CN117464997A - Height data determining method, apparatus, computer device and storage medium - Google Patents

Height data determining method, apparatus, computer device and storage medium Download PDF

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Publication number
CN117464997A
CN117464997A CN202210873609.4A CN202210873609A CN117464997A CN 117464997 A CN117464997 A CN 117464997A CN 202210873609 A CN202210873609 A CN 202210873609A CN 117464997 A CN117464997 A CN 117464997A
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China
Prior art keywords
data
candidate
height
pressure
determining
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CN202210873609.4A
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Chinese (zh)
Inventor
唐京科
王玉龙
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Shenzhen Chuangxiang 3D Technology Co Ltd
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Shenzhen Chuangxiang 3D Technology Co Ltd
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Priority to CN202210873609.4A priority Critical patent/CN117464997A/en
Priority to PCT/CN2023/099678 priority patent/WO2024016893A1/en
Publication of CN117464997A publication Critical patent/CN117464997A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205—Means for applying layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/245—Platforms or substrates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00—Data acquisition or data processing for additive manufacturing

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The application relates to a height data determining method, a height data determining device, a computer device and a storage medium. The method comprises the following steps: aiming at each to-be-measured point in the printing platform, controlling the probe to move towards the current to-be-measured point and performing step sampling to obtain a sampling result; judging: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets preset data sampling conditions or not; determining corner pressure data of a plurality of candidate pressure data in the candidate data under the condition that the candidate data meets the data sampling condition; and determining target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data. By adopting the method, the accuracy of determining the height data of the measuring points in the printing platform can be improved.

Description

Height data determining method, apparatus, computer device and storage medium
Technical Field
The present disclosure relates to the field of 3D printing technologies, and in particular, to a method, an apparatus, a computer device, and a storage medium for determining height data.
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 determine the horizontality of the printing platform is the focus of research at the present stage.
At present, a pressure sensor is generally directly adopted to detect pressure data between a printing platform and a printing head, a fixed pressure threshold is set to screen the pressure data of each measuring point, and then the height data of each measuring point is determined according to a screening result. However, since a fixed pressure threshold is used for all measurement points in the printing platform without distinction, the measurement of the height data of part of the measurement points is inaccurate, and thus, how to accurately obtain the real height data of each measurement point is a problem to be solved by the present application.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a height data determination method, apparatus, computer device, and computer-readable storage medium capable of improving the accuracy of measurement point coordinates.
In a first aspect, the present application provides a method of determining height data. The method comprises the following steps:
aiming at each to-be-measured point in the printing platform, controlling the probe to move towards the current to-be-measured point and performing step sampling to obtain a sampling result; the sampling result comprises a plurality of height data between the probe and the starting point and pressure data between the probe corresponding to each height data and the printing platform;
Judging: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets a preset data sampling condition; the candidate data comprises candidate height data and candidate pressure data;
determining corner pressure data of a plurality of candidate pressure data in the candidate data under the condition that the candidate data meets a data sampling condition; the corner pressure data are used for indicating pressure data acquired when the probe first contacts the printing platform;
and determining the target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
In one embodiment, the method for controlling the probe to move to the current to-be-measured point and performing step sampling to obtain a sampling result includes: the probe is controlled to move to a current to-be-measured point in the printing platform, and step sampling of a first preset number of times is carried out to obtain a sampling result; after judging whether the candidate data meets the preset data sampling condition, the method further comprises the following steps: under the condition that the candidate data does not meet the data sampling condition, continuously controlling the probe to move to the current to-be-measured point in the printing platform, and performing step sampling for a second preset number of times to obtain new initial data; adding new initial data into the sampling result, and removing the initial data of the preset second times, which is obtained first in the sampling result, to obtain a new sampling result; the determination step is again entered.
In one embodiment, the sampling result includes an initial sub-sequence corresponding to the height data and an initial sub-sequence corresponding to the pressure data; the candidate data comprises a candidate subsequence corresponding to the candidate height data and a candidate subsequence corresponding to the candidate pressure data; processing the sampling result to obtain candidate data of the current measuring point, including: for each initial sub-sequence, determining first threshold data and second threshold data in the current initial sub-sequence, and determining a first difference between the first threshold data and the second threshold data; determining a second difference between the current initial data and the first threshold data for each initial data in the current initial sub-sequence; according to the first difference and the second difference, candidate data corresponding to the current initial data are obtained; synthesizing candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence; and synthesizing the candidate subsequences to obtain candidate data corresponding to the current point to be detected.
In one embodiment, the candidate data includes a pressure candidate sub-sequence corresponding to the candidate pressure data and a height candidate sub-sequence corresponding to the candidate height data; judging whether the candidate data meets the preset data sampling condition or not comprises the following steps: taking the last n candidate pressure data in the pressure candidate sub-sequence as pressure data to be detected and other candidate pressure data except the last n candidate pressure data as reference pressure data; taking the last n candidate height data in the height candidate subsequence as height data to be detected and other candidate height data except the last n candidate height data as reference height data; determining a first detection result according to the size relation between the pressure data to be detected and the reference pressure data; determining a second detection result according to the difference value between the pressure data to be detected and the reference pressure data and the difference value between the height data to be detected and the reference height data; determining a third detection result according to the relation between the pressure data to be detected and a preset data threshold value; and determining whether the candidate data meets a preset data sampling condition according to the first detection result, the second detection result and the third detection result.
In one embodiment, determining pressure data to be detected and a plurality of reference pressure data in a pressure candidate sub-sequence includes: determining tail pressure data in the pressure candidate sub-sequence; sequentially screening target candidate pressure data with a preset number from a plurality of candidate pressure data contained in the pressure candidate sub-sequence by taking the tail pressure data as a starting point; taking the target candidate pressure data as pressure data to be detected; and taking the remaining candidate pressure data in the pressure candidate sub-sequence as reference pressure data.
In one embodiment, determining the first detection result according to the magnitude relation between the pressure data to be detected and the reference pressure data includes: if the pressure data to be detected which are sequenced later are not smaller than the pressure data to be detected which are sequenced earlier, and each piece of pressure data to be detected is not smaller than each piece of reference pressure data, a first detection result is obtained to pass.
In one embodiment, determining the second detection result according to the difference between each of the pressure data to be detected and the reference pressure data and the difference between each of the height data to be detected and the candidate height data corresponding to the reference includes: determining a third difference between each of the height data to be detected and each of the reference height data, and determining a fourth difference between each of the pressure data to be detected and each of the reference pressure data; determining a plurality of association relations in the candidate data according to the third difference and the fourth difference; judging whether each association relation accords with a preset association condition or not; and if each association relation accords with the preset association condition, obtaining a second detection result to pass.
