JP2019123081A - Three-dimensional molding apparatus, three-dimensional molding method, and program - Google Patents

Abstract

To prevent a shape error in lamination molding at a laminate edge or at a part where inclination of a three-dimensional object is large.SOLUTION: A three-dimensional molding apparatus of this invention includes molding layer forming means for forming molding layers using a molding agent and molds a three-dimensional object by forming the molding layers and laminating the molding layers based on a predetermined condition. The apparatus comprises: an indicator pattern forming section that forms an indicator pattern on the molding layer using an indicator molding agent different from the molding agent used for the molding layers; an indicator pattern forming point determination section that determines a point which forms the indicator pattern in the molding layer; an indicator pattern capturing section that captures the indicator pattern; a feature value extraction section that extracts a feature value of the captured indicator pattern; and a molding condition changing section that changes the molding condition based on the feature value.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a three-dimensional modeling apparatus, a three-dimensional modeling method, and a program.

  In recent years, additive manufacturing has attracted attention as a method of forming a three-dimensional object without using a mold.

  In the method of stacking sheet materials and forming a three-dimensional object in lamination molding, a technique is disclosed that increases the accuracy of the three-dimensional object by measuring the height of the three-dimensional object during formation. Specifically, the height is corrected by comparing the ideal height of the three-dimensional object with the actual height for each predetermined number of laminated sheets, and performing increase or decrease of the number of laminated sheet materials based on the comparison result. Technology is disclosed (see, for example, Patent Document 1).

  However, in the device of Patent Document 1, there has been a case where it is not possible to correct an error in the shape such as the height or the like in the end portion of the layer or the portion where the inclination in the three-dimensional object is large.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to prevent a shape error in an end portion of a layer or a portion with a large inclination in a three-dimensional object in layered manufacturing.

  The three-dimensional modeling apparatus according to an aspect of the disclosed technology has a modeling layer forming unit that forms a modeling layer using a modeling agent, forms the modeling layer based on predetermined modeling conditions, and stacks the modeling layer. And an apparatus for forming a three-dimensional object, wherein a marker figure forming unit for forming a marker figure in the modeling layer using a marker modeling agent which is a modeling agent different from the modeling agent used in the modeling layer; In a modeling layer, a sign figure formation location determination unit that determines a place to form the sign figure, a sign figure imaging unit that captures the sign figure, and a feature value extraction unit that extracts feature values of the captured sign figure And a forming condition changing unit configured to change the forming condition based on the feature value.

  According to the embodiment of the present invention, it is possible to prevent the shape error in the end portion of the layer or the portion with a large inclination in the three-dimensional object in the layered manufacturing.

It is an outline view of a solid modeling system concerning one embodiment. It is a top view of the solid modeling device concerning one embodiment. It is a side view of a solid modeling device concerning one embodiment. It is a front view of the three-dimensional model | molding apparatus which concerns on one Embodiment. It is a hardware block diagram in connection with control of a three-dimensional model | molding apparatus. It is a figure which illustrates roughly an example of the solid thing which shape error generate | occur | produced by the dripping of a modeling agent. It is a block diagram showing functional composition of a solid modeling device concerning one embodiment. It is a flow chart which shows modeling processing of a solid modeling device concerning one embodiment. It is a figure explaining an example of modeling by the modeling agent of UV light hardenability. It is a figure explaining the behavior of the droplet of the modeling agent which was discharged from the head and landed. It is a figure explaining the outline of the process of lamination molding, and the dripping of a modeling agent. It is a perspective view explaining an example of a sign figure. It is a figure which shows the pentagon-shaped shaping | molding layer observed from the lamination direction. It is a figure which shows an example of the structure for imaging | photography a label | marker figure by a label | marker figure imaging part. It is a figure explaining the marker figure by the marker shaping agent colored black according to one embodiment. It is a figure explaining the method to change the modeling condition which concerns on one Embodiment. It is a figure explaining the mark figure by the mark formation agent colored by metallic color concerning a 2nd embodiment. It is a figure explaining the method to change the modeling conditions which concern on 3rd Embodiment.

First Embodiment
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and redundant description may be omitted.

<Three-dimensional modeling system>
A three-dimensional modeling system according to an embodiment of the present invention will be described using the drawings. FIG. 1 is an external view of a three-dimensional modeling system according to an embodiment. The three-dimensional modeling system 1 includes a three-dimensional modeling apparatus 50 and a computer 10.

  The computer 10 is, for example, a general-purpose information processing apparatus such as a PC (Personal Computer) or a tablet, or an information processing apparatus dedicated to the three-dimensional model forming apparatus 50. The computer 10 may be built in the three-dimensional modeling apparatus 50. The computer 10 may be connected to the three-dimensional modeling apparatus 50 by a cable. In addition, the computer 10 may be a server device that communicates with the three-dimensional modeling apparatus via a network such as the Internet or an intranet. The computer 10 transmits the data of the modeled object to be reproduced to the three-dimensional model forming apparatus 50 by the above connection or communication.

  The three-dimensional model forming apparatus 50 is an inkjet type modeling apparatus. The three-dimensional model formation apparatus 50 is equipped with the modeling unit 570 which discharges the modeling agent I of a liquid to the medium P on the modeling stage 595 based on the data of the modeling thing to reproduce. Furthermore, the shaping unit 570 has a curing means 572 for irradiating the light to the shaping agent I discharged to the medium P and curing it to form the shaping layer L. Furthermore, the three-dimensional model | molding apparatus 50 obtains a three-dimensional molded article by repeating the process which discharges the modeling agent I on the modeling layer L, and it hardens | cures.

  As the shaping agent I, a material which can be discharged by the three-dimensional shaping apparatus 50 and which is stable in shape and which is cured by the light emitted from the curing means 572 is used. For example, when the curing means 572 is a UV (Ultra Violet) irradiation device, a UV curing ink is used as the shaping agent I.

  As the medium P, any material to which the discharged forming agent I is fixed is used. The medium P is, for example, paper such as recording paper, cloth such as canvas, or plastic such as a sheet.

<Three-dimensional modeling device>
FIG. 2 is a plan view of a three-dimensional structure forming apparatus according to an embodiment. FIG. 3 is a side view of the three-dimensional structure forming apparatus according to one embodiment. FIG. 4 is a front view of the three-dimensional structure forming apparatus according to one embodiment. In order to show an internal structure, the upper surface of the case of the three-dimensional model | molding apparatus 50 in FIG. 2 is not described with the side of a case in FIG. 3, and the front of a case in FIG.

  Guide members 591 are held on side surfaces 590 on both sides of the casing of the three-dimensional model forming apparatus 50. The carriage 593 is movably held by the guide member 591. The carriage 593 is reciprocally transported by the motor via the pulley and the belt in the direction of the arrow X in FIG. 2 and FIG. 4 (hereinafter simply referred to as “X direction”. The same applies to Y and Z). The X direction is referred to as the main scanning direction.

  On the carriage 593, a modeling unit 570 is held movably in the Z direction in FIGS. 3 and 4 by a motor. In the forming unit 570, six liquid discharge heads 571a, 571b, 571c, 571d, 571e, 571f which discharge the six types of forming agents are sequentially arranged in the X direction. Hereinafter, the liquid discharge head is simply referred to as “head”. Further, any head among the heads 571a, 571b, 571c, 571d, 571e, 571f is referred to as a head 571. The number of heads 571 is not limited to six, and may be any number of one or more depending on the number of forming agents I.

  A tank mounting unit 560 is provided in the three-dimensional modeling apparatus 50. The tank mounting unit 560 includes a plurality of tanks each of which stores the first shaping agent, the second shaping agent, the third shaping agent, the fourth shaping agent, the fifth shaping agent, and the sixth shaping agent. The 561 is attached. Each shaping agent is supplied to each head 571 via six supply tubes 562. Each head 571 has a nozzle or a nozzle row, and discharges the build agent supplied from the tank 561. In one embodiment, the heads 571a, 571b, 571c, 571d, 571e, 571f respectively receive a first shaping agent, a second shaping agent, a third shaping agent, a fourth shaping agent, a fifth shaping agent from a nozzle. The shaping agent and the sixth shaping agent are discharged.

  Curing means 572 are disposed on both sides of the six heads 571 in the shaping unit 570. The curing means 572 cures the shaping agent discharged from the head 571 to the medium P. The curing means 572 is not particularly limited as long as the curing agent I can be cured, but includes a lamp such as an ultraviolet (UV) irradiation lamp and an electron beam irradiation lamp. Examples of the lamp include high pressure mercury lamps, ultra high pressure mercury lamps, metal halides and the like. The extra-high pressure mercury lamp is a point light source, but the UV lamp, which is combined with the optical system to increase the light utilization efficiency, can emit light in a short wavelength region. Metal halides are effective because they have a wide wavelength range. As the metal halide, halides of metals such as Pb, Sn, and Fe are used according to the absorption spectrum of the photoinitiator contained in the shaping agent. It is preferable that the curing means 572 be equipped with a mechanism for removing ozone generated by irradiation of ultraviolet light or the like. The number of curing means 572 is not limited to two. For example, an arbitrary number may be provided depending on whether the modeling unit 570 is reciprocated for modeling. Also, only one of the two curing means 572 may be operated.

  A maintenance mechanism 580 for maintaining and recovering the head 571 is disposed on one side of the three-dimensional model forming apparatus 50 in the X direction. The maintenance mechanism 580 has a cap 582 and a wiper 583. The cap 582 is in close contact with the nozzle surface of the head 571 (the surface on which the nozzle is formed). In this state, the maintenance mechanism 580 sucks the shaping agent I in the nozzle, so that the highly viscous shaping agent I clogged in the nozzle is discharged. Thereafter, the nozzle surface is wiped with a wiper 583 to form a meniscus of the nozzle. Further, the maintenance mechanism 580 covers the nozzle surface of the head 571 with the cap 582 when discharge of the forming agent I is not performed, and prevents the forming agent I from being dried.

