CN114274501B - Continuous printing method and device for 3D printer, computer equipment and storage medium - Google Patents
Continuous printing method and device for 3D printer, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a 3D printer continuous printing method, a device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring an actual image of a target slice layer of a target model and an original image of the target slice layer; determining an offset between the actual image and the original image; and adjusting the original images of all unprinted slice layers corresponding to the target model according to the offset, and completing continuous printing of the target model based on all the adjusted original images. By adopting the method, the 3D printer can continue printing on the target slice layer of the target model under the condition of printing interruption, so that the discarding of the printed part is avoided, and the waste of materials is reduced. When printing is continued based on the finished printing part, the position offset of the printing continuation part and the printed part can be avoided to a certain extent, and the accuracy of the printing continuation is ensured.
Description
Technical Field
The application relates to the technical field of 3D printing, in particular to a continuous printing method and device of a 3D printer, computer equipment and a storage medium.
Background
Process fused deposition fabrication (fused deposition modeling, FDM) printing is likely to cause print interruption during printing. For example, if the printer fails and printing cannot be continued, the unfinished model needs to be moved to other printers to continue printing, and so on. To reduce the waste of printing material, continuous printing of unfinished models is required.
The existing model continuous printing mainly manually designates the continuous printing layer number, but the manually designated continuous printing layer number has lower accuracy, and is easy to cause model printing errors or waste of printing materials. When the position of the unfinished model on the printing platform is changed, the original printing data cannot be reused, and the current processing mode is to discard the unfinished model and restart printing, so that the material waste is caused.
Disclosure of Invention
The application provides a continuous printing method, a continuous printing device, computer equipment and a storage medium of a 3D printer, which can realize continuous printing of an accurate model after printing interruption and avoid material waste caused by the printing interruption problem.
In a first aspect, the application provides a 3D printer continuous printing method. The method comprises the following steps:
acquiring an actual image of a target slice layer of a target model and an original image of the target slice layer;
Determining an offset between the actual image and the original image;
and adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
In one embodiment, acquiring an actual image of a target slice layer of a target model includes: image acquisition is carried out on the surface of the target model, which is away from the direction of the printing table, so as to obtain an actual image of the target slice layer; the target slice layer is the last slice layer of the target model that is currently printed.
In one embodiment, acquiring an original image of a target slice layer includes: determining the current printing height of the target model, and determining the layer number corresponding to the height; acquiring an original image of a target slice layer from an original image set of a target model according to the layer number; the original image set includes the original images of all slice layers of the object model.
In one embodiment, acquiring an original image from an original image set of a target model according to a layer number includes: determining a plurality of slice layers adjacent to the number of layers; acquiring a plurality of original images corresponding to a plurality of slice layers from an original image set; and determining an original image with the highest matching degree with the actual image in the plurality of original images as an original image of the target slice layer.
In one embodiment, determining the offset between the actual image and the original image includes: performing contour recognition on the actual image to obtain a first contour, and performing contour recognition on the original image to obtain a second contour; determining a rotation matrix between the first contour and the second contour, and performing rotation processing on the second contour based on the rotation matrix; acquiring the offset between the first contour and the rotated second contour in the first direction and the offset between the first contour and the rotated second contour in the second direction; the first direction is the direction in which one edge of the printing platform is positioned, and the second direction is perpendicular to the first direction; the rotation matrix, the offset in the first direction, and the offset in the second direction are determined as offset amounts.
In one embodiment, the adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset includes: and performing rotation processing on the data of all the unprinted slice layers based on the rotation matrix, and performing position adjustment on the data after the rotation processing based on the offset in the first direction and the offset in the second direction to obtain the adjusted data of the original images of all the unprinted slice layers.
In one embodiment, before the acquiring the actual image of the target slice layer of the target model and the original image of the target slice layer, the method further includes: detecting the flatness of a tangent plane of the target model to obtain the flatness of the tangent plane of the target model; outputting section processing information if the section flatness of the target model is lower than a preset threshold value; the slice processing information is used for prompting a user to carry out leveling processing on the tangential plane of the target model.
In a second aspect, the application further provides a continuous printing device of the 3D printer. The device comprises:
the acquisition module is used for acquiring an actual image of a target slice layer of the target model and an original image of the target slice layer;
a determining module for determining an offset between the actual image and the original image;
and the adjusting module is used for adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the following steps when executing the computer program:
Acquiring an actual image of a target slice layer of a target model and an original image of the target slice layer;
determining an offset between the actual image and the original image;
and adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring an actual image of a target slice layer of a target model and an original image of the target slice layer;
determining an offset between the actual image and the original image;
and adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
According to the continuous printing method, device, computer equipment and storage medium of the 3D printer, the actual image of the target slice layer of the target model and the original image of the target slice layer can be obtained, the position offset between the two images is determined based on the two images, and then the original images of all unprinted slice layers are adjusted based on the position offset, so that the 3D printer can continue printing on the target slice layer of the target model under the condition of printing interruption, discarding of a printed part is avoided, and material waste is reduced. When printing is continued based on the finished printing part, the position offset of the printing continuation part and the printed part can be avoided to a certain extent, and the accuracy of the printing continuation is ensured. Therefore, the application can provide the 3D model continuous beating method with higher accuracy.
