CN117341204A

CN117341204A - Height compensation method and device for printing platform and computer equipment

Info

Publication number: CN117341204A
Application number: CN202210751557.3A
Authority: CN
Inventors: 唐京科; 王玉龙
Original assignee: Shenzhen Chuangxiang 3D Technology Co Ltd
Current assignee: Shenzhen Chuangxiang 3D Technology Co Ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2024-01-05
Also published as: WO2024001369A1

Abstract

The application relates to a height compensation method and device for a printing platform and computer equipment. The method comprises the following steps: determining a measuring point to be compensated in the printing platform and a plurality of adjacent areas positioned at the adjacent positions of the measuring point to be compensated in the printing platform; each adjacent area comprises at least two adjacent measuring points; projecting at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain at least two first projection points, and performing linear fitting processing on the at least two first projection points to obtain first fitting lines corresponding to each adjacent area; respectively determining each compensation datum point according to the corresponding first fitting line of each adjacent area; and projecting each compensation datum point to a preset second projection plane to obtain each second projection point, and carrying out height compensation on the coordinate data of the measurement point to be compensated according to each second projection point. By adopting the method, the accuracy of the height compensation of the printing platform can be improved.

Description

Height compensation method and device for printing platform and computer equipment

Technical Field

The present disclosure relates to the field of 3D printing technologies, and in particular, to a method and an apparatus for compensating a height of a printing platform, and a computer device.

Background

3D printing is a rapid prototyping technology, which is a technology for constructing three-dimensional entities by using special wax materials, powdered metals or plastic and other bondable materials in a layer-by-layer printing mode based on digital model files. Among them, how to adjust the horizontality of the printing platform is the key point of the current research.

At present, measurement is usually performed on preset measurement points on a printing platform, a fitting plane is constructed according to measurement results, and when a nozzle is printed to a certain position, height compensation corresponding to the position can be calculated according to the fitting plane, so that leveling is performed. However, since the whole fitting plane is constructed indiscriminately according to the measurement result, the adjustment of each measurement point cannot be realized in a targeted manner, and the leveling effect of the printing platform is reduced. Therefore, how to accurately perform the height compensation for each measurement point, and thus ensure the horizontality of the printing platform, is a problem to be solved by the present disclosure.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a height compensation method, apparatus, computer device, and computer-readable storage medium for a printing platform that can improve the accuracy of height compensation.

In a first aspect, the present application provides a method for height compensation of a printing platform. The method comprises the following steps:

acquiring a plurality of measurement points in a printing platform, and determining measurement points to be compensated;

determining a plurality of adjacent areas in the printing platform, which are positioned at the adjacent positions of the measuring points to be compensated; each adjacent area comprises at least two adjacent measuring points; the adjacent measuring points are measuring points adjacent to the measuring point to be compensated in the plurality of measuring points;

projecting at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and performing linear fitting processing on the coordinate data of the at least two first projection points to obtain first fitting lines corresponding to each adjacent area;

respectively determining coordinate data of each compensation datum point according to the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measurement points in each adjacent area and the coordinate data of the measurement point to be compensated;

and projecting each compensation datum point to a preset second projection plane to obtain coordinate data of each second projection point, and carrying out height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point.

In one embodiment, the plurality of measurement points includes extended measurement points, edge measurement points, and internal measurement points; the acquiring a plurality of measurement points in the printing platform includes: determining edge measurement points in the printing platform and determining edge information of the edge measurement points; according to the edge information, determining a target internal measurement point corresponding to the edge measurement point in the printing platform and determining an expansion direction of the target internal measurement point; and performing expansion processing on the internal measurement points of the target according to the expansion direction to obtain expansion measurement points corresponding to the edge measurement points.

In one embodiment, the expanding the target internal measurement point according to the expansion direction to obtain an expanded measurement point corresponding to the edge measurement point includes: symmetrically processing the internal measurement points of the target according to the expansion direction by taking the edge measurement points as mirror centers to obtain plane coordinate data of the expansion measurement points to be generated; acquiring a coordinate expansion model corresponding to the expansion direction, substituting the plane coordinate data of the expansion measurement point to be generated into the coordinate expansion model, and obtaining the height coordinate data of the expansion measurement point to be generated; and integrating the plane coordinate data and the height coordinate data of the extended measurement points to be generated to obtain the coordinate data of the extended measurement points corresponding to the edge measurement points.

In one embodiment, the generating manner of the coordinate expansion model includes: acquiring an expansion direction set, and determining a model projection plane corresponding to the current expansion direction aiming at each expansion direction in the expansion direction set; generating a simulation edge point corresponding to the current expansion direction, and determining a simulation internal point corresponding to the simulation edge point; projecting the simulated edge points to a model projection plane to obtain simulated edge projection points, and projecting the simulated interior points to the model projection plane to obtain simulated interior projection points; and performing linear fitting processing on the simulated edge projection points and the simulated internal projection points to obtain a coordinate expansion model corresponding to the current expansion direction.

In one embodiment, the coordinate data of the adjacent measurement points includes abscissa data; the determining the coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measurement points in each adjacent area and the coordinate data of the measurement point to be compensated respectively includes: judging whether the abscissa data of at least two adjacent measuring points in each adjacent area are the same or not; when the abscissa data of the at least two adjacent measuring points are the same, acquiring the abscissa data of each compensation reference point to be generated according to the abscissa data of the at least two adjacent measuring points; according to the coordinate data of the measurement points to be compensated, acquiring the ordinate data of each compensation datum point to be generated; substituting the ordinate data of the compensation datum points to be generated into the first fitting lines corresponding to the adjacent areas respectively to obtain the height coordinate data of the compensation datum points to be generated; and integrating the abscissa data, the ordinate data and the altitude coordinate data of the compensation datum points to be generated to obtain the coordinate data of the compensation datum points corresponding to each adjacent area.

In one embodiment, the method further comprises: when the abscissa data of the at least two adjacent measuring points are different, respectively constructing a right triangle through the at least two adjacent measuring points in each adjacent area; according to the coordinate data of the measurement points to be compensated, determining two similar right triangles in each right triangle, and respectively determining the side length proportional relationship between the two similar right triangles; substituting the coordinate data of the at least two adjacent measuring points and the coordinate data of the measuring points to be compensated into the corresponding side length proportional relations to obtain the abscissa data of the compensation datum points to be generated.

In one embodiment, the performing the height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point includes: performing linear fitting processing on the coordinate data of each second projection point to obtain a second fitting line; substituting the coordinate data of the measurement point to be compensated into a second linear equation corresponding to the second fitting line to obtain a height compensation value of the measurement point to be compensated; and carrying out height compensation on the coordinate data of the measurement point to be compensated through the height compensation value.

In one embodiment, before the determining a plurality of adjacent areas of the printing platform located at adjacent positions of the measurement point to be compensated, the method further includes: acquiring first initial coordinate data of corner measurement points and second initial coordinate data of internal measurement points in the plurality of measurement points; checking the first initial coordinate data to obtain a first checking result, and determining the first checking coordinate data of the corner measuring point according to the first checking result; constructing a standard plane according to the first check coordinate data; and verifying the second initial coordinate data according to the standard plane to obtain a second verification result, and determining the second verification coordinate data of the internal measurement point according to the second verification result.