  The modeling stage 595 has a slider portion movably held by the two guide members 592. Thereby, the modeling stage 595 is reciprocally transported by the motor in the Y direction (sub scanning direction) orthogonal to the X direction via the pulley and the belt.

<Forming agent>
In this embodiment, the first shaping agent described above is a UV curable ink for black (K) as a key plate, the second shaping agent is a UV curable ink for cyan (C), and the third shaping agent is a UV for magenta Curing ink (M), fourth shaping agent is yellow UV curing ink (Y), fifth shaping agent is clear UV curing ink (CL), sixth shaping agent is white UV curing ink (W) It is. The number of forming agents is not limited to six, and may be any number of one or more depending on the type of color required for image reproduction. In addition, when the number of modeling agents is seven or more, the additional head 571 may be provided in the three-dimensional model | molding apparatus 50, and when the number of modeling agents is five or less, either head 571 should not be operated or provided. It does not have to be.

<Control unit>
Next, the hardware configuration regarding control of the three-dimensional model | molding apparatus 50 is demonstrated using FIG. FIG. 5 is a hardware block diagram of the three-dimensional modeling apparatus 50. As shown in FIG.

  The three-dimensional model | molding apparatus 50 has the control part 500 for controlling the process of the three-dimensional model | molding apparatus 50, and operation | movement. The control unit 500 includes a central processing unit (CPU) 501, a read only memory (ROM) 502, a random access memory (RAM) 503, a non-volatile random access memory (NVRAM) 504, an application specific integrated circuit (ASIC) 505, and an I / F (Interface) 506, and I / O (Input / Output) 507.

  The CPU 501 controls the entire processing and operation of the three-dimensional model forming apparatus 50. The ROM 502 stores a program for controlling the three-dimensional modeling operation in the CPU 501 and other fixed data. The RAM 503 temporarily stores data and the like of a modeled object to be reproduced. The CPU 501, the ROM 502, and the RAM 503 construct a main control unit 500A that executes a process according to the above program.

  The NVRAM 504 holds data even while the power of the three-dimensional model forming apparatus 50 is shut off. The ASIC 505 processes input / output signals for controlling the whole of the three-dimensional model forming apparatus 50, image processing for performing various signal processing and the like on data of a modeled object, and the like.

  The I / F 506 is connected to the external computer 10 and sends and receives data and signals to and from the computer 10. The data sent from the computer 10 includes data of a modeled object to be reproduced. The I / F 506 may not be directly connected to the external computer 10, but may be connected to a network such as the Internet or an intranet.

  The I / O 507 is connected to various sensors 525, and receives detection signals from the sensors 525. Further, to the control unit 500, an operation panel 524 for inputting and displaying information necessary for the three-dimensional model forming apparatus 50 is connected.

  Further, the control unit 500 includes a head drive unit 511, a motor drive unit 512, and a maintenance drive unit 513 which operate according to an instruction of the CPU 501 or the ASIC 505.

  The head drive unit 511 controls the discharge of the build agent I by the head 571 by outputting the image signal and the drive voltage to the head 571 of the modeling unit 570. In this case, the head drive unit 511 outputs a drive voltage to, for example, a mechanism that forms the negative pressure of the sub tank that stores the forming agent I in the head 571 and a mechanism that controls pressing. Note that a substrate is also mounted on the head 571 and a drive signal may be generated by masking a drive voltage with an image signal or the like using this substrate.

  The motor drive unit 512 drives the motor by outputting a drive signal to the motor of the X-direction scanning mechanism 596 that moves the carriage 593 of the modeling unit 570 in the X direction (main scanning direction). Further, the motor drive unit 512 drives the motor by outputting a drive voltage to the motor of the Y direction scanning mechanism 597 that moves the modeling stage 595 in the Y direction (sub scanning direction). Furthermore, the motor drive unit 512 drives the motor by outputting a drive voltage to the motor of the Z direction scanning mechanism 598 that moves the modeling unit 570 in the Z direction.

  The maintenance drive unit 513 drives the maintenance mechanism 580 by outputting a drive signal to the maintenance mechanism 580.

  The respective units are electrically connected to each other by an address bus, a data bus, and the like.

<Hardening means>
Examples of the curing agent according to one embodiment, ie, the means for curing the curable composition, include heat curing or curing by active energy rays, and among these, curing by active energy rays is preferable.

  As an active energy ray used to cure the shaping agent according to one embodiment, a polymerization reaction of a polymerizable component in the composition such as an electron beam, an alpha ray, a beta ray, a gamma ray, an X ray other than ultraviolet rays. It is not particularly limited as long as it can impart energy necessary for advancing the Particularly when using a high energy light source, the polymerization reaction can proceed without using a polymerization initiator. In the case of ultraviolet irradiation, mercury-free is strongly desired from the viewpoint of environmental protection, and replacement with a GaN-based semiconductor ultraviolet light emitting device is very useful industrially and environmentally. Furthermore, ultraviolet light emitting diodes (UV-LEDs) and ultraviolet laser diodes (UV-LDs) are small in size, long in life, high in efficiency, low in cost, and are preferable as ultraviolet light sources.

<Polymerization initiator>
The shaping agent according to one embodiment may contain a polymerization initiator. Any polymerization initiator may be used as long as it can generate an active species such as a radical or a cation by the energy of the active energy ray and start polymerization of a polymerizable compound (monomer or oligomer). As such polymerization initiators, known radical polymerization initiators, cationic polymerization initiators, base generators and the like can be used singly or in combination of two or more, and among them, radical polymerization initiators are used Is preferred. Moreover, it is preferable that 5-20 mass% is contained with respect to the total mass (100 mass%) of a modeling agent, in order to obtain a sufficient curing rate.

  Examples of radical polymerization initiators include aromatic ketones, acyl phosphine oxide compounds, aromatic onium salt compounds, organic peroxides, thio compounds (thioxanthone compounds, thiophenyl group-containing compounds, etc.), hexaarylbiimidazole compounds, A ketoxime ester compound, a borate compound, an azinium compound, a metallocene compound, an active ester compound, a compound having a carbon halogen bond, an alkylamine compound and the like can be mentioned.

  Moreover, in addition to the said polymerization initiator, a polymerization accelerator (sensitizer) can also be used together. The polymerization accelerator is not particularly limited, and examples thereof include trimethylamine, methyldimethanolamine, triethanolamine, p-diethylaminoacetophenone, ethyl p-dimethylaminobenzoate, 2-ethylhexyl p-dimethylaminobenzoate, N, An amine compound such as N-dimethylbenzylamine and 4,4'-bis (diethylamino) benzophenone is preferable, and the content thereof may be appropriately set according to the polymerization initiator to be used and the amount thereof.

<Colorant>
The shaping agent according to one embodiment may contain a colorant. As the coloring material, various pigments which impart black, white, magenta, cyan, yellow, green, orange, glossy colors such as gold and silver, etc. according to the purpose and required characteristics of the forming agent according to one embodiment And dyes can be used. The content of the coloring material may be appropriately determined in consideration of the desired color density, dispersibility in the composition, etc., and is not particularly limited, but it is preferably 0. 0 based on the total mass (100% by mass) of the composition. It is preferable that it is 1-20 mass%. The shaping agent according to one embodiment may be colorless and transparent without containing a coloring material, and in that case, for example, it is suitable as an overcoat layer for protecting an image.

  As a pigment, an inorganic pigment or an organic pigment can be used, and may be used individually by 1 type, and may use 2 or more types together.

  As the inorganic pigment, for example, carbon black (CI pigment black 7) such as furnace black, lamp black, acetylene black, channel black and the like, iron oxide and titanium oxide can be used.

  Examples of organic pigments include insoluble azo pigments, condensed azo pigments, azo pigments such as chelate azo pigments, phthalocyanine pigments, perylene and perinone pigments, anthraquinone pigments, quinacridone pigments, dioxane pigments, thioindigo pigments, isoindolinone pigments, quinophthalone Polycyclic pigments such as pigments, dye chelates (for example, basic dye type chelates, acid dye type chelates, etc.), dyed lakes (basic dye type lakes, acid dye type lakes), nitro pigments, nitroso pigments, aniline black, A daylight fluorescent pigment is mentioned.

  Moreover, in order to make the dispersibility of the pigment better, a dispersant may be further included. The dispersant is not particularly limited, and examples thereof include dispersants commonly used to prepare pigment dispersions such as polymer dispersants.

  As the dye, for example, an acid dye, a direct dye, a reactive dye, and a basic dye can be used, and one type may be used alone, or two or more types may be used in combination.

<Organic solvent>
The shaping agent according to one embodiment may contain an organic solvent, but it is preferable not to contain it if possible. If the organic solvent, especially volatile organic compounds (VOC (Volatile Organic Compounds) free) shaping agent does not contain, the safety of the place where the shaping agent is handled is further enhanced, and environmental pollution can be prevented. . The term "organic solvent" means a general non-reactive organic solvent such as, for example, ether, ketone, xylene, ethyl acetate, cyclohexanone and toluene, which should be distinguished from reactive monomers. is there. In addition, “does not contain” an organic solvent means that the organic solvent is substantially not contained, and is preferably less than 0.1% by mass.

<Other ingredients>
The shaping agent according to one embodiment may contain other known components as needed. The other components are not particularly limited, but, for example, conventionally known surfactants, polymerization inhibitors, leveling agents, antifoaming agents, optical brighteners, penetration enhancers, wetting agents (humectants), fixing Agents, viscosity stabilizers, fungicides, preservatives, antioxidants, UV absorbers, chelating agents, pH adjusters, thickeners and the like.

