Control method and device for 3D printing equipment, and 3D printing equipment

Abstract

The application relates to the field of 3D printing technology, and discloses a control method and device for a 3D printing device and the 3D printing device. The control method comprises the following steps: acquiring a first state parameter of the 3D printing device in a previous control cycle; predicting a second state parameter of the 3D printing device after a current control cycle according to the first state parameter and a set control input of the current control cycle; determining a target control input according to the second state parameter and a target state parameter of the 3D printing device after the current control cycle; and controlling the 3D printing device to act according to the target control input. In the application, the future state of the 3D printing device that may occur is referred to to optimize the control input in the control process of the 3D printing device. In this way, the accuracy of the control of the 3D printing device is improved, the risk of quality problems of printed articles is reduced, and the printing effect of the articles is improved.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, for example to a control method and apparatus for 3D printing equipment, and 3D printing equipment. Background Technology

[0002] During the 3D printing process, the control inputs of the 3D printing equipment have a significant impact on the printing quality, efficiency, and success rate.

[0003] In related technologies, PID (proportional-integral-derivative) control is typically used in the 3D printing process to generate control inputs and control the 3D printing equipment.

[0004] In the process of implementing the embodiments of this disclosure, at least the following problems were found in the related art:

[0005] PID control optimizes the control input based on the current state parameters of the 3D printing equipment and past errors; it cannot pre-adjust the control input to optimize future output. Therefore, the risk of quality problems in the printed items remains relatively high. Summary of the Invention

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0007] This disclosure provides a control method and apparatus for a 3D printing device, as well as the 3D printing device itself, which can reduce the risk of quality problems in the printed items and improve the printing effect of the items.

[0008] In some embodiments, a control method for a 3D printing device includes: acquiring a first state parameter of the 3D printing device in a previous control cycle; predicting a second state parameter of the 3D printing device after the end of the current control cycle based on the first state parameter and a set control input for the current control cycle; determining a target control input based on the second state parameter and a target state parameter of the 3D printing device after the end of the current control cycle; and controlling the 3D printing device to operate based on the target control input.

[0009] Optionally, based on the first state parameter and the set control input of the current control cycle, predict the second state parameter of the 3D printing device after the end of the current control cycle, including: constructing a virtual operation model of the 3D printing device; adjusting the state parameter of the virtual operation model to the first state parameter, and then controlling the virtual operation model to set a duration according to the set control input; wherein the set duration is the duration corresponding to the current control cycle; and using the state parameter of the virtual operation model after running for the set duration as the second state parameter.

[0010] Optionally, based on the second state parameter and the target state parameter of the 3D printing device at the end of the current control cycle, the target control input is determined, including: constructing a loss function of the target state parameter and the second state parameter; adjusting the second state parameter by adjusting the set control input so that the loss function satisfies the set constraints; and using the control input that makes the loss function satisfy the set constraints as the target control input.

[0011] Optionally, the value of the loss function is positively correlated with the absolute value of the difference between the target state parameter and the second state parameter.

[0012] Optionally, the value of the loss function is positively correlated with the square of the difference between the target state parameter and the second state parameter.

[0013] Optionally, the state parameters can be of one or more types; if there are multiple types of state parameters, the loss function is the sum of the squares of the differences between the target state parameters and the second state parameters for each type.

[0014] Optionally, the constraints may include: the loss function value is minimized, or the loss function value is less than or equal to a set threshold.

[0015] Optionally, the 3D printing equipment includes a robotic arm and a print head; the status parameters include one or more of the following: the position of the robotic arm, the position of the print head, the temperature of the printing material in the print head, and the stacking height of the items printed by the 3D printing equipment.

[0016] In some embodiments, a control device for a 3D printing equipment includes: an acquisition module configured to acquire a first state parameter of the 3D printing equipment in a previous control cycle; a prediction module configured to predict a second state parameter of the 3D printing equipment at the end of the current control cycle based on the first state parameter and a set control input for the current control cycle; a determination module configured to determine a target control input based on the second state parameter and a target state parameter of the 3D printing equipment at the end of the current control cycle; and a control module configured to control the 3D printing equipment to operate based on the target control input.