In one embodiment, determining the third detection result according to the relationship between the pressure data to be detected and the preset data threshold value includes: judging whether each piece of pressure data to be detected is larger than a preset data threshold value or not; and if the pressure data to be detected are all larger than the preset data threshold value, obtaining a third detection result to pass.
In one embodiment, determining corner pressure data of the plurality of candidate pressure data includes: determining head height data, head pressure data, tail height data and tail pressure data in the candidate data; determining a fifth difference between the tail height data and the head height data, and determining a sixth difference between the tail pressure data and the head pressure data; determining a target conversion angle of the candidate data according to the fifth difference and the sixth difference; converting each candidate data according to the target conversion angle, the header height data and the header pressure data to obtain a plurality of conversion data; corner pressure data meeting preset conditions are screened from the plurality of conversion data.
In one embodiment, the conversion data includes height conversion data, and pressure conversion data corresponding to the height conversion data; converting each candidate data according to the target conversion angle, the header height data and the header pressure data, respectively, to obtain a plurality of conversion data, including: determining a seventh difference between the current candidate height data and the header height data for each of the plurality of candidate height data; determining an eighth difference between the current candidate pressure data and the header pressure data for the current candidate pressure data corresponding to the current candidate height data; determining a target cosine value and a target sine value corresponding to the target conversion angle; obtaining a plurality of height conversion data according to each seventh difference, the target cosine value and the target sine value; and obtaining pressure conversion data corresponding to each height conversion data according to each eighth difference, the target cosine value and the target sine value.
In a second aspect, the present application also provides a height data determining apparatus. The device comprises:
the data sampling module is used for controlling the probe to move to the current to-be-measured point and performing step sampling aiming at each to-be-measured point in the printing platform to obtain a sampling result; the sampling result comprises a plurality of height data between the probe and the starting point and pressure data between the probe corresponding to each height data and the printing platform;
the condition judging module is used for implementing the judging steps: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets a preset data sampling condition; the candidate data comprises candidate height data and candidate pressure data;
a corner pressure data determining module for determining corner pressure data of a plurality of candidate pressure data in the candidate data in case the candidate data satisfies a data sampling condition; the corner pressure data are used for indicating pressure data acquired when the probe first contacts the printing platform;
and the target height data determining module is used for determining the target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
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:
aiming at each to-be-measured point in the printing platform, controlling the probe to move towards the current to-be-measured point and performing step sampling to obtain a sampling result; the sampling result comprises a plurality of height data between the probe and the starting point and pressure data between the probe corresponding to each height data and the printing platform;
judging: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets a preset data sampling condition; the candidate data comprises candidate height data and candidate pressure data;
determining corner pressure data of a plurality of candidate pressure data in the candidate data under the condition that the candidate data meets a data sampling condition; the corner pressure data are used for indicating pressure data acquired when the probe first contacts the printing platform;
and determining the target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
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:
aiming at each to-be-measured point in the printing platform, controlling the probe to move towards the current to-be-measured point and performing step sampling to obtain a sampling result; the sampling result comprises a plurality of height data between the probe and the starting point and pressure data between the probe corresponding to each height data and the printing platform;
judging: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets a preset data sampling condition; the candidate data comprises candidate height data and candidate pressure data;
determining corner pressure data of a plurality of candidate pressure data in the candidate data under the condition that the candidate data meets a data sampling condition; the corner pressure data are used for indicating pressure data acquired when the probe first contacts the printing platform;
and determining the target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
According to the height data determining method, the height data determining device, the computer equipment and the storage medium, the probe is controlled to move to the current to-be-measured point and step-by-step sampling is carried out for each to-be-measured point in the printing platform, so that a sampling result is obtained, and then the sampling result is processed to obtain candidate data of the current measuring point; by judging whether the candidate data meets the preset data sampling condition, corner pressure data in a plurality of candidate pressure data in the candidate data can be determined under the condition that the candidate data meets the data sampling condition, and the corner pressure data are used for indicating the pressure data acquired when the probe first contacts the printing platform, so that the target height data of the current to-be-measured point can be determined according to the candidate height data corresponding to the corner pressure data. Because the corner pressure data of each measuring point is determined under the condition that the candidate data meet the data sampling condition, compared with the traditional process of screening all the measuring points by adopting the fixed pressure threshold value, the method and the device can pointedly determine the target height data corresponding to different measuring points, improve the accuracy of determining the height data of the measuring points, and further effectively avoid the problem that the coordinate data of the measuring points are inaccurate when the structure of a printing platform is unstable.
Drawings
FIG. 1 is a diagram of an application environment for a height data determination method in one embodiment;
FIG. 2 is a flow diagram of a method of determining altitude data in one embodiment;
FIG. 3 is a schematic diagram of a print platform according to one embodiment;
FIG. 4 is a schematic diagram of coordinates of candidate data in one embodiment;
FIG. 5 is a flowchart illustrating a second detection result determination in one embodiment;
FIG. 6 is a flow diagram of determining conversion data in one embodiment;
FIG. 7 is a schematic diagram of coordinates of transformed data in one embodiment;
FIG. 8 is a flow chart of a method of determining altitude data in another embodiment;
FIG. 9 is a block diagram showing the construction of a height data determining apparatus 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 data determining method 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 control, for each to-be-measured point in the print platform, the probe to move to the current to-be-measured point and perform step sampling, obtain a plurality of height data in a sampling result and pressure data corresponding to each height data, send the sampling result to the server 104, and the server 104 is configured to process the sampling result to obtain candidate data of the current measurement point, and determine whether the candidate data meets a preset data sampling condition; the server 104 is further configured to determine corner pressure data in a plurality of candidate pressure data in the candidate data if the candidate data meets a data sampling condition, and determine target height data of a current to-be-measured point according to candidate height data corresponding to the corner pressure data. 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 determining height data 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, for each to-be-measured point in the printing platform, controlling the probe to move towards the current to-be-measured point and performing step sampling to obtain a sampling result.
The sampling result comprises a plurality of initial data, wherein the plurality of initial data comprise a plurality of height data between the probe and the starting point and pressure data between the probe and the printing platform, which correspond to the height data respectively.
