Control method, device, and computer-readable storage medium of a printing device

Abstract

The application discloses a kind of control method, equipment and computer readable storage medium of printing device, the control method of printer includes the following steps: obtaining the printing length value of current printing layer;According to the printing length value of the current printing layer, determine the printing moving speed and printing extrusion speed corresponding to the current printing layer;Based on the printing moving speed and the printing extrusion speed, the printing process of the current printing layer is executed.Through the above method, it can avoid the situation that the printed object appears collapse deformation or material accumulation due to unreasonable printing speed in the process of printing, and guarantees the printing effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of additive manufacturing, in particular to a control method of a printing device, a device and a computer readable storage medium. BACKGROUND

[0002] 3D printing is a technology that uses a digital model file as a blueprint, uses self-adhesive materials, and constructs objects through layer-by-layer printing. When printing large-scale objects, there may be a situation where the printing length difference between layers is large. At this time, the moving speed and the extrusion speed need to be adjusted in time. If the printing speed and the extrusion speed are not reasonably adjusted, the shorter layer may collapse due to insufficient cooling or accumulate material, thereby affecting the final printing effect.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a control method of a printing device, a device and a computer readable storage medium, which aims to solve the technical problem that when a 3D printing device prints large-scale objects, if the printing speed and the extrusion speed are not reasonably adjusted, the shorter layer may collapse due to insufficient cooling or accumulate material, thereby affecting the final printing effect.

[0005] To achieve the above purpose, the present application provides a control method of a printing device, which comprises the following steps:

[0006] obtaining a printing length value of a current printing layer;

[0007] determining a printing moving speed and a printing extrusion speed corresponding to the current printing layer according to the printing length value of the current printing layer;

[0008] based on the printing moving speed and the printing extrusion speed, performing a printing process of the current printing layer.

[0009] Optionally, the step of determining the printing moving speed and the printing extrusion speed corresponding to the current printing layer according to the printing length value of the current printing layer comprises:

[0010] obtaining a moving ratio and an extrusion ratio;

[0011] when the printing length value of the current printing layer is less than the right endpoint value of a preset length interval, determining a target calculation length value based on the comparison result of the printing length value and the left endpoint value of the preset length interval;

[0012] setting the print length as a target calculation length value when the print length value is greater than a left endpoint value of the preset length interval;

[0013] calculating the print movement speed and the print extrusion speed according to the target calculation length value, a preset speed coefficient, the movement ratio, and the extrusion ratio.

[0014] Optionally, after the step of determining the target calculation length value based on a comparison result of the print length value and a left endpoint value of the preset length interval when the print length value of the current print layer is less than a right endpoint value of the preset length interval, the method further comprises:

[0015] setting a preset minimum length value as the target calculation length value when the print length value is less than or equal to the left endpoint value of the preset length interval;

[0016] performing the step of calculating the print movement speed and the print extrusion speed according to the target calculation length value, a preset speed coefficient, the movement ratio, and the extrusion ratio.

[0017] Optionally, after the step of obtaining the movement ratio and the extrusion ratio, the method further comprises:

[0018] obtaining a preset speed parameter when the print length value of the current print layer is greater than or equal to the right endpoint value of the preset length interval;

[0019] calculating the print movement speed and the print extrusion speed according to the preset speed parameter, the movement ratio, and the extrusion ratio.

[0020] Optionally, before the step of obtaining the print length value of the current print layer, the method further comprises:

[0021] obtaining a three-dimensional model of a to-be-printed object;

[0022] determining a triangular facet of the to-be-printed object and a normal vector corresponding to the triangular facet based on the three-dimensional model;

[0023] performing layering processing on the three-dimensional model according to the triangular facet and the normal vector corresponding to the triangular facet.

[0024] Optionally, after the step of performing the print process of the current print layer based on the print movement speed and the print extrusion speed, the method further comprises:

[0025] obtaining an optical image of the current print layer;

[0026] determining a print error value of the current print layer according to the optical image and a three-dimensional model of a to-be-printed object;

[0027] determining a corresponding compensation parameter according to the printing error value;

[0028] adjusting a printing path of a next printing layer based on the compensation parameter.