[0017] In some embodiments, a control device for a 3D printing apparatus includes a processor and a memory storing program instructions, the processor being configured to execute the control method for a 3D printing apparatus as described above.

[0018] In some embodiments, a 3D printing apparatus includes: an apparatus body; and a control device for a 3D printing apparatus as described above, mounted on the apparatus body.

[0019] The control method and apparatus for 3D printing equipment and the 3D printing equipment provided in this disclosure can achieve the following technical effects:

[0020] In this embodiment, the first state parameters of the 3D printing device in the previous control cycle are acquired. Based on the first state parameters and the set control input for the current control cycle, the second state parameters of the 3D printing device at the end of the current control cycle are predicted. Then, by comparing the second state parameters with the target state parameters of the 3D printing device at the end of the current control cycle, the target control input for the 3D printing device in the current control cycle is determined. Finally, the 3D printing device is controlled according to the target control input. Therefore, this embodiment optimizes the control input by considering the possible future states of the 3D printing device during the control process. This improves the accuracy of the 3D printing device control, reduces the risk of quality problems in the printed items, and improves the printing effect.

[0021] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0023] Figure 1 This is a schematic diagram of a 3D printing device provided in an embodiment of this disclosure;

[0024] Figure 2 This is a schematic diagram of a control method for a 3D printing device provided in an embodiment of this disclosure;

[0025] Figure 3 This is a schematic diagram of another control method for a 3D printing device provided in an embodiment of this disclosure;

[0026] Figure 4 This is a schematic diagram of another control method for a 3D printing device provided in an embodiment of this disclosure;

[0027] Figure 5 This is a schematic diagram of a control device for a 3D printing equipment provided in an embodiment of this disclosure;

[0028] Figure 6 This is a schematic diagram of another control device for a 3D printing equipment provided in an embodiment of this disclosure. Detailed Implementation

[0029] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0030] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0031] Unless otherwise stated, the term "multiple" means two or more.

[0032] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0033] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0034] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0036] The 3D printing equipment provided in this disclosure embodiment is as follows: Figure 1 As shown, the 3D printing equipment includes a main body 110 and a control device 500 (600) for the 3D printing equipment.

[0037] Optionally, the control device 600 for the 3D printing equipment includes a processor that can acquire a first state parameter of the 3D printing equipment in the previous control cycle; predict a second state parameter of the 3D printing equipment after the end of the current control cycle based on the first state parameter and the set control input of the current control cycle; determine a target control input based on the second state parameter and the target state parameter of the 3D printing equipment after the end of the current control cycle, and control the 3D printing equipment to operate according to the target control input.

[0038] Combination Figure 1 The 3D printing equipment shown in this disclosure provides a control method for the 3D printing equipment, such as... Figure 2 As shown, the control method includes:

[0039] S201, The processor acquires the first state parameters of the 3D printing device in the previous control cycle.

[0040] Specifically, when printing items using 3D printing equipment, the printing process is usually divided into multiple control cycles. For example, if the total printing time is 60 seconds, then 10 seconds can be divided into one control cycle, and the printing process can be divided into 6 control cycles.

[0041] Understandably, before printing an item, a digital model of the item is created, and then the parts of the digital model that need to be printed in each control cycle, as well as the paths and parameters of each component of the 3D printing equipment, are planned.

[0042] Specifically, the previous control cycle refers to the control cycle preceding the current control cycle. For example, if the printing process is divided into 6 control cycles, and we are currently in the 3rd control cycle, then the previous control cycle is the 2nd control cycle. In this case, the first state parameter represents the state parameter of the 3D printing equipment after the 2nd control cycle ends.

[0043] It should be noted that if the current control cycle is the first control cycle, there is no need to execute the step of obtaining the first state parameter and subsequent steps. The 3D device can be controlled directly according to the planned control input.

[0044] Optionally, the 3D printing equipment includes a robotic arm and a print head; the status parameters of the 3D printing equipment include one or more of the following: the position of the robotic arm, the position of the print head, the temperature of the printing material in the print head, and the stacking height of the items printed by the 3D printing equipment.