<Viscosity>
The viscosity of the forming agent according to one embodiment may be appropriately adjusted according to the application and application means, and is not particularly limited. For example, in the case of applying an ejection means that ejects the forming agent from a nozzle, The viscosity in the range of 20 ° C. to 65 ° C., desirably the viscosity at 25 ° C. is preferably 3 to 40 mPa · s, more preferably 5 to 15 mPa · s, and particularly preferably 6 to 12 mPa · s. Moreover, it is particularly preferable to satisfy the viscosity range without including the organic solvent. The viscosity is measured using a cone rotor (1 ° 34 '× R24) using a cone plate type rotational viscometer VISCOMETER TVE-22L manufactured by Toki Sangyo Co., Ltd., and the rotation speed is 50 rpm and the temperature of constant temperature circulating water is 20 ° C. It can set suitably and can measure in the range of -65 degreeC. VISCOMATE VM-150III can be used for temperature control of circulating water.

<Overall Overview of this Embodiment>
There is a demand for reproduction while reproducing the surface asperities in works of art that have both vividness and definition of color, in particular, paintings. At present, silk-screen printing and Siklee (Gigi) printing are mainstream for reproduction of such pictures. However, it is a method of making a plane image appear three-dimensionally by shading, and it does not necessarily mean that the surface irregularities of the original picture are completely reproduced.

  If it is a three-dimensional shaping apparatus that discharges the active energy ray curable liquid such as UV light as described above, that is, the shaping agent I to form a three-dimensional object, the shaping formed by the shaping agent I as well as the color expression By repeating the lamination of the layer L, it is possible to faithfully reproduce the original surface irregularities.

  However, in the portion of “reproducibly reproducing the surface unevenness”, the active energy ray curing type of the forming agent discharging method still has a problem. For example, the nozzle diameter of the forming agent discharge head is very small, and in order to stably discharge the forming agent I therefrom, it is necessary to make the viscosity of the forming agent I considerably low. In order to reduce the viscosity, a means such as heating the forming agent I is used. For example, by lowering the viscosity to the same extent as water, stable discharge becomes possible. However, when the low-viscosity forming agent I lands on the forming layer L, it may spread depending on the wettability of the forming agent I and the like, and may drop "droop" to the lower side due to the height difference. Therefore, a shape error due to sagging of the forming agent I may occur at the end of the forming layer L or at a portion where the inclination of the three-dimensional object is large.

  In addition, an active energy ray is shown as UV light which is an example below.

  FIG. 6 is a diagram schematically illustrating an example of a three-dimensional object in which a shape error occurs due to the dripping of the forming agent I. (A) shows the three-dimensional object which the shape error has not generate | occur | produced, (b) has shown the three-dimensional object which the shape error generate | occur | produced by the dripping of the modeling agent I.

  In (a), a three-dimensional object 62 is formed on the recording table 61. The three-dimensional data 63 indicated by a broken line represents three-dimensional data that is the original data of the formation. In order to form the three-dimensional object by stacking the forming layers L, the sloped surface of the three-dimensional object 62 has a shape having minute steps, but in (a), the portion along the three-dimensional data 63 to the pointed portion of the zenith. It is shaped. On the other hand, in (b), the shaping layer L of the zenith portion of the three-dimensional object 64 shaped on the recording table 61 is broken downward. That is, sagging of the forming agent I causes a shape error, and the shape of the pointed portion of the zenith can not be formed.

  In the present embodiment, the marker forming agent M serving as a marker for making it possible to detect a change in shape is made to land on the end of the laminated forming layer L to form a marker figure Q, and the feature value of the marker figure Q Based on the above, the shape error caused by the sagging of the forming agent I or the sign thereof is accurately detected. Then, if there is a sagging of the forming agent I or a sign thereof, the forming conditions such as the intensity of UV light for curing the forming agent I are changed to prevent the occurrence of the shape error.

  In the above, the end of the shaping layer L in which the sagging of the forming agent I is relatively likely to occur is shown as an example of the portion forming the marker figure Q, and may be indicated as such. It is not limited to this. It may be any place in the forming layer L as long as the forming agent I may sag.

  The functional configuration of the three-dimensional structure forming apparatus 50 according to one embodiment will be described with reference to the block diagram shown in FIG.

  The three-dimensional model forming apparatus 50 includes a marker figure formation location determination unit 700, a marker figure formation unit 701, a marker figure photographing unit 702, a feature value extraction unit 703, and a modeling condition change unit 704.

  The mark figure formation location determination unit 700 determines a point at which the mark figure Q is to be formed at the end of each layer of the modeling layer L to be stacked.

  The marker figure formation part 701 forms the marker figure Q using the marker and modeling agent M. The marker figure forming unit 701 includes a three-dimensional data acquisition unit 705, a plane data generation unit 706, a modeling control unit 707, a marker and modeling agent ejection unit 708, a marker and modeling agent curing unit 709, and a mechanism unit 710. Have.

  The three-dimensional data acquisition unit 705 acquires three-dimensional data as original data for forming a three-dimensional object. The three-dimensional data is three-dimensional replication data taken in by a 3D scanner or stereo imaging, artificial data created by three-dimensional CAD or the like, or pseudo three-dimensional data in which two-dimensional image data has a thickness according to a predetermined rule.

  The plane data generation unit 706 divides the three-dimensional data acquired by the three-dimensional data acquisition unit 705 into multiple layers, and generates plane data for each layer. Based on the generated plane data, the shaping layer L is formed, and the shaping layers L are stacked one by one in the height direction. The above-mentioned marker figure formation location determination unit 700 determines the location of the marker figure Q in the plane data of each layer.

  The plane data of each layer is a surface protection area, a colored area, a white background area, or a formation area for each area according to the relationship between the position defined by plane coordinates (XY coordinates) in the formation layer and the upper and lower formation layers L. It is classified into either. And modeling layer L is formed of modeling agent I according to classification for every field.

  Here, the colored area refers to an area starting from the end of the modeling layer L to a position at a predetermined distance inside the three-dimensional object, that is, an area corresponding to the vicinity of the surface of the three-dimensional object. The surface protection area is an area which is formed further outside the colored area, that is, on the surface side, and which protects the surface of the three-dimensional object. The end regions of the shaping layer L described above mainly correspond to the colored region and the surface protection region.

  The white base area is an area inside the colored area, that is, an area in the opposite direction to the end of the shaping layer L, which is an area serving as a white background of canvas paper in the painting. The modeling region is a region further inside the white background region. In addition, the thickness of the modeling layer L does not necessarily become the same thickness for every layer. This is because the appropriate thickness varies depending on the color forming properties of the forming agent I.

  The label forming agent M is a forming agent having a different appearance such as color from the forming agent I used for forming. The marker-forming agent M forms a marker figure Q. The marker figure Q is used as a marker for detecting the sag of the forming agent I. The shape of the figure may be arbitrary, and may be a circle, a rectangle, or a dot formed by one drop of the marking and shaping agent M that has been ejected and landed.

  When sagging of the forming agent I occurs in the forming layer L, the marker figure Q moves or deforms to change its feature value. Therefore, by extracting the feature value of the marker figure Q or its change, the forming agent I Detect dripping. In addition, the labeled shaping agent M may also use a UV light curing shaping agent as in the shaping agent I used for layered modeling.

  The formation control unit 707 controls the mechanism unit 710, the marker / modeling agent ejection unit 708, and the marker / modeling agent curing unit 709, and forms the marker figure Q at the position determined by the marker pattern formation location determination unit 700. . Further, the formation control unit 707 controls the marker figure photographing unit 702 to photograph the marker figure Q formed at the end of the modeling layer L, and acquires an image of the marker figure Q.

  The marker-forming agent discharge unit 708 discharges a droplet of the marker-forming agent M and causes the droplet to land on the modeling layer L. A marked figure Q is formed by the landed droplets of the marker-forming agent M. The marker-forming-agent discharge unit 708 is realized by, for example, a head 571 for discharging the forming agent I used for modeling, a head driving unit 511, and the like. The head 571 is usually provided for each color of the forming agent I, and the head 571 for each color discharges the forming agent I of each color, but in this case, the head 571 for discharging the marker forming agent M is provided It will be.

  The labeling and shaping agent curing unit 709 irradiates and cures the labeling and shaping agent M, which has been landed on the modeling layer L, with UV light, and cures the marking pattern Q formed by the landed droplets. The labeled shaping agent curing unit 709 is realized by, for example, a curing unit 572 for curing the shaping agent I used for shaping, a driving unit thereof, and the like. The curing means 572 is, for example, a radiation source for emitting active energy rays, and more specifically, a light source for emitting UV light.

  The mechanism unit 710 moves the marker / modeling agent ejection unit 708, the marker / modeling agent curing unit 709, the marker figure photographing unit 702, and the like to change their positions. The mechanism unit 710 is realized by, for example, an X-direction scanning mechanism 596 used for modeling, a Y-direction scanning mechanism 597, a Z-direction scanning mechanism, and a motor drive unit 512 for driving these.

  The marker figure formation location determination unit 700, the three-dimensional data acquisition unit 705, the plane data generation unit 706, and the formation control unit 707 are realized, for example, by the CPU reading and executing a program stored in the ROM. However, the present invention is not limited to this, and part or all of the control processing performed by the CPU may be realized by hardware such as an electronic circuit.

  In addition, the labeled | graphic figure formation part 701 is realizable using "the modeling layer formation means which forms a modeling layer using a modeling agent" which the three-dimensional model | molding apparatus 50 has. Therefore, it can be said that the mark figure formation part 701 is a modeling layer formation means. However, such a limitation is not made, and the mark figure forming unit 701 may be realized by a configuration different from the forming layer forming means.

  Thereafter, the shaping layer forming means and the mark figure forming unit 701 are realized using the same configuration, and the formation control section 707 controls the formation of the mark figure by the mark forming agent M as described above, as well as the shaping agent. It demonstrates as performing control for modeling a three-dimensional object by I.

  During the modeling, the marker figure photographing unit 702 photographs the marker figure Q formed on the modeling layer L by the marker figure forming unit 701, and acquires the image data of the marker figure Q. The marker graphic imaging unit 702 is realized by, for example, a camera having an imaging element and a photographing lens.

  The feature value extraction unit 703 extracts the feature value of the marker figure Q, and detects the occurrence of the sagging of the forming agent I and the generation of the shape error due to the sagging of the forming agent I based on the change of the feature value.