In a second aspect, the present application further provides a height compensation device for a printing platform. The device comprises:

the measuring point determining module is used for acquiring a plurality of measuring points in the printing platform and determining measuring points to be compensated;

the adjacent area determining module is used for determining a plurality of adjacent areas which are positioned at the adjacent positions of the measuring points to be compensated in the printing platform; each adjacent area comprises at least two adjacent measuring points; the adjacent measuring points are measuring points adjacent to the measuring point to be compensated in the plurality of measuring points;

The first projection module is used for projecting at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and carrying out linear fitting processing on the coordinate data of the at least two first projection points to obtain first fitting lines corresponding to each adjacent area;

the reference point determining module is used for determining the coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measuring points in each adjacent area and the coordinate data of the measuring point to be compensated;

the second projection module is used for projecting each compensation datum point to a preset second projection plane to obtain coordinate data of each second projection point, and carrying out height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which when executed by a processor performs the steps of:

The height compensation method, the height compensation device, the computer equipment and the storage medium of the printing platform are characterized by determining the measuring points to be compensated in the printing platform and determining a plurality of adjacent areas positioned at the adjacent positions of the measuring points to be compensated, wherein each adjacent area comprises at least two adjacent measuring points. At least two adjacent measurement points in each adjacent area are projected to a preset first projection plane, so that at least two first projection points can be obtained, and then linear fitting processing is carried out on the at least two first projection points, so that a first fitting line corresponding to each adjacent area can be obtained. And determining each compensation datum point according to the first fitting line corresponding to each adjacent area, and projecting each compensation datum point to a preset second projection plane to obtain each second projection point, so that the measurement point to be compensated can be subjected to height compensation according to the coordinate data of each second projection point. Because the first fitting line is determined through the adjacent measuring points, the compensation reference point is determined according to the first fitting line, and then the height compensation of the measuring points to be compensated can be realized according to the second projection point after the compensation reference point is projected, compared with the traditional mode of indiscriminately constructing a whole fitting plane, the height adjustment of each measuring point to be compensated can be pertinently performed, the accuracy of the height compensation of a printing platform is improved, and meanwhile, the problem of large data calculation amount during fitting of the whole plane is also avoided.

Drawings

FIG. 1 is an application environment diagram of a method of height compensation for a print platform in one embodiment;

FIG. 2 is a flow chart of a method of height compensation for a print platform in one embodiment;

FIG. 3 is a schematic diagram of a measurement point distribution of a print platform in one embodiment;

FIG. 4 is a schematic diagram of the distribution of neighboring regions in one embodiment;

FIG. 5 is a schematic diagram showing the distribution of neighboring areas in another embodiment;

FIG. 6 is a flow chart of measurement point expansion in one embodiment;

FIG. 7 is a schematic diagram of an exemplary extended distribution of measurement points;

FIG. 8 is a schematic diagram of the distribution of adjacent measurement points in one embodiment;

FIG. 9 is a block diagram of a height compensation apparatus of a print platform in one embodiment;

fig. 10 is an internal structural view of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The height compensation method of the printing platform provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. The terminal 102 is configured to generate coordinate data of the print platform and send the coordinate data to the server 104, where the server 104 is configured to determine a measurement point to be compensated in the print platform according to the acquired coordinate data, determine an adjacent measurement point located at an adjacent position of the measurement point to be compensated, and obtain a first fitting line according to the adjacent measurement point; the server 104 is further configured to determine a compensation reference point according to the coordinate data of the first fitting line and the adjacent measurement points, and project the compensation reference point to a preset second projection plane to obtain a second projection point, and further perform height compensation on the measurement point to be compensated according to the coordinate data of the second projection point. The terminal 102 may be, but is not limited to, various personal computers, 3D printers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.

In one embodiment, as shown in fig. 2, a method for compensating the height of a printing platform is provided, and the method is applied to a computer device, which may be a terminal or a server in fig. 1, for example, and includes the following steps:

step 202, acquiring a plurality of measurement points in the printing platform, and determining the measurement points to be compensated.

The printing platform is a platform for bearing three-dimensional entities in the three-dimensional printer, and when the printing head contacts the plane of the printing platform and performs measurement according to a preset measurement frequency, the detection unit on the printing head can measure the coordinate data corresponding to each measurement point in the printing platform. As shown in fig. 3, fig. 3 is a schematic diagram of a measurement point distribution on a printing platform 301, where the measurement points on the printing platform are composed of an m-row n-column matrix, and the matrix is:

wherein the coordinate data of the measuring point is a _ij ＝(x _ij ，y _ij ，z _ij )(i∈[0，m-1]，j∈(0，n-1))。

Specifically, when the user needs to perform the 3D print job, the print head of the 3D printer may be triggered to move, and usually the preset measurement frequency of each print job may be different, that is, the measurement point corresponding to each print job is also different. When the printing head moves to the corresponding position of the printing platform, the detection unit on the printing head can be used for measuring the measuring point to be compensated which is required to be subjected to height compensation at present, and the coordinate data of the measuring point to be compensated is transmitted to the computer equipment.

In one embodiment, the computer device performs initial measurement on the measurement point of the printing platform through a pressure sensor or a CR-touch (capacitive touch sensor) in advance, obtains an initial measurement point, and sends coordinate data of the initial measurement point to a preset database for storage.

In one embodiment, the measurement point to be compensated may be any point of the initial measurement points, or any point detected by the print head on the printing platform according to the preset measurement frequency.

In one embodiment, for each of a plurality of measurement points corresponding to a current print job, the current measurement point is regarded as a measurement point to be compensated, so as to implement height compensation of the measurement point to be compensated.

Step 204, determining a plurality of adjacent areas in the printing platform, which are positioned at adjacent positions of the measuring points to be compensated; each adjacent area comprises at least two adjacent measuring points; the adjacent measuring points are measuring points adjacent to the measuring point to be compensated in the plurality of measuring points.

Specifically, the computer device may perform proximity detection on the measurement point to be compensated, and consider the proximity area in accordance with the preset direction as a proximity area corresponding to the measurement point to be compensated, where the proximity area in the preset direction may be determined according to the preset first projection plane. As shown in fig. 4, fig. 4 is a schematic distribution diagram of adjacent areas on a printing platform, where the adjacent positions of the measurement points Q to be compensated include an area 1, an area 2, an area 3, and an area 4, and when the preset first projection plane is a YZ plane, the adjacent areas in the preset direction are the area 1 and the area 2, and when the preset first projection plane is an XZ plane, the adjacent areas in the preset direction are the area 3 and the area 4.

Further, the computer device determines, for each neighboring area, neighboring measurement points located in a current neighboring area adjacent to the measurement point to be compensated, wherein each neighboring area includes at least two neighboring measurement points, the neighboring measurement points being screened from the measurement points, e.g., determining neighboring measurement point a and neighboring measurement point B in area 1.

In one embodiment, the computer device obtains the adjacent measurement points at the adjacent positions of the measurement points to be compensated from a preset database according to the coordinate data of the measurement points to be compensated.

