CN110605854B - Printing control method, device and system and control equipment - Google Patents
Printing control method, device and system and control equipment Download PDFInfo
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- CN110605854B CN110605854B CN201911029775.0A CN201911029775A CN110605854B CN 110605854 B CN110605854 B CN 110605854B CN 201911029775 A CN201911029775 A CN 201911029775A CN 110605854 B CN110605854 B CN 110605854B
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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
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- 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
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
The invention provides a printing control method, a device, a system and control equipment, which relate to the technical field of 3D printing and comprise the following steps: acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; generating air pressure control information based on wire detection parameters and preset wire sample parameters; the air pressure control information is information for controlling the extrusion air pressure of the printing nozzle when extruding the printing material; acquiring surface depth information of a printing layer through an OCT probe; judging whether the surface depth information accords with preset reference depth information or not; if not, generating printing compensation information according to the surface depth information and the reference depth information; the printing compensation information is used for controlling the moving speed and/or the extrusion air pressure when the printing nozzle extrudes the printing material; and controlling the printing nozzle to print the model based on the printing compensation information. The invention can reduce the labor cost and effectively control the uniformity of the printed silk, thereby improving the quality and stability of the printing model.
Description
Technical Field
The invention relates to the technical field of 3D printing, in particular to a printing control method, a printing control device, a printing control system and a printing control device.
Background
The 3D printing technology is an accumulative manufacturing technology, and based on a rapid prototyping and layering manufacturing principle, materials/cells can be positioned and assembled according to a design to form a three-dimensional structure.
Printing materials for biological 3D printers are generally non-rigid body wires, and when the printing layer surface collapses when the printing is accumulated layer by layer, the printing materials are uneven, and impurities or bubbles exist, the printing process can be broken, and the like. Therefore, in the printing process, technicians are required to observe the wire outlet uniformity in the 3D printing process and manually intervene in the working process of the printer to ensure better model printing quality. The mode of relying on manual observation and manual intervention not only consumes labor cost, but also can not carry out quantitative judgment on the uniformity of the output silk, so that the uniformity of the output silk is poor, and the quality and the stability of a printing model are directly influenced.
Disclosure of Invention
The invention aims to provide a printing control method, a printing control device, a printing control system and a printing control device, which can reduce the labor cost and effectively control the uniformity of printed wires, thereby improving the quality and stability of a printing model.
The invention provides a printing control method, which is executed by a control device and comprises the following steps: acquiring wire detection parameters of a wire extruded by the printing nozzle through the OCT probe; generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing material is extruded; acquiring surface depth information of a printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information; judging whether the surface depth information accords with preset reference depth information or not; if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area; and controlling the printing nozzle to print the model based on the printing compensation information.
Further, the method further comprises: acquiring a material detection image of a printing material in a feeding mechanism of a printer through an OCT probe; comparing the material detection image with a preset material reference image to obtain image similarity; wherein the material reference image is an image of a printed material sample; carrying out flow distribution control on the printing material based on the image similarity to obtain a prepared printing material; wherein the ready-to-print material is a print material meeting a preset quality standard; controlling the feeding mechanism to convey the preliminary printing material to the printing nozzle.
Further, the step of performing flow distribution control on the printing material based on the image similarity includes: if the image similarity is larger than a preset similarity threshold, generating first valve control information; the first valve control information is information for controlling the feeding mechanism to flow the printing material to a first branch channel, and the first branch channel is communicated with the printing nozzle.
Further, the method further comprises: when the OCT probe arranged above the printing platform is static, acquiring a B-Scan image of the printing platform through the OCT probe, and extracting a first depth distribution value of the B-Scan image; adjusting a horizontal mounting angle of the OCT probe relative to the print platform based on the first depth profile value; when the OCT probe moves along with the printing nozzle, acquiring an A-Scan image of the printing platform through the OCT probe, and extracting a second depth distribution value of the A-Scan image; adjusting a horizontal installation angle of the printing platform based on the second depth distribution value.
Further, the method further comprises: if the surface depth information accords with preset reference depth information, generating platform descending information; the platform descending information is information for controlling the printing platform to descend for a preset distance.
Further, the setting method of the wire sample parameters comprises the following steps: acquiring an image of a wire sample extruded by the printing nozzle through the OCT probe; detecting the image of the wire sample by adopting an image processing algorithm to obtain a diameter distribution value of the wire sample; determining a wire standard diameter and a standard diameter deviation of the wire sample from the diameter distribution value; setting the wire standard diameter and the standard diameter deviation as the wire sample parameters.