  Further, the feature value extraction unit 703 includes a sign figure image identification unit 711. The sign pattern image identification unit 711 identifies an image of the sign pattern Q from the image data acquired by the sign pattern photographing unit 702.

  The feature value extraction unit 703 extracts a feature value of the marker graphic Q by performing image processing or the like on the image of the marker graphic Q identified by the marker graphic image identification unit 711. For example, when the marker figure Q is formed as a circular dot, the feature value is, for example, the barycentric position of the circular dot. The extracted result is output to the shaping condition changing unit 704.

  The shaping condition changing unit 704 detects the occurrence of the sagging of the forming agent I and the occurrence of the shape error due to the sagging of the forming agent I based on the change of the feature value of the labeled figure Q. When sag or the like of the forming agent I is detected, the forming conditions of the three-dimensional object using the forming agent I are changed. The shaping conditions are, for example, the intensity of UV light irradiated from the curing means 572, curing conditions such as pre-curing, or the impact position of the droplets of the shaping agent I by the head 571. Pre-curing refers to irradiating UV light from the curing means 572 only to specific locations in the shaped layer L and curing the locations first. Details will be described later.

  The changed modeling conditions are output to the modeling control unit 707 for modeling a three-dimensional object by the modeling agent I. The formation control unit 707 controls the head 571 and the curing unit 572 in accordance with the input formation conditions in forming a three-dimensional object.

  The feature value extraction unit 703, the marker graphic image identification unit 711, and the shaping condition change unit 704 are realized, for example, by the CPU reading out and executing a program stored in the ROM. However, the present invention is not limited to this, and part or all of the control processing performed by the CPU may be realized by hardware such as an electronic circuit.

  Next, modeling processing of the three-dimensional modeling apparatus according to an embodiment will be described using the flowchart of FIG. 8.

  First, in step S1001, the three-dimensional data acquisition unit 705 acquires three-dimensional data as original data of a three-dimensional object to be formed, and outputs the three-dimensional data to the plane data generation unit 706.

  Subsequently, in step S1003, the plane data generation unit 706 generates plane data representing the shape of the formation layer L from the acquired three-dimensional data, as many as the number of formation layers L to be stacked. The generated plane data is output to the formation control unit 707 and the mark figure formation position determination unit 700.

  Subsequently, in step S1005, the marked figure formation position determination unit 700 determines a position where the marked figure Q is to be formed in the generated plane data of each layer.

  Subsequently, in step S1007, the formation control unit 707 sets the formation conditions in the initial state. That is, the shaping conditions for preventing the shape error due to the sag of the shaping agent I are not applied. Specifically, for example, the formation control unit 707 reads the data file stored in the ROM, in which the formation conditions are recorded, and stores the formation condition data in the RAM. The formation control unit 707 executes formation control processing under predetermined formation conditions while referring to the RAM.

  Subsequently, in step S1009, three-dimensional modeling is started.

  Subsequently, in step S1011, the formation control unit 707 controls the head 571 and the like, and forms the formation layer L for one layer under predetermined formation conditions based on the input plane data.

  When the formation of the modeling layer L for one layer is completed, in step S1013, the modeling control unit 707 refers to the determination result by the marking figure forming position determining unit 700, and this modeling layer is the modeling layer forming the marking figure Q. Determine if there is.

  If it is determined in step S1013 that the shaping layer is to form the marker figure Q, then in step S1017, the formation control unit 707 controls the head 571 etc. Form the marking figure Q.

  Subsequently, in step S1019, the formation control unit 707 controls the curing unit 572 and the like to irradiate UV light, thereby curing the formation layer L.

  Subsequently, in step S1021, the formation control unit 707 controls the marker figure photographing unit 702 to photograph the marker figure Q. The photographed image data is output to the feature value extraction unit 703. In the feature value extraction unit 703, the marker graphic image specifying unit 711 specifies an image of the marker graphic Q from the input image data. The feature value extraction unit 703 extracts the feature value of the tagged figure Q from the image of the identified tagged figure Q. The extracted feature values are output to the modeling condition changing unit 704. The photographed image data is an example of a photographed image.

  Subsequently, in step S1023, the shaping condition changing unit 704 determines the generation of the dripping of the shaping agent I or the like based on the input feature value.

  If it is determined in step S1023 that a sagging or the like of the forming agent I has occurred, in step S1025, the shaping condition changing unit 704 changes the formation condition of the sagging occurrence portion in the shaping layer. If it is determined in step S1023 that no sagging of the forming agent I has occurred, then in step S1027, the shaping condition changing unit 704 initializes the formation conditions of the sagging occurrence portion in the shaping layer. That is, when the shaping conditions have not been changed by then, the shaping conditions are not changed as they are. If the modeling conditions have been changed by that time, the modeling conditions are initialized and returned to their original state.

  Subsequently, in step S1029, the formation control unit 707 determines whether formation of all the formation layers L has been completed.

  If it is determined in step S1029 that formation of all the modeling layers L is not completed, the modeling control unit 707 returns to step S1011 to control the head 571 and the like to form the next modeling layer L, that is, formation. Form a forming layer to be stacked on the forming layer which has finished. In this case, the formation control unit 707 forms a formation layer under the changed formation conditions when the formation conditions are changed.

  If it is determined in step S1029 that the formation of all the modeling layers L is completed, the modeling process ends.

  On the other hand, if it is determined in step S1013 that the shaping layer is not a forming layer for forming a sign pattern, the formation control unit 707 controls the curing means 572 etc. in step S1015 to irradiate UV light and Cure.

  Subsequently, in step S1029, the formation control unit 707 determines whether the formation of all the formation layers L is completed.

  If it is determined in step S1029 that formation of all the modeling layers L is not completed, the modeling control unit 707 returns to step S1011 to control the head 571 and the like to form the next modeling layer L, that is, formation. Form a forming layer to be stacked on the forming layer which has finished.

  If it is determined in step S1029 that the formation of all the modeling layers L is completed, the modeling process ends.

  In the present embodiment, the shaping conditions are changed only for the portion where the sagging of the shaping agent I has occurred. The reason for doing this is that changing the shaping conditions of the part where the sagging of the forming agent I is not occurring, for example, when changing the intensity of UV light, the leveling described below is insufficient and the shaped object is This is because the surface glossiness and color developability may be reduced. Moreover, when changing the impact position of the droplet of the modeling agent I, it is because a dimension may become small in the location which the sag of the modeling agent I has not generate | occur | produced.

  By the above-described processing, it is possible to prevent shape errors in the end portion of the layer or the portion with a large inclination in the three-dimensional object in layered manufacturing.

  The overall configuration, the hardware configuration, the functional configuration, and the flow of processing of the three-dimensional modeling apparatus 50 according to the embodiment have been described above. Hereinafter, details of the present embodiment will be described.

<Details of this embodiment>
FIG. 9 shows how a picture is shaped as an example of shaping by the UV light curing shaping agent I. In FIG. 9A, the base layer 902 is formed on the modeling stage 595, and the white base layer 903 is formed of the white modeling agent I on the base layer 902. The white background layer 903 serves as a white background of canvas paper in painting. On the white background layer 903, a colored layer 904 is formed of a colored forming agent I. The colored layer 904 is a colored layer and corresponds to a picture having minute asperities. Further on the colored layer 904, a gloss layer for providing gloss or a surface protection layer for protecting the surface of the colored layer 904 may be formed using a transparent shaping agent or the like. (B) is an enlarged view of a portion surrounded by a dotted line 901 in (a). A base layer 902, a white background layer 903 and a colored layer 904 are shown in order from the bottom.

  Next, the behavior of the droplet of the forming agent I ejected and landed from the head will be described with reference to FIG. FIG. 10 shows how droplets of the forming agent I discharged from the head 571 and landed on the substrate 101 wet and spread on the surface of the substrate 101. The base material 101 is a member that is a base of a shaped object, and made of a non-permeable material. Since it is a non-permeable material, the penetration of the landed forming agent I into the substrate 101 is negligible.

  It0 indicates a drop of the forming agent I immediately after landing on the base material 101, and has a shape close to a hemisphere. Since the UV light curing forming agent I behaves as a liquid before curing treatment, the landed droplets gradually spread on the substrate 101 due to the wettability of the surface. When the wettability of the surface of the base material 101 and the surface tension of the forming agent balance, the wetting and spreading stop.

  The shape of the drop of the shaping agent I after the stop of the wetting spread differs depending on the characteristics of the shaping agent I and the substrate 101. In some cases, the shape may be close to a hemisphere, or in some cases, the shape may be considerably collapsed to a flat shape. However, even when it has a flat shape, it does not necessarily spread without limit.

  In FIG. 10, It11 and It12 show the drops of the shaping agent I after time has elapsed after landing and after the wetting and spreading has stopped. It11 is a single drop.

  On the other hand, if there is another landed droplet before the landed droplet of the forming agent I wets and spreads, it coalesces instantaneously to form a larger droplet. It12 is the result of multiple drops of build agent I coalescing. It is also possible to form a layer of the forming agent I having a uniform thickness, that is, the forming layer L, by causing the droplets to fuse together if the droplets of the forming agent I in a sufficient amount are landed on the substrate 101 is there. In addition, the process which takes time and is made into a smooth surface by uniform thickness is called leveling.

  Next, the outline of the process of additive manufacturing and the sagging of the forming agent I will be described with reference to FIG. FIG. 11 shows the cross-sectional shape of a three-dimensional object in the process of lamination molding.