Drawings
FIG. 1 is an application environment diagram of a 3D printer follow-up method in one embodiment;
FIG. 2 is a flow chart of a 3D printer follow-up method according to an embodiment;
FIG. 3 is a schematic view of acquisition of a slice image in one embodiment;
FIG. 4 is another flow diagram of a 3D printer follow-up method in one embodiment;
FIG. 5 is another flow diagram of a 3D printer follow-up method in one embodiment;
FIG. 6 is a schematic diagram of adjacent slice layers of a target slice layer in one embodiment;
FIG. 7 is another flow diagram of a 3D printer follow-up method in one embodiment;
FIG. 8 is a schematic diagram of modification of a target model in one embodiment;
FIG. 9 is another schematic diagram of modification of a target model in one embodiment;
FIG. 10 is another flow diagram of a 3D printer follow-up method in one embodiment;
FIG. 11 is a block diagram of a 3D printer follow-up device in one embodiment;
fig. 12 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The continuous printing method of the 3D printer provided by the embodiment of the application can be applied to an application environment shown in figure 1. Referring to fig. 1, the application environment includes a computer device 10 and a 3D printer 20. Wherein the computer device 10 may generate an original image of each slice layer of the 3D model to be printed and transmit the original image of each slice layer to the 3D printer 20. The 3D printer 20 may print out the 3D model based on the original image of each slice layer.
In particular implementations, the computer device 10 may be, but is not limited to, various personal computers, notebook computers, and the like. The 3D printer 20 may be a fused deposition FDM printer, a digital light processing DLP printer, or a stereolithography SLA printer. The computer device 10 may communicate with the 3D printer 20 by wired or wireless means. The application is not limited in this regard.
The continuous printing method of the 3D printer provided by the embodiment of the application can be applied to the application environment shown in fig. 1, and an execution subject of the method can be the computer equipment or the 3D printer shown in fig. 1. Of course, the application environment to which the method is applicable may include only a 3D printer, and no computer device, and the execution subject of the method is the 3D printer, and all the data processing procedures related to the present application are executed in the printer. The 3D printer may be a fused deposition FDM printer, a digital light processing DLP printer, or a stereolithography SLA printer. The application is not limited in this regard.
At present, when a 3D printer has a print interruption in the middle of printing, the printed part is often discarded, and printing is restarted, so that material waste is caused.
Based on the method, the continuous printing method of the 3D printer can finish continuous printing operation under the condition of printing interruption, and waste of printing materials is reduced. Meanwhile, when continuous printing is performed based on the finished printing part, the position offset of the continuous printing part and the printed part can be avoided to a certain extent, and the accuracy of continuous printing is ensured. Fig. 2 is a flow chart of a continuous printing method of a 3D printer according to an embodiment of the present application, which is illustrated by taking a computer device in fig. 1 as an example, and includes the following steps:
step 201, acquiring an actual image of a target slice layer of a target model and an original image of the target slice layer;
in order to finish continuous printing of the target model, the embodiment of the application can firstly determine the original image of any slice layer of which the target model is printed currently, so as to determine the position of the printed part of the target model currently based on the original image, thereby enabling the 3D printer to finish accurate continuous printing of the target model.
The target model is a whole 3D model which needs to be printed; the target slice layer is any slice layer of which the target model finishes printing currently, namely any slice layer of all slice layers which finish printing before the printing is interrupted. The slice layer is selected according to the actual situation, and the final purpose is to determine the slice layer with clear outline as the target slice layer. For example, if the shape of the portion of the target model that has been currently printed is small, the slice layer near the print platform may be determined to be the target slice layer. If the shape of the currently completed print portion of the target model is large up and small down, the uppermost slice layer of the currently completed print portion of the target model may be determined as the target slice layer. The method comprises the steps of carrying out a first treatment on the surface of the The actual image is a cut-plane image of the currently completed printed portion, and may be, for example, an image of the last cut-plane layer of the currently completed printing. The original image is a slice image generated by the target slice layer.
In a specific implementation, image acquisition can be performed on the currently finished printing part, and an actual image of the target slice layer can be acquired. The computer device may generate print information of the object model, and the computer device may acquire an original image of the object slice layer from the print information of the object model in step 201.
Step 202, determining the offset between the actual image and the original image;
the computer equipment of the embodiment of the application can also determine the position deviation between the actual image and the original image of the target slice layer so as to ensure the accuracy of continuous playing of the target model based on the position deviation between the actual image and the original image. Wherein the positional deviation between the actual image and the original image of the target slice layer may be referred to as an offset.
In a specific implementation, the computer device may compare the actual image with the original image, obtain a positional deviation of the actual image and the original image with respect to the same reference plane, and determine the positional deviation as an offset between the two.