The invention provides a printing control device, which is arranged on a control device and comprises: the wire detection parameter acquisition module is used for acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; the air pressure control module is used for generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing material is extruded; the depth information acquisition module is used for acquiring the surface depth information of the printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information; the judging module is used for judging whether the surface depth information accords with preset reference depth information or not; the printing compensation control module is used for determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information under the condition that the surface depth information does not accord with the reference depth information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area; and the model printing module is used for controlling the printing nozzle to print the model based on the printing compensation information.
The present invention provides a control apparatus, the apparatus comprising: a processor and a storage device; the storage device has stored thereon a computer program which, when executed by the processor, performs the print control method as in any one of the above.
The printing control system provided by the invention comprises the control equipment, and further comprises a printer and an OCT probe which are connected with the control equipment.
Further, the printer comprises a material recovery device and a feeding mechanism for conveying printing materials to the printing spray head; the feeding mechanism comprises a material container, the bottom of the material container is communicated with the inlet end of a detection pipeline, the outlet end of the detection pipeline is respectively communicated with a first branch channel and a second branch channel which are separated through valves, the first branch channel is communicated with the printing spray head through a guide pipe, and the second branch channel is communicated with a material recovery device through a guide pipe; the OCT probe is at least one, when the OCT probe is one, the arrangement position of the OCT probe is moved through a transmission device, and the arrangement position of the OCT probe comprises the position above a printing platform of the printer and the side surface of the detection pipeline.
The printing control method, device, system and control equipment provided by the embodiment of the invention comprise the following steps: acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; generating air pressure control information based on wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when extruding the printing material; acquiring surface depth information of a printing layer through an OCT probe; the printing layer is a layered surface of a model formed on the printing platform when the printing nozzle performs printing based on the air pressure control information; judging whether the surface depth information accords with preset reference depth information or not; if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area; and controlling the printing nozzle to print the model based on the printing compensation information. The mode is executed by the control equipment, so that the labor cost can be effectively reduced; generating air pressure control information based on wire detection parameters and preset wire sample parameters, and controlling the extrusion air pressure of the printing nozzle through the air pressure control information in the moving process of the printing nozzle during acceleration or deceleration so as to effectively control the uniformity of extruded wires; aiming at a printing layer formed based on a wire with better uniformity, a wire breaking area is further determined and printing compensation information is generated by combining the surface depth information of the printing layer, and a printing nozzle is controlled to perform material compensation on the wire breaking area through the printing compensation information, so that the quality and the stability of a printing model are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1.1 is a schematic structural diagram of a printing system in a printing control system according to an embodiment of the present invention;
fig. 1.2 is a schematic structural diagram of a material uniformity detection system in a printing control system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a transmission according to an embodiment of the present invention;
FIG. 3 is a flow chart of a printing control method according to an embodiment of the present invention;
FIG. 4 is a flow chart of another printing control method provided by the embodiment of the invention;
fig. 5 is a block diagram of a print control apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The existing printing control mode depending on manual observation and manual intervention has the problems of manpower cost consumption, poor silk output uniformity, influence on the quality and stability of a printing model and the like. The inventors have studied and found that OCT (optical coherence tomography) technology can be applied to the monitoring and control process of 3D printing to solve the above-mentioned problems. The OCT technology is a novel biomedical optical imaging technology, is a Michelson interferometer based on low-coherence broadband light source illumination, a probe device is arranged in a sample arm of the Michelson interferometer, and the measured sample is subjected to in-vivo nondestructive scanning imaging, and has the advantages of high resolution, nonintrusion, no radiation and the like.
The printing control method, the printing control device, the printing control system and the printing control equipment provided by the embodiment of the invention can be applied to the technical field of 3D printing, can reduce the labor cost and effectively control the uniformity of printed wires, thereby improving the quality and stability of a printing model.
The first embodiment is as follows:
first, to facilitate understanding, the present embodiment provides a print control system, which exemplifies a practical application scenario of a print control method.
The printing control system comprises a control device, and further comprises a printer and an OCT probe connected to the control device, and in a possible implementation manner, the OCT probe may be disposed above a printing platform of the printer, such as mounting the OCT probe on a printing nozzle of the printer.
In this embodiment, the control apparatus described above includes: a processor and a storage device; the storage device has stored thereon a computer program that, when executed by the processor, executes a print control method. The OCT probe is used for monitoring the process that the printing nozzle extrudes the wire, and feeding the monitoring result back to the control equipment, so that the control equipment controls the printing nozzle. The printer may be understood as a 3D printer for implementing a 3D printing process, i.e. printing the printed material as a 3D model.
