some possible implementations, calculating the second actual coordinates of the second feature point according to the preset ratio threshold and the second virtual coordinates includes: calculating the second actual coordinates according to the following formula: X =d X +KX B ; B Y =d Y +KY B Among them, B X is the horizontal coordinate of the first actual coordinate, B Y is the vertical coordinate of the first actual coordinate, K is the preset ratio threshold, d X is the third distance, d Yis the fourth distance, X B is the horizontal coordinate of the second virtual coordinate, Y B is the vertical coordinate of the second virtual coordinate.

[0013] In some possible implementations, calculating the horizontal offset of the first nozzle and the second nozzle according to 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 ); where Offset x Offset is the offset between the first nozzle and the second nozzle in the first horizontal direction. y is the offset between the first nozzle and the second nozzle in the second horizontal direction, K is the preset ratio threshold, X A is the horizontal coordinate of the first virtual coordinate, Y A is the vertical coordinate of the first virtual coordinate, X B is the horizontal coordinate of the second virtual coordinate, Y B is the vertical coordinate of the second virtual coordinate.

[0014] According to a second aspect of the present application, a 3D printing device is disclosed, comprising: a first nozzle, a second nozzle, a photographing device, a first recognition device, a second recognition device, and a control device, wherein the first recognition device is disposed on the first nozzle, the second recognition device is disposed on the second nozzle, the photographing device faces upward and has an optical axis vertical to the first nozzle; the control device controls the movement of the first nozzle so that the nozzle of the first nozzle is aligned with the optical axis of the photographing device; after the nozzle of the first nozzle is aligned with the optical axis of the photographing device, the control device controls the photographing device to capture a first image of the first recognition device; the control device controls the movement of the second nozzle so that the nozzle of the second nozzle is aligned with the optical axis of the photographing device; after the nozzle of the second nozzle is aligned with the optical axis of the photographing device, the control device controls the photographing 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 photographing device based on the first image and a first actual characteristic physical quantity of the first recognition device; the control device calculates a second distance between the second recognition device and the photographing device based on the second image and a second actual characteristic physical quantity of the second recognition device; and the control device calculates an offset in the vertical direction between the first nozzle and the second nozzle based on the first distance and the second distance.

[0015] A third aspect of the present application discloses an electronic device, comprising a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the above-mentioned automatic calibration method for a 3D printing device.

[0016] A fourth aspect of the present application discloses a storage medium comprising computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned automatic calibration method for a 3D printing device.

[0017] It can be understood that the 3D printing device of the second aspect, the electronic device of the third aspect, and the storage medium of the fourth aspect provided above all correspond to the method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding methods provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0019] FIG1 is a flow chart of an automatic calibration method for a 3D printing device provided in one embodiment of the present application.

[0020] FIG2 is a schematic diagram of a partial structure of a 3D printing device provided in an embodiment of the present application.

[0021] FIG3 is a flowchart of an automatic calibration method for a 3D printing device provided in an embodiment of the present application.

[0022] FIG4 is a schematic diagram of a partial structure of a 3D printing device provided in an embodiment of the present application.

[0023] FIG5 is a schematic diagram of functional modules of a 3D printing device provided in an embodiment of the present application.

[0024] FIG6 is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0028] It should be further noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0029] 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 mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0030] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0031] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given for reference.

[0032] 3D printing equipment, also known as three-dimensional printers or stereo printers, is a rapid prototyping process that typically uses digital printing technology to create materials. 3D printing equipment is often used to create models or parts in fields such as mold manufacturing and industrial design.

[0033] Please refer to Figure 1, which is a flow chart of an automatic calibration method for a 3D printing device provided in an embodiment of the present application. The 3D printing device includes a first nozzle, a second nozzle, a camera, 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 camera faces upward with its optical axis vertical. The automatic calibration method for the 3D printing device includes the following steps:

[0034] Step 101: Control the movement of the first nozzle to align the nozzle of the first nozzle with the optical axis of the shooting device, and then control the shooting device to shoot a first image of the first recognition device.

[0035] In some embodiments, the first nozzle is controlled to move in a horizontal direction so that the nozzle of the first nozzle is aligned with the optical axis of the shooting device, that is, the nozzle of the first nozzle faces the center of the shooting device.

