3D printing device and method

Abstract

The present application provides a 3D printing device and method, which relates to the field of 3D printing. The device includes a release film, a printing base, an image acquisition device, a first light source for providing illumination light, and a controller; the release film is located above the printing base, and a printing space is formed between the release film and the printing base, and the printing space is used to fill a moldable material; the release film can pass through the illumination light provided by the first light source, and the illumination light is used to illuminate the release film and the printing space, and the image acquisition device is used to receive the light formed by the illumination light after passing through the molded material and the release film in the printing space and generate a target image; the controller is configured to identify the release state of the molded material on the target image during the separation process of the release film and the printing base, and obtain the release state, and the release state is used to indicate the separation state of the molded material and the release film. The present application can reduce missed detection and problem handling delays.

Description

Technical Field

[0001] The present application relates to the field of 3D printing, and in particular to a 3D printing device and method. Background Art

[0002] The 3D printing equipment based on photocuring is a kind of additive manufacturing machine. When using this type of equipment for high-precision 3D printing operations, it is usually based on visual leveling or print data setting before starting automatic printing layer by layer. During the printing process, the effect of the printed product is manually inspected. However, this method relies on manual experience and manipulation, which is prone to missed detections and delayed problem handling. Summary of the invention

[0003] The present application provides a 3D printing device and method, which can significantly improve the modeling efficiency and text representation effect of long text processing.

[0004] In one aspect, the present application provides a 3D printing device, the device comprising a release film, a printing base, an image acquisition device, a first light source for providing illumination light, and a controller;

[0005] The release film is located above the printing base, and a printing space is formed between the release film and the printing base, and the printing space is used to fill the formable material;

[0006] The release film can transmit the illumination light provided by the first light source, the illumination light is used to illuminate the release film and the printing space, and the image acquisition device is used to receive the light formed by the illumination light passing through the formed material in the printing space and the release film and generate a target image;

[0007] The controller is configured to identify the release state of the formed material on the target image during the separation process of the release film and the printing base to obtain a release state, wherein the release state is used to indicate the separation state of the formed material and the release film.

[0008] In a possible implementation manner, the target image is obtained with the release film as a focus plane, and the controller is configured as follows:

[0009] During the separation process of the release film and the printing base, a clarity detection is performed on an image area corresponding to the formed material in the target image to obtain a clarity detection result;

[0010] The release state is generated based on the clarity detection result. If the clarity detection result indicates that the clarity of the image area of ​​the formed material is lower, it means that the separation interval between the formed material and the release film is larger.

[0011] In a possible implementation manner, the target image is obtained with the release film as a focus plane, and the controller is configured as follows:

[0012] During the separation process of the release film and the printing base, performing image segmentation on the target image to obtain an image segmentation result, wherein the image segmentation result includes image contour information corresponding to the formed material;

[0013] The release state is generated based on comparison information between the image contour information and the target graphic information corresponding to the formed material. If the comparison information indicates that the difference between the image contour information and the target graphic information satisfies a preset difference condition, it indicates that the formed material is separated from the release film.

[0014] In a possible implementation manner, the device further comprises a second light source for providing curing light, wherein the curing light is used to irradiate the moldable material on the printing base and solidify the moldable material;

[0015] The wavelength band of the irradiation light provided by the first light source is an insensitive wavelength band of the moldable material.

[0016] In a possible implementation manner, the device further includes a second moving device, the second moving device is drivingly connected to the printing base, and the second moving device can drive the printing base away from or close to the release film;

[0017] The controller is further configured to: in response to the moldable material being solidified into a molded material, trigger a separation process and control the second moving device to drive the printing base away from the release film.

[0018] In a possible implementation manner, the device further includes a first leveling mechanism, the first leveling mechanism is drivingly connected to the release film, and the release film has a plurality of release film marks;

[0019] The controller is configured to: acquire a release film image acquired by the image acquisition device during a process of controlling the first leveling mechanism to level the release film, the release film image being formed based on the illumination light irradiated to the release film, and the release film image at least including an image corresponding to at least one of the plurality of release film marks; monitor the release film mark positions of each of the plurality of release film marks according to the release film image, and determine a first leveling parameter corresponding to the release film based on the monitored positions of each of the release film marks; and control the first leveling mechanism to level the release film based on the first leveling parameter.

[0020] In a possible implementation manner, the device further comprises a second leveling mechanism, the second leveling mechanism is drivingly connected to the printing base, and the printing base has a plurality of base markings;

[0021] The controller is configured to: acquire a base image acquired by the image acquisition device during the process of controlling the second leveling mechanism to level the printing base, wherein the printing base is formed based on the illumination light irradiated to the printing base, and the printing base at least includes an image corresponding to at least one of the multiple base marks; monitor the base mark positions of each of the multiple base marks according to the base image, and determine a second leveling parameter corresponding to the printing base based on the monitored positions of each of the base marks; and control the second leveling mechanism to level the printing base based on the second leveling parameter.

[0022] In a possible implementation, the device further includes a material pool for accommodating the moldable material, the material pool is located below the printing base and the printing base can extend into the material pool, and the image acquisition device and the material pool are respectively located on different sides of the molding surface of the printing base.

[0023] In a possible implementation manner, the target image is obtained with the release film as a focus plane, and the controller is configured as follows:

[0024] In a state where the release film and the formed material are not separated, performing shape detection on the formed material based on the target image to obtain a shape detection result;

[0025] Based on the comparison information between the shape detection result and the target graphic information corresponding to the formed material, a forming abnormality detection result is generated.

[0026] On the other hand, a 3D printing method is provided, which is applied to a 3D printing device, wherein the 3D printing device includes a release film, a printing base, an image acquisition device, a first light source for providing illumination light, and a controller; the release film is located above the printing base, and a printing space is formed between the release film and the printing base, and the printing space is used to fill a moldable material; the release film can transmit the illumination light provided by the first light source, and the illumination light is used to irradiate the release film and the printing space, and the image acquisition device is used to receive the light formed by the illumination light after passing through the molded material in the printing space and the release film and generate a target image; the method includes:

[0027] During the separation process of the release film and the printing base, the release state of the formed material is identified on the target image to obtain a release state, and the release state is used to indicate the separation state of the formed material and the release film.

[0028] On the other hand, a 3D printing controller is provided, which is applied to a 3D printing device, wherein the 3D printing device comprises a release film, a printing base, an image acquisition device, a first light source for providing illumination light, and a controller; the release film is located above the printing base, a printing space is formed between the release film and the printing base, and the printing space is used to fill a moldable material; the release film can transmit the illumination light provided by the first light source, and the illumination light is used to irradiate the release film and the printing space, and the image acquisition device is used to receive the light formed by the illumination light after passing through the molded material in the printing space and the release film and generate a target image;

[0029] The controller is configured to identify the release state of the formed material on the target image during the separation process of the release film and the printing base to obtain a release state, wherein the release state is used to indicate the separation state of the formed material and the release film.