[0029] Optionally, after the step of executing the printing process of the current printing layer based on the printing movement speed and the printing extrusion speed, the method further comprises:

[0030] obtaining a current temperature control parameter of the printing cabin;

[0031] performing temperature control adjustment on the printing cabin by a temperature control system based on a comparison result of the temperature control parameter and a preset threshold.

[0032] Optionally, after the step of executing the printing process of the current printing layer based on the printing movement speed and the printing extrusion speed, the method further comprises:

[0033] obtaining a surface gray scale image of the printed object when the printing process of all the printing layers is completed;

[0034] judging whether a surface contour of the printed object has a printing defect area based on the gray scale image and a three-dimensional model of the printed object;

[0035] generating a filling path of the printing defect area when an area of the printing defect area is greater than a preset area threshold;

[0036] filling the printing defect area based on the filling path.

[0037] In addition, to achieve the above object, the present application further provides a printing device, which comprises a memory, a processor and a control program of the printing device stored in the memory and executable on the processor, and the control program of the printing device is configured to implement the steps of the control method of the printing device.

[0038] In addition, to achieve the above object, the present application further provides a storage medium, which stores a control program of a printing device, and the control program of the printing device is executed by a processor to implement the steps of the control method of the printing device.

[0039] The embodiment of the present application provides a printing device control method, device and storage medium, the printing length value of the current printing layer is acquired, the printing moving speed and the printing extrusion speed corresponding to the current printing layer are determined according to the printing length value of the current printing layer, and finally the printing process of the current printing layer is executed based on the printing moving speed and the printing extrusion speed. Through the above method, the situation that the printed object is deformed or accumulates due to unreasonable printing speed can be avoided in the printing process, and the printing effect is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 The flowchart of the first embodiment of the printing device control method of the present application is shown in the figure.

[0041] Figure 2 The flowchart of the second embodiment of the printing device control method of the present application is shown in the figure.

[0042] Figure 3 The flowchart of the printing speed dynamic adjustment of the printing device control method of the present application is shown in the figure.

[0043] Figure 4 The terminal structure schematic diagram of the hardware running environment related to the embodiment scheme of the present application is shown in the figure.

[0044] The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0046] 3D printing, also known as additive manufacturing, is a technology that uses a digital model file as a blueprint, and uses powdered metal or dissolvable plastic and other self-adhesive materials to construct objects layer by layer. The current plastic 3D printing is generally completed at a constant printing speed and extrusion speed, and does not need to be adjusted manually because the printing length of each layer of the printed object is not much different. However, when facing large-scale plastic 3D printing, there are some cases where the printing length difference between the printing layers is large, such as when the printer prints from a long printing layer to a shorter part, which requires timely adjustment of the printing speed and extrusion speed, otherwise the shorter printing layer will be deformed or accumulate due to insufficient cooling time, thereby affecting the printing effect and printing width. Generally, when printing large-scale objects, manual intervention from beginning to end is required, the moving speed and extrusion speed of the robot are set at the beginning, the printing effect is observed constantly, and the moving ratio and extrusion ratio are adjusted constantly to control the moving speed and extrusion speed of the robot to maintain good printing effect and maintain a certain line width. In this way, the operation is not only cumbersome, but also has the limitation of over-reliance on personal experience.

[0047] In order to avoid the problem of deformation or accumulation of the printed object, the present application provides a control method of a printing device, which first acquires the printing length value of the current printing layer, determines the printing moving speed and printing extrusion speed corresponding to the current printing layer according to the printing length value of the current printing layer, and executes the printing process of the current printing layer by the determined printing speed and extrusion speed after determining the printing moving and printing extrusion speed of the current printing layer.

[0048] The following will be explained and described by specific exemplary schemes to better understand the protection scope of the present application. It can be understood that the following exemplary schemes do not limit the protection scope of the present application, but only serve to explain the present application.

[0049] The present application provides a control method of a printing device, which is described with reference to Figure 1 , Figure 1 The flowchart of the first embodiment of the control method of the printing device of the present application is shown.

[0050] In this embodiment, the control method of the printing device comprises:

[0051] Step S10, acquiring the printing length value of the current printing layer.