[0036] Step 102: Control the movement of the second nozzle to align the nozzle of the second nozzle with the optical axis of the shooting device, and then control the shooting device to shoot a second image of the second recognition device.

[0037] In some embodiments, the second nozzle is controlled to move in a 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 faces the center of the shooting device.

[0038] For ease of understanding, the movement process of the first nozzle and the second nozzle, as well as the structures of the first recognition device and the second recognition device in this embodiment are specifically described below with reference to FIG. 2 :

[0039] Please refer to Figure 2, which is a schematic diagram of a portion of the structure of the 3D printing device provided in this embodiment. Both the first recognition device 3 and the second recognition device 4 are identification collars mounted on the first and second nozzles 1 and 2. When the first nozzle 1 is moved to the center of the camera 5, the camera 5 is controlled to capture a first image of the first recognition device 3. When the second nozzle 2 is moved to the center of the camera 5, the camera 5 is controlled to capture a second image of the second recognition device 4.

[0040] It is worth noting that, taking the example of both the first identification device 3 and the second identification device 4 being identification collars, the installation position of the first identification device 3 on the first printhead 1 is the same as the installation position of the second identification device 4 on the second printhead 2. For example, if the first identification device 3 is installed at the center of the first printhead 1, then the second identification device 4 is also installed at the center of the second printhead 2. This can improve the accuracy of the subsequent calculation of the vertical offset between the first and second printheads 1 and 2, thereby improving the printing effect of the 3D printing device.

[0041] In some embodiments, there is no specific limitation on the material of the identification collar. The identification collar can be a rope tied to the first nozzle 1 and the second nozzle 2, or can be made of elastic plastic, etc. It only needs 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.

[0042] In some embodiments, the first identification device 3 and the second identification device 4 may also be other structures, such as modules or balls installed on the sides of the first nozzle 1 and the second nozzle 2.

[0043] Step 103: Calculate a first distance between the first recognition device and the photographing device according to the first image and the first actual characteristic physical quantity of the first recognition device.

[0044] In some embodiments, the first actual characteristic physical quantity is a first actual width. First, based on the first image, a 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:

[0045] d A =W A ×f A / w A ; Among them, d A is the first distance, W A is the first actual width, w A is the first virtual width, f A is the focal length of the camera.

[0046] Please refer to Figure 2 again. It can be seen from Figure 2 that 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 camera. Based on the above proportional relationship, the first distance can be calculated.

[0047] In some embodiments, the first actual characteristic physical quantity may also be other physical parameters, such as length, thickness, etc., which is not specifically limited in this embodiment.

[0048] Step 104: Calculate a second distance between the second recognition device and the photographing device according to the second image and the second actual characteristic physical quantity of the second recognition device.

[0049] In some embodiments, the second actual characteristic physical quantity is a second actual width. First, based on the second image, a 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:

[0050] d B =W B ×f B / w B ; Among them, d B is the second distance, W B is the second actual width, w B is the second virtual width, f B is the focal length of the camera.

[0051] Please refer to Figure 2 again. It can be seen from Figure 2 that 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 camera. Based on the above proportional relationship, the second distance can be calculated.

[0052] In some embodiments, the second actual characteristic physical quantity may also be other physical parameters, such as length, thickness, etc., which is not specifically limited in this embodiment.

[0053] Step 105: Calculate the vertical offset between the first nozzle and the second nozzle according to the first distance and the second distance.

[0054] In some embodiments, since the first recognition device and the second recognition device are both located at the same position on the first and second nozzles, the first distance between the first recognition device and the camera device can be equivalent to the relative vertical height of the first nozzle. Similarly, the second distance between the second recognition device and the camera device can be equivalent to the relative vertical height of the second nozzle. Therefore, by calculating the difference between the first and second distances, the vertical offset between the first and second nozzles can be obtained.

[0055] In some embodiments, the offset between the first nozzle and the second nozzle in the vertical direction can be calibrated by updating the offset to the system controlling the 3D printing device.