  (A) shows three-dimensional data 63 representing the shape of a three-dimensional object to be formed. The three-dimensional data 63 is data that is the source of layered manufacturing. In (a), 111 indicates the resolution of the three-dimensional modeling apparatus 50. Here, the resolution is the resolution of the image that can be formed by the three-dimensional modeling apparatus 50, and is the density of the dots formed by the droplets of the modeling agent I discharged by the head 571. In the present embodiment, the minimum distance between dots is meant. The minimum spacing between dots is the distance between adjacent dots and the centers of the dots. Reference numeral 112 indicates the thickness of one layer of the shaping layer L, that is, the stacking height. The thickness of one layer is variable depending on the system configuration, but is about several tens of μm to several hundreds of μm. In layered manufacturing, plane data for each layer is generated based on the three-dimensional data 63, and each modeling layer L is formed and stacked according to the plane data.

  In (b), according to the plane data of the first layer, a drop of the forming agent I for forming the first layer is landed at an interval of resolution, wet spreads, and the plane of the first layer is formed. It shows. The white arrows indicate the direction in which the droplets wet and spread.

  (C) shows that the shaping layer L formed in (b) is irradiated with UV light by the curing means 572. The planar shaped layer L is cured by this process. It is possible to land drops of the forming agent I for forming the next layer on the cured layer.

  (D) has shown the state which formed the 1st layer and 2nd layer by the said process, and made the droplet of modeling agent I land for 3rd layer. Droplets that landed on the second layer wet and spread. Here, a portion indicated by a dashed circle 114 is a portion corresponding to the end of the shaping layer L, that is, the vicinity of the surface of the three-dimensional object. When the surface has a steep slope, etc., the point where the droplet spreads may become a cliff, and the droplet may flow in the direction below the cliff. This is drooping of the forming agent I, which causes a shape error in a three-dimensional object. Such shape errors are accumulated by repeating the lamination process, and become more pronounced as the shape is steeper and the height of the lamination is higher.

  Next, an example of the marker figure Q will be described with reference to FIG. FIG. 12 is a perspective view showing an example of a marker figure Q formed on a three-dimensional object during modeling. On the three-dimensional object 121 in the process of being formed, a marking figure Q by the marking and forming agent M is formed. The shape of the marker figure Q in this case is a point, that is, a dot. In addition, the color of the labeling / forming agent M is black, and is made a color that can be recognized at a glance to the white color of the forming agent I used for the formation. As described above, the labeling and shaping agent M is also the same UV light curable shaping agent as the shaping agent I used for shaping. The marker forming agent M is discharged by the head 571, and after landing, the curing means 572 is irradiated with UV light to be cured.

  In FIG. 12, marker figures Q are formed at five corners of the modeling layer L having a pentagonal shape. Thereby, when sagging of the forming agent I occurs at the corner of the forming layer L, a change occurs in the shape of the marker figure Q or the center of gravity position, that is, the feature value. By extracting such feature values, sag of the forming agent I can be detected. In addition, five corners of the edge part of the modeling layer L which has a pentagonal shape are a representative example of "the location which forms a label | marker figure."

  Here, regarding the positional relationship among a plurality of marker figures, if the marker figures are formed in close positions, the plurality of marker figures overlap, and it becomes impossible to accurately extract the feature value. In order to prevent overlapping of the marker figures, the distance n between the marker figures and the marker figures in the modeling layer L is greater than the length of the resolution p by the three-dimensional model forming apparatus 50 multiplied by √2. That is, n> p√2. This interval is, for example, the distance between the centers of adjacent marker figures Q. A distance 122 shown in the figure illustrates this interval.

  “The length obtained by multiplying the resolution of the three-dimensional modeling apparatus 50 by」 2 ”is determined based on the diameter of a dot capable of completely covering the plane of the modeling layer L, that is, the theoretical value of the diameter of the drop by the deposited forming agent I. There is. However, if the number of mark figures Q to be formed increases too much, the processing load for detecting the feature value of each mark figure increases. Therefore, for practical purposes, the mark figure Q is formed with an interval of several times the length of "resolution multiplied by √2 by 3D modeling device 50", and the number of mark figures Q is not increased too much. Is desirable.

  By the way, it is not necessary to necessarily form the mark figure Q in all the modeling layers L to laminate. For example, when the shape of the shaping layer to be formed from now on is not different from the lower shaping layer already formed, the marking figure Q is not formed on the shaping layer to be formed. The mark may be formed only on the shaping layer whose shape changes with respect to the lower shaping layer. As a result, it is possible to suppress the load of forming the marker figure Q and the load of processing for extracting the feature value of the marker figure Q. In addition, when the marking figure Q is formed in many of the modeling layers L, the marking figure Q may be seen as a pattern when the three-dimensional object whose modeling has been completed is observed from the direction intersecting the stacking direction. This is because the marker figures Q formed at the end of each layer are arranged in the stacking direction.

  Such patterns are noises that should not be present. Such a pattern can be prevented from occurring by limiting the number of shaping layers L forming the marker figure Q. For example, at least one or more layers may be empty for forming the marking figure Q. In other words, the layer interval m of the shaping layer forming the marker figure Q may be m> 2. The layer spacing is indicated by the number of layers. Moreover, such a pattern may be prevented also by dispersing the location which forms the mark figure Q in each modeling layer L besides making the layer interval of the modeling layer which forms the mark figure Q into two or more layers. it can.

  Next, an example of a method of extracting the feature value of the marker figure Q will be described with reference to FIG.

  FIG. 13 shows a state in which the modeling layer L having the pentagonal shape shown in FIG. 12 is observed from the stacking direction. However, only the vicinity of one side of the pentagon is shown. On the modeling layer L, a circular black marker figure Q is formed in the vicinity of two corners of the pentagon. The direction indicated by the white arrow is the direction of the cliff, that is, the direction in which the forming agent tends to drip.

  (A) is a state immediately after the marker-forming agent M is landed. Since it is immediately after landing, at this time, the marker figure Q maintains a circular shape.

  (B) shows the marker figure Qa when a while has passed for a while after landing. The circular shape of the marker figure Q immediately after landing is broken, and it has an elliptical shape extending in the direction of the cliff. This indicates that the shaping agent I is hanging in the direction of the cliff.

  A white circle 131 shown inside the sign figure Qa indicates the center of gravity of the sign figure Q immediately after landing. On the other hand, the white square 132 shown inside the sign figure Qa indicates the center of gravity of the sign figure Qa after a while for a while after landing. With the collapse of the circular shape, the position of the center of gravity is shifted.

  The marker graphic photographing unit 702 photographs the marker graphic Qa, and outputs the photographed image data to the feature value extraction unit 703. The feature value extraction unit 703 performs image processing on the input image data to extract the barycentric position (X2, Y2) of the image of the marker figure Qa. X2 and Y2 represent the coordinates of the barycentric position in the X and Y directions, respectively.

  The feature value extraction unit 703 uses the barycentric position (X1, Y1) of the sign figure Q and the barycentric position (X2, Y2) of the image of the sign figure Qa, and obtains the sign figure from the following equations (2) and (3) The amount m1 of vectors of the center of gravity position shift of Q and the direction n1 are calculated.

... (2)

... (3)
For example, if the center of gravity position shift amount m1 is equal to or more than the threshold of the center of gravity position shift amount and the difference between the center of gravity position shift direction n1 and the cliff direction n0 is equal to or less than the threshold, it is judged that . The direction of the cliff means a direction determined by connecting one end of the formation layer L located at the shortest distance from the center of gravity of the marker figure Q and the center of gravity of the marker figure Q, for example, indicated by n0 in (b) Direction.

  The center of gravity position shift amount and the threshold of the center of gravity position shift direction are defined in advance. For example, the threshold value of the center-of-gravity position shift amount is half of the resolution. Note that the value of half the resolution is a value to be used as a guide in setting the tolerance of the device design of the three-dimensional model forming device 50.

  The center of gravity position shift of the marker figure Q due to the discharge bending by the head 571 or the error of the scanning mechanism and the like by calculating the center of gravity position shift direction and using it to determine whether the forming agent I drips It is possible to separate the center-of-gravity position shift of the marker figure Q caused by the drooping of the mark. And the detection accuracy of dripping of the modeling agent I can be raised.

  On the other hand, (c) illustrates a method of extracting the change in the length of the labeled figure Q in each of the two orthogonal directions and detecting the sag of the forming agent I. Similarly to (b), (c) shows a marker figure Qb in the case where time has elapsed for a while after landing. Extraction of the change in the length of the tag figure Qb in each of the two orthogonal directions is performed using, for example, the lengths of the tag figure Qb in the X and Y directions.

  In (c), Lx1 and Ly1 respectively indicate the lengths in the X and Y directions of the marker figure Q immediately after landing. Lx2 and Ly2 indicate the lengths in the X and Y directions of the marker figure Qb, respectively, after a while for a while after landing. When the marking figure Q is deformed along with the dripping of the forming agent I, the lengths in the X and Y directions of the marking figure are changed. The feature value extraction unit 703 calculates the amount p1 of the length change vector and the direction q1 according to the following equations (4) and (5).

... (4)

... (5)
For example, if the amount p1 is equal to or more than the threshold of the amount of change and the difference between the direction q1 and the direction n0 of the cliff is equal to or less than the threshold of the direction of change, it is determined that the shaping agent I sags. The change amount and the change direction threshold value are defined in advance.

  The method (c) has an advantage over the method (b) that the marker figure Q does not have to be a perfect circle, and is less susceptible to image noise due to satellite drops or the like. On the other hand, in the method (c), processing for detecting the lengths in the X and Y directions is required for each of the marker figure Q and the marker figure Qb. On the other hand, in the method of (b), if the barycentric position coordinates of the marker figure Q immediately after landing are stored in advance, only the barycentric position coordinates of the mark figure Qa need to be extracted, and the processing load is advantageously reduced. is there.

  Next, an example of a configuration for photographing the marker figure Q by the marker figure photographing unit 702 will be described using FIG.