The reference plane may be, for example, a horizontal plane on which the printing platform is located. The actual image and the original image can comprise image elements of the model slice and image elements of the printing platform, so that the computer equipment can compare the actual image with the original image by taking the position of the printing platform as a reference quantity, and the offset is obtained. In a possible implementation, a position deviation (denoted as a first position deviation) between an image element of the model slice in the actual image and an image element of the print platform is calculated, a position deviation (denoted as a second position deviation) between an image element of the model slice in the original image and an image element of the print platform is calculated, and an offset between the actual image and the original image is determined based on the first position deviation and the second position deviation.
And 203, adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
In order to ensure the accuracy of continuous printing of the target model, the embodiment of the application firstly adjusts the data of the original images of all unprinted slice layers to the position matched with the actual image so as to finish the accurate continuous printing of the target model.
The data of the original image is print data before the print interruption, for example, may be coordinates of each point on each slice layer before the print interruption.
In a specific implementation, the computer device adjusts the data of the original images of all the unprinted slice layers according to the obtained offset between the actual image and the original image of the target slice layer, so that the positions of the original images of all the unprinted slice layers are matched with the positions of the actual images. And then, based on the adjusted data of the original images of all the unprinted slice layers, instructing the printer to execute continuous printing operation of the target model.
According to the continuous printing method of the 3D printer, the actual image of the target slice layer of the target model and the original image of the target slice layer can be obtained, the position offset between the two slice images is determined based on the two slice images, and then the data of the original images of all unprinted slice layers are adjusted based on the position offset, so that the 3D printer can continuously print the target model under the condition of printing interruption, discarding of a printed part is avoided, material waste is reduced, and meanwhile, the position offset of the continuous printing part and the printed part can be avoided to a certain extent when continuous printing of the printed part is completed, and the accuracy of continuous printing is ensured.
The foregoing embodiments describe a solution for acquiring an actual image of a target slice layer of a target model. In another embodiment of the application, a top view of the target model may be acquired, thereby acquiring an actual image of a target slice layer of the target model. For example, "acquiring an actual image of a target slice layer of a target model" referred to above specifically includes:
image acquisition is carried out on the surface of the target model, which is away from the direction of the printing table, so as to obtain an actual image of the target slice layer; the target slice layer is the last slice layer of the target model that is currently printed.
In a specific implementation, as shown in fig. 3, the acquisition device photographs the surface of the target model facing away from the direction of the printing platform, so as to acquire an actual image of a target slice layer of the target model, and sends the actual image to the computer device. The acquisition device can communicate with the computer device in a wired or wireless mode. The acquisition device can be a camera, a mobile phone or other devices capable of acquiring images.
In one possible implementation, the acquisition device may be integrated on the 3D printer as part of the 3D printer. When the image acquisition is needed, the computer equipment instructs the acquisition equipment to move to a designated position, the target slice layer is photographed, an actual image of the target slice layer is obtained, and the actual image is sent to the computer equipment and is processed by the computer equipment. For example, the computer device instructs the acquisition device to move to a position right above the target model, and photographs the target slice layer of the target model from top to bottom, so as to obtain a top view of the target slice layer, namely, an actual image of the target slice layer.
In one possible implementation manner, the acquisition device may be an independent acquisition device, the acquisition device is manually operated to photograph the target slice layer from top to bottom, obtain an actual image of the target slice layer, and send the obtained actual image to the computer device for processing by the computer device.
The embodiment of the application provides a method for acquiring an actual image of a target slice layer, which is characterized in that computer equipment instructs acquisition equipment to shoot the target slice layer from top to bottom to obtain the actual image of the target slice layer, or manually operates the acquisition equipment to shoot the target slice layer from top to bottom to obtain the actual image of the target slice layer, and the actual image is sent to the computer equipment to be processed by a computer. Therefore, the acquisition equipment acquires the actual image of the target slice layer by shooting the target slice layer from top to bottom, namely the acquisition equipment acquires the top view of the target slice layer, so that the acquired actual image is closer to the actual shape of the target slice layer on the horizontal plane.
The foregoing embodiments describe a solution for acquiring an original image of a target slice layer of a target model. In another embodiment of the present application, the original image of the target slice layer may be found from the original image set of the target model based on the number of layers of the target slice layer. For example, the foregoing relates to "acquiring an original image", specifically including the steps as shown in fig. 4:
Step 401, determining the current printing height of the target model, and determining the layer number corresponding to the height;
in order to ensure accuracy of continuous playing, the embodiment of the application needs to know the position of the continuous playing, namely the specific layer number of the continuous playing. Therefore, the position of the target slice layer can be determined first, and the continuous playing position is the upper layer of the target slice layer.
In the specific implementation, a calibration object with the height L can be placed on a printing platform, and then the target model and the calibration object are photographed to obtain a calibration image. And (3) performing image processing on the calibration image by a computer to obtain the height H of the target model which is printed currently. Then, the computer device may acquire the height H0 of one slice layer of the target model from the original print data, and determine the number of layers corresponding to the height at which the target model has finished printing according to the height H at which the target model has finished printing and the height H0 of one slice layer. The calibration image is an image containing a target model and a calibration object; the calibration object is an object with a known height; the original print data is data indicating the 3D printer to print the target model before the print interruption. The calibration object may be a highly known box, ruler or other object, or may be a Z-axis, which is not limited in the present application.