[0052] In this embodiment, the printing device is a 3D printer. Before printing an object, a human must first create a model using computer modeling software. Then, the constructed 3D model is "divided" into layers of cross-sections, i.e., printing layers. The 3D printer reads the cross-sectional information from the file and prints these cross-sections layer by layer using liquid, powder, or sheet materials. The layers are then bonded together in various ways to create a solid object. This process of layering and stacking is used to complete the 3D solid printing. When reading the cross-sectional information from the file, the printing length of the current printing layer can be determined.

[0053] It should be noted that since the print length is determined based on the 3D model of the object to be printed, the 3D model needs to be "layered" before obtaining the print layers. Optionally, an adaptive layering method can be used to layer the 3D model of the object to be printed. That is, to obtain the 3D model of the object to be printed, the 3D model includes several triangular facets T. i (i∈1000), each triangular facet has a corresponding normal vector n. i Each triangular facet has a corresponding height range [H] i 0, H i [1] Based on the three-dimensional model, the maximum value H of each of the 1000 height range intervals is calculated. i 1. Each minimum value H i The total minimum value H in 0 min and the total maximum value H max Based on the normal vector n corresponding to the triangular facet i Let the layering direction be defined with the Z-axis as the positive direction, and the unit direction vector of the Z-axis be Z(0, 0, 1). Calculate the T values ​​for each of the n triangular patches. i The angle α between the normal vector and the positive Z-axis i , where n i • Z is the vector dot product, |ni| is the absolute value of the normal vector ni, and |Z| is the absolute value of the unit direction vector Z. Calculate the optimal layer thickness h for each triangular facet. i , where hi∈[h min h max ], h min and h max The minimum and maximum layer thicknesses are predefined, and finally, a layer height table is created, which contains the maximum and minimum values ​​of the height range of each triangular facet. The Z-axis is then divided into m line segments L. j j = 1, 2, ..., m, set the layer thickness within each line segment to the height range including L. j h of all triangular faces i minimum value h i ′, establish L j With each hi The layering height table HT corresponding to the current printing layer is obtained, and the layering height required for subsequent layering operations can be obtained by querying the layering height table. Alternatively, an initial layering height can be set in advance, and the model is layered starting from the printing layer of the initial height, and subsequent layering operations are performed by using the contour data of the printing layer and the layering height table.

[0054] In the embodiment, the printing length of the current printing layer is obtained, and the corresponding printing movement speed and printing base speed are determined according to the printing surface of the current printing layer.

[0055] In step S20, the printing movement speed and the printing extrusion speed corresponding to the current printing layer are determined according to the printing length value of the current printing layer.

[0056] In the embodiment, after the printing length value of the current printing layer is determined, the corresponding printing movement speed and printing extrusion speed can be further determined according to the printing length. The printing movement speed refers to the speed of the machine nozzle movement, for example, the printing speed of the 3D printer is less than or equal to 150 mm / s, which means that the movement distance of the machine nozzle in one second is within 15 cm, and the printing extrusion speed refers to the speed of the end extruder extruding the printing material.

[0057] Further, with reference to Figure 3 , a printing length reference interval is divided based on the printing length of the printing layer, the length value of the left end point of the interval is set as L min , and the length value of the right end point is set as L max . The length value of the current printing layer is represented by L, and the preset interval is the printing length and printing speed reference interval suitable for large-scale objects set based on multiple printing experiences and continuously adjusted. The adjustment mode of the printing speed in different intervals is different.

[0058] Before determining the printing movement speed and the printing extrusion speed, the movement ratio Vst and the extrusion ratio Mst are first obtained. If the printing length value L of the current printing layer is less than L max (the right end point) and greater than the left end point value L min of the preset length interval, in order to maintain the same line width and enable the extruded material of the layer to be fully cooled, the extrusion speed and the printing speed will be reduced. The printing length of the current printing layer is set as a target calculation length value, and the printing movement speed and the printing extrusion speed are calculated according to the target calculation length value, the preset speed coefficient, the movement ratio and the extrusion ratio. The calculation formulas are as follows: M=(m1*L+m2) / Mst, V=(v1*L+v2) / Vst, wherein M is the printing extrusion speed, and V is the printing movement speed.

[0059] If the L of the current printing layer is less than or equal to Lmin At that time, the speed automatically changes to a printing length of L. min The speed at which the material is extruded, i.e., the extrusion speed M = (m1 * L) min +m2) / Mst, moving speed V=(v1*L min +v2) / Vst, where m1, m2, v1, and v2 are formula coefficients obtained through multiple experiments. After printing the current layer at this speed, the formula is recalculated based on the printing length of the next layer before moving to the next layer. The extrusion speed and moving speed will automatically adjust to this calculated result.