[0030] On the other hand, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the 3D printing method as described above.

[0031] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the 3D printing method as described above.

[0032] On the other hand, a computer program product or a computer program is provided, which includes computer instructions, which implement the 3D printing method as described above when executed by a processor.

[0033] The 3D printing device, method, controller, storage medium, computer program, and computer program product provided by this application have the following technical effects:

[0034] The 3D printing device of the present application is provided with an image acquisition device and a first light source for providing illumination light, and can illuminate the release film and the printing space through an illumination light beam during the printing process, and collect a target image formed after the illumination light passes through the formed material and the release film. Furthermore, in the process of separating the release film from the printing base, the separation state of the release film and the formed material can be judged by identifying the release state of the target image. The separation effect can be monitored in real time during the printing process, and abnormalities such as failure to release can be discovered in time and the printing work can be terminated. Automatic detection of printing abnormalities can be achieved without changing the main printing components in the 3D printing device, thereby reducing missed detections and delays in problem handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 It is a structural schematic diagram of a 3D printing device provided in an embodiment of the present application;

[0037] Figure 2 It is a process principle diagram of a 3D printing process provided by an embodiment of the present application;

[0038] Figure 3 A target image collected during the separation process of a set of release films and a printing base provided in an embodiment of the present application;

[0039] Figure 4 is another set of target images collected during the separation process of the release film and the printing base provided in an embodiment of the present application;

[0040] Figure 5 This is a structural principle diagram of a release film leveling device for a 3D printing device provided in an embodiment of the present application;

[0041] Description of the drawings: 101-image acquisition device, 102-first light source, 103-second light source, 104-release film, 105-printing base, 106-material pool, 107-first lens group, 108-first beam splitter, 109-processing lens, 110-second lens group, 111-second beam splitter, 112-third lens group, 113-base, 114-printing space, 115-molded material, 116-first mark, 117-second mark, 118-third mark. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server comprising a series of steps or submodules is not necessarily limited to those steps or submodules clearly listed, but may include other steps or submodules that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] The following is combined with Figure 1-5 A 3D printing device provided in an embodiment of the present application is introduced, and the device includes a release film 104, a printing base 105, an image acquisition device 101, a first light source 102 for providing illumination light, and a controller.

[0045] In the present application examples, reference Figure 1 and Figure 2 , the release film 104 is located above the printing base 105, and a printing space 114 is formed between the release film 104 and the printing base 105, and the printing space 114 is used to fill the moldable material. The moldable material refers to a liquid material that can react to form a solidified layer under the action of curing light, such as resin. The release film 104 is used to provide a flat and stable printing surface, which helps to obtain a better printing effect. The printing space 114 refers to the space formed between the release film 104 and the molding surface of the printing base 105, or the space formed between the release film 104 and the molded material 115 on the molding surface; the molding surface refers to the working area surface of the printing base 105 for curing the moldable material. In the 3D printing process, the layer thickness is controlled by controlling the distance between the molding surface of the printing base 105 and the release film 104, and the distance between the molded material 115 on the molding surface and the release film 104, and the moldable material is filled in the printing space 114, and layer-by-layer printing is achieved after light curing.

[0046] In the present application examples, reference Figure 1 and Figure 2The release film 104 can transmit the illumination light provided by the first light source 102, and the illumination light is used to illuminate the release film 104 and the printing space 114. The image acquisition device 101 is used to receive the light formed by the illumination light passing through the formed material 115 and the release film 104 in the printing space 114 and generate a target image. The illumination light illuminates the effective printing area on the printing base 105, and the generated target image includes at least a part of the release film 104 and the image area corresponding to the formed material 115, so as to present the connection or separation state between the formed material 115 and the release film 104.

[0047] In the embodiment of the present application, the device also includes a material pool 106 for accommodating a moldable material, the material pool 106 is located below the printing base 105 and the printing base 105 can extend into the material pool 106. During the printing process, the material pool 106 is filled with liquid moldable material, the printing base 105 can extend into the liquid moldable material in the material pool 106, and a thin layer of moldable material is formed in the printing space 114 between the printing base 105 and the release film 104, and then cured into a preset pattern after being irradiated with curing light. Specifically, the image acquisition device 101 and the material pool 106 are respectively located on different sides of the molding surface of the printing base 105. In this way, the illumination light for imaging during the image acquisition process does not need to pass through the material pool 106, which reduces the image acquisition condition requirements and the transmittance requirements of the material pool 106 and the moldable material, and improves the image clarity and accuracy. In a preferred embodiment, the image acquisition device 101 is located above the molding surface of the printable base 105, and the material pool 106 is located below the molding surface to reduce the layout complexity of the optical path components such as the lens group and the beam splitter, and improve the imaging accuracy. In some embodiments, the device also includes a base 113, located below the material pool 106, for supporting the material pool 106 and other components.

[0048] In some embodiments, reference Figure 1A first lens group 107, a first beam splitter 108 and a processing lens 109 are arranged between the first light source 102 and the release film 104, a second lens group 110 is arranged between the image acquisition device 101 and the release film 104, the first lens group 107, the first beam splitter 108 and the processing lens 109 are located in a first optical path L1 between the first light source 102 and the release film 104, and the processing lens 109, the first beam splitter 108 and the second lens group 110 are located in a second optical path L2 between the image acquisition device 101 and the release film 104. The illumination light is processed by the first lens group 107 to improve the beam stability and luminosity of the illumination light and remove stray light. The first lens group 107 and the first beam splitter 108 are arranged on the same optical axis, the first beam splitter 108 and the processing lens 109 are arranged on the same optical axis, and the second lens group 110 and the image acquisition device 101 are arranged on the same optical axis. The illumination light is emitted to the processing lens 109 after passing through the first lens group 107 and the first beam splitter 108, and is projected to the release film 104 and the printing space 114 after passing through the processing lens 109. Then, the illumination light is reflected by the release film 104 and the formed material 115 in the printing space 114 to form a beam with the characteristics of the formed material 115, and is focused to the image acquisition device 101 after passing through the processing lens 109, the first beam splitter 108 and the second lens group 110 to generate a target image. The second lens group 110 can improve the brightness of the field of view of the image acquisition device 101, and the imaging clarity and accuracy of the formed material 115.

[0049] In the present application examples, reference Figure 1 The device further includes a second light source 103 for providing curing light, and the curing light is used to irradiate the moldable material on the printing base 105 and solidify the moldable material. Specifically, the curing light is a spot beam light or projection light that can solidify the moldable material, such as laser, ultraviolet projection light, etc. When the curing light is projection light, the curing light carries the target pattern of the layer to be printed.