In one possible implementation, the computer device may instruct the acquisition device to move to the right in front of the target model (photographing from front to back) or to the right (photographing from right to left) or to other locations where the entire target model and calibration object may be photographed, then photograph the target model and calibration object to obtain a calibration image, and send the calibration image to the computer device. The computer equipment carries out image recognition on the calibration image to obtain the pixel height H1 of the current finished printing part of the target model and the pixel height L1 of the calibration object, and the pixel number of the unit height (1 mm) is shown in the following formula (1):
the height H of the currently completed print portion of the target model is shown in the following formula (2):
the number of layers X corresponding to the height H of the currently completed print portion of the target model is shown in the following formula (3):
in one possible implementation manner, the acquisition device can be manually operated to photograph the target model from front to back or from right to left to obtain a calibration image, the calibration image is sent to the computer device, the computer device processes the calibration image to obtain the height H of the target model, which is printed, and the number of layers corresponding to the height of the target model, which is printed, is determined according to the height H of the target model, which is printed currently, and the height H0 of one slice layer.
Step 402, acquiring an original image of a target slice layer from an original image set of a target model according to the layer number; the original image set includes the original images of all slice layers of the object model.
In a specific implementation, the computer equipment determines an original image at a corresponding position in the original image set according to the acquired number of layers of the target slice layer, namely the original image of the target slice layer.
The original image set comprises original images of all slice layers of the target model, namely the slice images of all slice layers before the printing is interrupted.
The embodiment of the application provides a method for acquiring an original image of a target slice layer, in particular to a method for acquiring a calibration image by photographing a target model and a calibration object through acquisition equipment and sending the calibration image to computer equipment. And the computer equipment performs image processing on the calibration image to obtain the current printing completed height of the target model, and obtains the number of layers of the target slice layer of the target model according to the height and the height of one slice layer of the target model. And finally, inquiring the original image at the corresponding position in the original image set according to the layer number of the target slice layer, namely the original image of the target slice layer. According to the embodiment of the application, the number of layers of the target slice layer and the original image corresponding to the target slice layer are automatically acquired by adopting the image identification method, so that the situation of manually designating the number of layers of the target slice layer is avoided, the accuracy of the acquired number of layers of the target slice layer is improved, and the accuracy of the acquired original image of the target slice layer is further improved.
The foregoing embodiments describe a scheme for finding an original image of a target slice layer from an original image set of a target model based on the number of layers of the target slice layer. In another embodiment of the present application, the corresponding original image of the target slice layer in the original image set of the target model may be determined as the original image of the target slice layer. For example, "the original image of the target slice layer is acquired from the original image set of the target model according to the number of layers" referred to above.
In a specific implementation, the computer device may directly obtain the original image of the target slice layer from the original image set according to the number of layers of the target slice layer. Specifically, the computer device queries an original image corresponding to the same layer number position from the original image set according to the obtained layer number of the target slice layer, and determines the original image as the original image of the target slice layer.
The embodiment of the application provides a method for determining an original image of a target slice layer, and particularly, computer equipment can determine the original image with the same layer number as the target slice layer in an original image set as the original image of the target slice layer. The method for determining the original image of the target slice layer can directly determine the original image with the same layer number as the target slice layer as the original image of the target slice layer, so that the original image of the target slice layer can be accurately obtained.
The foregoing embodiments describe a scheme for finding an original image of a target slice layer from an original image set of a target model based on the number of layers of the target slice layer. In another embodiment of the present application, the original image that most matches the actual image may be determined as the original image of the target slice layer from among the sets of original images corresponding to the plurality of slice layers adjacent to the target slice layer. For example, "acquiring an original image of a target slice layer from an original image set of a target model according to the number of layers" referred to above specifically includes the steps as shown in fig. 5:
step 501, determining a plurality of slice layers adjacent to the layer number;
in order to improve the accuracy of the acquired original image of the target slice layer, the embodiment of the application can perform query processing on a plurality of slice layers.
In a specific implementation, the computer device may obtain a preset number of slice layers adjacent to the target slice layer. The number of preset layers can be 30, 40 or 50.
In one possible implementation, since the image recognition height is more than 2 and the FDM photo-cured layer is 0.1mm in height, when the preset number of layers is 40, the 40-layer original image may completely include the original image of the target slice layer. Thus, as shown in fig. 6, the computer device may determine a total of 40 slice layers as a plurality of slice layers adjacent to the target slice layer, 20 slice layers above the target slice layer and 20 slice layers below the target slice layer.
Step 502, obtaining a plurality of original images corresponding to a plurality of slice layers from an original image set;
in a possible implementation manner, 20 layers of original images above the original image with the same layer number as the target slicing layer and 20 layers of original images below the original image with the same layer number as the target slicing layer in the original image set may be obtained, and the total number of the original images is 40, where the 40 original images are the original images corresponding to multiple slicing layers.
And 503, determining an original image with the highest matching degree with the actual image in the plurality of original images as an original image of the target slice layer.
In a specific implementation, the computer equipment respectively matches the 40 original images with the actual images of the target slice layer to obtain 40 matching degrees, and the original image with the highest matching degree is determined to be the original image of the target slice layer.