[0060] If the print length of the current print layer is greater than or equal to L max When the right endpoint is reached, the printing movement speed and printing extrusion speed are calculated based on the preset speed parameters, movement ratio, and extrusion ratio. That is, the extrusion speed is set to M at this point. max Movement speed set to V max M here max =Mt / Mst, V max =Vt / Vst, where Mt and Vt are respectively the conditions that make L > L. max The extrusion speed and moving speed at which the printed layer extruded material is sufficiently cooled are preset speed parameters determined through multiple printing experiments.

[0061] It should be noted that the movement ratio represents the percentage increase in movement speed and can be adjusted at any time on the printer control cabinet screen. The extrusion ratio represents the percentage increase in extrusion speed and can be adjusted at any time on the handheld teach pendant. The movement ratio and extrusion ratio generally need to be preset. Optionally, the printing effect of the first layer of the printing base of the object can be observed manually, and the initial extrusion ratio Mst and movement ratio Vst can be set on the control cabinet screen and teach pendant. After setting the extrusion ratio and movement ratio, no further adjustments are needed; the printing process will proceed according to the preset extrusion ratio and movement ratio during the subsequent printing of the current component.

[0062] In this embodiment, by matching the current printed layer length with the preset length range, the corresponding printing speed adjustment method is determined. This enables the printer to maintain the same printing linewidth when printing large-scale objects, even when there is a large difference in the printing length between printed layers. Here, linewidth refers to the width of the smallest building unit in 3D printing, which is mainly determined by the diameter of the printer nozzle.

[0063] Step S30: Based on the print moving speed and the print extrusion speed, execute the printing process of the current print layer.

[0064] In the embodiment, based on the determined printing moving speed and printing extrusion speed of the current printing layer, the printing process of the current printing layer can be performed to complete the printing content of the layer. Optionally, when printing the current printing layer, printing can be performed according to a preset printing path, or a suitable path planning algorithm can be selected in combination with the printing contour of the current printing object to plan a printing path suitable for the current printing layer. Optionally, when planning the path, the printing layer obtained after slicing can be subjected to concave polygon convex decomposition to form a printing sub-region, then the printing is performed along the long axis of each sub-region to reduce the number of printing paths and total travel, and finally a genetic algorithm is used to complete the printing path planning between the sub-regions.

[0065] In combination with the control structure of the printer, a base, a printing head and an extrusion device of a 3D printer are connected with a transmission system, wherein the extrusion device is connected with the printing head through a material guide pipe. The transmission system comprises a Y-axis transmission assembly arranged on the base, Z-axis transmission assemblies arranged on the base and arranged on both sides of the Y-axis transmission assembly, and an X-axis transmission assembly arranged above the Y-axis transmission assembly and in transmission connection with the Z-axis transmission assemblies. The Y-axis transmission assembly, the Z-axis transmission assembly and the X-axis transmission assembly cooperate with the extrusion device to perform the printing process of the printing member. When printing the printing member, the 3D printer determines the printing moving speed and the printing extrusion speed to be adjusted by reading the printing length of the current printing layer and judging the relationship between the printing length and the preset length interval end value. When adjusting the printing moving speed and the printing extrusion speed, the X-axis transmission assembly, the Y-axis transmission assembly and the Z-axis transmission assembly adjust the speed correspondingly, the printing head moves according to the printing moving speed, and the extrusion device controls the material output of the material guide pipe to make the extrusion speed of the printing head reach the corresponding printing extrusion speed, so as to complete the printing process of the current printing layer. When printing the next printing layer, the above process is also performed.

[0066] In the embodiment, by dynamically adjusting the printing moving speed and the printing extrusion speed according to the printing length of different printing layers, the intervention of manual printing speed can be reduced, the speed adjustment is standardized, and the printing efficiency is improved. In addition, according to the reasonable printing speed calculated, the situation that the printed object collapses or accumulates due to unreasonable printing speed can be avoided in the printing process, the printing effect is guaranteed, and the 3D printing technology can be more efficiently applied to large-scale industrial production.