[0050] In some embodiments, reference Figure 1 , a third lens group 112 and a second beam splitter 111 are arranged between the second light source 103 and the release film 104, and the third lens group 112, the second beam splitter 111 and the processing lens 109 are located in the third optical path L3 between the second light source 103 and the release film 104. During the printing process, the curing light is projected to the processing lens 109 after passing through the third lens group 112 and the second beam splitter 111, and then projected to the printing space 114 to solidify the moldable material and complete the printing of the to-be-printed layer. Accordingly, the wavelength band of the irradiation light provided by the first light source 102 is a non-sensitive wavelength band of the moldable material, such as yellow light, red light, etc.; in this way, the optical crosstalk to the curing and molding of the material during the printing process is avoided, and the 3D printing monitoring is realized while ensuring the printing effect.

[0051] In some embodiments, the optical path of the curing light and the optical path of the illumination light are at least partially the same. Specifically, the optical path of the curing light and the optical path of the illumination light are at least partially projected to the release film 104 and the printing space 114 through the optical path of the processing lens 109. After the illumination light is reflected by the release film 104 and the molded material 115 in the printing space 114, the light beam carrying the characteristics of the molded material 115 is projected to the image acquisition device 101 after passing through the processing lens 109, the second beam splitter 111, the first beam splitter 108 and the second lens group 110. The light reflected by the release film 104, the printing base 105 or the molded material 115 can also be projected to the image acquisition device 101 after passing through the processing lens 109, the second beam splitter 111, the first beam splitter 108 and the second lens group 110.

[0052] In some cases, before executing the printing operation, the curing light is imaged by the image acquisition device 101, and the system debugging is performed based on the obtained curing light image, and then the printing operation is performed. Among them, the system debugging may include but is not limited to optical imaging quality detection, graphic direction adjustment, graphic detection, etc. The optical imaging quality detection refers to determining the focus state, resolution, etc. of the curing light based on the recognition and detection of the curing light image, the image direction adjustment refers to recognizing the position and direction of the projected curing light graphic relative to the printing base 105 based on the curing light image, and then realizing the direction adjustment of the graphic, and the graphic detection refers to recognizing the actual projected graphic of the curing light based on the curing light image, and then judging whether the actual projected graphic is consistent with the target graphic. It can be understood that the above-mentioned system debugging can be performed based on independent image recognition results, or can be realized based on the recognition and detection results of the same curing light image.

[0053] In some embodiments, the device further includes a second moving device, which is in transmission connection with the printing base 105, and can drive the printing base 105 away from or close to the release film 104; the second moving device is electrically connected to the controller, and the controller controls the movement of the second moving device to drive the printing base 105 to move. Accordingly, the controller is further configured to: in response to the solidification of the moldable material into the molded material 115, trigger the separation process and control the second moving device to drive the printing base 105 away from the release film 104, so as to form a printing space 114 between the surface of the molded material 115 and the release film 104. In this way, by setting the second moving device to be linked with the printing base 105, precise automatic control of the release and layer thickness during the printing process is achieved.

[0054] It can be understood that the 3D printing process is to manufacture the target object by accumulating materials layer by layer, that is, to cut the three-dimensional model of the target object into a series of thin layers, each layer corresponding to a cross section in the printing process. Specifically, after the printing base 105 is controlled to extend into the material pool 106 and form a thin layer of moldable material between the release film 104, a thin layer is printed through curing light curing, and then the separation process of the molded material 115 on the printing base 105 and the release film 104 is triggered to perform the process of releasing the film after the printing of the layer, refer to Figure 2 During this process, the release film 104 is fixed, and the second moving device drives the printing base 105 to move downward and separate the surface of the formed material 115 from the release film 104, forming a printing space 114 for the next layer, so as to facilitate the execution of the printing operation of the next layer.

[0055] Accordingly, the controller is configured to perform a release state recognition of the formed material 115 on the target image during the separation process of the release film 104 and the printing base 105, and obtain a release state, which is used to indicate the separation state of the formed material 115 and the release film 104, including the successful separation of the formed material 115 and the release film 104, and the unsuccessful separation of the formed material 115 and the release film 104. In this way, combined with the setting of the illumination light and the image acquisition device 101, the release state recognition based on the target image is realized, and the separation effect of the release film 104 and the formed material 115 can be monitored in real time during the printing process, and abnormalities such as unsuccessful separation can be discovered in time and the printing work can be terminated, so as to realize the automatic detection of printing abnormalities without changing the main printing components in the 3D printing device, and reduce missed detection and problem handling delays.

[0056] In some embodiments, the target image is obtained with the release film 104 as the focal plane. It can be understood that after each cross-sectional thin layer is cured, the formed material 115 abuts against the release film 104, and the formed material 115 is located on the focal plane of the image acquisition, and is clearly imaged in the acquired target image. The corresponding region of the formed material 115 with a clear shape and contour is identified as a reference. Figure 3 and Figure 4 In the separation process, if it is recognized that the shape of the formed material 115 area is inconsistent with the target pattern, and / or the shape contour of the formed material 115 area is blurred, it indicates that the formed material 115 is gradually blurred in the collected target image, thereby indicating that the formed material 115 is away from the focal plane and is successfully separated from the release film 104, refer to Figure 3 In the separation process, if it is recognized that at least part of the target image has been formed in the material 115 area still has a clear outline, and / or the shape of the formed material 115 area is consistent with the target image, reference Figure 4The second and third figures from the left indicate that the formed material 115 and the release film 104 are not separated successfully, and the separation is determined to be abnormal, thereby generating a warning message or stopping the printing operation.

[0057] In some embodiments, the controller is specifically configured to: during the separation process of the release film 104 and the printing base 105, perform a clarity detection on the image area corresponding to the formed material 115 in the target image to obtain a clarity detection result; generate a release state based on the clarity detection result, if the clarity detection result indicates that the lower the clarity of the image area of ​​the formed material 115, the larger the separation interval between the formed material 115 and the release film 104, and vice versa. It can be understood that during the process of controlling the movement of the printing base 105 away from the release film 104, if the clarity detection result indicates that the clarity of the image area of ​​the formed material 115 is lower than a preset value, and / or the clarity of the image area gradually decreases, it is determined that the formed material 115 is successfully separated from the release film 104; if the clarity detection result indicates that at least part of the image area of ​​the formed material 115 is higher than the preset value, and / or the clarity of the image area remains unchanged, it is determined that the formed material 115 is not successfully separated from the release film 104.