In one embodiment, the adjacent area in the preset direction may be determined according to coordinate data of the measurement point to be compensated, for example, when the measurement point to be compensated is any one of the measurement points of the printing platform, the adjacent position of the measurement point to be compensated may be as shown in fig. 5, and fig. 5 is a schematic distribution diagram of the adjacent area on the printing platform in another embodiment. When the preset first projection plane is a YZ plane, the adjacent areas in the preset direction can be the area 5 and the area 6 or the area 7 and the area 8; when the preset first projection plane is the XZ plane, the adjacent areas in the preset direction are the area 5 and the area 6 at the same time, and may be the area 7 and the area 8 at the same time.

In this embodiment, by determining, for a plurality of adjacent areas in a plurality of preset directions, adjacent measurement points corresponding to each adjacent area, a selection range of adjacent measurement points to be compensated for compensating the measurement points to be compensated can be reduced, and at the same time, adjacent measurement points of suitable adjacent areas can be flexibly selected for the measurement points to be compensated for different coordinate data, so that flexibility in determining the first projection point subsequently is improved.

And 206, projecting at least two adjacent measurement points in each adjacent area to a preset first projection plane to obtain coordinate data of at least two first projection points, and performing linear fitting processing on the coordinate data of at least two first projection points to obtain first fitting lines corresponding to each adjacent area.

The preset first projection plane may be a projection plane preset by a user, for example, a YZ plane in a three-dimensional coordinate system. Since the processing procedure for at least two adjacent measurement points in each adjacent area is the same, for better description of the present application, the following will describe the procedure for at least two adjacent measurement points in any one of the adjacent areas.

Specifically, the computer equipment projects each adjacent measuring point in the at least two adjacent measuring points to a preset first projection plane to obtain a first projection point corresponding to each adjacent measuring point, namely, converting the three-dimensional coordinate into the two-dimensional coordinate. For example, the adjacent measurement points a and B in the area 1 are projected to a preset YZ plane to obtain a first projection point a and a first projection point B. The computer equipment carries out linear fitting processing on each first projection point to obtain a first fitting line corresponding to a first adjacent measurement point, namely, carries out linear fitting on the first projection point a and the first projection point b. The linear fitting method may be a least square fitting method, and the like, and the present application is not limited herein.

In one embodiment, the computer device divides the adjacent measurement points into a first adjacent measurement point and a second adjacent measurement point according to coordinate data of a preset first projection plane and the measurement point to be compensated, wherein the coordinate data includes abscissa data, ordinate data and altitude coordinate data. For example, when the first projection plane is preset as the YZ plane, comparing the size between the abscissa data of the measurement point to be compensated and the abscissa data of the adjacent measurement point, and if the abscissa data of the adjacent measurement point is smaller than or equal to the abscissa data of the measurement point to be compensated, using the adjacent measurement point as the first adjacent measurement point; and otherwise, the adjacent measuring point is used as a second adjacent measuring point. For example, the adjacent measurement point a and the adjacent measurement point B are first adjacent measurement points, and the adjacent measurement point C and the adjacent measurement point D are second adjacent measurement points.

In one embodiment, the computer device may compare the coordinate data a of the two first projection points _ij And a _i(j+1) Linear fitting is performed based on a unitary one-time equation, so that a first linear equation corresponding to the first fitting line is z=k _o y+b _o Whereinb _o ＝z _ij -k _o y _ij 。

Step 208, determining coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measurement points in each adjacent area and the coordinate data of the measurement point to be compensated.

When two adjacent areas exist, the number of the first fitting lines is two, and the number of the compensation datum points in each adjacent area is determined to be two.

Specifically, the computer device determines whether the abscissa data of at least two adjacent measurement points in each adjacent area are the same, when the abscissa data of at least two adjacent measurement points are the same, acquires a first reference point determination model from the database, and brings the coordinate data of at least two adjacent measurement points and the coordinate data of the measurement point to be compensated into the first reference point determination model to obtain the coordinate data of the compensation reference point. When the abscissa data of at least two adjacent measuring points are different, a second datum point determining model is obtained from the database, and the coordinate data of at least two adjacent measuring points and the coordinate data of the measuring point to be compensated are both brought into the second datum point determining model, so that the coordinate data of the compensation datum point is obtained. The first datum point determining model representation does not need coordinate transformation of coordinate data of adjacent measuring points; the second fiducial point determination model characterization requires construction of right triangles from the coordinate data of adjacent measurement points.

In one embodiment, the computer device may determine the coordinate data of each compensation reference point according to the coordinate data of the first fitting line and the measurement point to be compensated corresponding to each adjacent area.

And step 210, projecting each compensation datum point to a preset second projection plane to obtain coordinate data of each second projection point, and carrying out height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point.

The preset second projection plane is a plane different from the preset first projection plane in type, for example, when the preset first projection plane is a YZ plane, the preset second projection plane is an XZ plane.

Specifically, the computer device projects each compensation reference point to a preset second projection plane to obtain a second projection point corresponding to each compensation reference point, i.e. converts the three-dimensional coordinates of the compensation reference point into two-dimensional coordinates. For example, the compensation reference point M and the compensation reference point N are respectively projected to a preset second projection plane to obtain a second projection point M and a second projection point N. And the computer equipment carries out linear fitting processing on the coordinate data of each second projection point to obtain a second fitting line, and carries out height compensation on the measurement points to be compensated through the second fitting line.

In one embodiment, the computer device may compare the coordinate data a of the two second projection points _ij And a _i(j+1) Linear fitting processing is performed based on a unitary one-time equation, and a second linear equation corresponding to a second fitting line is obtained as z=k _o x+b _o Wherein, the method comprises the steps of, wherein,b _o ＝z _ij -k _o x _ij 。

in the height compensation method of the printing platform, the measuring points to be compensated in the printing platform are determined, and a plurality of adjacent areas positioned at the adjacent positions of the measuring points to be compensated are determined, wherein each adjacent area comprises at least two adjacent measuring points. At least two adjacent measurement points in each adjacent area are projected to a preset first projection plane, so that at least two first projection points can be obtained, and then linear fitting processing is carried out on the at least two first projection points, so that a first fitting line corresponding to each adjacent area can be obtained. And determining each compensation datum point according to the first fitting line corresponding to each adjacent area, and projecting each compensation datum point to a preset second projection plane to obtain each second projection point, so that the measurement point to be compensated can be subjected to height compensation according to the coordinate data of each second projection point. Therefore, compared with the traditional mode of indiscriminately constructing a whole fitting plane, the method and the device can pointedly carry out the height compensation on each measuring point to be compensated, thereby improving the accuracy of the height compensation of the printing platform and simultaneously avoiding the problem of large data calculation amount when the whole plane is fitted.

In one embodiment, as shown in fig. 6, the plurality of measurement points in the printing platform include extended measurement points, edge measurement points, and internal measurement points; acquiring the plurality of measurement points in the printing platform further comprises:

step 602, determining edge measurement points in the printing platform, and determining edge information of the edge measurement points.

In order to avoid that the print model corresponding to the 3D print job exceeds the platform, the initial measurement point in the print platform is usually far away from the edge of the platform by a certain distance, but when the measurement point to be compensated on the edge is subjected to the height compensation, the problem that the acquisition of the adjacent measurement points is incomplete is caused, so that the initial measurement point in the print platform needs to be expanded. Exemplary as shown in fig. 7, fig. 7 is a schematic diagram of the distribution of measurement points on the printing platform after expansion.