In an embodiment, the printing control system may include a printing system, and referring to the schematic structural diagram of the printing system in the printing control system shown in fig. 1.1, the control device may be an OCT system, and in practical applications, the OCT system may employ a PLC (Programmable Logic Controller), for example. The OCT system is connected to an OCT probe, which in fig. 1.1 is mounted on a print head of a printer, and a print platform is arranged below the print head. In order to facilitate the OCT probe to monitor the wires extruded by the printing platform and the printing nozzle, a silver-plated plane mirror can be arranged below the OCT probe, and the setting angle of the silver-plated plane mirror can be regulated and controlled according to the monitoring requirement.
In another embodiment, the printing control system may further include a material uniformity detection system connected to the printing system, and referring to the schematic structural diagram of the material uniformity detection system in the printing control system as shown in fig. 1.2, the material uniformity detection system includes a feeding mechanism for feeding the printing material to the printing nozzle and a material recycling device. In practical application, an OCT probe corresponding to the feeding mechanism may be provided, where the OCT probe is used to monitor uniformity of the printing material in the feeding mechanism, and feed back a monitoring result to the control device, so that the control device controls the feeding mechanism to separately transport the printing material. The feeding mechanism comprises a material container, and the bottom of the material container is communicated with the inlet end of the detection pipeline; the material container is used for containing the printing material and conveying the printing material into the detection pipeline in a pressing mode. The outlet end of the detection pipeline is respectively communicated with the separated first branch channel and the second branch channel through valves. The detection channel is a long and narrow area, the OCT probe is correspondingly arranged on the side surface of the detection pipeline, and the outer wall of the detection pipeline is made of transparent materials for facilitating the monitoring of the OCT probe. The detection channel and the two separated branch channels form an inverted funnel shape, the first branch channel is communicated with the printing spray head through a guide pipe, and a printing material outlet at the tail end of the guide pipe is the printing material inlet in the graph 1.1; the first branch channel communicated with the printing nozzle is used for placing printing materials with better uniformity in practical application; the second branch channel is communicated with the material recovery device through a conduit, and the second branch channel communicated with the material recovery device is used for placing printing materials with poor uniformity in practical application. Through setting up material recovery unit can reuse printing material, improve printing material's use value, reduce the printing cost.
In this embodiment, the number of the OCT probes in the print control system is at least one, and when there is one OCT probe, the setting position of the OCT probe is moved by the transmission device, and the setting position of the OCT probe includes a position above the printing platform of the printer and a side surface of the detection pipe. In a specific embodiment, referring to the schematic structural diagram of the transmission device shown in fig. 2, the transmission device may include a beam x, a beam y and a motion module, and the motion module drives the OCT probe to move along the beam x and the beam y, so that the OCT probe is disposed above the printing platform or on the side of the detection pipeline according to the actual detection requirement. When the OCT probe moves above the printing platform, the OCT probe adopts the vertical angle setting of the mode 1; when the OCT probe is moved to the side of the inspection tube, the OCT probe adopts the horizontal angle setting of mode 2.
In practical application, the number of the OCT probes may be two, that is, one OCT probe is disposed above the printing platform and on the side of the detection pipeline. In this case, the OCT probe provided on the side surface of the detection tube may be a general probe or an internal probe or the like that realizes two-dimensional scanning.
Example two:
referring to the print control method shown in fig. 3, the method can be applied to the print control system provided in the previous embodiment. In conjunction with the print control system described above, the method may be performed by a control device.
The method specifically comprises the following steps:
step S302, obtaining wire detection parameters of the wire extruded by the printing nozzle through the OCT probe.
Because the movement of the printing nozzle in the printing process needs to be changed according to the change of the model, the moving speed of the printing nozzle cannot be kept unchanged, and the extrusion air pressure of the printing nozzle is always kept unchanged, when a printing path has corners, turns and changes directions, the moving speed of the printing nozzle can be decelerated or accelerated, so that wires extruded by the printing nozzle are stretched or accumulated, and the extruded wires are uneven. To avoid this phenomenon, the present embodiment may first detect the filament extruded from the print head with reference to the following contents:
the method comprises the steps of collecting a first image of a wire extruded by a printing nozzle through an OCT probe, extracting characteristics of the wire from the first image through an OCT image processing algorithm to obtain a current wire diameter distribution value, calculating a current wire diameter deviation according to the current wire diameter distribution value, and taking the current wire diameter distribution value and the current wire diameter deviation as wire detection parameters.
Then, the following step S304 is performed on the filament detection parameters to correspondingly adjust the extrusion pressure of the print head along with the change of the moving speed of the print head.
Step S304, generating air pressure control information based on wire detection parameters and preset wire sample parameters; the air pressure control information is information for controlling the extrusion air pressure of the printing nozzle when extruding the printing material.