[0058] The above-mentioned clarity detection is used to evaluate the visibility of the edge of the formed material 115 in the image. In one embodiment, an edge detection-based algorithm is used for clarity detection. The edge contour position of the formed material 115 in the target image is first located based on the pixel gradient of the image, and the clarity detection result is determined by the gradient value of the edge contour, wherein the higher the gradient value of the edge, the higher the clarity value corresponding to the clarity detection result, and vice versa. In another embodiment, the target image is converted to the frequency domain, such as converting the image from the spatial domain to the frequency domain through Fourier transform, and the clarity of the image area corresponding to the formed material 115 is determined based on the energy distribution of the frequency domain image. The higher the energy and the more concentrated the distribution, the higher the image clarity, and vice versa. In another embodiment, a deep learning algorithm is trained based on sample images and sample clarity labels to learn the relationship between image features and clarity, and obtain a clarity recognition model, and then the target image is input into the clarity recognition model for clarity detection to obtain a clarity detection result. In this way, the image clarity and clarity change of the formed material 115 during the film separation process are determined through clarity detection, thereby reducing the complexity of separation state judgment and improving state recognition efficiency.

[0059] In some other embodiments, during the separation process of the release film 104 and the printing base 105, the target image is segmented to obtain an image segmentation result, which includes image contour information corresponding to the formed material 115; based on the comparison information of the image contour information and the target graphic information corresponding to the formed material 115, the release state is generated; accordingly, if the comparison information indicates that the difference between the image contour information and the target graphic information meets the preset difference condition, it indicates that the formed material 115 is separated from the release film 104, otherwise, it indicates that the separation is unsuccessful. In this way, the image contour of the formed material 115 during the separation process is determined by image segmentation, and then the separation state is determined by comparing the result with the target pattern, which can improve the accuracy of the determination of the separation state. The image segmentation of the target image is realized based on an image segmentation model, which is obtained by constraining the initial segmentation model with sample images and sample image segmentation labels as training data, sample images as inputs of the initial segmentation model, and sample image segmentation labels as expected outputs, and image segmentation is constrained.

[0060] In some cases, the target graphic information indicates the target graphic that the molded material 115 in the current thin layer needs to be molded, that is, the pattern carried by the projection type curing light, which can be obtained from the pre-stored 3D printing information. When the release film 104 is in contact with the molded material 115, the image area of ​​the molded material 115 is in a focused state, and the image contour corresponding to the image contour information is consistent with the target graphic corresponding to the target graphic information or the shape similarity is higher than the first preset similarity; when the release film 104 is successfully separated from the molded material 115, the image area of ​​the molded material 115 is in a non-focused state, and the corresponding image contour is blurred, forming a significant difference with the target graphic. Accordingly, if the similarity between the image contour information indicated by the comparison information and the target graphic information is lower than the second preset similarity, it indicates that the preset difference condition is met and the separation is determined to be successful. Otherwise, it indicates that the separation is unsuccessful. Among them, the second preset similarity can be consistent with the first preset similarity, or lower than the first preset similarity. In this way, the image contour is compared with the pre-stored target pattern to improve the efficiency of separation state recognition.

[0061] In other cases, the target graphic information indicates the target contour information obtained based on image segmentation in the target image obtained when the formed material 115 is in contact with the release film 104, that is, the contour of the formed material 115 under clear imaging is used as the reference graphic. During the separation process, if the similarity between the detected image contour information and the target contour information is lower than the second preset similarity, it indicates that the preset difference condition is met and the separation is determined to be successful. Otherwise, it indicates that the separation is unsuccessful. In this way, the image shape is compared with the actual pattern of the formed material 115 in the unseparated state to improve the accuracy of separation state recognition.

[0062] It can be understood that the preset difference condition may also be satisfied when the shape corresponding to the image contour information is inconsistent with the target graphic corresponding to the target graphic information. On the contrary, if the shapes are consistent, the preset difference condition is not satisfied.

[0063] It can be understood that the image contour information of the formed material 115 in the target image can also be executed through the aforementioned edge detection-based algorithm, frequency domain conversion method or other contour detection methods, such as locating the edge contour position of the formed material 115 in the target image based on the pixel gradient of the image, and then comparing it with the target graphic information corresponding to the formed material 115.

[0064] Based on some or all of the above embodiments, in some embodiments, the controller is further configured to: when the release film 104 and the formed material 115 are not separated, perform shape detection of the formed material 115 based on the target image to obtain a shape detection result; generate a forming abnormality detection result based on the comparison information of the shape detection result and the target graphic information corresponding to the formed material 115, and the forming abnormality detection result is used to indicate whether the shape of the formed material 115 of the current layer is abnormal. In this way, the combination of the image acquisition device 101 and the illumination light can not only realize separation detection, but also can evaluate the printing effect before separation and identify printing abnormalities in time.

[0065] Specifically, similar to the identification of the release state of the target image, the shape detection here can obtain the shape detection result based on the edge detection algorithm, the frequency domain conversion method, the image segmentation algorithm, etc. The shape detection result indicates the image pattern corresponding to the formed material 115, and the target graphic information indicates the target graphic that the formed material 115 needs to be formed in the current thin layer. If the comparison information indicates that the similarity between the image graphic corresponding to the formed material 115 and the target graphic is lower than the third preset similarity, it indicates that the shape of the formed material 115 is abnormal, that is, the printing result is abnormal, and the printing is suspended; if the comparison information indicates that the similarity between the image graphic corresponding to the formed material 115 and the target graphic is higher than the third preset similarity, it is determined that the shape of the formed material 115 is normal, that is, the printing result is normal, and the separation operation of the release film 104 and the formed material 115 is triggered.

[0066] Based on some or all of the above embodiments, in some embodiments, the device further includes a first leveling mechanism, the first leveling mechanism is in transmission connection with the release film 104, and the release film 104 has a plurality of release film marks. Accordingly, the controller is configured to: in the process of controlling the first leveling mechanism to level the release film 104, obtain a release film image acquired by the image acquisition device 101, the release film image is formed based on the illumination light irradiated to the release film 104, and the release film image at least includes an image corresponding to at least one of the plurality of release film marks; monitor the release film mark positions of the plurality of release film marks according to the release film image, and determine the first leveling parameter corresponding to the release film 104 based on the monitored positions of the release film marks; and control the first leveling mechanism based on the first leveling parameter to perform leveling processing on the release film 104. The release film image here is an image including a clear release film mark area, and the release film mark position refers to the focal plane position corresponding to the release film mark in a clear imaging state. In this way, positioning and leveling of the release film 104 are performed in combination with a plurality of release film marks and the image acquisition device 101 , which can improve positioning efficiency and leveling accuracy.

[0067] Specifically, the multiple release film marks include at least three non-collinear release film marks, and the three non-collinear release film marks are clearly imaged respectively, and the focal plane positions corresponding to the release film marks are identified for the obtained release film images, and the obtained mark focal plane positions are determined as the release film mark positions, and then the first leveling parameters are generated based on the release film mark positions of the non-collinear release film marks, and the first leveling parameters are used to level the inclined release film 104.