Specifically, the computer device identifies the edge measurement points from the edge measurement points in the printing platform in the preset database, and determines the edge information of the edge measurement points. The edge information comprises a left edge positioned on the printing platform, a right edge positioned on the printing platform, an upper edge positioned on the printing platform and a lower edge positioned on the printing platform.

Step 604, determining a target internal measurement point corresponding to the edge measurement point in the printing platform according to the edge information, and determining an expansion direction of the target internal measurement point.

Wherein the edge information characterizes edge positions of the edge measurement points in the printing platform, such as the upper edge of the printing platform; the expansion direction represents a direction associated with an edge position in the printing platform, the expansion direction includes upward expansion, leftward expansion, rightward upward expansion, and the like, wherein the upward expansion direction represents a direction parallel to left and right edges of the printing platform, and the leftward expansion direction represents a direction parallel to upper and lower edges of the printing platform.

Specifically, the computer determines an internal target measuring point located at a position adjacent to the edge measuring point in the printing platform according to the edge information of the edge measuring point, and determines an expansion direction corresponding to the internal target measuring point according to the edge information of the edge measuring point. When the number of the internal measuring points at the adjacent positions of the edge measuring points is multiple, the spatial distances between the edge measuring points and each internal measuring point are respectively determined, and the internal measuring points of the target are screened out according to the spatial distances, for example, the internal measuring point with the shortest spatial distance is used as the internal measuring point of the target. For example, referring to fig. 7, the edge measurement point E1 is located at the upper edge of the printing platform, and the target internal measurement point at the adjacent position is the internal measurement point E3, so that the expansion direction of the internal measurement point E3 corresponding to the edge measurement point E1 is upward; the edge measurement point E4 is located at the right edge of the printing platform, and the target internal measurement point at the adjacent position is also the internal measurement point E3, so that the expansion direction of the internal measurement point E3 corresponding to the edge measurement point E4 is rightward.

In one embodiment, the computer determines candidate measurement points in the printing platform at positions adjacent to the edge measurement points according to the special edge information in the edge information and the special edge information, and determines the expansion direction of the candidate measurement points. The special edge information characterizes four corners in edge positions in the edge measuring point position in the printing platform; the candidate measurement points may be at least one of other edge measurement points or internal measurement points at locations adjacent to the edge measurement point. And the computer determines the expansion direction corresponding to the candidate measuring point according to the special edge information. For example, referring to fig. 7, the edge measurement point E2 is located at the corner of the printing platform, and the candidate measurement points at the neighboring positions may be the edge measurement point E1, the edge measurement point E4, and the internal measurement point E3, so that the expansion direction is rightward when the edge measurement point E2 corresponds to the candidate measurement point E1; when the edge measuring point E2 corresponds to the candidate measuring point E4, the expansion direction is upward; when the edge measurement point E2 corresponds to the candidate measurement point E3, the expansion direction is upward right.

Step 606, performing expansion processing on the internal measurement points of the target according to the expansion direction to obtain expansion measurement points corresponding to the edge measurement points.

In one embodiment, performing expansion processing on the internal measurement points of the target according to the expansion direction to obtain expansion measurement points corresponding to the edge measurement points, including: symmetrically processing the internal measurement points of the target according to the expansion direction by taking the edge measurement points as mirror centers to obtain plane coordinate data of the expansion measurement points to be generated; acquiring a coordinate expansion model corresponding to the expansion direction, substituting plane coordinate data of the expansion measurement point to be generated into the coordinate expansion model, and obtaining height coordinate data of the expansion measurement point to be generated; and synthesizing plane coordinate data and height coordinate data of the extended measurement points to be generated to obtain the extended measurement points corresponding to the edge measurement points.

Specifically, when the edge measuring point is located at the upper edge of the printing platform, the expansion direction is upward expansion, and the edge measuring point of the upper edgeThe coordinate data is (x) _i(n-1) ，y _i(n-1) ，Z _i(n-1) )(i∈[0，m-1]) The coordinate expansion model obtained by the computer equipment is as follows:

the computer equipment takes the coordinate data of the edge measuring points as a mirror image center, and symmetrically processes the coordinate data of the measuring points in the target according to the expansion direction to obtain the plane coordinate data of the expansion measuring points to be generated, wherein the coordinate data of the measuring points in the target is (x) _i(n-2) ，y _i(n-2) ，z _i(n-2) )(i∈[0，m-1]) The symmetrical treatment process is as follows:

x _in ＝2x _i(n-1) -x _i(n-2) (i∈[0，m-1])，y _in ＝2y _i(n-1) -y _i(n-2) (i∈[0，m-1])

thus, the plane coordinate data of the extended measurement point to be generated is (x _in ，y _in )(i∈[0，m-1]) The computer device will y in the plane coordinate data _in And the measurement points are put into a coordinate expansion model until the expansion measurement points are obtained as (x _in ，y _in ，z _in )(i∈[0，m-1]). Referring to the above example, when the expansion direction of the internal measurement point E3 corresponding to the edge measurement point E1 is upward, the expanded measurement point F1 can be obtained after expansion.

In one embodiment, when the edge measurement point is located at the lower edge of the printing platform, the expansion direction is downward expansion, and the coordinate data of the edge measurement point at the lower edge is (x) _i0 ，y _i0 ，z _i0 )(i∈[0，m-1]) The coordinate expansion model obtained by the computer equipment is as follows:

the computer equipment takes the coordinate data of the edge measuring points as mirror centers and performs symmetry on the coordinate data of the measuring points in the target according to the expansion directionObtaining plane coordinate data of the expansion measuring points to be generated, wherein the coordinate data of the measuring points in the target is (x) _i1 ，y _i1 ，z _i1 )(i∈[0，m-1]) The symmetrical treatment process is as follows:

x _i(-1) ＝2x _i0 -x _i1 (i∈[0，m-1])，y _i(-1) ＝2y _i0 -y _i1 (i∈[0，m-1])

the plane coordinate data of the extended measurement point to be generated is (x) _i(-1) ，y _i(-1) )(i∈[0，m-1]) The computer device will y in the plane coordinate data _i(-1) And the measurement points are put into a coordinate expansion model until the expansion measurement points are obtained as (x _i(-1) ，y _i(-1) ，z _i(-1) )(i∈[0，m-1])。

In one embodiment, when the edge measurement point is located at the left edge of the printing platform, the coordinate data is (x _0j ，y _0j ，Z _0j )(j∈[0，n-1]) The expansion direction is left expansion, and the coordinate expansion model acquired by the computer equipment is as follows:

wherein the coordinate data of the internal measurement point of the object located at the position adjacent to the edge measurement point is (x) _1j ，y _1j ，z _1j )(j∈[0，n-1]) The computer equipment takes the coordinate data of the edge measurement points as a mirror image center, and performs symmetrical processing on the coordinate data of the measurement points in the target according to the expansion direction, wherein the symmetrical processing process comprises the following steps:

x _(-1)j ＝2x _0j -x _1j (j∈[0，n-1])，y _(-1)j ＝2y _0j -y _1j (j∈[0，n-1])

the plane coordinate data of the extended measurement point to be generated is (x) _(-1)j ，y _(-1)j )(j∈[0，n-1]) The computer device uses x in the plane coordinate data _(-1)j And the measurement points are put into a coordinate expansion model until the expansion measurement points are obtained as (x _(-1)j ，y _(-1)j ，z _(-1)j )(j∈[0，n-1])。