[0056] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the shooting device to face upward and the optical axis vertical, and then controlling the first nozzle and the second nozzle to move to align with the optical axis of the shooting device respectively, the images of the first recognition device and the second recognition device are captured, so that the virtual characteristic physical quantity of the first recognition device in the first image and the virtual characteristic physical quantity of the second recognition device in the second image can be obtained, so that the first distance between the first recognition device and the shooting device can be calculated according to the imaging principle of the shooting device and the first actual characteristic physical quantity of the first recognition device, and the second distance between the second recognition device and the shooting device can be calculated according to the imaging principle of the shooting device and the second actual characteristic physical quantity of the second recognition device, and then the vertical offset of the first nozzle and the second nozzle can be obtained according to the difference between the first distance and the second distance, thereby realizing automatic calibration of the first nozzle and the second nozzle, and this calibration method has high accuracy and saves labor costs.

[0057] Please refer to FIG3 , which is a flowchart of a method for automatically calibrating a 3D printing device according to an embodiment of the present application. This embodiment is applied to the 3D printing device of the aforementioned embodiment, and includes the following steps:

[0058] Execute steps 101 to 105 in the above embodiment.

[0059] Step 201: Determine a first feature point of a first recognition device and a second feature point of a second recognition device.

[0060] In some embodiments, taking the example that the first identification device and the second identification device are both identification collars arranged on the first nozzle and the second nozzle, the first characteristic point of the first identification device is the center of the identification collar of the first nozzle, and the second characteristic point of the second identification device is the center of the identification collar of the second nozzle.

[0061] In some embodiments, the first feature point and the second feature point may also be other positions. For example, 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.

[0062] Step 202: Acquire first virtual coordinates of a first feature point according to the first image, and acquire second virtual coordinates of a second feature point according to the second image.

[0063] 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.

[0064] Step 203: Calculate the first actual coordinates of the first feature point according to the preset ratio threshold and the first virtual coordinates.

[0065] Please refer to Figure 4, which is a partial structural diagram of the 3D printing device provided in an embodiment of the present application. The 3D printing device also includes a functional platform 6, on which a camera 5 is disposed; wherein, in the first horizontal direction X, the shortest horizontal distance between the camera 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 camera 5 and the edge of the functional platform 6 is the fourth distance d Y , the first horizontal direction X and the second horizontal direction Y are perpendicular.

[0066] Combined with Figure 4, the first actual coordinate can be calculated according to the following formula: X =d X +KX A ; A Y =d Y +KY A ;

[0067] Among them, A X is the abscissa of the first actual coordinate, A Y is the vertical coordinate of the first actual coordinate, K is the preset ratio threshold, d X is the third distance, d Y is the fourth distance, X A is the horizontal coordinate of the first virtual coordinate, Y A is the vertical coordinate of the first virtual coordinate.

[0068] It can be 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 recognition device in the aforementioned embodiment.

[0069] Step 204: Calculate the second actual coordinates of the second feature point according to the preset ratio threshold and the second virtual coordinates.

[0070] Combined with Figure 4, the second actual coordinate can be calculated according to the following formula: X =d X +KX B ; B Y =d Y +KY B ;

[0071] Among them, B X is the horizontal coordinate of the first actual coordinate, B Y is the vertical coordinate of the first actual coordinate, X is the preset ratio threshold, d X is the third distance, d Yis the fourth distance, X B is the horizontal coordinate of the second virtual coordinate, Y B is the vertical coordinate of the second virtual coordinate.

[0072] Step 205: Calculate the horizontal offset of the first nozzle and the second nozzle according to the first actual coordinate and the second actual coordinate.

[0073] 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 );

[0074] Among them, Offset x Offset is the offset between the first nozzle and the second nozzle in the first horizontal direction. y is the offset between the first nozzle and the second nozzle in the second horizontal direction, K is the preset ratio threshold, X A is the horizontal coordinate of the first virtual coordinate, Y A is the vertical coordinate of the first virtual coordinate, X B is the horizontal coordinate of the second virtual coordinate, Y B The vertical coordinate of the second virtual coordinate

[0075] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting the shooting device to face upward and the optical axis vertical, and then controlling the first nozzle and the second nozzle to move to align with the optical axis of the shooting device respectively, the images of the first recognition device and the second recognition device are captured, so that the virtual characteristic physical quantity of the first recognition device in the first image and the virtual characteristic physical quantity of the second recognition device in the second image can be obtained, so that the first distance between the first recognition device and the shooting device can be calculated according to the imaging principle of the shooting device and the first actual characteristic physical quantity of the first recognition device, and the second distance between the second recognition device and the shooting device can be calculated according to the imaging principle of the shooting device and the second actual characteristic physical quantity of the second recognition device, and then the vertical offset of the first nozzle and the second nozzle can be obtained according to the difference between the first distance and the second distance, thereby realizing automatic calibration of the first nozzle and the second nozzle, and this calibration method has high accuracy and saves labor costs.