[0068] Specifically, the focal plane position can be the height of the focal plane relative to a preset zero plane. In some embodiments, the preset zero plane can be a plane of a preset height. In other embodiments, each release film mark includes a fixed mark, which refers to a release film mark whose height remains fixed during the leveling process. The preset zero plane can be the focal plane corresponding to the fixed mark.

[0069] In some embodiments, the first leveling mechanism can at least drive the release film 104 to swing, so as to perform swing adjustment based on the first leveling parameter, thereby adjusting the inclination angle of the release film 104, so that the release film 104 meets the horizontality requirement. Specifically, the first leveling mechanism includes a first swinging device, which can drive the release film 104 to swing around at least one in-plane direction of the release film 104, so as to adjust the inclination angle of the release film 104.

[0070] In some embodiments, the first leveling mechanism can also drive the release film 104 to move horizontally, so that the release film mark can be moved to the first target mark position, so as to perform clear imaging and positioning of the release film mark. By moving the release film mark to the first target mark position and then focusing the release film mark and capturing the release film image, the image capture conditions of each mark can be unified, thereby improving the accuracy of determining the focal plane position and reducing the calculation complexity of the first leveling parameter.

[0071] Specifically, the first leveling mechanism includes a first translation device, which can drive the release film 104 to move in translation. The first translation device can at least drive the release film 104 to move along the X-axis and the Y-axis respectively, so as to drive the release film 104 to move along the X-axis and the Y-axis, so as to facilitate the alignment of the release film mark with the first target mark position. In some cases, the position of the first target mark position can be a virtual mark position, and its position is a pre-stored first plane coordinate position; the controller is configured to determine a movement trajectory based on the current plane coordinate position and the first plane coordinate position of the release film mark, and control the first translation device to move the release film mark to the first plane coordinate position based on the movement trajectory. Exemplarily, the first plane coordinate position can be the center of the field of view of the image acquisition device 101. In other cases, the first target mark position can be formed by curing light irradiation, such as a light spot formed by curing light irradiation; the controller is configured to obtain a release film image including a release film mark and a first target mark position, identify the position of the release film mark and the position of the first target mark position in the release film image, determine a movement trajectory according to the position of the release film mark and the position of the first target mark position, and control the first translation device to move the release film mark to align with the first target mark position based on the movement trajectory, so that the release film mark and the target mark coincide.

[0072] It can be understood that when the inclination angle of the release film 104 plane is not 0, the focal plane positions of multiple non-coplanar release film marks are located at different heights, and the focusing heights required for clear imaging of each release film mark are also different; based on the focal plane positions of each release film mark, the height difference between each release film mark can be determined, and then the first leveling parameter is generated through the height difference.

[0073] Accordingly, in some embodiments, the image focusing of the release film mark is achieved by adjusting the focal length of the image acquisition device 101, and the focal plane position of the release film mark is determined based on the focusing parameters of the focal length adjustment to obtain the release film mark position; the controller is configured to: for each release film mark, after the release film mark moves to align with the first target mark position, control the image acquisition device 101 to adjust the focal length to obtain a release film image including a clear release film mark, and determine the focal plane position corresponding to the release film mark based on the focusing parameters used when obtaining the release film image of the clear release film mark. In some other embodiments, the 3D printing device further includes a first moving device that is transmission-connected to the release film 104, and can drive the release film 104 to move up and down in the longitudinal direction, so as to adjust the longitudinal position of the release film 104; the image focusing of the release film mark is achieved by adjusting the longitudinal position of the release film 104; the controller is configured to: for each release film mark, after the release film mark moves to align with the first target mark position, control the first moving device to drive the release film 104 to move in the longitudinal direction, and simultaneously obtain the release film image including the release film mark, until a clear release film image of the release film mark is obtained, and determine the focal plane position of the release film mark based on the movement parameters of the first moving device in the above process. It can be understood that the release film mark can also be focused in combination with the focal length adjustment of the first moving device and the image acquisition device 101, and the focal plane position can be calculated in combination with the adjustment height of the first moving device and the focal length adjustment parameters of the image acquisition device 101.

[0074] After determining the focal plane positions of at least three non-collinear release film marks, the height of each release film mark point can be adjusted based on the height difference between each focal plane position until each focal plane position is adjusted to be coplanar, so as to achieve leveling of the release film 104. In some embodiments, the controller is configured to: determine the current tilt angle and tilt direction of the release film 104 based on the height difference between each focal plane position, and determine the swing parameter of the first swing device based on the tilt angle and the tilt direction, and control the release film 104 to swing to level based on the swing parameter. In other embodiments, the controller is configured to: determine the height adjustment value of each release film mark based on the height difference between each focal plane, and each height adjustment value is used to adjust each release film mark to the same height; based on the height adjustment value, control the first swing device to adjust the height of each release film mark until the release film 104 is leveled.

[0075] In some embodiments, the first leveling mechanism may further include a first rotating device, which can drive the release film 104 to rotate around its axial direction (Z-axis direction) to adjust the relative position of the release film 104 and the material pool 106. By providing the first translation device, the first swing device and the first rotating device, the position of the release film 104 can be precisely controlled to meet the printing requirements.

[0076] Based on some or all of the above embodiments, in some embodiments, the device further includes a second leveling mechanism, the second leveling mechanism is in transmission connection with the printing base 105, and the printing base 105 has a plurality of base marks; accordingly, the controller is configured to: in the process of controlling the second leveling mechanism to level the printing base 105, obtain the base image captured by the image acquisition device 101, the printing base 105 is formed based on the illumination light irradiated to the printing base 105, and the printing base 105 includes at least an image corresponding to at least one of the plurality of base marks; monitor the base mark positions of the plurality of base marks according to the base image, and determine the second leveling parameter corresponding to the printing base 105 based on the monitored base mark positions; and control the second leveling mechanism to perform leveling processing on the printing base 105 based on the second leveling parameter. In this way, the positioning and leveling of the base is performed in combination with the plurality of base marks and the image acquisition device 101, which can improve the positioning efficiency and the leveling accuracy; and, through the first leveling device, the second leveling device, the image acquisition device 101 and the illumination light, the posture adjustment of the two components is decoupled, and the plane adjustment accuracy is further improved and the maintenance difficulty is reduced.

[0077] Specifically, the multiple base marks include at least three non-collinear base marks, and the three non-collinear base marks are clearly imaged respectively, and the focal plane positions corresponding to the base marks are identified for the obtained base images, and the obtained mark focal plane positions are determined as the base mark positions, and then the second leveling parameters are generated based on the base mark positions of the non-collinear base marks, and the second leveling parameters are used to level the inclined printing base 105.