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, the detection unit on the printing head can measure the coordinate data corresponding to each measurement point in the printing platform. For example, the coordinate data of the measurement points on the printing platform is a ij ＝(x ij ，y ij ，z ij )(i∈[0，m-1]，j∈(0，n-1))。
The print head may also be a device including a pressure sensor and a probe, as shown in fig. 3, and fig. 3 is a schematic structural diagram of the print platform. When the probe is raised to a preset height, the probe is at a position corresponding to the initial point of the current point to be measured, such as d in FIG. 3 0 ＝0，p 0 Position=0, the height data between the probe and the start point at this time is zero, and the pressure data between the probe and the printing platform is zero.
Specifically, when the coordinate data of each measurement point in the printing platform needs to be measured, the user can trigger the probe to lift by a preset height, for example, the preset height is 5mm, and then control the probe to move to the current to-be-measured point according to a preset stepping value L and perform stepping sampling. At this time, a plurality of height data between the probe and the starting point can be acquired in real time through the detection unit on the printing head, and pressure data between the probe and the printing platform corresponding to each height data can be acquired through the pressure sensor in the printing head. And finally, taking the height data and the pressure data as sampling results and sending the sampling results to the computer equipment.
In one embodiment, the measurement error of the measurements taken at each measurement point is typically less than a preset step value, e.g., eE [0, L ].
Step 204, a judging step: and processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets the preset data sampling condition.
The candidate data comprises candidate height data obtained by processing the height data in the sampling result and candidate pressure data obtained by processing the pressure data in the sampling result.
Wherein, because random errors and other situations may occur when the control probe is just triggered to perform step sampling, the processing of the sampling result may be a process of removing a specific amount of initial data sampled for the first time. And because the obtained initial data may have partial singular data, the processing of the sampling result can also be a process of normalizing the initial data, so that the initial data can be limited in a certain range, thereby eliminating adverse effects caused by the singular data and improving the accuracy of the subsequent processing of the candidate data.
In one embodiment, determining whether the candidate data satisfies a preset data sampling condition includes: taking the last n candidate pressure data in the pressure candidate sub-sequence as pressure data to be detected and other candidate pressure data except the last n candidate pressure data as reference pressure data; taking the last n candidate height data in the height candidate subsequence as height data to be detected and other candidate height data except the last n candidate height data as reference height data; determining a first detection result according to the size relation between the pressure data to be detected and the reference pressure data; determining a second detection result according to the difference value between the pressure data to be detected and the reference pressure data and the difference value between the height data to be detected and the reference height data; determining a third detection result according to the relation between the pressure data to be detected and a preset data threshold value; and determining whether the candidate data meets a preset data sampling condition according to the first detection result, the second detection result and the third detection result.
The candidate data comprises a pressure candidate sub-sequence corresponding to the candidate pressure data, namely the candidate pressure data is presented in the form of a pressure candidate sub-sequence; the candidate data also comprises a height candidate subsequence corresponding to the candidate height data; the preset data sampling conditions at least comprise a data sequence condition, an association relation condition and a threshold condition.
Specifically, the computer device screens the pressure candidate subsequence for pressure detection and the plurality of reference pressure data according to a preset screening rule, and similarly screens the height candidate subsequence for pressure detection and the plurality of reference height data. The pressure sequence to be detected comprises a plurality of pressure data to be detected, and the height sequence to be detected comprises a plurality of height data to be detected. The computer equipment respectively takes each height data to be detected and the pressure data to be detected corresponding to each height data to be detected as the coordinates of the data to be detected, and simultaneously respectively takes each reference height data and the reference pressure data corresponding to each reference height data as the coordinates of the reference data.
Further, the computer equipment performs data sequence condition detection on the pressure sequence to be detected and the plurality of reference pressure data, namely, the size relation between the pressure data to be detected and the reference pressure data are judged; the computer equipment detects association relation conditions of the candidate data, namely judging whether the coordinates of the data to be detected and the coordinates of the reference data accord with a preset association relation, namely detecting association relation conditions according to the difference value between the pressure data to be detected and the reference pressure data and the difference value between the height data to be detected and the reference height data; the computer equipment detects the threshold condition of the pressure sequence to be detected, namely, determines the relation between each piece of pressure data to be detected and a preset data threshold value, and determines candidate data to meet the preset data sampling condition when the first detection result, the second detection result and the third detection result are all passing.
Step 206, determining corner pressure data in a plurality of candidate pressure data in the candidate data under the condition that the candidate data meets the data sampling condition; the corner pressure data is used for indicating pressure data acquired when the probe first contacts the printing platform.
After the probe is lifted by a preset height, the probe moves to the current point to be tested and performs step sampling, the target step position of the probe when the probe is in initial contact with the printing platform is usually reached in the step process, and the pressure data acquired at the target step position are corner pressure data. Before the probe does not reach the target stepping position, the pressure data detected by the pressure sensor on the probe is usually smaller and ideally may be zero under the influence of factors such as system errors and the like; after the probe reaches the target stepping position and continues to perform stepping sampling to the current measuring point, pressure data detected by the pressure sensor on the probe can be increased sharply due to the fact that the stepping sampling is contacted with the printing platform.
Specifically, as shown in fig. 4, fig. 4 is a schematic diagram of coordinates of candidate data. The computer device takes the candidate height data as an abscissa axis and the candidate pressure data as an ordinate axis, and each candidate coordinate comprises the candidate height data and the candidate pressure data corresponding to each candidate height data. In the case where the candidate data satisfies the data sampling condition, corner pressure data among a plurality of candidate pressure data among the candidate data, that is, inflection point coordinates among a plurality of candidate coordinates of fig. 4 are determined. The computer device may convert each candidate coordinate using a data rotation method to obtain a plurality of converted coordinates, wherein the converted coordinates include height conversion data and pressure conversion data. And then the target conversion coordinate with the smallest pressure conversion data is selected from the conversion coordinates, and the pressure conversion data in the target conversion coordinate is used as corner pressure data.
In one embodiment, the computer device may fit the candidate coordinates to the exponential function y=a (x-b) +c by using a data fitting method, to obtain a fitted target curve, further determine, according to a preset function slope, a target curve coordinate in which the preset function slope is located from the target curve, and use candidate pressure data in the target curve coordinate as corner pressure data.
And step 208, determining target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
Specifically, when the computer device determines corner pressure data in the target conversion coordinates by adopting a data rotation method, the candidate coordinates which correspond to the target conversion coordinates and are not subjected to coordinate conversion are taken as target candidate coordinates, and the candidate height data in the target candidate coordinates are taken as target height data of the current to-be-measured point. When the computer equipment adopts a data fitting method to determine the target curve coordinates, the candidate height data in the target curve coordinates are directly used as the target height data of the current to-be-measured point.