  FIG. 14 shows an example of the configuration in the case where a camera 141 for capturing a marker graphic Q is incorporated into the three-dimensional model forming apparatus 50. As shown in FIG. The camera 141 has a photographing lens and an area sensor. The area sensor is a two-dimensional imaging device using a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS). The camera 141 is a typical example of a sign and figure photographing unit. However, the present invention is not limited to this. If a two-dimensional image, that is, two-dimensional light intensity data can be acquired, a configuration in which the line scanner is scanned in one direction to acquire a two-dimensional image Alternatively, a configuration may be used in which a two-dimensional image is acquired by scanning. The line scanner has, for example, a photographing lens and a one-dimensional imaging device. Further, the photosensor includes, for example, a condenser lens and a PD (Photo Diode).

  In the photographing of the marker figure Q in the present embodiment, the modeling layer L is photographed by the camera 141 from the stacking direction, and a photographed image of the marker figure Q is acquired.

  (A) shows a configuration in which the camera 141 is attached to the side of the head 571. The direction of the white arrow in the figure indicates the moving direction of the head 571 by the scanning mechanism, and the direction of the thick black arrow indicates the stacking direction of the shaping layer L, that is, the discharge direction of the forming agent I by the head 571.

  The three-dimensional modeling apparatus 50 using the UV light-curable shaping agent I may be provided with curing means 572 on both sides of the head 571 for the purpose of improving productivity by two-way modeling. It may be configured by replacing with the camera 141. Note that two-way modeling is a modeling method in which modeling is performed while moving the modeling unit 570 in, for example, both left and right directions.

  Photographing by the camera 141 is performed after the marker figure Q is formed, and a change in the marker figure Q is extracted from the obtained photographed image.

  The ideal position of the center of gravity of the marker figure Q and the direction of the cliff are grasped in advance for each location where the camera 141 shoots in the modeling layer L, and the amount by which the center of gravity of the marker figure Q photographed deviates from the ideal position; And directions are extracted. That is, the feature value of the marker figure Q is extracted. Based on the extraction result, it is determined whether or not dripping of the forming agent I occurs.

  In FIG. 8 and above, before forming the shaping layer L and curing the shaping layer L, after forming the marking figure Q on the shaping layer L and curing the shaping layer L and the marking figure Q, Although the example which image | photographs the label | marker figure Q was shown, it is not limited to this. For example, before forming the shaping layer L and curing the shaping layer L, the marking figure Q is formed on the shaping layer L, and after the marking figure Q is photographed, the shaping layer L and the marking figure Q are cured. May be Alternatively, after forming the modeling layer L and curing the modeling layer L, the marking figure Q may be formed on the modeling layer L and the marking figure Q may be photographed after curing the marking figure Q. Alternatively, after the formation layer L is formed and the formation layer L is cured, the indication figure Q may be formed on the formation layer L, and after the indication figure Q is photographed, the indication figure Q may be cured.

  By providing the camera 141 on the side of the head 571 as in (a), both can be moved integrally while maintaining the positional relationship between the head 571 and the camera 141, and positioning of the camera 141 can be performed. The effect of simplifying the adjustment and processing for the purpose is obtained.

  (B) shows an example of a configuration in which the camera 141 can move independently with respect to the modeling unit 570. The shaping unit 570 includes a head 571, a curing unit 572 a, and a curing unit 572 b. The curing means 572 a and the curing means 572 b are provided on both sides of the head 571. The white arrows in the figure indicate the moving direction of the modeling unit 570, and the thick black arrows indicate the moving direction of the camera 141. Since the camera 141 can be moved independently with respect to the modeling unit 570, the shooting position by the camera 141 can be flexibly changed for shooting.

  For example, the modeling unit 570 moves to form the modeling layer L, but the camera 141 can be processed to stay at the end of the modeling layer L and capture the mark figure Q formed at the edge Become. Further, since the curing means 572 can be provided on both sides of the head 571, an effect that productivity can be improved by bidirectional modeling can be obtained.

  (C) shows an example in which the marker figure photographing unit 702 is configured by the line scanner 142. The line scanner 142 is movable independently of the modeling unit 570.

  Since it is not necessary to move the line scanner 142 in the direction indicated by the outlined arrow, the occurrence of an error associated with the movement of the line scanner 142 in the direction of the outlined arrow is prevented, and adjustment and processing for positioning are simplified. be able to. Further, as in the case of (b), curing means can be provided on both sides of the head 571 and productivity can be improved by bidirectional modeling.

  Next, the marker-forming agent M will be described in detail with reference to FIG. In addition, as above-mentioned, in this embodiment, the shaping | molding agent which has UV photocurability similarly to the shaping | molding agent I used for shaping | molding is used for the label | marker shaping | molding agent M. FIG. As the labeled shaping agent M, a shaping agent having no UV light curing property may be used, but in that case, an additional step such as a cleaning step for securing the adhesion with the shaping layer L is required. .

  FIG. 15 shows the case where a marking agent colored in black is used as the labeling agent M. The black shaping agent may be the same as the black shaping agent I used in the colored area of the three-dimensional object. The black shaping agent can be easily distinguished from other color shaping agents, especially those of basic colors such as cyan, magenta or yellow, when observed with an infrared camera that visualizes infrared rays.

  In FIG. 15, (a) shows a cyan color forming agent Ic, a yellow color forming agent Iy, a magenta color forming agent Im, and a black label forming agent Mk on the forming layer L of the three-dimensional object 121. And a photographed image when the modeling layer L is photographed by a normal camera, that is, a color camera for visible light, or a monochrome camera. Since the shaping agent I of any color is clearly observed, it is not easy to distinguish and extract only the labeled figure formed by the labeled shaping agent M.

  Similarly to (a), (b) shows a photographed image when the modeling layer L on which the forming agent of each color is landed is photographed by an infrared camera. Since black color has a large amount of infrared absorption as compared with other colors, only the black marker-forming agent M is imaged more black than the other portions. Therefore, it is possible to easily identify the mark pattern formed by the black mark-forming agent M without performing complicated image processing.

  At the end of the forming layer L, forming agents of various colors land for coloring of the surface layer, but even in such a place, it is possible to easily distinguish and distinguish only the mark figure Q from the others.

  In addition, a white, light gray, transparent, etc. forming agent is often used as the forming agent I for forming an area in the direction away from the surface inside the forming layer L, to such a forming agent I Even, the marking figure Q by the black marking and shaping agent M is easily distinguished and specified.

  However, if there is a portion that is desired to be colored in black in the modeling layer L, this portion is observed in the same manner as the labeled figure formed by the black labeled shaping agent M even using an infrared camera. It becomes difficult to distinguish and identify. For this reason, in the present embodiment, the forming agent I of black is not used at places where it is desired to be colored in black, and the forming agents I of cyan, yellow and magenta are landed to mix three colors. Let Thereby, black is expressed as so-called composite black without using the black forming agent I. Since the black shaping agent I is not used, it is possible to distinguish between the black by the black labeled shaping agent M and the black of the composite black by the shaping agent I when observed with an infrared camera.

  In addition, since it is the purpose of distinction with the marker figure Q, it is not necessary to express all the blacks in the modeling layer L with composite black, and it may be applied only to the part overlapping with the marker figure Q.

  Moreover, although the example of black was shown above regarding the color of the label | marker forming agent M, it is not restricted to this. You may use the modeling agent colored in the color which has a complementary color relation with respect to the color of the modeling layer L which forms the mark figure Q. FIG. For example, with respect to the red shaped layer L, a green labeled shaped forming agent M having a complementary color relationship may be used. By doing so, the marker forming agent M can be made to stand out with respect to the modeling layer L, and extraction of the feature value of the marker figure Q becomes easy.

  Furthermore, the color of the marker and forming agent M may be the color that is most distant on the hue angle with respect to the color of the modeling layer L that forms the marker figure Q. The farthest color on the hue angle is, for example, a color located at 180 degrees with respect to a color located at 0 degrees, or a color located at 0 degrees, when 20 hue rings are made by changing the colors by 18 degrees. For colors in degrees, it refers to colors in the farthest relationship, such as colors at 216 degrees. If the color of the shaping layer L forming the marking figure Q is a color at the 0 degree position in the hue circle, the color of the marking formation agent M may be a color at a position 180 degrees apart in the hue circle . By doing so, the marker forming agent M can be made to stand out with respect to the modeling layer L, and extraction of the feature value of the marker figure Q becomes easy.

  Next, based on the feature value of the labeled figure Q, when it is judged that the sagging of the forming agent I has occurred, an example of a method of changing the forming conditions in order to prevent the shape error of the three-dimensional object This will be described with reference to FIG.

  FIG. 16 shows an example of changing the conditions for curing the shaping layer L by the UV light from the curing means 572. Two examples are shown in (a) and (b). In (a) and (b), the arrow shown by the dashed dotted line on the left side of the figure represents the passage of time. The white arrows indicate the direction in which the modeling unit 570 having the head 571 and the curing means 572 moves.

  In FIG. 16, the curing means 572 is shown as 572c to 572k, but as the shaping unit 570 moves in the direction of the white arrow, the position of the white arrow of the curing means 572 is in the direction of It indicates that they are different. Further, curing means 572 d and 572 e hatched with hatching indicate that the UV light is not irradiated, that is, the curing means 572 is extinguished. On the other hand, in the curing means 572h, 572j, and 572k, the black arrows at the bottom of these figures are shown thick, which indicates that the UV light with high intensity is irradiated. From the above, other curing means 572c, 572f, 572g, and 572i indicate that UV light having a low intensity is irradiated.

  Further, among the ejected droplets of the forming agent and the impacted droplets, those shown in light gray indicate that they are in an uncured state. On the other hand, those shown in dark gray indicate that they are in a cured state.

  In (a), the state of the shaping layer at three timings is shown in the upper, middle and lower stages along with the passage of time. At the timing shown in the upper stage, the shaping unit 570 discharges the droplet 162 of the shaping agent I onto the topmost shaping layer 161 in the stacking direction while moving in the direction of the white arrow. The impacted droplets 163 are present in an uncured state at a location after the formation unit 570 has passed.