[0078] Specifically, the focal plane position can be the height of the focal plane relative to a preset zero plane. In some embodiments, the preset zero plane can be a plane of a preset height. In other embodiments, each base mark includes a fixed mark, which refers to a base mark whose height remains fixed during the leveling process. The preset zero plane can be the focal plane corresponding to the fixed mark.

[0079] In some embodiments, the second leveling mechanism can at least drive the printing base 105 to swing, so as to perform swing adjustment based on the second leveling parameter, thereby adjusting the inclination angle of the printing base 105, so that the printing base 105 meets the horizontality requirement. Specifically, the second leveling mechanism includes a second swing device, which can drive the printing base 105 to swing around at least one in-plane direction of the printing base 105, so as to adjust the inclination angle of the printing base 105.

[0080] In some embodiments, the second leveling mechanism can also drive the printing base 105 to move horizontally, so that the base mark can be moved to the second target mark position, so as to perform clear imaging and positioning of the base mark. By moving the base mark to the second target mark position and then performing base mark focusing and base image acquisition, the image acquisition conditions of each mark can be unified, thereby improving the accuracy of focal plane position determination and reducing the calculation complexity of the second leveling parameter. Specifically, the first target mark position can be coaxial with the second target mark, or it can be non-coaxial.

[0081] Specifically, the second leveling mechanism includes a second translation device, which can drive the printing base 105 to move horizontally. The second translation device can at least drive the printing base 105 to move along the X-axis and the Y-axis respectively, so as to drive the printing base 105 to move along the X-axis and the Y-axis, so as to facilitate the alignment of the base mark with the second target mark position. In some cases, the position of the second target mark position can be a virtual mark position, and its position is a pre-stored second plane coordinate position. The second target plane position can be coaxial with the first target plane position or not; the controller is configured to determine the movement trajectory based on the current plane coordinate position and the second plane coordinate position of the base mark, and control the second translation device to move the base mark to the second plane coordinate position based on the movement trajectory. Exemplarily, the second plane coordinate position can be the center of the field of view of the image acquisition device 101. In other cases, the second target mark position can be formed by curing light irradiation, such as a light spot formed by curing light irradiation; the controller is configured to obtain a base image including the base mark and the second target mark position, identify the position of the base mark and the position of the second target mark position in the base image, determine the movement trajectory according to the position of the base mark and the position of the second target mark position, and control the second translation device to move the base mark to align with the second target mark position based on the movement trajectory so that the base mark and the target mark coincide.

[0082] It can be understood that, when the inclination angle of the plane of the printing base 105 is not 0, the focal plane positions of multiple non-coplanar base marks are located at different heights, and the focusing heights required for clear imaging of each base mark are also different; based on the focal plane positions of each base mark, the height difference between each base mark can be determined, and then the second leveling parameter is generated through the height difference.

[0083] Accordingly, in some embodiments, the image focusing of the base mark is achieved by adjusting the focal length of the image acquisition device 101, and the focal plane position of the base mark is determined based on the focusing parameters of the focal length adjustment to obtain the base mark position; the controller is configured to: for each base mark, after the base mark moves to align with the second target mark position, control the image acquisition device 101 to adjust the focal length to obtain a base image including a clear base mark, and determine the focal plane position corresponding to the base mark based on the focusing parameters used when obtaining the base image of the clear base mark. In some other embodiments, the 3D printing device further includes a second moving device that is transmission-connected to the printing base 105, and can drive the printing base 105 to move up and down in the longitudinal direction, so as to adjust the longitudinal position of the printing base 105; the image focusing of the base mark is achieved by adjusting the longitudinal position of the printing base 105; the controller is configured to: for each base mark, after the base mark moves to align with the second target mark position, control the second moving device to drive the printing base 105 to move in the longitudinal direction, and simultaneously obtain a base image including the base mark, until a base image with a clear base mark is obtained, and determine the focal plane position of the base mark based on the movement parameters of the second moving device in the above process. It can be understood that the focusing of the base mark can also be combined with the focal length adjustment of the second moving device and the image acquisition device 101, and the focal plane position can be calculated in combination with the adjustment height of the second moving device and the focal length adjustment parameters of the image acquisition device 101.

[0084] After determining the focal plane positions of at least three non-collinear base marks, the height of each base mark point can be adjusted based on the height difference between each focal plane position until each focal plane position is adjusted to be coplanar, so as to achieve the leveling of the printing base 105. In some embodiments, the controller is configured to: determine the current tilt angle and tilt direction of the printing base 105 based on the height difference between each focal plane position, and determine the swing parameters of the second swing device based on the tilt angle and the tilt direction, and control the printing base 105 to swing to leveling based on the swing parameters. In other embodiments, the controller is configured to: determine the height adjustment value of each base mark based on the height difference between each focal plane, and each height adjustment value is used to adjust each base mark to the same height; based on the height adjustment value, control the second swing device to adjust the height of each base mark until the printing base 105 is leveled.

[0085] In some embodiments, the second leveling mechanism may further include a second rotating device, which can drive the printing base 105 to rotate around its axial direction (Z-axis direction) to adjust the relative position of the printing base 105 and the material pool 106. By providing a second translation device, a second swing device, and a second rotating device, the position of the printing base 105 can be precisely controlled to meet printing requirements.

[0086] In an example, refer to Figure 5, the multiple print base 105 marks include a first mark 116, a second mark 117 and a third mark 118, wherein the first mark 116 is a fixed mark, and the second mark 117 and the third mark 118 are adjustable marks during the leveling process. The leveling process of the print base 105 may include: controlling the second translation device to drive the print base 105 to translate, so as to respectively move the first mark 116, the second mark 117 and the third mark 118 to align with the second target mark position, and in the aligned state, respectively perform focus adjustment on the first mark 116, the second mark 117 and the third mark 118 to respectively obtain a first target image including a clear image of the first mark 116, a second target image including a clear image of the second mark 117 and a third target image including a clear image of the third mark 118; determining the focal plane position corresponding to the first mark 116 based on the first target image, and determining the focal plane position as a preset zero plane; The focal plane position of the second mark 117 is determined based on the second target image and the preset zero plane, and is determined as the base mark position of the second mark 117. The focal plane position of the third mark 118 is determined based on the third target image and the preset zero plane, and is determined as the base mark position of the third mark 118. The second leveling parameter is determined based on the height difference between the base mark position of the second mark 117 and the preset zero plane, and based on the height difference between the base mark position of the third mark 118 and the preset zero plane. The second leveling parameter is used to instruct the second swing device to adjust the heights of the second mark 117 and the third mark 118 until the second mark 117 and the third mark 118 are flush with the first mark 116 with a fixed height, so as to achieve base leveling.