According to the height data determining method, the probe is controlled to move towards the current to-be-measured point and step-by-step sampling is carried out for each to-be-measured point in the printing platform, so that a sampling result is obtained, and then the sampling result is processed to obtain candidate data of the current measuring point; by judging whether the candidate data meets the preset data sampling condition, corner pressure data in a plurality of candidate pressure data in the candidate data can be determined under the condition that the candidate data meets the data sampling condition, and the corner pressure data are used for indicating the pressure data acquired when the probe first contacts the printing platform, so that the target height data of the current to-be-measured point can be determined according to the candidate height data corresponding to the corner pressure data. Because the corner pressure data of each measuring point is determined under the condition that the candidate data meet the data sampling condition, compared with the traditional process of screening all the measuring points by adopting the fixed pressure threshold value, the method and the device can pointedly determine the target height data corresponding to different measuring points, improve the accuracy of determining the height data of the measuring points, and further effectively avoid the problem that the coordinate data of the measuring points are inaccurate when the structure of a printing platform is unstable.
In one embodiment, the method for controlling the probe to move to the current to-be-measured point and performing step sampling to obtain a sampling result includes: and controlling the probe to move to the current to-be-measured point in the printing platform, and performing step sampling for a first preset number of times to obtain a sampling result. After judging whether the candidate data meets the preset data sampling condition, the method further comprises the following steps: under the condition that the candidate data does not meet the data sampling condition, continuously controlling the probe to move to the current to-be-measured point in the printing platform, and performing step sampling for a second preset number of times to obtain new initial data; adding new initial data into the sampling result, and removing the initial data of the preset second times, which is obtained first in the sampling result, to obtain a new sampling result; the determination step is again entered.
Wherein, the first preset times are generally larger than the second preset times, for example, when the first preset times are 10 times, the second preset times can be 1 time; the plurality of initial data in the sampling result includes altitude data and pressure data.
Specifically, when the probe is controlled to move from the starting point to a current to-be-measured point in the printing platform and step sampling is performed for a first preset number of times, height data comprising the first preset number of times and pressure data comprising the first preset number of times are obtained. After the first preset number of step samples are completed, the probe at the moment reaches the initial target point. Wherein the altitude data and the pressure data may each be presented in the form of an initial sub-sequence. For example, the initial subsequence d= { D 0 ，d 1 ...d n Sum initial subsequence p= { P 0 ，p 1 ...p n }。
Further, under the condition that the candidate data does not meet the data sampling condition, the probe needs to be controlled to start from an initial target point, continuously move to a current to-be-measured point in the printing platform, and perform step sampling for a second preset number of times to obtain new height data and new pressure data. For example, get d n+1 And p n+1 . And adding the new height data and the new pressure data into the sampling result, and removing the initial data of the preset first times, which is obtained first in the sampling result, to obtain a new sampling result. For example, an initial subsequence d= { D is obtained 1 ...d n ，d n+1 Sum initial subsequence p= { P 1 …p n ，p n+1 }。
In order to ensure uniformity of data sampling condition judgment on candidate data, the number of initial subsequences may be always ensured to be a first preset number of times, for example, the first preset number of times is S, where the initial subsequences d= { D n-(S-1) ，d n-(S-1)+1 …d n Sum initial subsequence P ={p n-(S-1) ，p n-(S-1)+1 …p n }。
In this embodiment, by continuously moving to the current to-be-measured point and performing step sampling, an initial sub-sequence corresponding to the height data of the first preset number of times and an initial sub-sequence corresponding to the pressure data of the first preset number of times are obtained, and after the candidate data is subjected to the data sampling condition judgment subsequently, the initial sub-sequence is updated in a first-in first-out manner, so that the data validity of the initial data in the initial sub-sequence is ensured.
In one embodiment, the computer device may further control the probe to move to a current point to be measured in the printing platform, and perform step sampling more than the first preset times, to obtain a sampling result. For example, 20 samples are taken to obtain an initial sub-sequence comprising 20 height data and an initial sub-sequence comprising pressure data corresponding to each height data. The computer device may cut out a target initial subsequence of a first preset number of times from an intermediate position in each initial subsequence, for example, when the first preset number of times is 10 times, initial data No. 9 to initial data No. 18 in the initial subsequence may be used as the target initial subsequence. Under the condition that the candidate data does not meet the data sampling condition, the computer equipment re-intercepts from other intermediate positions in each initial subsequence, for example, taking initial data from No. 10 to No. 19 in the initial subsequence as a new target initial subsequence; the determination step is again entered.
In one embodiment, processing the sampling result to obtain candidate data of the current measurement point includes: for each initial sub-sequence, determining first threshold data and second threshold data in the current initial sub-sequence, and determining a first difference between the second threshold data and the first threshold data; determining a second difference between the current initial data and the first threshold data for each initial data in the current initial sub-sequence; according to the first difference and the second difference, candidate data corresponding to the current initial data are obtained; synthesizing candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence; and synthesizing the candidate subsequences to obtain candidate data corresponding to the current point to be detected.
The sampling result comprises an initial subsequence corresponding to the height data and an initial subsequence corresponding to the pressure data; the candidate data includes a candidate sub-sequence corresponding to the candidate height data and a candidate sub-sequence corresponding to the candidate pressure data. The first threshold data includes minimum height data and minimum pressure data in the initial subsequence; the second threshold data includes maximum height data and maximum pressure data in the initial sub-sequence;
specifically, the process of processing each initial sub-sequence in the sampling result may be a normalization processing manner, and the method is as follows:
wherein, when for an initial sub-sequence corresponding to the height data, the computer device determines a first difference between the maximum height data and the minimum height data, i.e., MAX (D) -MIN (D), and determines a second difference between each height data and the minimum height data, i.e., D i -MIN (D). And the computer equipment obtains the candidate height data corresponding to each height data according to the ratio of the second difference to each first difference. Also, when an initial sub-sequence corresponding to pressure data is used, candidate pressure data corresponding to each pressure data can be obtained. Synthesizing each candidate height data to obtain a candidate subsequence corresponding to the candidate height data as N (D), and synthesizing each candidate pressure data to obtain a candidate pressure data corresponding Qu Houxuan subsequence as N (P), wherein the method comprises the following steps:
N(D)＝{N(d n-(s-1) )，N(d n-(s-1)-1 )…N(d n )}
N(P)＝{N(p n-(S-1) )，N(p n-(S-1)-1 )…N(p n )}
In this embodiment, the initial subsequence is subjected to preliminary normalization processing to obtain a candidate subsequence corresponding to the candidate height data and a candidate subsequence corresponding to the candidate pressure data, so that the efficiency of subsequent data processing can be improved, and the accuracy of subsequent data sampling condition judgment on the candidate data is ensured.