[0076] Please refer to Figure 5, which is a functional module diagram of the 3D printing device provided in the embodiment of the present application. A first nozzle 501, a second nozzle 502, a shooting device 503, a first recognition device 504, a second recognition device 505 and a control device 506. The first recognition device 504 is arranged on the first nozzle 501, and the second recognition device 505 is arranged on the second nozzle 502. The shooting device 503 faces upward and the optical axis is vertical; the control device 506 controls the movement of the first nozzle 501 so that the nozzle of the first nozzle 501 is aligned with the optical axis of the shooting device 503, and then controls the shooting device 503 to shoot the first image of the first recognition device 504; the control device 506 controls the movement of the second nozzle 502 so that the nozzle of the second nozzle 502 is aligned with the optical axis of the shooting device 503. The nozzle is aligned with the optical axis of the shooting device 503, and then the shooting device 503 is controlled to shoot 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 shooting device 503 based on the first image and the first actual characteristic physical quantity of the first recognition device 504; the control device 506 calculates the second distance between the second recognition device 505 and the shooting device 503 based on the second image and the second actual characteristic physical quantity of the second recognition device 505; the control device 506 calculates the vertical offset of the first nozzle 501 and the second nozzle 502 based on the first distance and the second distance.

[0077] Please refer to Figure 6, which is a schematic diagram of the hardware structure of an electronic device 1000 provided in an embodiment of the present application. As shown in Figure 6, electronic device 1000 may include a processor 1001 and a memory 1002. Memory 1002 is used to store one or more computer programs 1003. One or more computer programs 1003 are configured to be executed by processor 1001. The one or more computer programs 1003 include instructions, which can be used to implement the above-mentioned method in electronic device 1000.

[0078] It is understood that the structure shown 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 shown, or combine or separate some components, or arrange the components differently.

[0079] The processor 1001 may include one or more processing units. For example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0080] Processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in processor 1001 is a cache memory. This memory can store instructions or data that have just been used or are being recycled by processor 1001. If processor 1001 needs to use the same instruction or data again, it can directly access it from this memory. This avoids duplicate accesses, reduces the waiting time of processor 1001, and thus improves system efficiency.

[0081] In some embodiments, the processor 1001 may include one or more interfaces. The 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.

[0082] In some embodiments, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0083] This embodiment further provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the method in the above-mentioned embodiment.

[0084] Among them, the electronic device and computer storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0085] In practical applications, the above functions can be distributed 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.

[0086] In the several embodiments provided in this application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0087] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0088] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0089] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0090] The above description is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for automatic calibration of a 3D printing device, characterized in that: The 3D printing device comprises a first nozzle, a second nozzle, a shooting device, a first recognition device and a second recognition device, wherein the first recognition device is arranged on the first nozzle, the second recognition device is arranged on the second nozzle, and the shooting device faces upward and the optical axis is vertical; The method comprises: 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 recognition 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 recognition device; Calculate a first distance between the first recognition device and the photographing device according to the first image and a first actual characteristic physical quantity of the first recognition device; calculate a second distance between the second recognition device and the photographing device according to the second image and a second actual characteristic physical quantity of the second recognition device; The vertical offset between the first nozzle and the second nozzle is calculated according to the first distance and the second distance.

2. The automatic calibration method of a 3D printing device according to claim 1, characterized in that: The first actual characteristic physical quantity is a first actual width; The calculating, according to the first image and the first actual characteristic physical quantity of the first recognition device, a first distance between the first recognition device and the photographing device comprises: obtaining, according to the first image, a first virtual width of the first recognition device within the first image; The first distance is calculated according to the following formula: d A =W A ×f A / w A ; where d A is the first distance, W A is the first actual width, w A is the first virtual width, f A is the focal length of the photographing device.