[0087] The following describes a 3D printing method provided by an embodiment of the present application. This specification provides method operation steps such as an embodiment or a flowchart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order of the method shown in the embodiment or the accompanying drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, the method is applied to a 3D printing device, which includes a release film 104, a printing base 105, an image acquisition device 101, a first light source 102 for providing illumination light, and a controller; the release film 104 is located above the printing base 105, and a printing space 114 is formed between the release film 104 and the printing base 105, and the printing space 114 is used to fill a moldable material; the release film 104 can pass through the illumination light provided by the first light source 102, and the illumination light is used to irradiate the release film 104 and the printing space 114, and the image acquisition device 101 is used to receive the light formed by the illumination light passing through the molded material 115 in the printing space 114 and the release film 104 and generate a target image; it may include S201: in the process of separating the release film 104 and the printing base 105, the release state of the molded material 115 is identified for the target image to obtain the release state, and the release state is used to indicate the separation state of the molded material 115 and the release film 104.

[0088] In some embodiments, the target image is obtained with the release film 104 as the focus plane, and S201 includes:

[0089] S2011: During the separation process of the release film 104 and the printing base 105, a clarity detection is performed on the image area corresponding to the formed material 115 in the target image to obtain a clarity detection result;

[0090] S2012 : generating a release state based on the clarity detection result. If the clarity detection result indicates that the clarity of the image area of ​​the formed material 115 is lower, it indicates that the separation interval between the formed material 115 and the release film 104 is larger.

[0091] In some other embodiments, the target image is obtained with the release film 104 as the focus plane, and S201 includes:

[0092] S2013: During the separation process of the release film 104 and the printing base 105, the target image is segmented to obtain an image segmentation result, wherein the image segmentation result includes image contour information corresponding to the formed material 115;

[0093] S2014: Based on the comparison information of the image contour information and the target graphic information corresponding to the formed material 115, a release status is generated. If the comparison information indicates that the difference between the image contour information and the target graphic information meets a preset difference condition, it indicates that the formed material 115 is separated from the release film 104.

[0094] In some embodiments, the device further comprises a second light source 103 for providing curing light, the curing light being used to irradiate the moldable material on the printing base 105 and cure the moldable material;

[0095] The wavelength band of the irradiation light provided by the first light source 102 is an insensitive wavelength band of the moldable material.

[0096] In some embodiments, the device further includes a second moving device, which is in transmission connection with the printing base 105, and the second moving device can drive the printing base 105 away from or close to the release film 104;

[0097] The method further includes S301 : in response to the moldable material being solidified into the molded material 115 , triggering a separation process and controlling the second moving device to drive the printing base 105 away from the release film 104 .

[0098] In some embodiments, the device further includes a first leveling mechanism, the first leveling mechanism is in transmission connection with the release film 104, and the release film 104 has a plurality of release film marks; the method further includes:

[0099] S401: in the process of controlling the first leveling mechanism to level the release film 104, obtaining a release film image acquired by the image acquisition device 101, wherein the release film image is formed based on the illumination light irradiated to the release film 104, and the release film image at least includes an image corresponding to at least one of the plurality of release film marks;

[0100] S403: monitoring the release film mark positions of the plurality of release film marks according to the release film image, and determining a first leveling parameter corresponding to the release film 104 based on the monitored positions of the release film marks; and controlling the first leveling mechanism to level the release film 104 based on the first leveling parameter.

[0101] In some embodiments, the device further includes a second leveling mechanism, the second leveling mechanism is in driving connection with the printing base 105, and the printing base 105 has a plurality of base marks; the method further includes:

[0102] S501: in the process of controlling the second leveling mechanism to level the printing base 105, obtaining a base image acquired by the image acquisition device 101, the printing base 105 is formed based on the illumination light irradiated to the printing base 105, and the printing base 105 at least includes an image corresponding to at least one of the plurality of base marks;

[0103] S503: Monitor the base mark positions of the multiple base marks according to the base image, and determine the second leveling parameter corresponding to the printing base 105 based on the monitored base mark positions; control the second leveling mechanism to level the printing base 105 based on the second leveling parameter.

[0104] In some embodiments, the device also includes a material pool 106 for accommodating moldable materials. The material pool 106 is located below the printing base 105 and the printing base 105 can extend into the material pool 106. The image acquisition device 101 and the material pool 106 are respectively located on different sides of the molding surface of the printing base 105.

[0105] In some embodiments, the target image is obtained by taking the release film 104 as the focus plane, and the method further includes:

[0106] S601: When the release film 104 and the formed material 115 are not separated, shape detection of the formed material 115 is performed based on the target image to obtain a shape detection result;

[0107] S603: Based on the comparison information between the shape detection result and the target graphic information corresponding to the formed material 115, a forming abnormality detection result is generated.

[0108] The embodiment of the present application also provides a 3D printing controller, which is applied to a 3D printing device. The 3D printing device includes a release film 104, a printing base 105, an image acquisition device 101, a first light source 102 for providing illumination light, and a controller; the release film 104 is located above the printing base 105, and a printing space 114 is formed between the release film 104 and the printing base 105, and the printing space 114 is used to fill a moldable material; the release film 104 can transmit the illumination light provided by the first light source 102, and the illumination light is used to irradiate the release film 104 and the printing space 114, and the image acquisition device 101 is used to receive the light formed by the illumination light passing through the molded material 115 in the printing space 114 and the release film 104 and generate a target image;

[0109] The controller is configured to identify the release state of the molded material 115 on the target image during the separation process of the release film 104 and the printing base 105 to obtain the release state, which is used to indicate the separation state of the molded material 115 and the release film 104.

[0110] It should be noted that the above-mentioned 3D printing device embodiments, method embodiments, and control embodiments are based on the same implementation method.

[0111] An embodiment of the present application provides an electronic device, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the 3D printing method provided in the above method embodiment.

[0112] The memory can be used to store software programs and modules. The processor executes various functional applications and abnormality detection by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0113] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to an abnormality detection method in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the 3D printing method provided by the above method embodiment.

[0114] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0115] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0116] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0117] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0118] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0119] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A 3D printing device, characterized in that: The device comprises a release film (104), a printing base (105), an image acquisition device (101), a first light source (102) for providing illumination light, a second light source (103) for providing curing light, a controller and a first moving device, wherein the first moving device is in transmission connection with the release film (104); The release film (104) is located above the printing base (105); a printing space (114) is formed between the release film (104) and the printing base (105); the printing space (114) is used to fill the moldable material; the curing light is used to irradiate the moldable material on the printing base (105) and solidify the moldable material; the wavelength band of the irradiation light provided by the first light source (102) is an insensitive wavelength band of the moldable material; The release film (104) is capable of transmitting illumination light provided by the first light source (102), the illumination light being used to illuminate the release film (104) and the printing space (114), and the image acquisition device (101) being used to receive light formed by the illumination light passing through the formed material (115) in the printing space (114) and the release film (104) and generate a target image; The controller is configured to identify the release state of the molded material (115) on the target image during the separation process of the release film (104) and the printing base (105), and obtain a release state, wherein the release state is used to indicate the separation state of the molded material (115) and the release film (104).