In one embodiment, determining a pressure sequence to be detected and a plurality of reference pressure data in a pressure candidate sub-sequence includes: determining tail pressure data in the pressure candidate sub-sequence; sequentially screening target candidate pressure data with a preset number from a plurality of candidate pressure data contained in the pressure candidate sub-sequence by taking the tail pressure data as a starting point; taking the target candidate pressure data as pressure data to be detected, and synthesizing each piece of pressure data to be detected to obtain a pressure sequence to be detected; and taking the remaining candidate pressure data in the pressure candidate sub-sequence as reference pressure data.
The candidate pressure data in the pressure candidate sub-sequence are sequentially arranged according to the sampling sequence, so that the tail pressure data in the pressure candidate sub-sequence is the data corresponding to the last sampling. Typically, the preset number is smaller than the first preset number, for example, when the first preset number is 10, the preset number may be 3.
Specifically, when the computer device determines the tail pressure data in the pressure candidate sub-sequence, the tail pressure data is taken as a starting point, and a preset number of target candidate pressure data in a queue in the pressure candidate sub-sequence is screened out, and the target candidate pressure data at this time is taken as pressure data to be detected. Since the target candidate pressure data are arranged according to the sampling sequence in the pressure candidate sub-sequence, the pressure sequence to be detected which is arranged according to the sampling sequence can be obtained by integrating each pressure data to be detected. The computer device removes the pressure sequence to be detected from the candidate sub-sequence of pressures and takes the remaining candidate pressure data as reference pressure data.
In this embodiment, through a preset number, the pressure candidate sub-sequence can be accurately split into a pressure sequence to be detected and a plurality of reference pressure data, so that different types of data sampling detection can be performed subsequently based on the pressure sequence to be detected and the reference pressure data.
In one embodiment, a plurality of height data to be detected and a plurality of reference height data in a height candidate sub-sequence are determined. The candidate data further comprises a height candidate subsequence corresponding to the candidate height data; the process of determining the plurality of to-be-detected height data and the plurality of reference height data from the height candidate sub-sequence may refer to the process of determining the plurality of to-be-detected pressure data and the plurality of reference pressure data from the pressure candidate sub-sequence, which is not described herein.
In one embodiment, determining the first detection result according to the magnitude relation between the pressure data to be detected and the reference pressure data includes: if the pressure data to be detected which are sequenced later are not smaller than the pressure data to be detected which are sequenced earlier, and each piece of pressure data to be detected is not smaller than each piece of reference pressure data, a first detection result is obtained to pass.
In one embodiment, the detecting the data sequence condition of the pressure sequence to be detected and the reference pressure data sequence to obtain a first detection result includes: sorting the pressure data to be detected in a preset arrangement mode to obtain a data size sequence; judging whether the pressure data to be detected with the same sequence in the pressure sequence to be detected and the data size sequence are the same or not; if the pressure data to be detected are the same, judging whether each piece of pressure data to be detected is larger than each piece of reference pressure data; if the pressure data to be detected are larger than the reference pressure data, a first detection result is obtained.
Specifically, the computer device sorts the pressure data to be detected according to a preset arrangement mode to obtain a data size sequence, wherein the preset arrangement mode can be a mode of arranging the data from small to large. And the pressure data to be detected in the pressure sequence to be detected are arranged according to the sampling sequence. The computer equipment judges whether the pressure data to be detected with the same sequence in the pressure sequence to be detected and the data size sequence are the same or not, namely the data size of the pressure data to be detected is gradually increased along with the sampling. If the detected pressure data are the same, further judging whether each to-be-detected pressure data are larger than each reference pressure data, and referring to FIG. 4.
The reference pressure data may be candidate pressure data corresponding to the probe when the probe is not in contact with the printing platform, and the candidate pressure data is usually smaller because of the existence of a system error; only when the probe contacts the printing platform and continues to move towards the current printing point, the size of the candidate pressure data is changed greatly, and the candidate pressure data at the moment is the pressure data to be detected. Therefore, when the data size of the pressure data to be detected is gradually increased and each pressure data to be detected is larger than each reference pressure data, the first detection result is obtained. For example, when the preset number a is 3 or more, there are:
N(p n )≥N(p n-1 )…≥N(p n-a+1 )≥N(p b )(a≥3，b∈[n－(S-1)，n-a+1]
in this embodiment, another embodiment of detecting the data sequence condition is provided for detecting the preset data sampling condition of the candidate data, so that the candidate pressure data can more conform to the actual measurement situation, and erroneous sampling of the candidate pressure data caused by unstable structure of the printing platform is avoided, so that the data validity of the candidate data can be further ensured.
In one embodiment, as shown in fig. 5, the process of determining the second detection result according to the difference between each pressure data to be detected and the reference pressure data, and the difference between each height data to be detected and the reference height data, further includes the following steps:
Step 502, a third difference between each of the height data to be detected and each of the reference height data is determined, and a fourth difference between each of the pressure data to be detected and each of the reference pressure data is determined.
As shown in fig. 4, the candidate coordinates in the coordinate axes include a plurality of data coordinates to be detected and reference data coordinates. Thus, a third difference between each height data to be detected and each reference height data, i.e. a difference in the abscissa data of each data coordinate to be detected and each reference data coordinate is determined; a fourth difference between each pressure data to be detected and each reference pressure data, i.e. the ordinate data difference of each data coordinate to be detected from each reference data coordinate, is determined.
Step 504, determining a plurality of association relations in the candidate data according to the third difference and the fourth difference.
Wherein the association relationship may include a slope relationship and an angle relationship. The computer device can determine the corresponding association relationship of each coordinate of the data to be detected according to the ratio of the fourth difference to the third difference, for example, when N (d i )-N(d j ) For the third difference, N (p i )-N(p j ) For the fourth difference, the slope relationship K is determined as:
Step 506, determining whether each association relationship meets a preset association condition.
The preset association condition corresponding to the slope relationship is a preset slope threshold, and the preset association condition corresponding to the angle relationship is a preset angle threshold, for example, 40 degrees.
Step 508, if each association relationship meets the preset association condition, obtaining a second detection result as passing.
When the association relationship is an angular relationship, if there is:
wherein N (d) i )≠N(d j )，p i And d i Forming the coordinate of the data to be detected, p j And d j The reference data coordinates are constructed. At this time, the angular relationship of each data coordinate to be detected is indicated to accord with a preset angular threshold value, a second detection result is obtained to pass, and if any angular relationship does not accord with the preset angular threshold valueAnd if the value is not passed, the second detection result is not passed.