In this embodiment, the air pressure control information is generated when the wire detection parameters do not match the preset wire sample parameters. The preset filament sample parameters may include a filament standard diameter and a standard diameter deviation, and based on this, a scenario in which the filament detection parameters do not conform to the filament sample parameters may include the following example one and/or example two:
example one: comparing the current diameter distribution value of the wire with the standard diameter of the wire, and if the difference between the current diameter distribution value of the wire and the standard diameter of the wire is more than a preset range (such as 0.05mm), determining that the detection parameters of the wire do not accord with the parameters of the wire sample, and considering that the wire printed currently is non-uniform.
Example two: and comparing the diameter deviation of the current wire with the standard diameter deviation, and if the diameter deviation of the current wire is greater than the standard diameter deviation, determining that the wire detection parameters do not conform to the wire sample parameters, and considering that the current printed wire is non-uniform.
After the control equipment feeds the air pressure control information back to the printer, the printer adjusts the extrusion air pressure of the printing nozzle when the printing material is extruded according to the air pressure control information, so that the extrusion air pressure of the printing nozzle is matched with the moving speed of the printing nozzle, and uniform wire materials can be extruded.
Step S306, acquiring surface depth information of a printing layer through the OCT probe; the printing layer is a layered surface of a model formed on the printing platform when the printing nozzle performs printing based on the air pressure control information.
In this embodiment, a plurality of parameter information such as a moving path of a model to be printed, a model structure form and the like are input into a printer in advance, the printer prints layer by layer according to the parameter information of the model, and uniform wires extruded by a printing nozzle form a printing layer surface of one layer on a printing platform. Surface depth information of the printed slice is acquired by the OCT probe, which may be a difference obtained by subtracting a first distance between the surface of the printing platform and the OCT probe from a second distance between the surface of the printed slice and the OCT probe.
Step S308, determining whether the surface depth information matches the preset reference depth information. Since the filament is extruded layer by layer on the printing platform, in one possible implementation, the datum depth information can be set with reference to the filament diameter.
Step S310, if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is information for controlling the printing nozzle to perform compensation printing on the broken wire area.
When the printing layer surface has broken filaments, the surface depth information has sudden changes, so that the surface depth information does not accord with the preset reference depth information; in this case, the OCT probe marks the abrupt change position as a broken wire region, while the control device generates print compensation information from the difference before the surface depth information and the reference depth information. And the control equipment feeds the broken wire area and the printing compensation information back to the printer, and the printer performs printing compensation on the broken wire area.
And step S312, controlling the printing nozzle to print the model based on the printing compensation information. It can be understood that for the broken filament area in the printing layer, the parameters of the moving speed, the extrusion air pressure, the extrusion time and the like of the printing nozzle can be controlled according to the printing compensation information, and then the model printing is performed based on the parameters corresponding to the printing compensation information. And printing other normal areas in the printing layer according to the parameter information of the model input in advance.
The OCT probe is set above the printing stage in the above-described step S302 to step S312.
The printing control method provided by the embodiment comprises the following steps: acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; generating air pressure control information based on wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when extruding the printing material; acquiring surface depth information of a printing layer through an OCT probe; the printing layer is a layered surface of a model formed on the printing platform when the printing nozzle performs printing based on the air pressure control information; judging whether the surface depth information accords with preset reference depth information or not; if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area; and controlling the printing nozzle to print the model based on the printing compensation information. The mode is executed by the control equipment, so that the labor cost can be effectively reduced; generating air pressure control information based on wire detection parameters and preset wire sample parameters, and controlling the extrusion air pressure of the printing nozzle through the air pressure control information in the moving process of the printing nozzle during acceleration or deceleration so as to effectively control the uniformity of extruded wires; aiming at a printing layer formed based on a wire with better uniformity, a wire breaking area is further determined and printing compensation information is generated by combining the surface depth information of the printing layer, and a printing nozzle is controlled to perform material compensation on the wire breaking area through the printing compensation information, so that the quality and the stability of a printing model are improved.
Further, this embodiment describes a specific setting method of the parameters of the wire sample in the above step S304, referring to the following steps (1) to (4):
(1) acquiring an image of a wire sample extruded by a printing nozzle through an OCT probe;
(2) detecting the image of the wire sample by adopting an image processing algorithm to obtain a diameter distribution value of the wire sample;
(3) determining the standard diameter and the standard diameter deviation of the wire sample according to the diameter distribution value;
(4) the wire standard diameter and standard diameter deviation were set as wire sample parameters.