[0067] Further, referring to Figure 2 The control method of the printer according to the second embodiment of the present application further comprises the following steps after step S30:

[0068] Step S40, obtaining an optical image of the current printing layer.

[0069] Step S50, determining a printing error value of the current printing layer according to the optical image and the three-dimensional model of the object to be printed.

[0070] Step S60, determining a corresponding compensation parameter according to the printing error value.

[0071] Step S70, adjusting the printing path of the next printing layer based on the compensation parameter.

[0072] In the embodiment, after the printing process of the current printing layer is completed, there may be a printing error, and if the printing path of the next printing layer is not corrected based on the printing error after printing, the printing error may become larger and larger, which will still affect the printing effect. Therefore, after the printing of the current printing layer is completed, the optical image of the current printing layer can be obtained, and the printing error value of the current printing layer is determined according to the optical image and the three-dimensional model of the object to be printed. Further, the corresponding compensation parameter is determined according to the printing error value, and the printing path of the next printing layer is adjusted based on the compensation parameter. Optionally, as a feasible implementation, an optical photography system can be arranged inside the printer, and after the printing of each printing layer is completed, the optical image of the current printing layer of the object to be printed is collected, the actual printing coordinates of the current printing layer are obtained based on the collected optical image, the printing error value between the actual printing coordinates of the current printing layer and the preset printing path coordinates is calculated by comparing with the original three-dimensional model coordinates, and when the printing error value exceeds the error interval (such as ±3%), the compensation parameter is calculated according to the error absolute value between the coordinates and a preset adjustment ratio, the preset printing path coordinates of the next printing layer are corrected according to the compensation parameter, and finally the next layer preset printing path coordinates are obtained. The corrected coordinates are a plurality of contour coordinates of the printing layer, and each contour coordinate includes an actual X-axis coordinate and an actual Y-axis coordinate. Further, based on the printing coordinates of the next printing layer which have been corrected, the printing path of the next printing layer is planned, so that the printing path of the next printing layer is more accurate and reasonable.

[0073] In the embodiment, by determining the printing error of the current printing layer through the optical image after the end of each printing layer, and correcting the printing path of the next printing layer based on the printing error of the current printing layer, the printing path is more reasonable, and when the next printing layer is printed, the same line width as the previous printing layer can be maintained. At the same time, according to the dynamic speed adjustment method in the first embodiment, the most suitable printing speed for the next printing layer is determined, so that the accuracy of printing large-scale objects can be guaranteed as much as possible, and the printing effect is improved.

[0074] In addition, the temperature in the printing cabin is not always constant during the printing process, since the printing material needs to cool down after solidification, and if the cooling time is insufficient, the next printing layer is printed on the basis of the printing layer that has not cooled down, which often leads to collapse. In order to avoid the above situation, the temperature control parameters in the printing cabin need to be monitored in real time during the printing process, including the temperature and humidity in the printing cabin, which are two key factors for the cooling of the printing material. Therefore, based on the comparison results of the above temperature control parameters and the respective preset threshold values, the printing cabin needs to be temperature-controlled and adjusted based on the temperature control system of the printer. Alternatively, the temperature control parameters of the printing cabin can be monitored in real time by temperature sensors and humidity sensors. In addition, since the physical properties of different printing materials are different, the cooling time is also different, and therefore the preset threshold values can be set according to the physical properties of different printing materials. For example, when the temperature of the printing cabin exceeds the preset temperature threshold, cooling measures are taken to cool the entire cabin, and when the humidity of the printing cabin cannot reach the preset humidity threshold, a humidifier is used to humidify the printing cabin.

[0075] In this embodiment, by adjusting the temperature and humidity in the printing cabin, the printing material can be cooled in time, avoiding the situation that the printed object collapses due to the failure of the material to cool in time, and improving the printing effect.

[0076] In addition, when the printing process of all the printing layers of the object to be printed has been completed, the printed object may have pores on the surface during the firing process. In order to ensure the printing effect, the surface gray-scale image of the printed object can be obtained by scanning with a depth camera. The gray-scale image can reflect whether there are depressions on the surface of the printed object, the position of the depressions, the area of the depressions, and the depth of the depressions. By comparing the gray-scale image with the three-dimensional model of the printed object, it can be determined that those depressions should not exist, i.e. the printing defect area of the surface contour. Alternatively, some smaller printing depression areas that do not affect the use of the printed object can be ignored, and some larger depression areas, i.e. depression areas greater than a preset area threshold, can be filled according to the position of the depression, the area of the depression, and the depth of the depression, and then the mechanical arm of the printer is controlled to fill the printing depression area based on the filling path. Alternatively, the preset area threshold can be set according to the size, volume and other factors of the printed object, and the size of the preset area threshold is not limited here.