In a possible implementation manner, the profiles of the target slice layers of the 40 original images and the actual image may be obtained, the profiles corresponding to the 40 original images are respectively matched with the profiles corresponding to the actual image, 40 profile matching degrees are obtained, and the original image with the highest profile matching degree is determined as the original image of the target slice layer.
In a possible implementation manner, if there are multiple original images with highest profile matching degree, determining an original image with the closest layer number to the target slice layer as the original image of the target slice layer in the multiple original images with highest profile matching degree.
The embodiment of the application provides a method for determining an original image of a target slice layer, and specifically, computer equipment can respectively match original images adjacent to the target slice layer in an original image set with actual images of the target slice layer by a preset layer number, and determine the original image with highest matching degree as the original image of the target slice layer. Therefore, after the number of layers of the target slice layer is obtained, the method and the device of the application perform query comparison on the plurality of original images adjacent to the number of layers one by one, and determine the queried original image which is most matched with the actual image as the original image of the target slice layer, thereby further improving the accuracy of the obtained original image.
The foregoing embodiments describe a scheme for determining the offset between the actual image and the original image of the target slice layer. In another embodiment of the present application, the offset amounts of the actual image and the original image may be determined based on a rotation matrix, a horizontal offset, and a vertical offset between the contours of the actual image and the original image. For example, the foregoing relates to "determining the offset between the actual image and the original image", specifically including the steps as shown in fig. 7:
701, performing contour recognition on an actual image to obtain a first contour, and performing contour recognition on an original image to obtain a second contour;
in order to ensure the accuracy of continuous printing of the 3D printer, the offset of the target model is determined after the printing is interrupted, so that the outline of the actual image and the outline of the original image of one slice layer can be acquired first, and the offset between the outline of the actual image and the outline of the original image of the slice layer is the offset of the target model.
The offset may include an offset of a rotation angle of the target model, an offset in a horizontal direction, and an offset in a vertical direction, among others.
In specific implementation, the computer equipment performs contour recognition on the obtained actual image of the target slice layer, and obtains the contour of the actual image, namely a first contour; and then the computer equipment carries out contour recognition on the determined original image of the target slice layer, and the contour of the original image is obtained, namely the second contour.
Step 702, determining a rotation matrix between the first contour and the second contour, and performing rotation processing on the second contour based on the rotation matrix;
in a specific implementation, the computer device performs image recognition processing on the obtained first contour and the obtained second contour, and determines a rotation matrix degree between the first contour and the second contour, wherein the rotation angle is the offset of the target model in angle.
Since the first contour and the second contour need to be on parallel horizontal lines when determining the offset of the target model in the horizontal and vertical directions, as shown in fig. 8, the rotation processing may be performed on the second contour corresponding to the original image based on the rotation angle θ between the two contours determined above, so that the rotated second contour and the first contour are on parallel horizontal lines.
Step 703, acquiring an offset between the first contour and the rotated second contour in the first direction and an offset between the first contour and the rotated second contour in the second direction; the first direction is the direction in which one edge of the printing platform is positioned, and the second direction is perpendicular to the first direction;
in a specific implementation, the first contour corresponding to the actual image of the target slice layer and the reference contour corresponding to the original image of the target slice layer may include not only the contour of the target slice layer but also the contour of the printing platform. And acquiring the offset between the first contour and the reference contour in the first direction, namely the offset of the target model in the horizontal direction. The first direction is the direction in which one edge of the printing platform is located, and the second direction is perpendicular to the first direction.
In a possible implementation manner, as shown in fig. 9, the computer device may obtain an actual length S of the printing platform, and then perform image recognition on the first contour and the rotated second contour, to obtain a pixel length S1 of the printing platform, a pixel distance X1 between a leftmost end of the first contour and a left edge of the printing platform, and a pixel distance X2 between a leftmost end of the rotated second contour and the left edge of the printing platform. The number of pixels per unit length (1 mm) is represented by the following formula (4):
the distance XS1 between the leftmost end of the first profile and the left edge of the printing platform is shown in the following formula (5):
the distance XS2 between the leftmost end of the rotated second profile and the left edge of the printing platform is represented by the following formula (6):
the offset D1 in the horizontal direction between the first profile and the rotated second profile is represented by the following formula (7):
D1＝|XS2-XS1| (7)
in one possible implementation manner, the computer device may obtain the actual width W of the printing platform, and then perform image recognition on the first contour and the rotated second contour, to obtain the pixel width W1 of the printing platform, the pixel distance Y1 between the lowermost end of the first contour and the lower edge of the printing platform, and the pixel distance Y2 between the lowermost end of the rotated second contour and the lower edge of the printing platform. The number of pixels per unit width (1 mm) is represented by the following formula (8):
The distance YW1 between the lowermost end of the first contour and the lower edge of the printing table is represented by the following formula (9):
the distance YW2 between the lowermost end of the rotated second contour and the lower edge of the printing table is expressed by the following formula (10):
the offset D2 in the vertical direction between the first profile and the rotated second profile is represented by the following expression (11):
D2＝|YW2-YW1| (11)
that is, the offset between the first contour and the rotated second contour in the first direction is D1, and the offset in the second direction is D2.