  Here, after the shaping layer 161 is formed, the marking figure Q is formed at the end of the shaping layer 161, and it is determined that the sagging of the shaping agent I has occurred based on the feature value of the marking figure Q: The case where the forming agent I is made to land on the forming layer 161 to form the forming layer will be described. In the shaping layer 161, the portion where it is determined that the dripping of the forming agent I has occurred is the portion where the landing droplet 163a has landed in the figure.

  In the formation of the shaping layer on the shaping layer 161, the curing means 572c irradiates the landing droplet 163a with UV light to cure the landing droplet 163a after landing. However, in this case, irradiation is not performed until it is completely cured, and it is pre-curing to such an extent that sag of the forming agent I can be suppressed. For example, it is about half of the intensity of the UV light in the case of curing the shaping layer L. The range indicated by 164 indicates the range in which pre-curing is performed.

  When pre-curing is completed, the shaping unit 570 moves in the direction of the white arrow and discharges the shaping agent I at the next location. Since it is not determined that the sagging of the forming agent I has occurred except at the end of the forming layer 161, the irradiation of the UV light by the curing means 572 is not performed. That is, no pre-curing is performed. The range shown by 165 shows the range where pre-curing is not performed.

  The timing shown in the middle shows how the leveling of the landed droplets in the uncured state is performed. At the timing shown in the lower part, irradiation of UV light is performed by the curing unit 572 on the entire modeling layer, and the modeling layer is cured. The curing at this stage is the main curing in the sense of the curing that is originally performed.

  As described above, in (a), it is determined that sagging of the forming agent I has occurred in the shaping layer 161, and in places where there is a possibility that a shape error may occur, the curing means 572 is preceded only in those places. It is irradiated with UV light and pre-cured. On the other hand, light is not irradiated to other places, and leveling is performed in an uncured state. When the leveling is completed, the entire layer is irradiated with UV light from the curing means 572 to cure the entire layer. Since the pre-hardened part plays a role of the dike, this can prevent the shape error of the three-dimensional object due to the sag of the forming agent I.

  The determination that the sagging of the forming agent I has occurred is made by the forming condition changing unit 704 based on the feature value of the labeled figure Q extracted by the feature value extracting unit 703.

  The three-dimensional model forming apparatus 50 normally causes the modeling agent I to land and level on the modeling layer 161, and then irradiates UV light to cure the modeling layer. Such a formation process is an example of "predetermined formation conditions".

  On the other hand, when it is determined that the dripping of the modeling agent I has occurred, the modeling condition changing unit 704 changes the modeling condition. That is, in the portion where it is determined that the sagging of the forming agent I has occurred, the shaping process, that is, the shaping condition is changed so that the pre-curing is performed by the UV light whose strength is lowered to the main curing. Such a change is an example of the “change of the forming condition”.

  On the other hand, when it is determined that the dripping of the modeling agent I has not occurred, the modeling condition changing unit 704 does not change the modeling condition. Alternatively, when the shaping condition is changed, the shaping condition of the portion where it is determined that the dripping of the shaping agent I has occurred is returned to the original. In other words, it returns to the state not changed.

  Next, (b) will be described. The same parts as (a) will not be described.

  Similarly to (a), when it is determined that dripping of the forming agent I occurs at the location of the landing droplet 163a in the forming layer 161, the forming agent I is allowed to land on the forming layer 161, and the forming layer is formed. The case of forming will be described.

  In the formation of the shaping layer on the shaping layer 161, the curing means 572h irradiates the landing droplet 163a with UV light to cure the landing droplet 163a after landing. In this case, unlike (a), this is main curing which completely cures the landed droplet 163a. The range indicated by 166 shows the range where the main curing is performed locally.

  When the local main curing is finished, the shaping unit 570 moves in the direction of the white arrow and discharges the shaping agent I at the next place. At the end of the shaping layer 161, the curing means 572 performs pre-curing to an extent that the shaping agent I is temporarily cured. Pre-curing is performed by UV light of lower strength than main curing. The range indicated by 167 indicates the range in which pre-curing is performed.

  At the timing shown in the middle, leveling of the landed droplets in the pre-cured state is performed. At the timing shown in the lower part, irradiation of UV light is performed by the curing means 572 on the entire modeling layer, and main curing of the modeling layer is performed.

  As described above, in (b), it is judged that the sagging of the forming agent I has occurred in the forming layer 161, and the UV from the curing means 572 is made prior to other places where there is a possibility that a shape error may occur. It is irradiated with light and is cured first. On the other hand, pre-curing is performed in the other places, and leveling is performed in the pre-curing state. When the leveling is completed, the entire layer is irradiated with UV light from the curing means 572 to fully cure the entire layer. Since the hardened part plays a role of the dike, this can prevent the shape error of the three-dimensional object due to the dripping of the forming agent I.

  In (b), the three-dimensional structure forming apparatus 50 causes the forming agent I to land normally on the forming layer 161, irradiates UV light to pre-cure the forming layer, and then performs leveling. Such a formation process is an example of "predetermined formation conditions".

  On the other hand, when it is determined that the dripping of the modeling agent I has occurred, the modeling condition changing unit 704 changes the modeling condition. That is, at a place where it is determined that the sagging of the forming agent I has occurred, the UV light is irradiated, and the forming process, that is, the forming condition is changed so that the main curing is performed. Such a change is an example of the “change of the forming condition”.

  On the other hand, when it is determined that the dripping of the modeling agent I has not occurred, the modeling condition changing unit 704 does not change the modeling condition. Alternatively, when the shaping condition is changed, the shaping condition of the portion where it is determined that the dripping of the shaping agent I has occurred is returned to the original. In other words, it returns to the state not changed.

  In addition, the modeling method of this embodiment can be applied to a three-dimensional modeling apparatus as a program executed by a three-dimensional modeling apparatus, and an electronic circuit capable of realizing part or all of processing executed by the program It is also possible to apply to a three-dimensional modeling apparatus as hardware, etc.

Second Embodiment
Next, an example of the three-dimensional model | molding apparatus of 2nd Embodiment is demonstrated with reference to FIG. In the second embodiment, the description of the same components as those in the embodiments already described may be omitted.

  In the second embodiment, for the formation of the labeled figure Q, the labeled formatter M colored in a color having metallic coloring characteristics is used. This will be described with reference to FIG. In addition, the color which has a metallic color development characteristic is only called metallic color henceforth.

  In FIG. 17, (a) shows a cyan color forming agent Ic, a yellow color forming agent Iy, a magenta color forming agent Im, and a black color forming agent Ik and metallic color on the forming layer L in the three-dimensional object 121 It shows a state in which the marker forming agent Mmet is made to land.

  The metallic color forming agent is characterized by having a very high reflectance as compared with other color forming agents. Therefore, for example, as shown in (b), when light for photographing is illuminated from the light source 171 from a direction close to perpendicular to the modeling layer L and observed with a camera from a direction close to perpendicular, only the forming agent of metallic color Are brighter than other shaping agents. That is, the reflected light from the metallic color forming agent to the illumination light is observed bright because the ratio of the specularly reflected light is large, and the reflected light from other color forming agents is small in the ratio of the specularly reflected light, that is, diffused It is observed dark because the ratio of reflected light is large.

  Therefore, for example, by providing a threshold value of brightness, it is possible to easily distinguish and distinguish the mark figure Q formed by the mark-forming agent M of metallic color from others.

  In addition, when using the marker shaping agent M of a metallic color, the shaping agent I of another color lands on the marker figure Q so that reflection of light in the marker figure Q is not inhibited. In the formation of each shaping layer, it is necessary to make the marker figure Q to be formed by causing the metallic marker forming agent M to finally land, that is, to land on the forming agents I of other colors.

  Moreover, the light for imaging | photography may be visible light of arbitrary wavelengths, such as white light.

  Furthermore, although the example which illuminates the light for imaging | photography from a direction close | similar to perpendicular | vertical with respect to the modeling layer L and observes with a camera from a direction close | similar to perpendicular | vertical above was shown above, it is not restricted to this. It may be observed with a camera from a direction in which specular reflection light from the metallic marking and shaping agent M with respect to illumination light can be received. For example, in the case where light is illuminated on the metallic tag-forming agent M from the direction of +45 degrees, it may be observed by the camera from the direction of -45 degrees.

Third Embodiment
Next, an example of the three-dimensional model | molding apparatus of 3rd Embodiment is demonstrated with reference to FIG. In the first and second embodiments, the description of the same components as those in the embodiments already described may be omitted.

  In the third embodiment, the shaping conditions are changed in order to prevent the occurrence of a shape error of the three-dimensional object when it is determined that the sagging of the forming agent I has occurred based on the feature value of the labeled figure Q. As an example of the method, the position of the landing drop by the forming agent I is changed. This will be described with reference to FIG.

  In FIG. 18, (a) shows the position at which the droplet of the forming agent I is to be landed at the end of the forming layer 161. (B) shows that when it is determined that the sagging of the forming agent I has occurred, the impact position of the droplet is shifted at the end of the forming layer 161 by a distance corresponding to half of the resolution by the three-dimensional structure forming apparatus 50 ing. (C) shows that when it is determined that the sagging of the forming agent I has occurred, only one drop is made to drop at the end of the forming layer 161.

  In (b) and (c) of FIG. 18, an arrow indicated by an alternate long and short dash line on the left side of the figure indicates the passage of time. The white arrows indicate the direction in which the modeling unit 570 having the head 571 and the curing means 572 moves.

  In the discharged drops of forming agent I and the impacted drops, those shown in light gray indicate that they are in the uncured state. On the other hand, those shown in dark gray indicate that they are in a cured state.

  In (b), the state of the shaping layer at three timings is shown in the upper, middle and lower stages along with the passage of time. At the timing shown in the upper part, the droplet 162 is discharged on the shaping layer 161, and the landed droplet 163 exists in an uncured state.

  Here, after the shaping layer 161 is formed, the marking figure Q is formed at the end of the shaping layer 161, and it is determined that the sagging of the shaping agent I has occurred based on the feature value of the marking figure Q: The case where the forming agent I is made to land on the forming layer 161 to form the forming layer will be described. In the shaping layer 161, the place where it is judged that the dripping of the forming agent I has occurred is the place where the landing droplet 184 shown in (a) lands.