[0077] In this embodiment, by monitoring whether there are unreasonable depression areas on the surface of the printed object after printing is completed by using a depth camera, the defect area with excessive defects is filled, and the printing quality of the printed object is ensured.

[0078] Referring to Figure 4 , Figure 4 The printing device structure diagram of the hardware running environment involved in the embodiment of the present application.

[0079] As Figure 4 shown, the printing device can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 can be a high-speed random access memory (RAM) memory, or a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0080] Those skilled in the art can understand that Figure 4 the structure shown in the above description does not constitute a limitation on the printing device, and can include more or fewer components than the diagram, or combine certain components, or different component arrangements.

[0081] As Figure 4 shown, the memory 1005 as a storage medium can include an operating system, a data storage module, a network communication module, a user interface module, and a control program of the printing device.

[0082] In Figure 4 the printing device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the printing device of the present application can be arranged in the printing device, and the printing device calls the control program of the printing device stored in the memory 1005 through the processor 1001, and performs the following steps:

[0083] obtain a print length value of a current print layer;

[0084] determine a print movement speed and a print extrusion speed corresponding to the current print layer according to the print length value of the current print layer;

[0085] based on the print movement speed and the print extrusion speed, performing a print process of the current print layer.

[0086] Further, the printing device, through the processor 1001 invoking the control program of the printing device stored in the memory 1005, further performs the following steps:

[0087] obtaining a movement ratio and an extrusion ratio;

[0088] when the print length value of the current print layer is less than the right endpoint value of the preset length interval, determining a target calculation length value based on a comparison result of the print length value and the left endpoint value of the preset length interval;

[0089] when the print length value is greater than the left endpoint value of the preset length interval, setting the print length as the target calculation length value;

[0090] calculating the print movement speed and the print extrusion speed according to the target calculation length value, a preset speed coefficient, the movement ratio and the extrusion ratio.

[0091] Further, the printing device, through the processor 1001 invoking the control program of the printing device stored in the memory 1005, further performs the following steps:

[0092] when the print length value is less than or equal to the left endpoint value of the preset length interval, setting a preset minimum length value as the target calculation length value;

[0093] performing the step of calculating the print movement speed and the print extrusion speed according to the target calculation length value, a preset speed coefficient, the movement ratio and the extrusion ratio.

[0094] Further, the printing device, through the processor 1001 invoking the control program of the printing device stored in the memory 1005, further performs the following steps:

[0095] when the print length value of the current print layer is greater than or equal to the right endpoint value of the preset length interval, obtaining a preset speed parameter;

[0096] calculating the print movement speed and the print extrusion speed according to the preset speed parameter, the movement ratio and the extrusion ratio.

[0097] Further, the printing device, through the processor 1001 invoking the control program of the printing device stored in the memory 1005, further performs the following steps:

[0098] obtaining a three-dimensional model of a to-be-printed object;

[0099] determine a triangle facet of the object to be printed and a normal vector corresponding to the triangle facet based on the three-dimensional model;

[0100] perform layering processing on the three-dimensional model according to the triangle facet and the normal vector corresponding to the triangle facet.

[0101] Further, the printing device further performs the following steps by invoking the control program of the printing device stored in the memory 1005 through the processor 1001:

[0102] obtain an optical image of the current printing layer;

[0103] determine a printing error value of the current printing layer according to the optical image and the three-dimensional model of the object to be printed;

[0104] determine a corresponding compensation parameter according to the printing error value;

[0105] adjust the printing path of the next printing layer based on the compensation parameter.

[0106] Further, the printing device further performs the following steps by invoking the control program of the printing device stored in the memory 1005 through the processor 1001:

[0107] obtain the current temperature control parameter of the printing cabin;

[0108] perform temperature control adjustment on the printing cabin based on the temperature control system according to the comparison result of the temperature control parameter and the preset threshold value.