[0045] Specifically, encoders are installed on the drive motors of the robotic arm and the print head. By reading the encoder values, the positions of the robotic arm and the print head can be determined. Therefore, the processor can obtain the positions of the robotic arm and the print head through the encoders.

[0046] Specifically, a temperature sensor is installed at the printhead outlet to detect the output temperature of the printhead. Therefore, the processor can obtain the temperature of the printing material in the printhead through this temperature sensor.

[0047] Specifically, the robotic arm is equipped with optical sensors that can detect parameters such as the height and thickness of the printed items. Therefore, the processor can use these optical sensors to determine the stacking height of the items printed by the 3D printer.

[0048] S202, the processor predicts the second state parameter of the 3D printing device after the end of the current control cycle based on the first state parameter and the set control input of the current control cycle.

[0049] Specifically, the current state of each component in the 3D printing equipment can be determined based on the first state parameters, such as the current position of the robotic arm, the current position of the print head, and the current output temperature of the print head. Based on the set control input of the current control cycle, the state of each component in the 3D printing equipment after operation according to the set control input can be simulated, building upon its current state.

[0050] Therefore, the processor can predict the second state parameters of the 3D printing device after the current control cycle ends, based on the first state parameters and the set control input of the current control cycle.

[0051] S203, the processor determines the target control input based on the second state parameter and the target state parameter of the 3D printing device at the end of the current control cycle.

[0052] Specifically, the target state parameters are the ideal state parameters of the 3D printing equipment after the current control cycle ends.

[0053] Specifically, by comparing the second state parameter and the target state parameter, the difference between the state of the 3D printing equipment and the ideal state after controlling the 3D printing equipment according to the set control input can be determined. Based on this difference, it is possible to determine how to adjust the control input to reduce the difference between the state of the 3D printing equipment and the ideal state. Therefore, the processor can determine the target control input based on the second state parameter and the target state parameter of the 3D printing equipment at the end of the current control cycle.

[0054] S204, the processor controls the 3D printing equipment to operate according to the target control input.

[0055] Specifically, the target control input can include parameters such as the torque of the drive motor, the supply speed of the printing material, and the power of the heater. The torque of the drive motor can control the movement of the robotic arm and print head; the supply speed of the printing material can control the extrusion speed of the material in the print head; and the power of the heater can control the temperature of the printing material inside the print head. Therefore, the processor can control the operation of the 3D printing equipment based on the target control input.

[0056] In this embodiment, the first state parameters of the 3D printing device in the previous control cycle are first obtained. Based on the first state parameters and the set control input for the current control cycle, the second state parameters of the 3D printing device at the end of the current control cycle are predicted. Then, by comparing the second state parameters with the target state parameters of the 3D printing device at the end of the current control cycle, the target control input for the 3D printing device in the current control cycle is determined. Finally, the 3D printing device is controlled according to the target control input. Therefore, this embodiment optimizes the control input by considering the possible future states of the 3D printing device during the control process (i.e., this embodiment uses MPC (Model Predictive Control)). This improves the accuracy of the 3D printing device control, reduces the risk of quality problems in the printed items, and improves the printing effect.

[0057] In addition, it should be noted that:

[0058] First, the 3D printing process may involve various complex constraints, such as upper and lower limits on printing speed and limitations on material usage. PID control cannot handle these constraints. However, the solution proposed in this disclosure allows for the direct limitation of these constraints during the determination of the target control input based on the second state parameter and the target state parameter of the 3D printing equipment at the end of the current control cycle.

[0059] Secondly, the accuracy of PID control depends on the settings of proportional, integral, and derivative coefficients. However, setting appropriate coefficients usually requires extensive experimentation and experience, which can be difficult in practical applications. The solution proposed in this disclosure eliminates the need for extensive experimentation or experience in setting parameters, simplifying the control process for 3D printing equipment.

[0060] Third, when using PID control, the accuracy will significantly decrease if there is a deviation between the system model (i.e., the dynamic behavior of the 3D printing equipment) and the actual situation. This is because PID control is based on the current state of the system model. However, the embodiments of this disclosure refer to the possible future states of the 3D printing equipment when determining the target control input. Therefore, even when there is a deviation between the system model and the actual situation, the embodiments of this disclosure can still guarantee the accuracy of the control of the 3D printing equipment.