3. The automatic calibration method of a 3D printing device according to claim 1, characterized in that: The second actual characteristic physical quantity is a second actual width; The calculating, according to the second image and the second actual characteristic physical quantity of the second recognition device, a second distance between the second recognition device and the photographing device comprises: obtaining, according to the second image, a second virtual width of the second recognition device within the second image; The second distance is calculated according to the following formula: d B =W B ×f B / w B ; where d B is the second distance, W B is the second actual width, w B is the second virtual width, f B is the focal length of the photographing device.

4. The automatic calibration method of a 3D printing device according to claim 1, characterized in that: Also includes: Determine a first feature point of the first recognition device and a second feature point of the second recognition device point; Acquire first virtual coordinates of the first feature point according to the first image, and acquire second virtual coordinates of the second feature point according to the second image; Calculate the first actual coordinates of the first feature point according to a preset ratio threshold and the first virtual coordinates; Calculate the second actual coordinates of the second feature point according to the preset ratio threshold and the second virtual coordinates; The offset of the first nozzle and the second nozzle in the horizontal direction is calculated according to the first actual coordinate and the second actual coordinate.

5. The automatic calibration method of a 3D printing device according to claim 4, characterized in that: The 3D printing device further includes a functional platform, and the shooting device is arranged on the functional platform; wherein, in a first horizontal direction, the shortest horizontal distance between the shooting device and an edge of the functional platform is a third distance, and in a second horizontal direction, the shortest horizontal distance between the shooting device and an edge of the functional platform is a fourth distance, and the first horizontal direction is perpendicular to the second horizontal direction; The calculating the first actual coordinate of the first feature point according to the preset ratio threshold and the first virtual coordinate includes: calculating the first actual coordinate according to the following formula: HAS X =d X +KX A ;HAS Y =d Y +KY A ; Among them, A X is the abscissa of the first actual coordinate, A Y is the ordinate of the first actual coordinate, K is the preset ratio threshold, d X is the third distance, d Y is the fourth distance, X A is the horizontal coordinate of the first virtual coordinate, Y A is the ordinate of the first virtual coordinate.

6. The automatic calibration method of a 3D printing device according to claim 5, characterized in that: The calculating the second actual coordinate of the second feature point according to the preset ratio threshold and the second virtual coordinate includes: calculating the second actual coordinate according to the following formula: X =d X +KX B ; B Y =d Y +KY B ; Among them, B X is the horizontal coordinate of the first actual coordinate, B Y is the ordinate of the first actual coordinate, K is the preset ratio threshold, d X is the third distance, d Y is the fourth distance, X B is the horizontal coordinate of the second virtual coordinate, Y B is the ordinate of the second virtual coordinate.

7. The automatic calibration method of a 3D printing device according to claim 6, characterized in that: The calculating the offset of the first nozzle and the second nozzle in the horizontal direction according to the first actual coordinate and the second actual coordinate includes: calculating the offset of the first nozzle and the second nozzle in the horizontal direction 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 is the offset between the first nozzle and the second nozzle in the second horizontal direction, K is the preset ratio threshold, X A is the horizontal coordinate of the first virtual coordinate, Y A is the ordinate of the first virtual coordinate, X B is the horizontal coordinate of the second virtual coordinate, Y B is the ordinate of the second virtual coordinate.

8. A 3D printing device, characterized in that: include: A first nozzle, a second nozzle, a photographing device, a first identification device, a second identification device and a control device, wherein the first identification device is arranged on the first nozzle, the second identification device is arranged on the second nozzle, and the photographing device faces upward with an optical axis vertical; The control device controls the movement of the first nozzle so that the nozzle of the first nozzle is aligned with the optical axis of the shooting device, and then controls the shooting device to shoot the first image of the first recognition device; The control device controls the movement of the second nozzle so that the nozzle of the second nozzle is aligned with the optical axis of the shooting device, and then controls the shooting device to shoot the second image of the second recognition device; The control device calculates a first distance between the first recognition device and the photographing device according to the first image and a first actual characteristic physical quantity of the first recognition device; The control device calculates a second distance between the second recognition device and the photographing device according to the second image and a second actual characteristic physical quantity of the second recognition device; The control device calculates the vertical offset of the first nozzle and the second nozzle according to the first distance and the second distance.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory, the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes 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: The method comprises computer instructions, which, when executed on an electronic device, enable the electronic device to execute the automatic calibration method for a 3D printing device according to any one of claims 1 to 7.

Images