In this embodiment, the candidate data is configured into the form of the data coordinate to be detected and the reference data coordinate, and whether the association relation condition is met between the data coordinate to be detected and the reference data coordinate is determined, so that the acquired candidate pressure data and candidate height data are more consistent with the actual measurement condition, and the data validity of the candidate data is ensured.
In one embodiment, determining the third detection result according to the relationship between the pressure data to be detected and the preset data threshold value includes: judging whether each piece of pressure data to be detected is larger than a preset data threshold value or not; and if each pressure data to be detected is larger than the preset data threshold value, obtaining a third detection result to pass.
Wherein the preset data threshold may be P min When the computer equipment determines that the pressure data to be detected are all greater than the preset data threshold value, namely P min ≤p r (r∈[n-a+1，n]) And if the third detection result is passed. Therefore, the embodiment provides another embodiment for detecting the preset data sampling condition of the candidate data, so that the data validity of the candidate data can be further ensured.
In one embodiment, determining corner pressure data of a plurality of candidate pressure data of the candidate data includes: determining head height data, head pressure data, tail height data and tail pressure data in the candidate data; determining a fifth difference between the tail height data and the head height data, and determining a sixth difference between the tail pressure data and the head pressure data; determining a target conversion angle of the candidate data according to the fifth difference and the sixth difference; converting each candidate data according to the target conversion angle, the header height data and the header pressure data to obtain a plurality of conversion data; corner pressure data meeting preset conditions are screened from the plurality of conversion data.
Wherein, since the candidate data includes the height candidate sub-sequence corresponding to the candidate height data and the pressure candidate sub-sequence corresponding to the candidate pressure data, the height data arranged in the sampling order and arranged first in the height candidate sub-sequence is used as the head height data, and the height data arranged last is used as the tail height data. Similarly, the leading pressure data and the trailing pressure data may be determined from the pressure candidate subsequence.
Specifically, the computer device may determine the target transition angle by:
wherein N (d) n ) For tail height data, N (d n-(s-1) For header height data, N (p n ) For tail pressure data, N (p n-(S-1) Is head pressure data. The computer device determines a fifth difference between the tail height data and the head height data to obtain N (d) n )-N(d n-(S-1) And determining a sixth difference between the tail pressure data and the head pressure data to obtain N (p n )-N(p n-(S-1) And further determining a target conversion angle of the candidate data according to the ratio between the sixth difference and the fifth difference.
Further, as shown in fig. 6, the computer device converts each candidate data according to the target conversion angle, the header height data and the header pressure data, respectively, to obtain a plurality of conversion data, including:
step 602, for each candidate height data of the plurality of candidate height data, determining a seventh difference between the current candidate height data and the header height data.
Step 604, for the current candidate pressure data corresponding to the current candidate height data, determines an eighth difference between the current candidate pressure data and the header pressure data.
Wherein, referring to FIG. 4, since the candidate height data is taken as the abscissa axis and the candidate pressure data is taken as the ordinate axis, there is N (d) i )－N(d n-(S-1) ) A seventh difference between each candidate height data and the header height data. Also, there is N (p i )-N(p n-(S-1) ) For each candidate pressure dataEighth difference from the header pressure data.
Step 606, determining a target cosine value and a target sine value corresponding to the target conversion angle.
The target cosine value is cos (theta) and the target sine value is sin (theta) obtained from the target conversion angle.
Step 608, obtaining a plurality of height conversion data according to each seventh difference, the target cosine value and the target sine value.
In particular, the computer device may obtain the plurality of height conversion data by:
R(N(d i ))＝(N(d i )-N(d n-(S-1) ))×cos(θ)-(N(p i )-N(p n-(S-1) ))×sin(θ)
wherein i epsilon [ n- (S-1), n ], i represents any candidate height data in the height candidate subsequence. The computer device determines a first product of each seventh difference and the target cosine value and a second product of each seventh difference and the target sine value, respectively, and obtains a plurality of height conversion data according to a difference between each first product and each second product. Wherein the height conversion data may be presented in the form of a height conversion sequence, e.g. the height conversion sequence is R (N (D)).
In step 610, pressure conversion data corresponding to each of the height conversion data is obtained based on each of the eighth variance, the target cosine value, and the target sine value.
In particular, the computer device may obtain the plurality of height conversion data by:
R(N(p i ))＝(N(d i )-N(d n-(S-1) ))×sin(θ)+(N(p i )-N(p n-(S-1) ))×cos(θ)
wherein i E [ n- (S-1), n ], i represents any candidate pressure data in the pressure candidate subsequence. The computer equipment respectively determines a third product of each eighth difference and the target sine value, determines a fourth product of each eighth difference and the target cosine value, and superimposes according to each third product and each fourth product to obtain pressure conversion data corresponding to each height conversion data. Wherein the pressure conversion data may be presented in the form of a pressure conversion sequence, e.g. the pressure conversion sequence is R (N (P)). As shown in fig. 7, fig. 7 is a schematic coordinate diagram of the transformation data, and the computer device uses the height transformation data and the pressure transformation data corresponding to the height transformation data as transformation data, and constructs the transformation data into a coordinate form, so as to obtain a plurality of transformation coordinates.
In one embodiment, the computer device may base each candidate coordinate composed of N (D) and N (P) on N (D) n-(S-1) ) The corresponding candidate coordinates are rotated clockwise by the target conversion angle to obtain conversion coordinates composed of R (N (D)) and R (N (P)).
Further, corner pressure data satisfying a preset condition, that is, data having the smallest pressure conversion data among the conversion coordinates is selected as corner pressure data from among the plurality of conversion data, where R (N (p) k ) MIN (E (N (P))), wherein the K value is then characterized as the index of the transformed coordinates. Therefore, the candidate height data corresponding to the corner pressure data can be used as the target height data of the current to-be-measured point, namely z=d k 。
In one embodiment, since the target height data is the height between the probe and the predefined zero point position, where z=0, the target height data is the difference between the position when the print plane is first touched and the zero point, and the difference may be a positive value or a negative value.
In the embodiment, under the condition that the candidate data meets the data sampling condition, the candidate data is converted into the form of conversion coordinates by adopting a data rotation method, so that corner pressure data can be rapidly and intuitively determined, the data processing efficiency is improved, and the accuracy of determining target height data is improved.