[0109] Further, the printing device further performs the following steps by invoking the control program of the printing device stored in the memory 1005 through the processor 1001:

[0110] obtain a surface gray-scale image of the printed object when the printing process of all printing layers is completed;

[0111] determine whether there is a printing defect area in the surface contour of the printed object based on the gray-scale image and the three-dimensional model of the printed object;

[0112] generate a filling path of the printing defect area when the area of the printing defect area is greater than a preset area threshold value;

[0113] fill the printing defect area based on the filling path.

[0114] It should be noted that, in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0115] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0116] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and the necessary general hardware platform, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) as described above, and includes a number of instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0117] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method of a printing device, characterized by, The control method of the printing device comprises the following steps: obtaining a printing length value of a current printing layer; determining a printing movement speed and a printing extrusion speed corresponding to the current printing layer according to the printing length value of the current printing layer; executing a printing process of the current printing layer based on the printing movement speed and the printing extrusion speed; wherein the step of determining the printing movement speed and the printing extrusion speed corresponding to the current printing layer according to the printing length value of the current printing layer comprises: obtaining a movement ratio and an extrusion ratio; when the printing length value of the current printing layer is less than a right endpoint value of a preset length interval, determining a target calculation length value based on a comparison result of the printing length value and a left endpoint value of the preset length interval; when the printing length value is greater than the left endpoint value of the preset length interval, setting the printing length as the target calculation length value; when the printing length value is less than or equal to the left endpoint value of the preset length interval, setting a preset minimum length value as the target calculation length value; calculating the printing movement speed and the printing extrusion speed according to the target calculation length value, a preset speed coefficient, the movement ratio and the extrusion ratio through the following formula: M=(m1*L+m2) / Mst, V=(v1*L+v2) / Vst, wherein the M is the printing extrusion speed, the V is the printing movement speed, the L is the printing length value of the current printing layer, the Mst is the extrusion ratio, the Vst is the movement ratio, and m1, m2, v1 and v2 are formula coefficients obtained through multiple experiments; after the step of executing the printing process of the current printing layer based on the printing movement speed and the printing extrusion speed, the method further comprises: obtaining an optical image of the current printing layer; determining a printing error value of the current printing layer according to the optical image and a three-dimensional model of a to-be-printed object; determining a corresponding compensation parameter according to the printing error value; adjusting a printing path of a next printing layer based on the compensation parameter.

2. The control method of a printing device according to claim 1, wherein after the step of obtaining the movement ratio and the extrusion ratio, the method further comprises: when the printing length value of the current printing layer is greater than or equal to the right endpoint value of the preset length interval, obtaining a preset speed parameter; calculating the printing movement speed and the printing extrusion speed according to the preset speed parameter, the movement ratio and the extrusion ratio.

3. The control method of a printing device according to claim 1, wherein before the step of obtaining the printing length value of the current printing layer, the method further comprises: obtaining a three-dimensional model of a to-be-printed object; determining a triangular facet of the to-be-printed object and a normal vector corresponding to the triangular facet based on the three-dimensional model; performing layering processing on the three-dimensional model according to the triangular facet and the normal vector corresponding to the triangular facet.

4. The control method of a printing device according to claim 1, wherein after the step of executing the printing process of the current printing layer based on the printing movement speed and the printing extrusion speed, the method further comprises: obtaining a current temperature control parameter of a printing cabin; performing temperature control adjustment on the printing cabin based on a temperature control system according to a comparison result of the temperature control parameter and a preset threshold value.

5. The control method of a printing device according to claim 1, wherein The step of performing the printing process of the current printing layer based on the printing movement speed and the printing extrusion speed further comprises: acquiring a surface gray image of the printed object when the printing process of all printing layers is completed; judging whether a printing defect area exists in a surface contour of the printed object based on the gray image and a three-dimensional model of the printed object; generating a filling path of the printing defect area when an area of the printing defect area is greater than a preset area threshold; filling the printing defect area based on the filling path.

6. A printing device, characterized by, The printing device comprises a memory, a processor, and a printing device control program stored on the memory and executable on the processor, and the printing device control program is configured to implement the steps of the printing device control method according to any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The storage medium stores a printing device control program, and the printing device control program is executed by the processor to implement the steps of the printing device control method according to any one of claims 1 to 5.

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