On the basis of controlling the wire extruded by the printing nozzle provided by the above embodiment, the embodiment also provides a previous uniformity detection mode to further improve the uniformity of the printing material extruded by the printing nozzle and the quality of the printing model. The prior uniformity detection mode can be understood as that the printing process is controlled in advance through two processes of calibrating a printing platform of the printer and detecting the uniformity of a printing material in a feeding mechanism before the extrusion air pressure of the printing nozzle is controlled based on the air pressure control information.
For ease of understanding, the following description will be made for the two processes of calibrating the printing platform of the printer and detecting the uniformity of the printing material in the feeding mechanism, respectively.
The implementation process of calibrating the printing platform of the printer refers to the following steps 1 to 4:
step 1, when the OCT probe is static, acquiring a B-Scan image of a printing platform through the OCT probe, and extracting a first depth distribution value of the B-Scan image. Wherein, the OCT probe is static, that is, the printing platform is static relative to the OCT probe.
And 2, adjusting the horizontal installation angle of the OCT probe relative to the printing platform based on the first depth distribution value.
In specific implementation, the step 1 and the step 2 are required to be executed at least once until the first depth distribution value of the B-Scan image is horizontal and symmetrical, and then the horizontal installation angle of the OCT probe is qualified, and the OCT probe is installed horizontally relative to the printing platform.
And 3, when the OCT probe moves along with the printing nozzle, acquiring an A-Scan image of the printing platform through the OCT probe, and extracting a second depth distribution value of the A-Scan image.
After the OCT probe is determined to be horizontally installed relative to the printing platform, the printing nozzle is moved along the x axis and the y axis respectively, because the OCT probe is carried on the printing nozzle, the OCT probe can move along with the movement when the printing nozzle is moved along the x axis and the y axis, an A-Scan image of the printing platform is scanned along a printing path through the OCT probe, a second depth distribution value of the A-Scan image is extracted, and the second depth distribution value is represented as z 0.
And 4, adjusting the horizontal installation angle of the printing platform based on the second depth distribution value. Since the absolute level of the printing platform cannot be guaranteed in the whole process of moving along the x-axis and the y-axis, a second depth distribution value and a standard depth deviation of the printing platform need to be calculated, when the deviation of the standard depth of the printing platform is adjusted to be minimum, the relative level of the printing platform in the whole printing process is determined, and at the moment, the printing platform is calibrated.
Through the four steps, before model printing, OCT probe detection is carried out on the 3D printer relative to the printing platform installation horizontality detection, the printing platform smoothness detection and the printing nozzle horizontal detection relative to the printing platform in the moving process, and finally, the fact that the printing nozzle moves horizontally relative to the printing platform all the time in the whole printing process is achieved, and the OCT probe is installed horizontally relative to the printing platform.
In the present embodiment, the process of detecting the uniformity of the printing material in the feeding mechanism is realized by referring to the following steps (a) to (d):
(a) and acquiring a material detection image of the printing material in a feeding mechanism of the printer through the OCT probe. Wherein, the OCT probe is arranged at the side surface of the detection pipeline.
In practical application, the speed of the printing material entering the long and narrow detection pipeline through extrusion is matched with the scanning test process of the OCT probe, and the method specifically comprises the following steps: scanning the detection pipeline by the OCT probe according to a preset time interval, and enabling the printing material to enter the detection pipeline at a preset speed; during each time interval, the volume of printing material entering the detection conduit is equal. In order to facilitate the OCT probe to acquire clear material detection images, the thickness and the length of a detection pipeline are matched with the parameters of an OCT system (namely control equipment); during specific implementation, a detection pipeline with the thickness and the length matched with the parameters of the OCT system can be selected according to the parameters of the existing OCT system; the OCT system matched with the thickness and the length of the pipeline can be selected or arranged according to the existing detection pipeline.
(b) Comparing the material detection image with a preset material reference image to obtain image similarity; wherein the material reference image is an image of a print material sample that is an ideal print material that is free of impurities, air bubbles, and is uniform.
Generally, a marking material is a mixture of a plurality of materials (such as a two-phase calcium phosphate ceramic marking material is included), and abnormal states such as impurities, bubbles, and unevenness are likely to occur. If the printing material entering the detection pipeline has the abnormal state, the material detection image acquired by the OCT probe is obviously different from the material reference image, so that the image similarity between the material detection image and the material reference image can be calculated by adopting an image similarity calculation method such as structural similarity measurement, cosine similarity and mutual information of the images.
(c) Carrying out flow distribution control on the printing material based on the image similarity to obtain a prepared printing material; wherein the printing material to be printed is a printing material which meets the preset quality standard.
The present embodiment expresses the degree of change of the material detection image with respect to the material reference image by the image similarity, and based on this, performs the diversion control of the printing material in the uniform and non-uniform states.