In one embodiment, when the edge measurement point is located at the right edge of the printing platform, the coordinate data is (x _(m-1)j ，y _(m-1)j ，z _(m-1)j )(j∈[0，n-1]) The expansion direction is rightward expansion, and the coordinate expansion model acquired by the computer equipment is as follows:

wherein the coordinate data of the internal measurement point of the object located at the position adjacent to the edge measurement point is (x) _(m-2)j ，y _(m-2)j ，z _(m-2)j )(j∈[0，n-1]) The computer equipment takes the coordinate data of the edge measurement points as a mirror image center, and performs symmetrical processing on the coordinate data of the measurement points in the target according to the expansion direction, wherein the symmetrical processing process comprises the following steps:

x _mj ＝2x _(m-1)j -x _(m-2)j (j∈[0，n-1])，y _mj ＝2y _(m-1)j -y _(m-2)j (j∈[0，n-1])

thus, the plane coordinate data of the extended measurement point to be generated is (x _mj ，y _mj )(j∈[0，n-1]) The computer device uses x in the plane coordinate data _mj And the measurement points are put into a coordinate expansion model until the expansion measurement points are obtained as (x _mj ，y _mj ，z _mj )(j∈[0，n-1]). Referring to the above example, when the expansion direction of the internal measurement point E3 corresponding to the edge measurement point E4 is rightward, the expanded measurement point F5 can be obtained after expansion.

In one embodiment, when the edge measurement point is located at the upper right corner of the four corners in the edge position of the printing platform, the coordinate data of the edge measurement point is (x _(m-1)(n-1) ，y _(m-1)(n-1) ，z _(m-1)(n-1) ) The expansion direction is upward expansion to the right, and the coordinate expansion model acquired by the computer equipment is as follows:

wherein the coordinate data of the candidate measurement points located at the positions adjacent to the edge measurement point may be (x) _(m-2)(n-2) ，y _(m-2)(n-2) ，z _(m-2)(n-2) ) The computer equipment takes the coordinate data of the edge measurement points as a mirror image center, and performs symmetrical processing on the coordinate data of the candidate measurement points according to the expansion direction, wherein the symmetrical processing process comprises the following steps:

x _mn ＝2x _(m-1)(n-1) -x _(m-2)(n-2) ，y _mn ＝2y _(m-1)(n-1) -y _(m-2)(n-2)

thus, the plane coordinate data of the extended measurement point to be generated is (x _mn ，y _mn ) The computer device uses x in the plane coordinate data _mn And the measurement points are put into a coordinate expansion model until the expansion measurement points are obtained as (x _mn ，y _mn ，z _mn ). Referring to the above example, when the expansion direction of the candidate measurement point E3 corresponding to the edge measurement point E2 is upward right, the expanded measurement point F3 can be obtained after expansion.

In one embodiment, when the edge measurement point is located in the upper left corner of the four corners in the edge position of the printing platform, the coordinate data of the edge measurement point is (x _0(n-1) ，y _0(n-1) ，z _0(n-1) ) The expansion direction is expansion towards the left, and the coordinate expansion model acquired by the computer equipment is as follows:

wherein the coordinate data of the candidate measurement points located at the positions adjacent to the edge measurement point may be (x) _1(n-2) ，y _1(n-2) ，z _1(n-2) ) The computer equipment takes the coordinate data of the edge measurement points as a mirror image center, and performs symmetrical processing on the coordinate data of the candidate measurement points according to the expansion direction, wherein the symmetrical processing process comprises the following steps:

x _-1n ＝2x _0(n-1) -x _1(n-2) ，y _-1n ＝2y _0(n-1) -y _1(n-2)

thus, in combination, an extended measurement point (x _-1n ，y _-1n ，z _-1n )。

In one embodiment, when the edge measurement point is located at the lower right corner of the four corners in the edge position of the printing platform, the coordinate data of the edge measurement point is (x _(m-1)0 ，y _(m-1)0 ，z _(m-1)0 ) The expansion direction is expansion towards the lower right, and the coordinate expansion model acquired by the computer equipment is as follows:

wherein the coordinate data of the candidate measurement points located at the positions adjacent to the edge measurement point may be (x) _(m-2)1 ，y _(m-2)1 ，z _(m-2)1 ) The computer equipment takes the coordinate data of the edge measurement points as a mirror image center, and performs symmetrical processing on the coordinate data of the candidate measurement points according to the expansion direction, wherein the symmetrical processing process comprises the following steps:

x _m(-1) ＝2x _(m-1)0 -x _(m-2)1 ，y _m(-1) ＝2y _(m-1)0 -y _(m-2)1

thus, the resulting extended measurement point is (x _m(-1) ，y _m(-1) ，z _m(-1) )。

In one embodiment, when the edge measurement point is located at the lower left corner of the four corners in the edge position of the printing platform, the coordinate data of the edge measurement point is (x ₀₀ ，y ₀₀ ，z ₀₀ ) The expansion direction is left and lower expansion, and the coordinate expansion model acquired by the computer equipment is as follows:

wherein the coordinate data of the candidate measurement points located at the positions adjacent to the edge measurement point is (x) ₁₁ ，y ₁₁ ，z ₁₁ ) The computer equipment takes the coordinate data of the edge measurement points as a mirror image center, and performs symmetrical processing on the coordinate data of the candidate measurement points according to the expansion direction, wherein the symmetrical processing process comprises the following steps:

x _(-1)(-1) ＝2x ₀₀ -x ₁₁ ，y _(-1)(-1) ＝2y ₀₀ -y ₁₁

thus, the extended measurement point is obtained as (x _(-1)(-1) ，y _(-1)(-1) ，z _(-1)(-1) )。

In one embodiment, when the measurement point to be compensated is an edge measurement point, the measurement points adjacent to the measurement point to be compensated include measurement points selected from the extended measurement points; when the measurement point to be compensated is an internal measurement point, the measurement points adjacent to the measurement point to be compensated include measurement points obtained by screening at least one of edge measurement points and internal measurement points.

In one embodiment, the computer device synthesizes the initial measurement point and the extended measurement point to obtain a target measurement point of the printing platform. The computer device may determine from the target measurement points, adjacent measurement points located adjacent to the measurement point to be compensated.

In this embodiment, by determining the edge information of the edge measurement points, further according to the edge positions of the edge measurement points in the printing platform, expansion of the expansion measurement points in different directions is achieved, and the problem of inaccurate height compensation effect caused by incomplete acquisition of adjacent measurement points is avoided.

In one embodiment, determining the coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measurement points in each adjacent area, and the coordinate data of the measurement point to be compensated, respectively, includes: according to the coordinate data of at least two adjacent measuring points in each adjacent area, acquiring the abscissa data of each compensation datum point to be generated; according to the coordinate data of the measuring points to be compensated, acquiring the ordinate data of each compensating reference point to be generated; substituting the ordinate data of the compensation datum points to be generated into the first fitting lines corresponding to the adjacent areas respectively to obtain the height coordinate data of the compensation datum points to be generated; and integrating the abscissa data, the ordinate data and the altitude coordinate data of the compensation reference points to be generated to obtain the coordinate data of the compensation reference points corresponding to each adjacent area.