Step 704, determining the rotation matrix, the offset in the first direction, and the offset in the second direction as offset amounts.
In a specific implementation, three values of the offset θ of the first contour and the second contour in angle, the offset D1 in the horizontal direction, and the offset D2 in the vertical direction obtained above are determined as the offset of the target model.
The embodiment of the application provides a method for acquiring offset of a target model, which specifically carries out contour recognition on an actual image and an original image of a target slice layer to acquire a corresponding first contour and a corresponding second contour. And then carrying out image recognition on the two contour images, and obtaining the rotation angle offset between the first contour and the second contour, wherein the horizontal offset and the vertical offset are the offsets of the target model. Therefore, the embodiment of the application determines the offset of the actual image and the original image of the target slice layer in the rotation angle, the horizontal direction and the vertical direction as the offset of the target model by the image identification method, and improves the comprehensiveness and the accuracy of the acquired offset.
The foregoing embodiments describe a scheme for adjusting the original images of all unprinted slice layers corresponding to the target model based on the determined offset. In another embodiment of the present application, the data of all the unprinted slice layers may be processed accordingly based on the rotation matrix, the horizontal offset, and the vertical offset between the actual image and the original image, thereby obtaining the adjusted original image of all the unprinted slice layers. For example, "the data of the original images of all the unprinted slice layers corresponding to the target model are adjusted according to the offset" mentioned above specifically includes:
and performing rotation processing on the data of all the unprinted slice layers based on the rotation matrix, and performing position adjustment on the data after the rotation processing based on the offset in the first direction and the offset in the second direction to obtain the adjusted data of the original images of all the unprinted slice layers.
In order to finish accurate continuous printing of the target model, the embodiment of the application firstly corrects the data of all unprinted slice layers.
In a specific implementation, the computer device performs rotation processing on the data of all the unprinted slice layers according to the determined rotation matrix (namely, the offset of the rotation angle of the target model), so that the connection between all the unprinted slice layers and the printed part of the target model is in a parallel state. Then, position adjustment processing is performed on the data of all the unprinted slice layers after the rotation processing according to the determined offset amounts in the first direction and the second direction, so that the connection positions between all the unprinted slice layers and the printed part of the target model are in an overlapped state, and thus the adjusted original images of all the unprinted slice layers are obtained.
In a possible implementation manner, the angle offset between the first contour and the second contour is θ, and when the first contour is rotated clockwise by θ and then parallel to the second contour, the data of all the unprinted slice layers are rotated counterclockwise by θ, so as to obtain the data of all the unprinted slice layers after the rotation processing. And if the offset in the horizontal direction between the first contour and the rotated second contour is D1, the offset in the vertical direction is D2, and the position of the rotated second contour is the position of the first contour which moves right by D1 and moves upward by D2, performing position adjustment on the data of all unprinted slice layers according to the left movement D1 and the downward movement D2, and obtaining the data of all the original images after the adjustment of the unprinted slice layers.
In the specific calculation process, if the coordinate of a certain point on the original image is (x, y), the rotation matrix between the actual image and the original image is T, the offset of the original image in the first direction is D1, and the offset of the original image in the second direction is D2, the coordinate of the point on the original image with the coordinate of (x, y) after the position adjustment is performed is T x (x-D1, y-D2).
The embodiment of the application provides a method for adjusting the positions of all unprinted slice layers based on offset, in particular to a method for adjusting the positions of all unprinted slice layers by computer equipment according to the determined offset of a target model in a rotation angle, the determined offset in a horizontal direction and the determined offset in a vertical direction, so that the connection positions of all unprinted slice layers and a finished printing part of the target model are in an overlapped state, and the data of an original image after adjustment of all unprinted slice layers are obtained. Therefore, the embodiment of the application can adjust the positions of all the unprinted slice layers by 3 layers based on the offset of the target model, and avoid the position offset of the continuous printing part and the printed part to a certain extent, so that the 3D printer can accurately finish continuous printing of the target model, and the accuracy of continuous printing of the model is ensured.
The foregoing embodiments describe a scheme for completing continuous playing of the target model based on all the adjusted original images. In another embodiment of the present application, the adjusted original images may be printed on the target slice layer in sequence, so as to complete the continuous printing of the target model. The method specifically comprises the following steps:
and printing all the adjusted original images on the target slice layer in sequence to generate a target model.
In specific implementation, the computer equipment instructs the printing head of the 3D printer to move to the corresponding position according to all the adjusted original images, and then prints layer by layer on the target slice layer of the target model in sequence so as to finish continuous printing of the target model.
The embodiment of the application provides a method for completing continuous printing of a target model based on all adjusted original images, in particular to a method for indicating a 3D printer to perform continuous printing layer by layer on the target model by computer equipment according to all adjusted original images. Therefore, the embodiment of the application can finish accurate continuous printing of the target model under the condition of printing interruption, and reduces the waste of printing materials.