[0061] This disclosure provides another control method for 3D printing equipment, such as... Figure 3 As shown, the control method includes:

[0062] S301, the processor acquires the first state parameters of the 3D printing device in the previous control cycle.

[0063] S302, the processor builds a virtual operating model of the 3D printing equipment.

[0064] Specifically, the virtual operating model is a digital model constructed in imitation of a 3D printing device, capable of simulating the operation of the 3D printing equipment. In particular, by constructing a virtual operating model, it is easier to subsequently determine the state parameters of the 3D printing equipment under different control inputs.

[0065] S303: After adjusting the state parameters of the virtual running model to the first state parameter, the processor controls the virtual running model to set the duration according to the set control input.

[0066] The set duration is the duration corresponding to the current control cycle.

[0067] Specifically, since the current state of the 3D printing equipment can be determined based on the first state parameter, adjusting the state parameters of the virtual running model to match the first state parameter ensures that the state of the virtual running model aligns with the current state of the 3D printing equipment. This improves the accuracy of the subsequently determined second state parameter.

[0068] Specifically, after aligning the state of the virtual running model with the current state of the 3D printing equipment, the virtual running model's actions can be controlled for a set duration by setting control inputs. This simulates the state of the 3D printing equipment after the current control cycle ends, under the control of the set control inputs. Therefore, the processor needs to control the virtual running model for the set duration according to the set control inputs.

[0069] S304, the processor uses the state parameters of the virtual running model after running for a set time as the second state parameter.

[0070] Specifically, with the state parameters of the virtual operating model as the first state parameter, by setting a control input to control the virtual operating model to run for a set duration, the state of the 3D printing equipment after the end of the current control cycle under the control of the set control input can be simulated. Therefore, the state parameters of the virtual operating model after running for the set duration can be used as the second state parameter.

[0071] S305, the processor determines the target control input based on the second state parameter and the target state parameter of the 3D printing device at the end of the current control cycle.

[0072] S306, the processor controls the 3D printing equipment to operate based on the target control input.

[0073] In this embodiment, a virtual operating model of the 3D printing equipment is constructed. The second state parameters of the 3D printing equipment are predicted by assigning the first state parameters to the virtual operating model and controlling the virtual operating model for a set duration according to a set control input. This improves the accuracy of the predicted second state parameters, thereby improving the accuracy of the subsequent target control input determined based on the second state parameters.

[0074] This disclosure provides another control method for 3D printing equipment, such as... Figure 4 As shown, the control method includes:

[0075] S401, the processor acquires the first state parameters of the 3D printing device in the previous control cycle.

[0076] S402, the processor predicts the second state parameter of the 3D printing device after the end of the current control cycle based on the first state parameter and the set control input of the current control cycle.

[0077] S403, the processor constructs a loss function for the target state parameters and the second state parameters.

[0078] Specifically, by constructing a loss function, the difference between the target state parameter and the second state parameter can be clearly defined, that is, the difference between the state after controlling the 3D printing equipment according to the set control input in the current control cycle and the ideal state. Based on this difference, it can be determined how the 3D printing equipment should be controlled subsequently. Therefore, the processor needs to construct a loss function for the target state parameter and the second state parameter.

[0079] Optionally, the value of the loss function is positively correlated with the absolute value of the difference between the target state parameter and the second state parameter.

[0080] Specifically, by setting the value of the constructed loss function to be positively correlated with the absolute value of the difference between the target state parameter and the second state parameter, the loss function value can be adjusted to meet the requirements by subsequently adjusting the control input. This facilitates the subsequent determination of the target control input.

[0081] Optionally, the value of the loss function is positively correlated with the square of the difference between the target state parameter and the second state parameter.

[0082] Specifically, by setting the value of the constructed loss function to be positively correlated with the square of the difference between the target state parameter and the second state parameter, the loss function value can be adjusted to meet the requirements by subsequently adjusting the control input. This facilitates the subsequent determination of the target control input.

[0083] S404, the processor adjusts the second state parameters by adjusting the set control input so that the loss function meets the set constraints.