Since the process of obtaining the compensation reference points through the first fitting line corresponding to each adjacent area is the same, for better describing the application, the process of obtaining the compensation reference points is described only for any adjacent area.

Specifically, since at least two adjacent measurement points in the adjacent area are composed of m rows and n columns of matrices, the coordinate data of the adjacent measurement points is generally in a specific rule, as shown in fig. 4, for example, the abscissa data of the adjacent measurement point a is the same as the abscissa data of the adjacent measurement point B, the ordinate data of the adjacent measurement point a is the same as the ordinate data of the adjacent measurement point C, and so on. When the computer equipment determines that the abscissa data of at least two adjacent measuring points are the same, the abscissa data is directly used as the abscissa data of the compensation reference point to be generated. Further, the computer device takes the ordinate data of the measurement point to be compensated as the ordinate data of the compensation reference point to be generated.

For example, the coordinate data a of the adjacent measurement point a _A ＝(x _A ，y _A ，z _A ) X in (2) _A As abscissa data of the compensation reference point M to be generated, ordinate data y of the measurement point Q to be compensated is taken _Q As ordinate data of the compensation reference point M to be generated.

Further, the computer equipment substitutes the ordinate data of the compensation datum point to be generated into a first linear equation corresponding to the first fitting line to obtain the height coordinate data of the compensation datum point to be generated. The computer equipment synthesizes the abscissa data, the ordinate data and the altitude data of the compensation datum point to be generated to obtain the generated compensation datum point. For example, y _Q Bringing the first linear equation to z=k _oy +b _o Obtaining the height coordinate data of the compensation datum point to be generated as z _M Therefore, the coordinate of the compensation reference point M is a _M ＝(x _A ，y _Q ，z _M )。

In this embodiment, the compensation reference point can be accurately obtained through the coordinate data of the first fitting line and the adjacent measurement points, so that the compensation reference point is more close to the compensation reference of the measurement point to be compensated, the accuracy of subsequent compensation is improved, and meanwhile, the first fitting line can convert the height compensation of the measurement point to be compensated into a two-dimensional plane, so that the calculation amount of data is greatly simplified.

In one embodiment, a right triangle is respectively constructed by at least two adjacent measurement points in each adjacent area; according to coordinate data of a measurement point to be compensated, determining two similar right triangles in each right triangle, and respectively determining a side length proportional relationship between the two similar right triangles; substituting the coordinate data of each at least two adjacent measuring points and the coordinate data of the measuring points to be compensated into the corresponding side length proportional relations to obtain the abscissa data of each compensating datum point to be generated.

In this case, since the adjacent measurement points may have inaccurate measurement, the abscissa data of the adjacent measurement point a is not the same as the abscissa data of the adjacent measurement point B, as shown in fig. 8, and fig. 8 is a schematic diagram of distribution of the adjacent measurement points in an embodiment.

Specifically, when the computer device determines that the abscissa data of at least two adjacent measurement points are different, a right triangle is constructed according to the coordinate data of at least two adjacent measurement points, and the right triangle in fig. 8 is Δabo1. The computer device takes the ordinate data of the measuring point to be compensated as the ordinate data of the compensation reference point to be generated. Further, the computer device determines coordinate data of the measurement point to be compensated, and determines two similar right triangles in each right triangle, for example, determines that two similar right triangles are Δabo1 and Δabo2, wherein the abscissa data of o1 and o2 are the same as the abscissa data of the adjacent measurement point a, and the ordinate data of o2 is the same as the ordinate data of the measurement point Q to be compensated. The computer device determines the side length proportional relationship between two similar right triangles according to the similar characteristics between the similar right triangles, for example, ao 2/ao1=mo2/Bo 1. The computer equipment substitutes the coordinate data of at least two adjacent measuring points and the coordinate data of the measuring points to be compensated into the side length proportion relation to obtain a compensating base to be generatedThe abscissa data of the fiducial, i.e. the abscissa data x of the compensation reference point M to be generated _M 。

In this embodiment, when the coordinate data of the adjacent measurement points do not conform to the m-row n-column matrix arrangement form, the abscissa data of the compensation reference point to be generated can be accurately obtained by constructing a right triangle, so that another specific embodiment for determining the coordinate data of the compensation reference point is provided.

In one embodiment, the generating method of the coordinate expansion model includes: acquiring an expansion direction set, and determining a model projection plane corresponding to the current expansion direction aiming at each expansion direction in the expansion direction set; generating a simulation edge point corresponding to the current expansion direction, and determining a simulation internal point corresponding to the simulation edge point; projecting the simulated edge points to a model projection plane to obtain simulated edge projection points, and projecting the simulated interior points to the model projection plane to obtain simulated interior projection points; and performing linear fitting processing on the simulated edge projection points and the simulated internal projection points to obtain a coordinate expansion model corresponding to the current expansion direction.

Wherein, the expansion direction set comprises upward expansion, downward expansion, leftward expansion, rightward expansion, upward leftward expansion, downward rightward expansion and downward leftward expansion; the simulated edge points can be measurement points which are obtained from a preset database and positioned on the edge of the printing platform when the model is trained; the simulated interior points may be measurement points acquired from a pre-set database at locations adjacent to the simulated edge points as the model is trained. It is easy to understand that the coordinate expansion models corresponding to different expansion directions are not identical. Since the process of determining the coordinate expansion model corresponding to each expansion direction is similar, the process of determining the coordinate expansion model corresponding to the upward expansion will be described below.

Specifically, when the current expansion direction is upward expansion, the computer device may use the YZ plane in the three-dimensional coordinate system as a model projection plane corresponding to the upward expansion direction, and determine a simulated edge point corresponding to the upward expansion direction. Wherein, the simulated edge point corresponding to the upward expansion direction is positioned in the beatThe upper edge of the platen. The computer equipment acquires the simulated internal points positioned at the adjacent positions of the simulated edge points from a preset database according to the simulated edge points positioned at the upper edge, and respectively projects the simulated edge points to the model projection plane to obtain simulated edge projection points, and projects the simulated internal points to the model projection plane to obtain simulated internal projection points. For example, the coordinate data of the simulated edge points is (x _i(n-1) ，y _i(n-1) ，z _i(n-1) )(i∈[0，m-1]) The coordinate data of the simulated interior points is (x) _i(n-2) ，y _i(n-2) ，z _i(n-2) )(i∈[0，m-1])。

Further, referring to the above specific implementation manner of performing linear fitting processing on the first projection point, linear fitting processing is performed on the simulated edge projection point and the simulated internal projection point, so as to obtain a coordinate expansion model corresponding to the upward expansion direction. For example, the coordinate expansion model is obtained by:

in one embodiment, the computer device may take the edge measurement points as simulated edge points and the target interior measurement points corresponding to the edge measurement points as simulated interior points.

In this embodiment, different model projection planes are determined through different expansion directions, and then respective corresponding coordinate expansion models are built according to the model projection planes, so that the subsequent expansion measurement points corresponding to different edge measurement points can be accurately and rapidly obtained based on the coordinate expansion models.