Before acquiring the actual image of the target slice layer of the target model and the original image of the target slice layer, the embodiment of the application may further perform flatness detection on the target model, which specifically includes the steps as shown in fig. 10:
Step 1001, detecting the flatness of a tangent plane of a target model to obtain the flatness of the tangent plane of the target model;
in order to finish accurate continuous beating of the target model, the embodiment of the application can also detect the flatness of the target model before the continuous beating of the model.
Specifically, after the 3D printing is interrupted, the computer device instructs the 3D printer to perform flatness detection on the target model, and whether the surface of the last layer of the 3D printer is flat is determined.
In one possible implementation manner, the computer device may instruct the acquisition device to perform data acquisition on the portion of the target model that has completed printing, and determine the flatness of the tangent plane of the target model according to the acquired data. For example, the computer device may instruct the acquisition device to photograph the target model, detect the flatness of the target model by using an image processing method, and obtain the flatness of the tangent plane of the target model.
Step 1002, outputting the section processing information if the section flatness of the target model is lower than a preset threshold; the slice processing information is used for prompting a user to carry out leveling processing on the tangential plane of the target model.
In a specific implementation, the computer device may determine the flatness of the tangent plane of the determined target model, and if the flatness of the tangent plane is lower than a preset threshold, output tangent plane processing information on the display screen, so as to prompt the user to perform flattening processing on the tangent plane of the target model.
The embodiment of the application provides a method for detecting flatness of a tangent plane of a target model, in particular to a method for detecting flatness of the tangent plane of the target model by computer equipment, so as to obtain the flatness of the tangent plane of the target model, and if the flatness of the tangent plane is lower than a preset threshold value, outputting tangent plane processing information to prompt a user to perform flattening processing on the tangent plane of the target model. Therefore, the embodiment of the application can carry out section leveling treatment on the target model, so that the joint between the continuous printing part and the finished printing part of the model is smoother, and the accuracy of continuous printing of the model is improved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a 3D printer continuous printing device for realizing the 3D printer continuous printing method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the continuous printing device for the 3D printer provided below may be referred to the limitation of the continuous printing method for the 3D printer hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 11, there is provided a 3D printer continuous printing apparatus, including: the device comprises an acquisition module, a determination module and an adjustment module, wherein:
an obtaining module 1101, configured to obtain an actual image of a target slice layer of a target model and an original image of the target slice layer;
a determining module 1102, configured to determine an offset between an actual image and an original image;
the adjusting module 1103 is configured to adjust data of original images of all unprinted slice layers corresponding to the target model according to the offset, and complete continuous printing of the target model based on the adjusted data of the original images of all unprinted slice layers.
In one embodiment, the obtaining module 1101 specifically obtains an actual image of a target slice layer of the target model, including: image acquisition is carried out on the surface of the target model, which is away from the direction of the printing table, so as to obtain an actual image of the target slice layer; the target slice layer is the last slice layer of the target model that is currently printed.
In one embodiment, the obtaining module 1101 is specifically configured to obtain an original image of a target slice layer, and includes: determining the current printing height of the target model, and determining the layer number corresponding to the height; acquiring an original image of a target slice layer from an original image set of a target model according to the layer number; the original image set includes the original images of all slice layers of the object model.
In one embodiment, obtaining an original image from an original image set of a target model according to a number of layers includes: determining a plurality of slice layers adjacent to the number of layers; acquiring a plurality of original images corresponding to a plurality of slice layers from an original image set; and determining an original image with the highest matching degree with the actual image in the plurality of original images as an original image of the target slice layer.
In one embodiment, the determining module 1102 is specifically configured to determine an offset between the actual image and the original image, including: performing contour recognition on the actual image to obtain a first contour, and performing contour recognition on the original image to obtain a second contour; determining a rotation matrix between the first contour and the second contour, and performing rotation processing on the second contour based on the rotation matrix; acquiring the offset between the first contour and the rotated second contour in the first direction and the offset between the first contour and the rotated second contour in the second direction; the first direction is the direction in which one edge of the printing platform is positioned, and the second direction is perpendicular to the first direction; the rotation matrix, the offset in the first direction, and the offset in the second direction are determined as offset amounts.
In one embodiment, the adjusting module 1103 is specifically configured to adjust data of original images of all unprinted slice layers corresponding to the target model according to the offset, including: and performing rotation processing on the data of all the unprinted slice layers based on the rotation matrix, and performing position adjustment on the data after the rotation processing based on the offset in the first direction and the offset in the second direction to obtain the original images after the adjustment of all the unprinted slice layers.
The modules in the 3D printer follow-up device can be all or partially implemented by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 12. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing some data related to the continuous printing method of the 3D printer according to the embodiment of the present application, for example, the offset, the original image set, and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by a processor implements a 3D printer follow-up method.