If the image similarity is larger than a preset similarity threshold (such as 98%), generating first valve control information; the first valve control information is used for controlling the feeding mechanism to enable the printing material to flow to the first branch channel, and the first branch channel is communicated with the printing spray head. In an actual application scene, if the image similarity is larger than a preset similarity threshold, the current printing material is represented as a uniform part; in this case, the control device feeds back the first valve control information to the valve, and the valve opens the inlet of the first branch channel according to the first valve control information, so that the currently uniform printing material flows to the first branch channel. It will be appreciated that the uniform flow of printing material to the first branch channel is the pre-printing material described above.
If the image similarity is not greater than a preset similarity threshold, generating second valve control information; the second valve control information is used for controlling the feeding mechanism to flow the printing material to a second branch channel, and the second branch channel is communicated with a recovery device. In an actual application scene, if the image similarity is not greater than a preset similarity threshold, representing that the current printing material is an uneven part; under the condition, the control equipment feeds back the control information of the second valve to the valve, and the valve opens the inlet of the second branch channel according to the control information of the second valve, so that the current uneven printing material flows to the second branch channel and is conveyed to the material recovery device through the second branch channel, and the reuse rate and the use value of the printing material are improved.
(d) And controlling the feeding mechanism to convey the material to be printed to the printing nozzle. Through the step of the printing material shunt control, the uniform prepared printing material is conveyed to the printing nozzle to be printed with the model, so that the smoothness of the subsequent printing model can be greatly improved, and the quality of the model is improved.
According to the above embodiment, after completing the processes of calibrating the printing platform of the printer, detecting the uniformity of the printing material in the feeding mechanism, and controlling the uniformity of the printing material extruded by the print head in sequence, the printing control process of the model may be started according to steps S310 and S312 in the above embodiment, and for easy understanding, the printing control process of the model is specifically described with reference to another printing control method flowchart shown in fig. 4, which includes the following steps:
step S402, setting the distance between the moving platform and the printing spray head to be h0, and acquiring an initial depth value z0 of the printing platform through the OCT probe.
Specifically, the distance h0 between the moving platform and the printing nozzle can be set according to the actual size of the printing nozzle; and scanning the printing platform by the OCT probe according to the model printing path to obtain an initial depth value z0 of the printing platform, wherein the optical path of the reference arm of the OCT system is kept unchanged in the whole printing process.
And S404, controlling the printing nozzle to print the first layer of printing layer of the model according to the set extrusion air pressure of the printing nozzle, the moving speed of the printing nozzle and the printing path of the model.
Step S406, after the first printing layer of the model is printed, acquiring surface depth information z1 of the first printing layer by using the OCT probe, and determining whether the surface depth information matches preset reference depth information. In this step, the step length of the OCT probe following the print path scan is smaller than the inner diameter of the print tip. If the surface depth information does not conform to the preset reference depth information, performing step S408; if the surface depth information corresponds to the preset reference depth information, step S410 is performed.
Step S408, feeding back the broken wire area and the printing compensation information to the printer. When the printing layer surface has a broken wire area, the surface depth information z1 has sudden change, the OCT probe marks the sudden change position as the broken wire area, and feeds the broken wire area back to the 3D printer, so that the 3D printer can perform printing compensation on the position.
Step S410, generating platform descending information; the platform descending information is information for controlling the printing platform to descend by a preset distance.
Specifically, when the wire breakage area does not appear on the printing layer surface, the printing platform is controlled to descend by a preset distance, and the preset distance is the absolute value of the difference between z1 and z 0. The surface position of the first layer print deck of the model is returned to z0 based on this, at which time the print head is at a distance h0 relative to the surface of the first layer print deck of the print model.
The above steps S406 to S410 are repeatedly executed, and the printing of the second layer and the third layer … … of the model is executed until the printing of the entire model is completed. In the whole model printing process, the OCT probe only scans and prints the printing layer image of the current layer each time, scans and prints before starting to print, and splices the obtained printing layer images of each layer to form a 3D image of the complete model after printing is finished.
In summary, in the printing control methods provided by the embodiments, the OCT system is used to calibrate the printing platform, so that the bottom layer of the printed model is relatively stable in the whole printing process; by detecting the uniformity of the printing material, the probability of abnormal states (such as broken wires) in the printing process is reduced, and the waste of the material is avoided; the OCT system is adopted to quantitatively judge the filament output uniformity of the printing material, and compared with the human eye judgment, the judgment is more accurate and reliable; by adopting the OCT system to scan the printing layer, the problem of printing layer collapse caused by non-rigid body of the printing material during the 3D printing process can be detected and improved; by adopting the OCT system to scan the printing layer, the broken filaments of the printing material in the 3D printing process can be detected and the printing compensation can be carried out; the whole printing process does not need technicians to keep beside the printer in real time, the 3D printing process can be monitored, adjusted and fed back, the labor cost is reduced, and the printing control efficiency and reliability are improved.