In one embodiment, according to the coordinate data of each second projection point, performing height compensation on the coordinate data of the measurement point to be compensated includes: performing linear fitting processing on the coordinate data of each second projection point to obtain a second fitting line; substituting the coordinate data of the measuring point to be compensated into a second linear equation corresponding to the second fitting line to obtain a height compensation value of the measuring point to be compensated; and carrying out height compensation on the measurement point to be compensated through the height compensation value.

Specifically, the computer device determines coordinate data corresponding to each second projection point in the plurality of second projection points, and performs linear fitting processing on the second projection points according to the coordinate data corresponding to each second projection point to obtain a second fitting line, for example, performs linear fitting processing on two second projection points to obtain a second fitting line. The computer equipment can carry out high compensation on the measuring point to be compensated through the coordinate data of the second fitting line and the measuring point to be compensated. For example, after the second projection point m and the second projection point n are subjected to linear fitting processing, a second fitting line is obtained.

Further, the computer equipment substitutes the abscissa value of the measurement point to be compensated into a second linear equation corresponding to the second fitting line to obtain a height compensation value of the measurement point to be compensated. The computer equipment updates the vertical coordinate value of the measuring point to be compensated according to the height compensation value, so that the height compensation of the measuring point to be compensated is realized. For example, the abscissa value x of the measurement point Q to be compensated _Q Substituted into the second linear equation z=k _o x+b _o In the above, the height compensation value is Δz, and therefore, the coordinate data of the compensated measurement point to be compensated is a _Q ＝(x _Q ，y _Q ，z _Q +Δz)。

In this embodiment, after the second fitting line is constructed by the second projection point, the height compensation of the measurement point to be compensated can be performed by converting the height compensation of the measurement point to be compensated into the two-dimensional plane, so that the calculation amount of data is simplified, and the height compensation of the measurement point to be compensated can be accurately realized according to the second fitting line.

In one embodiment, before determining a plurality of adjacent areas of the printing platform located adjacent to the measurement point to be compensated, the method further comprises: acquiring first initial coordinate data of corner measurement points and second initial coordinate data of internal measurement points in a plurality of measurement points; checking the first initial coordinate data to obtain a first checking result, and determining the first checking coordinate data of the corner measuring points according to the first checking result; constructing a standard plane according to the first check coordinate data; and verifying the second initial coordinate data according to the standard plane to obtain a second verification result, and determining the second verification coordinate data of the internal measurement point according to the second verification result.

Specifically, the computer equipment performs step-by-step updating on first initial coordinate data of the corner measurement points to obtain coordinate step-by-step data, and determines a first difference between the first initial coordinate data and the coordinate step-by-step data. When the first difference value is smaller than a first preset threshold value, the computer equipment determines that the first checking result is checking passing, and the coordinate stepping data corresponding to the corner measuring point is used as first checking coordinate data of the corner measuring point. The computer device constructs a standard plane according to the first check coordinate data of the corner measuring points. The computer device determines at least one adjacent measurement point located adjacent to the internal measurement point and projects the internal measurement point and each adjacent measurement point to a standard plane, respectively, to obtain projected coordinate data and projected adjacent coordinate data, respectively. The computer equipment obtains a first fitting equation according to the internal measurement points and the adjacent measurement points, obtains a second fitting equation according to the projection coordinate data and the projection adjacent coordinate data, and further verifies the internal measurement points according to the first fitting equation and the second fitting equation to obtain a second verification result. And when the second checking result is that the checking is passed, taking the second initial coordinate data of the internal measuring point as second checking coordinate data.

In this embodiment, by respectively checking the edge measurement point and the internal measurement point in the printing platform, more accurate check coordinate data is obtained, so that when the measurement point to be compensated is subjected to height compensation, the determined coordinate data of the adjacent measurement points are more accurate, and the height compensation effect of the printing platform is further improved.

It should be understood that, although the steps in the flowcharts related to the above embodiments 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 height compensation device of the printing platform for realizing the height compensation method of the printing platform. 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 height compensation device for one or more printing platforms provided below may be referred to the limitation of the height compensation method for a printing platform hereinabove, and will not be described herein.

In one embodiment, as shown in fig. 9, there is provided a height compensation apparatus 900 of a printing platform, comprising: a measurement point determination module 902, a neighboring area determination module 904, a first projection module 906, a reference point determination module 908, and a second projection module 910, wherein:

the measurement point determining module 902 is configured to obtain a plurality of measurement points in the printing platform, and determine a measurement point to be compensated.

A proximity determination module 904 configured to determine a plurality of proximity areas located at positions adjacent to the measurement point to be compensated in the printing platform; each adjacent area comprises at least two adjacent measuring points; the adjacent measuring points are measuring points adjacent to the measuring point to be compensated in the plurality of measuring points.

The first projection module 906 is configured to project at least two adjacent measurement points in each adjacent area onto a preset first projection plane to obtain coordinate data of at least two first projection points, and perform linear fitting processing on the coordinate data of at least two first projection points to obtain first fitting lines corresponding to each adjacent area.

The reference point determining module 908 is configured to determine coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, coordinate data of at least two adjacent measurement points in each adjacent area, and coordinate data of a measurement point to be compensated.

The second projection module 910 is configured to project each compensation reference point onto a preset second projection plane, obtain coordinate data of each second projection point, and perform height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each second projection point.

In one embodiment, the measurement point determining module 902 further includes a measurement point expanding module 9021, configured to determine an edge measurement point in the printing platform, and determine edge information of the edge measurement point; according to the edge information, determining a target internal measurement point corresponding to the edge measurement point in the printing platform and determining an expansion direction of the target internal measurement point; and performing expansion processing on the internal measurement points of the target according to the expansion direction to obtain expansion measurement points corresponding to the edge measurement points.

In one embodiment, the measurement point expansion module 9021 is further configured to symmetrically process the measurement point inside the target with the edge measurement point as a mirror center according to the expansion direction, so as to obtain plane coordinate data of the expansion measurement point to be generated; acquiring a coordinate expansion model corresponding to the expansion direction, substituting plane coordinate data of the expansion measurement point to be generated into the coordinate expansion model, and obtaining height coordinate data of the expansion measurement point to be generated; and synthesizing plane coordinate data and height coordinate data of the extended measurement points to be generated to obtain coordinate data of the extended measurement points corresponding to the edge measurement points.

In one embodiment, the measurement point determining module 902 further includes an expansion model determining module 9022, configured to obtain an expansion direction set, and determine, for each expansion direction in the expansion direction set, a model projection plane corresponding to the current expansion direction; generating a simulation edge point corresponding to the current expansion direction, and determining a simulation internal point corresponding to the simulation edge point; projecting the simulated edge points to a model projection plane to obtain simulated edge projection points, and projecting the simulated interior points to the model projection plane to obtain simulated interior projection points; and performing linear fitting processing on the simulated edge projection points and the simulated internal projection points to obtain a coordinate expansion model corresponding to the current expansion direction.