  In the formation of the formation layer on the formation layer 161, the position of the drop to be landed is originally from the original position by a distance corresponding to half of the resolution of the three-dimensional formation device 50 at the location where the landed droplet 184 should land. It is supposed to be shifted away from the end. In (b), 185 represents a distance corresponding to the resolution of the three-dimensional modeling apparatus 50, and 186 represents a distance corresponding to half the resolution of the three-dimensional modeling apparatus 50.

  At the timing shown in the middle part, it is shown that the leveling of the landed droplets in the uncured state is being performed. At the timing shown in the lower part, irradiation of UV light is performed by the curing means 572 on the entire modeling layer, and the modeling layer is completely cured.

  As described above, in (b), at the location where it is determined that the dripping of the forming agent I has occurred in the forming layer, the position of the landed droplet is originally a distance corresponding to half of the resolution of the three-dimensional forming device 50 Shift in the direction away from the end from the position of. At the point where shape error may occur due to the sagging of the forming agent I, the range over which the forming agent I wets spreads away from the end, thereby causing the sagging of the forming agent I to occur. It is possible to prevent the occurrence of shape errors.

  The determination that the sagging of the forming agent I has occurred is made by the forming condition changing unit 704 based on the feature value of the labeled figure Q extracted by the feature value extracting unit 703.

  The three-dimensional modeling apparatus 50 causes the modeling agent I to land and level on the modeling layer 161 normally at an interval of the resolution of the three-dimensional modeling apparatus 50, and then irradiates UV light to cure the modeling layer. Such a formation process is an example of "predetermined formation conditions".

  On the other hand, at the location where it is determined that the shaping agent I has dripped, the modeling condition changing unit 704 moves the position of the landed droplet away from the end by a distance corresponding to half the resolution of the three-dimensional modeling device 50 To change the modeling conditions. Such a change is an example of the “change of the forming condition”.

  On the other hand, when it is determined that the dripping of the modeling agent I has not occurred, the modeling condition changing unit 704 does not change the modeling condition. Alternatively, when the shaping condition is changed, the shaping condition of the portion where it is determined that the dripping of the shaping agent I has occurred is returned to the original. In other words, it returns to the state not changed.

  Next, (c) will be described, but the same parts as (b) will not be described.

  Similarly to (b), when it is determined that the sagging of the forming agent I occurs at the end of the forming layer 161, the end of the forming layer formed on the forming layer 161 is equivalent to one drop of impacted droplets It is decided to thin out. In (c), a dotted line 187 indicates that the landing target has been thinned by one drop. However, since the amount of the forming agent I forming the shaping layer on the shaping layer 161 is reduced only by thinning, the droplet for compensating for the shortage is discharged, and the inside of the thinned drop, that is, the end portion It is landed at a position away from. Reference numeral 188 denotes a landed droplet for compensating for the shortage, which is a landed droplet in which the amount of the forming agent I is larger than that of the other landed droplets.

  At the timing shown in the middle, leveling of the landed droplets in the uncured state is performed. At the timing shown in the lower part, irradiation of light is performed by the curing means 572 over the entire modeling layer, and the modeling layer is completely cured.

  As described above, in (c), at the end where it is determined that the dripping of the forming agent I has occurred in the forming layer, the droplets to be landed are thinned by one drop. Since the amount of the forming agent I is reduced where the shape error may occur due to the sagging of the forming agent I, this causes the shape error of the three-dimensional object due to the sagging of the forming agent I Can be prevented.

  The determination that the sagging of the forming agent I has occurred is made by the forming condition changing unit 704 based on the feature value of the labeled figure Q extracted by the feature value extracting unit 703.

  The three-dimensional modeling apparatus 50 causes the modeling agent I to land and level on the modeling layer 161 normally at intervals of the resolution of the three-dimensional modeling apparatus 50, and then irradiates UV light to cure the modeling layer. Such a formation process is an example of "predetermined formation conditions".

  On the other hand, the shaping condition changing unit 704 changes the shaping condition so that the landed droplets are thinned by one drop at the portion where it is determined that the dripping of the shaping agent I has occurred. Such a change is an example of the “change of the forming condition”.

  On the other hand, when it is determined that the dripping of the modeling agent I has not occurred, the modeling condition changing unit 704 does not change the modeling condition. Alternatively, when the shaping condition is changed, the shaping condition of the portion where it is determined that the dripping of the shaping agent I has occurred is returned to the original. In other words, it returns to the state not changed.

  The three-dimensional modeling apparatus, the three-dimensional modeling method, and the program according to the embodiment have been described above, but the present invention is not limited to the above-described embodiment, and various modifications and improvements are possible within the scope of the present invention .

50 three-dimensional model formation device 63 three-dimensional data 121 three-dimensional object 141 camera (an example of a sign figure photographing unit)
142 line scanner (example of sign figure photographing part)
570 Modeling unit 571 Head 572 Curing means 593 Carriage 595 Modeling stage 700 Marked figure formation location determination section 701 Marked figure formation section 702 Marked figure photographing section 703 Feature value extraction section 704 Molding condition changing section 705 Solid data acquisition section 706 Plane data generation section 707 Shape control portion 708 Label forming agent discharge portion 709 Label forming agent curing portion 710 Mechanism portion 711 Label figure image identification portion I Shape agent L Shape layer M Label forming agent P Medium Q, Qa, Qb Label figure

JP, 2010-240843, A

Claims (12)

An apparatus comprising forming layer forming means for forming a forming layer using a forming agent, forming the forming layer based on predetermined forming conditions, laminating the forming layer, and forming a three-dimensional object,
A marker figure forming unit for forming a marker figure on the modeling layer using a marker shaping agent that is a modeling agent different from the modeling agent used for the modeling layer;
In the figure formation layer, a mark figure formation location determination unit that determines a place where the mark figure is to be formed;
A sign figure photographing unit for photographing the sign figure;
A feature value extraction unit for extracting feature values of the photographed sign image;
And a modeling condition changing unit configured to change the modeling condition based on the feature value. The sign figure forming unit is
A three-dimensional data acquisition unit that acquires three-dimensional data of the three-dimensional object;
A plane data generation unit that generates plane data of each of the modeling layers based on the three-dimensional data;
The three-dimensional model forming apparatus according to claim 1, wherein the feature value extraction unit includes a marker graphic image specifying unit that specifies the marker graphic image from the photographed image acquired by the marker graphic capturing unit. The sign figure forming unit forms the sign figure at a predetermined resolution;
The marker figure formation location determination unit determines the number of layers representing the layer spacing of the plurality of shaped layers on which the marker figure is formed, and the distance between the plurality of marker figures formed in the plane of the model layer; Is determined to satisfy the following equation (1)
... (1)
The three-dimensional model | molding apparatus of Claim 1 or 2 characterized by the above-mentioned.
Where m is the number of layers, n is the distance, and p is the resolution. The feature value is the position of the center of gravity of the sign figure,
The modeling condition changing unit is configured to shift the position of the center of gravity from a predetermined position by p / 2 or more in a direction determined by connecting the one end of the modeling layer located at the shortest distance from the center of gravity to the center of gravity. The three-dimensional modeling apparatus according to claim 3, wherein the modeling conditions are changed. The feature value is a length of each of two orthogonal directions of the marker figure,
In the modeling condition changing unit, a difference between a direction of a vector determined by connecting one end of the modeling layer located at the shortest distance from the center of gravity of the marker figure and the center of gravity and a direction of the vector of change of the length is The three-dimensional shaping apparatus according to any one of claims 1 to 3, wherein the shaping condition is changed when the value is equal to or less than a predetermined threshold value. The label forming agent may be a forming agent having a complementary color to the color of the forming agent in the portion where the marker figure is formed in the modeling layer, or the color of the forming agent in the marking figure forming unit The material according to any one of claims 1 to 5, characterized in that it is either a forming agent having the most distant color on the hue angle or a forming agent having metallic coloring characteristics. Three-dimensional modeling device. The color of the labeled shaping agent is black,
The three-dimensional model forming apparatus according to any one of claims 1 to 5, wherein the sign and figure photographing unit has an infrared camera. 8. The three-dimensional structure forming apparatus according to claim 7, wherein the black color in the portion where the marker figure is formed in the modeling layer is black color represented by a composite black in which cyan, magenta and yellow are mixed. The shaping agent is an active energy ray curing type shaping agent,
The shaping layer forming means has a radiation source for emitting active energy rays,
The three-dimensional modeling apparatus according to any one of claims 1 to 8, wherein the modeling condition changing unit changes the intensity of the active energy ray by the radiation source. The shaping layer forming means has means for discharging droplets of the shaping agent and causing the droplets to land on a predetermined landing position on the shaping layer,
The three-dimensional modeling apparatus according to any one of claims 1 to 8, wherein the modeling condition changing unit changes the landing position of the droplet in a direction away from an end of the modeling layer. It is a method of forming a three-dimensional object by forming the forming layer, forming the forming layer, laminating the forming layer, based on predetermined forming conditions, including a forming layer forming step of forming the forming layer using a forming agent.
A marking figure forming step of forming a marking figure on the modeling layer using a labeling shaping agent which is a shaping agent different from the shaping agent used for the shaping layer;
A sign figure photographing process for photographing the sign figure;
A feature value extraction step of extracting feature values of the photographed sign image;
And a modeling condition changing step of changing the modeling condition based on the characteristic value. A program executed by an apparatus for forming a forming layer, laminating the forming layers, and forming a three-dimensional object based on predetermined forming conditions,
A labeled figure forming procedure for forming a labeled figure on the shaped layer using a labeled shaping agent that is a shaping agent different from the shaping agent used for the shaping layer;
A sign figure photographing procedure for photographing the sign figure;
A feature value extraction procedure for extracting feature values of the photographed sign image;
A program having a modeling condition changing procedure for changing the modeling condition based on the feature value.