Example three:
based on the print control method provided by the second embodiment, the present embodiment provides a print control apparatus. Referring to a block diagram of the structure of a print control apparatus as shown in fig. 5, the apparatus includes:
a wire detection parameter acquisition module 502 for acquiring wire detection parameters of the wire extruded by the printing nozzle through the OCT probe;
the air pressure control module 504 is used for generating air pressure control information based on wire detection parameters and preset wire sample parameters; the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when extruding the printing material;
a depth information acquisition module 506, configured to acquire surface depth information of the printed layer through the OCT probe; the printing layer is a layered surface of a model formed on the printing platform when the printing nozzle performs printing based on the air pressure control information;
a determining module 508, configured to determine whether the surface depth information conforms to preset reference depth information;
a printing compensation control module 510, configured to determine a filament breakage area in a printing layer according to the surface depth information and generate printing compensation information when the surface depth information does not meet the reference depth information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area;
And a model printing module 512 for controlling the printing nozzle to print the model based on the printing compensation information.
Further, the present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the print control method in the above embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A print control method, characterized in that the method is executed by a control apparatus, the method comprising:
acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; the wire detection parameters comprise a current wire diameter distribution value and a current wire diameter deviation, the current wire diameter distribution value is obtained by extracting wire characteristics from a first image through an OCT image processing algorithm, the first image is an image of a wire extruded by a printing nozzle collected through an OCT probe, and the current wire diameter deviation is obtained by calculation according to the current wire diameter distribution value;
Generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the preset wire sample parameters comprise a wire standard diameter and a standard diameter deviation, and the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing nozzle extrudes a printing material, so that the extrusion air pressure of the printing nozzle is matched with the moving speed of the printing nozzle, and uniform wires are obtained;
acquiring surface depth information of a printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information; the surface depth information is a difference obtained by subtracting a second distance between the surface of the printing layer plane and the OCT probe from a first distance between the surface of the printing platform and the OCT probe;
judging whether the surface depth information accords with preset reference depth information or not, wherein the reference depth information is set according to the diameter of the wire;
if not, determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area and is generated according to the difference between the surface depth information and the reference depth information;
Controlling the printing nozzle to print the model based on the printing compensation information;
wherein the method further comprises:
acquiring a material detection image of a printing material in a feeding mechanism of a printer through an OCT probe;
comparing the material detection image with a preset material reference image to obtain image similarity; the material reference image is an image of a printing material sample, the printing material sample is an ideal printing material which is free of impurities and bubbles and uniform, and the image similarity is calculated by adopting an image similarity calculation method;
carrying out flow distribution control on the printing material based on the image similarity to obtain a prepared printing material; wherein the ready-to-print material is a print material meeting a preset quality standard;
controlling the feeding mechanism to convey the preliminary printing material to the printing nozzle;
wherein the method further comprises:
when the OCT probe arranged above the printing platform is static, acquiring a B-Scan image of the printing platform through the OCT probe, and extracting a first depth distribution value of the B-Scan image;
adjusting a horizontal mounting angle of the OCT probe relative to the print platform based on the first depth profile value;
When the OCT probe moves along with the printing nozzle, acquiring an A-Scan image of the printing platform through the OCT probe, and extracting a second depth distribution value of the A-Scan image;
adjusting a horizontal installation angle of the printing platform based on the second depth distribution value.
2. The method according to claim 1, wherein the step of performing diversion control on the printing material based on the image similarity includes:
if the image similarity is larger than a preset similarity threshold, generating first valve control information; the first valve control information is information for controlling the feeding mechanism to flow the printing material to a first branch channel, and the first branch channel is communicated with the printing nozzle.
3. The method of claim 1, further comprising:
if the surface depth information accords with preset reference depth information, generating platform descending information; the platform descending information is information for controlling the printing platform to descend for a preset distance.
4. The method of claim 1, wherein the method of setting the filament sample parameters comprises:
Acquiring an image of a wire sample extruded by the printing nozzle through the OCT probe;
detecting the image of the wire sample by adopting an image processing algorithm to obtain a diameter distribution value of the wire sample;
determining a wire standard diameter and a standard diameter deviation of the wire sample from the diameter distribution value;
setting the wire standard diameter and the standard diameter deviation as the wire sample parameters.