In one embodiment, the reference point determining module 908 is configured to determine whether the abscissa data of at least two adjacent measurement points in each neighboring area are the same; when the abscissa data of at least two adjacent measuring points are the same, acquiring the abscissa data of each compensation datum point to be generated according to the abscissa data of at least two adjacent measuring points; according to the coordinate data of the measuring points to be compensated, acquiring the ordinate data of each compensating reference point to be generated; substituting the ordinate data of the compensation datum points to be generated into the first fitting lines corresponding to the adjacent areas respectively to obtain the height coordinate data of the compensation datum points to be generated; and integrating the abscissa data, the ordinate data and the altitude coordinate data of the compensation reference points to be generated to obtain the coordinate data of the compensation reference points corresponding to each adjacent area.

In one embodiment, the reference point determining module 908 is further configured to construct a right triangle from at least two adjacent measurement points in each adjacent area when the abscissa data of the at least two adjacent measurement points are different; according to coordinate data of a measurement point to be compensated, determining two similar right triangles in each right triangle, and respectively determining a side length proportional relationship between the two similar right triangles; substituting the coordinate data of each at least two adjacent measuring points and the coordinate data of the measuring points to be compensated into the corresponding side length proportional relations to obtain the abscissa data of each compensating datum point to be generated.

In one embodiment, the second projection module 910 further includes a fitting module 9101, configured to perform a linear fitting process on the coordinate data of each second projection point, so as to obtain a second fitting line; substituting the coordinate data of the measuring point to be compensated into a second linear equation corresponding to the second fitting line to obtain a height compensation value of the measuring point to be compensated; and carrying out height compensation on the coordinate data of the measuring point to be compensated through the height compensation value.

In one embodiment, the height compensation device 900 of the printing platform further includes a coordinate checking module 912, configured to obtain first initial coordinate data of corner measurement points and second initial coordinate data of internal measurement points of the plurality of measurement points; checking the first initial coordinate data to obtain a first checking result, and determining the first checking coordinate data of the corner measuring points according to the first checking result; constructing a standard plane according to the first check coordinate data; and verifying the second initial coordinate data according to the standard plane to obtain a second verification result, and determining the second verification coordinate data of the internal measurement point according to the second verification result.

The above-mentioned various modules in the height compensation device of the printing platform may be implemented in whole or in part by software, hardware, and combinations 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. 10. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. 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 to store height compensation data for the printing platform. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication 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 method of height compensation for a printing platform.

It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, storing 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, which may be stored on a non-transitory computer readable storage medium and which, when executed, may comprise the steps of the above-described embodiments of the methods. Any reference to memory, database, or other medium used in the various 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 various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being 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 represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A method of height compensation for a printing platform, the method comprising:

2. The method of claim 1, wherein the plurality of measurement points includes an extended measurement point, an edge measurement point, and an internal measurement point; the acquiring a plurality of measurement points in the printing platform includes:

determining edge measurement points in the printing platform and determining edge information of the edge measurement points;

according to the edge information, determining a target internal measurement point corresponding to the edge measurement point in the printing platform and determining an expansion direction of the target internal measurement point;

And performing expansion processing on the internal measurement points of the target according to the expansion direction to obtain expansion measurement points corresponding to the edge measurement points.

3. The method according to claim 2, wherein the expanding the target internal measurement point according to the expansion direction to obtain an expanded measurement point corresponding to the edge measurement point comprises:

symmetrically processing the internal measurement points of the target according to the expansion direction by taking the edge measurement points as mirror centers to obtain plane coordinate data of the expansion measurement points to be generated;

acquiring a coordinate expansion model corresponding to the expansion direction, substituting the plane coordinate data of the expansion measurement point to be generated into the coordinate expansion model, and obtaining the height coordinate data of the expansion measurement point to be generated;

and integrating the plane coordinate data and the height coordinate data of the extended measurement points to be generated to obtain the coordinate data of the extended measurement points corresponding to the edge measurement points.

4. The method of claim 3, wherein the generating the coordinate expansion model comprises:

acquiring an expansion direction set, and determining a model projection plane corresponding to the current expansion direction aiming at each expansion direction in the expansion direction set;

Generating a simulation edge point corresponding to the current expansion direction, and determining a simulation internal point corresponding to the simulation edge point;

projecting the simulated edge points to a model projection plane to obtain simulated edge projection points, and projecting the simulated interior points to the model projection plane to obtain simulated interior projection points;

and performing linear fitting processing on the simulated edge projection points and the simulated internal projection points to obtain a coordinate expansion model corresponding to the current expansion direction.

5. The method according to claim 1, wherein the coordinate data of the adjacent measurement points includes abscissa data; the determining the coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measurement points in each adjacent area and the coordinate data of the measurement point to be compensated respectively includes:

judging whether the abscissa data of at least two adjacent measuring points in each adjacent area are the same or not;

when the abscissa data of the at least two adjacent measuring points are the same, acquiring the abscissa data of each compensation reference point to be generated according to the abscissa data of the at least two adjacent measuring points;

According to the coordinate data of the measurement points to be compensated, acquiring the ordinate data of each compensation datum point to be generated;

substituting the ordinate data of the compensation datum points to be generated into the first fitting lines corresponding to the adjacent areas respectively to obtain the height coordinate data of the compensation datum points to be generated;

and integrating the abscissa data, the ordinate data and the altitude coordinate data of the compensation datum points to be generated to obtain the coordinate data of the compensation datum points corresponding to each adjacent area.

6. The method of claim 5, wherein the method further comprises:

when the abscissa data of the at least two adjacent measuring points are different, respectively constructing a right triangle through the at least two adjacent measuring points in each adjacent area;

according to the coordinate data of the measurement points to be compensated, determining two similar right triangles in each right triangle, and respectively determining the side length proportional relationship between the two similar right triangles;

substituting the coordinate data of the at least two adjacent measuring points and the coordinate data of the measuring points to be compensated into the corresponding side length proportional relations to obtain the abscissa data of the compensation datum points to be generated.

7. The method according to claim 1, wherein the performing the height compensation on the coordinate data of the measurement point to be compensated according to the coordinate data of each of the second projection points includes:

performing linear fitting processing on the coordinate data of each second projection point to obtain a second fitting line;

substituting the coordinate data of the measurement point to be compensated into a second linear equation corresponding to the second fitting line to obtain a height compensation value of the measurement point to be compensated;

and carrying out height compensation on the coordinate data of the measurement point to be compensated through the height compensation value.

8. The method of claim 1, wherein prior to said determining a plurality of proximity areas in the printing platform located proximate to the measurement point to be compensated, the method further comprises:

acquiring first initial coordinate data of corner measurement points and second initial coordinate data of internal measurement points in the plurality of measurement points;

checking the first initial coordinate data to obtain a first checking result, and determining the first checking coordinate data of the corner measuring point according to the first checking result;

constructing a standard plane according to the first check coordinate data;

And verifying the second initial coordinate data according to the standard plane to obtain a second verification result, and determining the second verification coordinate data of the internal measurement point according to the second verification result.

9. A height compensation apparatus for a printing platform, the apparatus comprising:

the reference point determining module is used for determining the coordinate data of each compensation reference point according to the first fitting line corresponding to each adjacent area, the coordinate data of at least two adjacent measurement points in each adjacent area and the coordinate data of the measurement point to be compensated;

10. 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 one of claims 1 to 8 when the computer program is executed.

11. 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 8.