It will be appreciated by those skilled in the art that the structure shown in FIG. 12 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring an actual image of a target slice layer of a target model and an original image of the target slice layer;
determining an offset between the actual image and the original image;
and adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring an actual image of a target slice layer of a target model, comprising: image acquisition is carried out on the surface of the target model, which is away from the direction of the printing table, so as to obtain an actual image of the target slice layer; the target slice layer is the last slice layer of the target model that is currently printed.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring an original image of a target slice layer, comprising: determining the current printing height of the target model, and determining the layer number corresponding to the height; acquiring an original image of a target slice layer from an original image set of a target model according to the layer number; the original image set includes the original images of all slice layers of the object model.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring an original image from an original image set of the target model according to the layer number, wherein the method comprises the following steps: determining a plurality of slice layers adjacent to the number of layers; acquiring a plurality of original images corresponding to a plurality of slice layers from an original image set; and determining an original image with the highest matching degree with the actual image in the plurality of original images as an original image of the target slice layer.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining an offset between the actual image and the original image includes: performing contour recognition on the actual image to obtain a first contour, and performing contour recognition on the original image to obtain a second contour; determining a rotation matrix between the first contour and the second contour, and performing rotation processing on the second contour based on the rotation matrix; acquiring the offset between the first contour and the rotated second contour in the first direction and the offset between the first contour and the rotated second contour in the second direction; the first direction is the direction in which one edge of the printing platform is positioned, and the second direction is perpendicular to the first direction; the rotation matrix, the offset in the first direction, and the offset in the second direction are determined as offset amounts.
In one embodiment, the processor when executing the computer program further performs the steps of:
and adjusting the data of the original images of all the unprinted slice layers corresponding to the target model according to the offset, wherein the method comprises the following steps: and performing rotation processing on the data of all the unprinted slice layers based on the rotation matrix, and performing position adjustment on the data after the rotation processing based on the offset in the first direction and the offset in the second direction to obtain the original images after the adjustment of all the unprinted slice layers.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (7)
1. A method for continuing printing by a 3D printer, the method comprising:
acquiring an image of the surface of the target model, which is far away from the direction of the printing table, to obtain an actual image of a target slice layer, determining the current printing height of the target model, and determining the layer number corresponding to the height; determining a plurality of slice layers adjacent to the number of layers; acquiring a plurality of original images corresponding to the plurality of slice layers from an original image set; determining an original image with the highest matching degree with the actual image in the plurality of original images as an original image of the target slice layer; the original image set comprises original images of all slice layers of the target model; the original image is a section image generated by a target section layer, and the target section layer is a section layer with clear outline selected from all section layers which finish printing before printing is interrupted;
Determining a rotation matrix, a horizontal offset and a vertical offset between the contours of the actual image and the original image based on the position deviation of the actual image relative to the horizontal plane where the printing platform is located and the position deviation of the original image relative to the horizontal plane where the printing platform is located;
and carrying out rotation processing on the original data of all the unprinted slice layers based on the rotation matrix, carrying out position adjustment on the rotated original data based on the horizontal offset and the vertical offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
2. The method of claim 1, wherein the determining an offset between the actual image and the original image comprises:
performing contour recognition on the actual image to obtain a first contour, and performing contour recognition on the original image to obtain a second contour;
determining a rotation matrix between the first contour and the second contour, and performing rotation processing on the second contour based on the rotation matrix;
acquiring an offset between the first contour and a rotated second contour in a first direction and an offset between the first contour and the rotated second contour in a second direction; the first direction is the direction in which one edge of the printing platform is positioned, and the second direction is perpendicular to the first direction;
Determining the rotation matrix, the offset in the first direction, and the offset in the second direction as the offset amounts.
3. The method of claim 1, wherein the connections between all unprinted sliced layers after the rotation process and the finished printed portion are in a parallel state.
4. The method of claim 1, wherein prior to the acquiring the actual image of the target slice layer of the target model and the original image of the target slice layer, the method further comprises:
detecting the flatness of a tangent plane of the target model to obtain the flatness of the tangent plane of the target model;
outputting section processing information if the section flatness of the target model is lower than a preset threshold value; the slice processing information is used for prompting a user to carry out leveling processing on the tangential plane of the target model.
5. A 3D printer continuous printing device, the device comprising:
the acquisition module is used for acquiring images of the surface of the target model, which is away from the direction of the printing table, acquiring an actual image of a target slice layer, determining the current printing completed height of the target model, and determining the layer number corresponding to the height; determining a plurality of slice layers adjacent to the number of layers; acquiring a plurality of original images corresponding to the plurality of slice layers from an original image set; determining an original image with the highest matching degree with the actual image in the plurality of original images as an original image of the target slice layer; the original image set comprises original images of all slice layers of the target model; the original image is a section image generated by a target section layer, and the target section layer is a section layer with clear outline selected from all section layers which finish printing before printing is interrupted;
The determining module is used for determining a rotation matrix, a horizontal offset and a vertical offset between the outline of the actual image and the outline of the original image based on the position deviation of the actual image relative to the horizontal plane where the printing platform is located and the position deviation of the original image relative to the horizontal plane where the printing platform is located;
and the adjusting module is used for carrying out rotation processing on the original data of all the unprinted slice layers based on the rotation matrix, carrying out position adjustment on the rotated original data based on the horizontal offset and the vertical offset, and completing continuous printing of the target model based on the adjusted data of the original images of all the unprinted slice layers.
6. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
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