5. A print control apparatus, characterized in that the apparatus is provided to a control device, the apparatus comprising:
the wire detection parameter acquisition module is used for acquiring wire detection parameters of wires extruded by the printing nozzle through the OCT probe; the wire detection parameters comprise a current wire diameter distribution value and a current wire diameter deviation, the current wire diameter distribution value is obtained by extracting wire characteristics of a first image through an OCT image processing algorithm, the first image is an image of a wire extruded by a printing nozzle collected through an OCT probe, and the current wire diameter deviation is obtained by calculation according to the current wire diameter distribution value;
the air pressure control module is used for generating air pressure control information based on the wire detection parameters and preset wire sample parameters; the preset wire sample parameters comprise a wire standard diameter and a standard diameter deviation, and the air pressure control information is used for controlling the extrusion air pressure of the printing nozzle when the printing nozzle extrudes a printing material, so that the extrusion air pressure of the printing nozzle is matched with the moving speed of the printing nozzle, and uniform wires are obtained;
The depth information acquisition module is used for acquiring the surface depth information of the printing layer surface through the OCT probe; the printing layer surface is a layered surface of a model formed on a printing platform when the printing nozzle performs printing based on the air pressure control information; the surface depth information is a difference obtained by subtracting a second distance between the surface of the printing layer plane and the OCT probe from a first distance between the surface of the printing platform and the OCT probe;
the judging module is used for judging whether the surface depth information accords with preset reference depth information or not, and the reference depth information is set according to the diameter of the wire material;
the printing compensation control module is used for determining a broken wire area in the printing layer according to the surface depth information and generating printing compensation information under the condition that the surface depth information does not accord with the reference depth information; the printing compensation information is used for controlling the printing nozzle to perform compensation printing on the broken wire area and is generated according to the difference between the surface depth information and the reference depth information;
the model printing module is used for controlling the printing nozzle to print the model based on the printing compensation information;
Wherein the apparatus is further configured to:
acquiring a material detection image of a printing material in a feeding mechanism of a printer through an OCT probe;
comparing the material detection image with a preset material reference image to obtain image similarity; the material reference image is an image of a printing material sample, the printing material sample is an ideal printing material which is free of impurities and bubbles and uniform, and the image similarity is calculated by adopting an image similarity calculation method;
carrying out flow distribution control on the printing material based on the image similarity to obtain a prepared printing material; wherein the ready-to-print material is a print material meeting a preset quality standard;
controlling the feeding mechanism to convey the preliminary printing material to the printing nozzle;
wherein the apparatus is further configured to:
when the OCT probe arranged above the printing platform is static, acquiring a B-Scan image of the printing platform through the OCT probe, and extracting a first depth distribution value of the B-Scan image;
adjusting a horizontal mounting angle of the OCT probe relative to the print platform based on the first depth profile value;
when the OCT probe moves along with the printing nozzle, acquiring an A-Scan image of the printing platform through the OCT probe, and extracting a second depth distribution value of the A-Scan image;
Adjusting a horizontal installation angle of the printing platform based on the second depth distribution value.
6. A control apparatus, characterized in that the apparatus comprises: a processor and a storage device;
the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any of claims 1 to 4.
7. A printing control system, characterized in that the system comprises the control device of claim 6, and further comprises a printer and an OCT probe connected to the control device.
8. The system of claim 7, wherein the printer comprises a material recovery device and a feed mechanism for delivering printing material to the print head;
the feeding mechanism comprises a material container, the bottom of the material container is communicated with the inlet end of a detection pipeline, the outlet end of the detection pipeline is respectively communicated with a first branch channel and a second branch channel which are separated through valves, the first branch channel is communicated with the printing spray head through a guide pipe, and the second branch channel is communicated with a material recovery device through a guide pipe;
the OCT probe is at least one, when the OCT probe is one, the arrangement position of the OCT probe is moved through a transmission device, and the arrangement position of the OCT probe comprises the position above a printing platform of the printer and the side surface of the detection pipeline.
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| CN113246473B (en) * | 2021-05-10 | 2022-04-22 | 深圳拓竹科技有限公司 | Compensation method and compensation device for 3D printer, 3D printer and storage medium |
| CN113602018B (en) * | 2021-07-06 | 2022-08-09 | 华中科技大学 | Online compensation method and system for missing printing defects of flexible electronic jet printing film |
| CN114379079B (en) * | 2022-01-14 | 2023-11-24 | 杭州捷诺飞生物科技股份有限公司 | Control method and device for 3D printing and electronic equipment |
| CN114770946A (en) * | 2022-04-24 | 2022-07-22 | 上海轮廓科技有限公司 | Method and device for detecting printing quality of 3D printer and 3D printer |
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