[0084] Specifically, since the second state parameter reflects the state of each component in the 3D printing equipment, the setting control input is the control parameter for each component. Therefore, by adjusting the setting control input, the second state parameter can be adjusted.

[0085] For example, taking the position of the robotic arm as an example, the relationship between the control input and the position of the robotic arm (i.e., the dynamic model of the robotic arm) is set as shown in the following expression (1).

[0086]

[0087] Where, x arm (t) represents the position of the robotic arm. For the speed of the robotic arm, u is the acceleration of the robotic arm. arm (t) is the control input corresponding to the robotic arm, and β is the damping coefficient.

[0088] For example, taking the position of the print head as an example, the relationship between the control input and the position of the print head (i.e., the kinematic model of the print head) is set as shown in the following expression (2).

[0089]

[0090] Where, x head (t) represents the position of the print head. It is the speed of the print head, u head (t) is the control input corresponding to the print head.

[0091] For example, taking the temperature of the printing material as an example, the relationship between the control input and the temperature of the printing material (i.e., the model of the melting and cooling process of the printing material) is set as shown in the following expression (3).

[0092]

[0093] Where T(t) is the temperature of the printing material, The rate of temperature change of the printing material, u temp (t) is the control input corresponding to the temperature of the printing material, γ is the cooling coefficient, and T ambient It refers to the ambient temperature.

[0094] For example, taking the stacking height of the items printed by the 3D printing device as an example, the relationship between the control input and the stacking height (i.e. the stacking model of the printing material) is set as shown in the following expression (4).

[0095]

[0096] Where h(t) is the stacking height, For the stacking speed of the printing material, u layer (t) represents the control input corresponding to the stacking height.

[0097] S405, the processor will use the control input that makes the loss function satisfy the set constraints as the target control input.

[0098] S406, the processor controls the 3D printing equipment to operate based on the target control input.

[0099] In this embodiment, a loss function is constructed for the target state parameters and the second state parameters. The second state parameters are then adjusted by modifying the set control input so that the control input at which the loss function satisfies the set constraints is used as the target control input. This ensures that the difference between the state parameters of the 3D printing equipment and the target state parameters meets the requirements after controlling the 3D printing equipment with the target control input. This improves the accuracy of 3D printing equipment control, reduces the risk of quality problems in the printed items, and improves the printing effect.

[0100] In some embodiments, the state parameters are of one or more types; when there are multiple types of state parameters, the loss function is the sum of the squares of the differences between the target state parameters and the second state parameters for each type.

[0101] Specifically, the control input to a 3D printing device can be optimized using only one type of state parameter. For example, only the position of the robotic arm or only the position of the print head can be considered. This improves the efficiency of determining the target control input and increases the efficiency of the 3D printing device in printing objects.

[0102] Specifically, the control input to 3D printing equipment can be optimized by comprehensively considering various types of state parameters. For example, parameters such as the position of the robotic arm, the position of the print head, the temperature of the printing material, and the stacking height of the printed items can be taken into account. This improves the accuracy of the determined target control input, thereby enhancing the precision of the 3D printing equipment control and improving the printing quality of the items.

[0103] For example, taking the state parameters including the position of the robotic arm, the position of the print head, the temperature of the printing material, and the stacking height of the printed items as an example, the loss function is shown in the following expression (5).

[0104]

[0105] Where, x arm,target (t ′ ), T target (t ′ ), x head,target (t ′ ) and h target (t ′ These represent the ideal positions of the robotic arm, the temperature of the printing material, the position of the print head, and the stack height of the printed items after the current control cycle of the 3D printing equipment. arm (t ′ ), T(t) ′ ), x head (t ′ ) and h(t ′ ) represent the predicted positions of the robotic arm, the temperature of the printing material, the position of the print head, and the stacking height of the printed items after the current control cycle of the 3D printing equipment, respectively, and J is the function value of the loss function.

[0106] In some embodiments, the constraint condition includes minimizing the value of the loss function.

[0107] Specifically, since the value of the loss function is positively correlated with the square of the difference between the target state parameter and the second state parameter, or positively correlated with the absolute value of the difference between the target state parameter and the second state parameter, the minimum value of the loss function indicates that the difference between the second state parameter and the target state parameter is minimized. In other words, the difference between the state of the 3D printing equipment and the ideal state at the end of the current control cycle is minimized. Therefore, minimizing the value of the loss function can be used as a constraint condition.