In one embodiment, as shown in fig. 8, fig. 8 is a flow chart of a method for determining height data in another embodiment. Aiming at each to-be-measured point in the printing platform, the computer equipment controls the probe to move towards the current to-be-measured point and performs step sampling to obtain a sampling result, wherein the sampling result comprises the probe and a starting point A plurality of height data d between n And pressure data p between the probe and the printing platform, respectively corresponding to each height data n The method comprises the steps of carrying out a first treatment on the surface of the Presenting the plurality of altitude data in an initial sub-sequence D and the plurality of pressure data in an initial sub-sequence P; for each initial sub-sequence, determining first threshold data and second threshold data in the current initial sub-sequence, and obtaining current candidate data corresponding to the current initial data according to the current initial data, the second threshold data and the first threshold data; synthesizing candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence, namely a height candidate subsequence N (D) and a pressure candidate subsequence N (P); synthesizing the candidate subsequences to obtain candidate data corresponding to the current point to be detected; the computer equipment judges whether the candidate data meet preset data sampling conditions, if the candidate data do not meet the data sampling conditions, the probe is controlled to move to the current to-be-measured point in the printing platform continuously and step sampling is carried out, and new initial data are obtained; if the candidate data meets the data sampling condition, determining corner pressure data in a plurality of candidate pressure data in the candidate data; and determining target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
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 embodiments of the present application also provide a height data determining apparatus for implementing the above-mentioned related height data determining method. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitations in one or more embodiments of the height data determining device provided below may be referred to above for limitations of the height data determining method, and will not be described here.
In one embodiment, as shown in fig. 9, there is provided a height data determining apparatus 900 comprising: a data sampling module 902, a condition determination module 904, a corner pressure data determination module 906, and a target height data determination module 908, wherein:
the data sampling module 902 is configured to control, for each to-be-measured point in the printing platform, the probe to move to the current to-be-measured point and perform step sampling, so as to obtain a sampling result; the sampling result includes a plurality of height data between the probe and the starting point, and pressure data between the probe and the printing platform corresponding to each height data.
A condition judgment module 904, configured to implement the judgment step: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets preset data sampling conditions or not; the candidate data includes candidate height data and candidate pressure data.
A corner pressure data determination module 906 for determining corner pressure data of a plurality of candidate pressure data in the candidate data in the case where the candidate data satisfies the data sampling condition; the corner pressure data is used for indicating pressure data acquired when the probe first contacts the printing platform.
The target height data determining module 908 is configured to determine target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
In one embodiment, the data sampling module 902 is further configured to control the probe to move to a current point to be measured in the printing platform, and perform step sampling for a first preset number of times, so as to obtain a sampling result; the sampling result includes a plurality of initial data; after judging whether the candidate data meets the preset data sampling condition, the method further comprises the following steps: under the condition that the candidate data does not meet the data sampling condition, continuously controlling the probe to move to the current to-be-measured point in the printing platform, and performing step sampling for a second preset number of times to obtain new initial data; adding new initial data into the sampling result, and removing the initial data of the preset second times, which is obtained first in the sampling result, to obtain a new sampling result; the determination step is again entered.
In one embodiment, the condition determining module 904 further includes a result processing module 9041 configured to determine, for each initial sub-sequence, first threshold data and second threshold data in a current initial sub-sequence, and determine a first difference between the first threshold data and the second threshold data; determining a second difference between the current initial data and the first threshold data for each initial data in the current initial sub-sequence; according to the first difference and the second difference, candidate data corresponding to the current initial data are obtained; synthesizing candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence; and synthesizing the candidate subsequences to obtain candidate data corresponding to the current point to be detected.
In one embodiment, the condition determining module 904 is further configured to use the last n candidate pressure data in the pressure candidate sub-sequence as pressure data to be detected and other candidate pressure data except the last n candidate pressure data as reference pressure data; taking the last n candidate height data in the height candidate subsequence as height data to be detected and other candidate height data except the last n candidate height data as reference height data; determining a first detection result according to the size relation between the pressure data to be detected and the reference pressure data; determining a second detection result according to the difference value between the pressure data to be detected and the reference pressure data and the difference value between the height data to be detected and the reference height data; determining a third detection result according to the relation between the pressure data to be detected and a preset data threshold value; and determining whether the candidate data meets a preset data sampling condition according to the first detection result, the second detection result and the third detection result.
In one embodiment, the condition determining module 904 further includes a first detecting module 9042 configured to determine that if the pressure data to be detected in the sequence is not less than the pressure data to be detected in the sequence, and each pressure data to be detected is not less than each reference pressure data, then the first detection result is obtained.
In one embodiment, the condition determining module 904 further includes a second detecting module 9043 for determining a third difference between each of the to-be-detected height data and each of the reference height data, and determining a fourth difference between each of the to-be-detected pressure data and each of the reference pressure data; determining a plurality of association relations in the candidate data according to the third difference and the fourth difference; judging whether each association relation accords with a preset association condition or not; and if each association relation accords with the preset association condition, obtaining a second detection result to pass.
In one embodiment, the condition determining module 904 further includes a third detecting module 9044 for determining whether each pressure data to be detected is greater than a preset data threshold; and if each pressure data to be detected is larger than the preset data threshold value, obtaining a third detection result to pass.
In one embodiment, the corner pressure data determination module 906 is further configured to determine header height data, header pressure data, trailer height data, and trailer pressure data in the candidate data; determining a fifth difference between the tail height data and the head height data, and determining a sixth difference between the tail pressure data and the head pressure data; determining a target conversion angle of the candidate data according to the fifth difference and the sixth difference; converting each candidate data according to the target conversion angle, the header height data and the header pressure data to obtain a plurality of conversion data; corner pressure data meeting preset conditions are screened from the plurality of conversion data.
In one embodiment, the corner pressure data determination module 906 is further configured to determine, for each of the plurality of candidate height data, a seventh difference between the current candidate height data and the header height data; determining an eighth difference between the current candidate pressure data and the header pressure data for the current candidate pressure data corresponding to the current candidate height data; determining a target cosine value and a target sine value corresponding to the target conversion angle; obtaining a plurality of height conversion data according to each seventh difference, the target cosine value and the target sine value; and obtaining pressure conversion data corresponding to each height conversion data according to each eighth difference, the target cosine value and the target sine value.
The respective modules in the above-described height data determination apparatus may be implemented in whole or in part 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. 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 altitude data and pressure data. 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 is executed by a processor to implement a height data determination method.