[0108] In some embodiments, setting constraints includes: the value of the loss function is less than or equal to a set threshold.

[0109] It is understandable that when the difference between the state of the 3D printing equipment and the ideal state at the end of the current control cycle meets certain requirements, the quality of the printed item can meet the user's requirements. Therefore, setting constraints can also be done by setting a threshold value for the loss function.

[0110] Combination Figure 5As shown, this disclosure provides a control device 500 for a 3D printing equipment. The control device 500 includes: an acquisition module 501, a prediction module 502, a determination module 503, and a control module 504. The acquisition module 501 is configured to acquire a first state parameter of the 3D printing equipment in the previous control cycle. The prediction module 502 is configured to predict a second state parameter of the 3D printing equipment at the end of the current control cycle based on the first state parameter and a set control input for the current control cycle. The determination module 503 is configured to determine a target control input based on the second state parameter and a target state parameter of the 3D printing equipment at the end of the current control cycle. The control module 504 is configured to control the operation of the 3D printing equipment according to the target control input.

[0111] In this embodiment, the acquisition module 501 first acquires the first state parameters of the 3D printing device in the previous control cycle. Based on the first state parameters and the set control input for the current control cycle, the prediction module 502 predicts the second state parameters of the 3D printing device at the end of the current control cycle. Then, the determination module 503 compares the second state parameters with the target state parameters of the 3D printing device at the end of the current control cycle to determine the target control input for the 3D printing device in the current control cycle. Finally, based on the target control input, the control module 504 controls the 3D printing device to perform actions. Therefore, this embodiment optimizes the control input by considering the possible future states of the 3D printing device during the control process. This improves the accuracy of the 3D printing device control, reduces the risk of quality problems in the printed items, and improves the printing effect.

[0112] In some embodiments, the preset module 502 is specifically configured to: construct a virtual running model of the 3D printing equipment; adjust the state parameters of the virtual running model to the first state parameters, and then control the virtual running model to set a duration according to the set control input; wherein the set duration is the duration corresponding to the current control cycle; and use the state parameters of the virtual running model after running for the set duration as the second state parameters.

[0113] In some embodiments, the determining module 503 is specifically configured to: construct a loss function of the target state parameter and the second state parameter; adjust the second state parameter by adjusting the set control input so that the loss function satisfies the set constraint conditions; and use the control input that makes the loss function satisfy the set constraint conditions as the target control input.

[0114] Combination Figure 6As shown, this disclosure provides a control device 600 for a 3D printing equipment. The control device 600 includes a processor 601 and a memory 602. Optionally, the device may further include a communication interface 603 and a bus 604. The processor 601, communication interface 603, and memory 602 can communicate with each other via the bus 604. The communication interface 603 can be used for information transmission. The processor 601 can call logical instructions in the memory 602 to execute the control method for the 3D printing equipment described in the above embodiment.

[0115] Furthermore, the logic instructions in the aforementioned memory 602 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0116] The memory 602, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 601 executes functional applications and data processing by running the program instructions / modules stored in the memory 602, thereby implementing the control method for the 3D printing equipment in the above embodiments.

[0117] The memory 602 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 602 may include high-speed random access memory and may also include non-volatile memory.

[0118] Combination Figure 1 As shown, this disclosure provides a 3D printing device 100, including: a device body 110 and the aforementioned control device 500 (600) for the 3D printing device. The control device 500 (600) for the 3D printing device is installed in the device body 110. The installation relationship described herein is not limited to placement inside the 3D printing device 100, but also includes installation connections with other components of the 3D printing device 100, including but not limited to physical connections, electrical connections, or signal transmission connections. Those skilled in the art will understand that the control device 500 (600) for the 3D printing device can be adapted to any feasible 3D printing device 100, thereby realizing other feasible embodiments.

[0119] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to perform the control method for a 3D printing device described above.

[0120] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0121] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0122] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0123] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A control method for a 3D printing device, characterized in that, include: Obtain the first state parameters of the 3D printing equipment in the previous control cycle; Based on the first state parameters and the set control input of the current control cycle, predict the second state parameters of the 3D printing device after the end of the current control cycle; The target control input is determined based on the second state parameter and the target state parameter of the 3D printing equipment at the end of the current control cycle; Control the 3D printing equipment to operate according to the target control input; Based on the second state parameter and the target state parameter of the 3D printing equipment at the end of the current control cycle, the target control input is determined, including: constructing a loss function for the target state parameter and the second state parameter; adjusting the second state parameter by adjusting the set control input so that the loss function meets the set constraints; and using the control input that makes the loss function meet the set constraints as the target control input. The state parameters include the position of the robotic arm of the 3D printing equipment, the position of the print head, the temperature of the printing material, and the stacking height of the printed items. The loss function is shown in the following expression: ； in, , , and These represent the ideal positions of the robotic arm, the temperature of the printing material, the position of the print head, and the stacking height of the printed items after the current control cycle of the 3D printing equipment. , , and These figures represent the predicted positions of the robotic arm, the temperature of the printing material, the position of the print head, and the stack height of the printed items at the end of the current control cycle. This is the value of the loss function.

2. The control method according to claim 1, characterized in that, Based on the first state parameters and the set control input for the current control cycle, predict the second state parameters of the 3D printing equipment after the end of the current control cycle, including: Construct a virtual operating model for 3D printing equipment; After adjusting the state parameters of the virtual operation model to the first state parameter, the virtual operation model is controlled for a set duration according to the set control input; wherein, the set duration is the duration corresponding to the current control cycle; The status parameters after the virtual running model has run for a set period of time are used as the second status parameters.

3. The control method according to claim 1, characterized in that, The value of the loss function is positively correlated with the absolute value of the difference between the target state parameter and the second state parameter.

4. The control method according to claim 1, characterized in that, The value of the loss function is positively correlated with the square of the difference between the target state parameter and the second state parameter.

5. The control method according to claim 3 or 4, characterized in that, The state parameter can be of one or more types; When there are multiple types of state parameters, the loss function is the sum of the squares of the differences between the target state parameter and the second state parameter for each type.

6. The control method according to any one of claims 1, 3, or 4, characterized in that, The constraints include: the loss function value is minimized, or the loss function value is less than or equal to a set threshold.

7. The control method according to any one of claims 1 to 4, characterized in that, 3D printing equipment includes a robotic arm and a print head; The status parameters include one or more of the following: the position of the robotic arm, the position of the print head, the temperature of the printing material in the print head, and the stacking height of the items printed by the 3D printing equipment.

8. A control device for a 3D printing equipment, characterized in that, include: The acquisition module is configured to acquire the first state parameters of the 3D printing device in the previous control cycle; The prediction module is configured to predict the second state parameters of the 3D printing device after the end of the current control cycle based on the first state parameters and the set control input of the current control cycle. The determination module is configured to determine the target control input based on the second state parameter and the target state parameter of the 3D printing device at the end of the current control cycle; The determination module is specifically configured to determine the target control input based on the second state parameter and the target state parameter of the 3D printing device at the end of the current control cycle, including: constructing a loss function for the target state parameter and the second state parameter; adjusting the second state parameter by adjusting the set control input so that the loss function meets the set constraints; and using the control input that makes the loss function meet the set constraints as the target control input. The state parameters include the position of the robotic arm of the 3D printing equipment, the position of the print head, the temperature of the printing material, and the stacking height of the printed items. The loss function is shown in the following expression: ； in, , , and These represent the ideal positions of the robotic arm, the temperature of the printing material, the position of the print head, and the stacking height of the printed items after the current control cycle of the 3D printing equipment. , , and These figures represent the predicted positions of the robotic arm, the temperature of the printing material, the position of the print head, and the stack height of the printed items at the end of the current control cycle. The value of the loss function; The control module is configured to control the actions of the 3D printing equipment based on the target control input.

9. A control device for a 3D printing equipment, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to perform a control method for a 3D printing device as described in any one of claims 1 to 7.

10. A 3D printing device, characterized in that, include: Equipment body; The control device for a 3D printing equipment as described in claim 8 or 9 is installed on the equipment body.

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