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 above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention, which is within the scope of the invention. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (12)

1. A method of determining height data, the method comprising:
aiming at each to-be-measured point in the printing platform, controlling the probe to move towards the current to-be-measured point and performing step sampling to obtain a sampling result; the sampling result comprises a plurality of height data between the probe and the starting point and pressure data between the probe corresponding to each height data and the printing platform;
Judging: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets a preset data sampling condition; the candidate data comprises candidate height data and candidate pressure data;
determining corner pressure data of a plurality of candidate pressure data in the candidate data under the condition that the candidate data meets a data sampling condition; the corner pressure data are used for indicating pressure data acquired when the probe first contacts the printing platform;
and determining the target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
2. The method according to claim 1, wherein the step-by-step sampling is performed by moving the control probe toward the current point to be measured, so as to obtain a sampling result, including:
controlling the probe to move towards the current to-be-measured point in the printing platform, and performing step sampling for a first preset number of times to obtain a sampling result; the sampling result comprises a plurality of initial data;
after the judging whether the candidate data meets the preset data sampling condition, the method further comprises the following steps:
Under the condition that the candidate data does not meet the data sampling condition, continuously controlling the probe to move towards the current to-be-measured point in the printing platform, and performing step sampling for a second preset number of times to obtain new initial data;
adding the new initial data into the sampling result, and removing the initial data of the preset second times, which is obtained first in the sampling result, to obtain a new sampling result;
and re-entering the judging step.
3. The method according to any one of claims 1 or 2, wherein the sampling result comprises an initial sub-sequence corresponding to the height data and an initial sub-sequence corresponding to the pressure data; the candidate data comprises a candidate subsequence corresponding to the candidate height data and a candidate subsequence corresponding to the candidate pressure data; and processing the sampling result to obtain candidate data of the current measurement point, wherein the candidate data comprises:
determining first threshold data and second threshold data in a current initial sub-sequence for each initial sub-sequence, and determining a first difference between the second threshold data and the first threshold data;
determining, for each initial data in the current initial sub-sequence, a second difference between the current initial data and the first threshold data;
According to the first difference and the second difference, candidate data corresponding to the current initial data are obtained;
synthesizing candidate data corresponding to each initial data in the current initial subsequence to obtain a candidate subsequence corresponding to the current initial subsequence;
and synthesizing the candidate subsequences to obtain candidate data corresponding to the current point to be detected.
4. The method of claim 1, wherein the candidate data comprises a pressure candidate subsequence corresponding to the candidate pressure data and a height candidate subsequence corresponding to the candidate height data; the judging whether the candidate data meets the preset data sampling condition comprises the following steps:
taking the last n candidate pressure data in the pressure candidate sub-sequence as pressure data to be detected and other candidate pressure data except the last n candidate pressure data as reference pressure data;
taking the last n candidate height data in the height candidate subsequence as height data to be detected and other candidate height data except the last n candidate height data as reference height data;
determining a first detection result according to the size relation between the pressure data to be detected and the reference pressure data;
Determining a second detection result according to the difference value between the pressure data to be detected and the reference pressure data and the difference value between the height data to be detected and the reference height data;
determining a third detection result according to the relation between the pressure data to be detected and a preset data threshold value;
and determining whether the candidate data meets a preset data sampling condition according to the first detection result, the second detection result and the third detection result.
5. The method of claim 4, wherein determining the first detection result according to the magnitude relation between each of the pressure data to be detected and each of the reference pressure data comprises:
if the pressure data to be detected which are sequenced later are not smaller than the pressure data to be detected which are sequenced earlier, and each piece of pressure data to be detected is not smaller than each piece of reference pressure data, a first detection result is obtained to pass.
6. The method of claim 4, wherein determining a second test result based on the difference between each of the to-be-tested pressure data and the reference pressure data and the difference between each of the to-be-tested height data and the reference height data comprises:
Determining a third difference between each of the height data to be detected and each of the reference height data, and determining a fourth difference between each of the pressure data to be detected and each of the reference pressure data;
determining a plurality of association relations in the candidate data according to the third difference and the fourth difference;
judging whether each association relation accords with a preset association condition or not;
and if each association relation accords with a preset association condition, obtaining a second detection result to pass.
7. The method of claim 4, wherein determining a third test result based on the relationship between the pressure data to be tested and a preset data threshold comprises:
judging whether each piece of pressure data to be detected is larger than a preset data threshold value or not;
and if the pressure data to be detected are all larger than a preset data threshold value, obtaining a third detection result to pass.
8. The method of claim 1, wherein the determining corner pressure data of the plurality of candidate pressure data comprises:
determining head height data, head pressure data, tail height data and tail pressure data in the candidate data;
Determining a fifth difference between the tail height data and the head height data, and determining a sixth difference between the tail pressure data and the head pressure data;
determining a target conversion angle of the candidate data according to the fifth difference and the sixth difference;
converting each candidate data according to the target conversion angle, the header height data and the header pressure data to obtain a plurality of conversion data;
and screening corner pressure data meeting preset conditions from the plurality of conversion data.
9. The method of claim 8, wherein the conversion data comprises altitude conversion data, and pressure conversion data corresponding to the altitude conversion data; and converting each candidate data according to the target conversion angle, the header height data and the header pressure data to obtain a plurality of conversion data, wherein the conversion data comprises:
determining, for each candidate height data of the plurality of candidate height data, a seventh difference between the current candidate height data and the header height data;
determining an eighth difference between the current candidate pressure data and the header pressure data for the current candidate pressure data corresponding to the current candidate height data;
Determining a target cosine value and a target sine value corresponding to the target conversion angle;
obtaining a plurality of height conversion data according to each seventh difference, the target cosine value and the target sine value;
and obtaining pressure conversion data corresponding to each height conversion data according to each eighth difference, the target cosine value and the target sine value.
10. A height data determination apparatus, the apparatus comprising:
the data sampling module is used for controlling the probe to move to the current to-be-measured point and performing step sampling aiming at each to-be-measured point in the printing platform to obtain a sampling result; the sampling result comprises a plurality of height data between the probe and the starting point and pressure data between the probe corresponding to each height data and the printing platform;
the condition judging module is used for implementing the judging steps: processing the sampling result to obtain candidate data of the current measuring point, and judging whether the candidate data meets a preset data sampling condition; the candidate data comprises candidate height data and candidate pressure data;
a corner pressure data determining module for determining corner pressure data of a plurality of candidate pressure data in the candidate data in case the candidate data satisfies a data sampling condition; the corner pressure data are used for indicating pressure data acquired when the probe first contacts the printing platform;
And the target height data determining module is used for determining the target height data of the current to-be-measured point according to the candidate height data corresponding to the corner pressure data.
11. 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 9 when the computer program is executed.
12. 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 9.
CN202210873609.4A 2022-07-21 2022-07-21 Height data determining method, apparatus, computer device and storage medium Pending CN117464997A (en)

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