2. The device according to claim 1, characterized in that The target image is obtained with the release film (104) as the focus plane, and the controller is configured to: During the separation process of the release film (104) and the printing base (105), a clarity detection is performed on the image area corresponding to the formed material (115) in the target image to obtain a clarity detection result; The release state is generated based on the clarity detection result. If the clarity detection result indicates that the clarity of the image area of ​​the formed material (115) is lower, it indicates that the separation interval between the formed material (115) and the release film (104) is larger.

3. The device according to claim 1, characterized in that The target image is obtained with the release film (104) as the focus plane, and the controller is configured to: During the separation process of the release film (104) and the printing base (105), image segmentation is performed on the target image to obtain an image segmentation result, wherein the image segmentation result includes image contour information corresponding to the formed material (115); The release state is generated based on comparison information between the image contour information and target graphic information corresponding to the formed material (115); if the comparison information indicates that the difference between the image contour information and the target graphic information satisfies a preset difference condition, it indicates that the formed material (115) is separated from the release film (104).

4. The device according to any one of claims 1 to 3, characterized in that The device further comprises a second moving device, the second moving device being in driving connection with the printing base (105), and the second moving device being capable of driving the printing base (105) away from or close to the release film (104); The controller is further configured to: in response to the moldable material being solidified into a molded material (115), trigger a separation process and control the second moving device to drive the printing base (105) away from the release film (104).

5. The device according to any one of claims 1 to 3, characterized in that The device further comprises a first leveling mechanism, the first leveling mechanism being in transmission connection with the release film (104), the release film (104) having a plurality of release film marks thereon; The controller is configured to: acquire a release film image acquired by the image acquisition device (101) during a process of controlling the first leveling mechanism to level the release film (104), the release film image being formed based on the illumination light irradiated onto the release film (104), the release film image at least comprising an image corresponding to at least one of the plurality of release film marks; monitor the release film mark positions of each of the plurality of release film marks according to the release film image, and determine a first leveling parameter corresponding to the release film (104) based on the monitored positions of each of the release film marks; and control the first leveling mechanism to level the release film (104) based on the first leveling parameter.

6. The device according to claim 5, characterized in that The plurality of release film marks include at least three non-collinear release film marks, and the controller is configured to: Clearly image three non-collinear release film marks respectively, and identify the focal plane positions corresponding to the release film marks on the obtained release film images; The obtained marking focal plane position is determined as the release film marking position; A first leveling parameter is generated based on the release film mark positions of the non-collinear release film marks, wherein the first leveling parameter is used to level the inclined release film (104).

7. The device according to claim 5, characterized in that The first leveling mechanism can at least drive the release film (104) to swing, so as to perform swing adjustment based on the first leveling parameter, thereby achieving adjustment of the inclination angle of the release film (104).

8. The device according to claim 7, characterized in that The first leveling mechanism comprises a first swinging device, and the first swinging device can drive the release film (104) to swing around at least one release film (104) in a plane direction.

9. The device according to claim 5, characterized in that The first leveling mechanism comprises a first translation device capable of driving the release film (104) to move in translation.

10. The device according to claim 9, characterized in that The controller is configured to: Acquire a release film image including the release film mark and the first target mark position; Identifying a position of the release film mark and a position of the first target mark in the release film image, and determining a movement trajectory according to the position of the release film mark and the position of the first target mark; The first translation device is controlled to move the release film mark to align with the first target mark position based on the movement trajectory.

11. The device according to claim 10, characterized in that The controller is configured to: For each of the release film marks, after the release film mark moves to align with the first target mark position, controlling the image acquisition device (101) to adjust the focal length to obtain a release film image including a clear release film mark; The focal plane position corresponding to the release film mark is determined based on the focusing parameters used when obtaining a release film image with a clear release film mark.

12. The device according to claim 10, characterized in that The first moving device is capable of driving the release film (104) to perform lifting and lowering movement in the longitudinal direction, so as to adjust the longitudinal position of the release film (104).

13. The device according to claim 12, characterized in that The controller is configured to: For each of the release film marks, after the release film mark moves to align with the first target mark position, controlling the first moving device to drive the release film (104) to move longitudinally, and simultaneously acquiring a release film image including the release film mark, until a release film image with a clear release film mark is obtained; The focal plane position of the release film mark is determined based on the movement parameters of the first moving device in the above process.

14. The device according to claim 8, characterized in that The controller is configured to: Determining the current tilt angle and tilt direction of the release film (104) according to the height difference between the focal plane positions; determining a swing parameter of a first swing device based on the tilt angle and the tilt direction; The release film (104) is controlled to swing to level based on the swing parameter.

15. The device according to claim 8, characterized in that The controller is configured to: Determine a height adjustment value of each of the release film marks according to the height difference between the focal planes, and each of the height adjustment values ​​is used to adjust each of the release film marks to the same height; Based on the height adjustment value, the first swing device is controlled to adjust the height of each release film mark until the release film (104) is leveled.

16. The device according to any one of claims 1 to 3, characterized in that The device further comprises a second leveling mechanism, the second leveling mechanism being in driving connection with the printing base (105), the printing base (105) having a plurality of base markings; The controller is configured to: in the process of controlling the second leveling mechanism to level the printing base (105), obtain a base image captured by the image acquisition device (101), the printing base (105) being formed based on the illumination light irradiated onto the printing base (105), the printing base (105) at least comprising an image corresponding to at least one of the plurality of base marks; monitor the base mark positions of each of the plurality of base marks according to the base image, and determine a second leveling parameter corresponding to the printing base (105) based on the monitored base mark positions; The second leveling mechanism is controlled based on the second leveling parameter to perform leveling processing on the printing base (105).

17. The device according to claim 16, characterized in that The plurality of base marks include at least three non-collinear base marks, and the controller is configured to: Clearly imaging the three non-collinear base marks respectively, and identifying the focal plane positions corresponding to the base marks on the obtained base images; The obtained marking focal plane position is determined as the base marking position; A second leveling parameter is generated based on the base mark positions of the non-collinear base marks, and the second leveling parameter is used to level the tilted printing base (105).

18. The device according to claim 16, characterized in that The second leveling mechanism is capable of at least driving the printing base (105) to swing, so as to perform swing adjustment based on the second leveling parameter.

19. The device according to claim 18, characterized in that The second leveling mechanism comprises a second swinging device, and the second swinging device can drive the printing base (105) to swing around an in-plane direction of at least one of the printing bases (105).

20. The device according to claim 16, characterized in that The second leveling mechanism comprises a second translation device capable of driving the printing base (105) to move in translation.

21. The device according to claim 17, characterized in that The controller is configured to: For each base mark, after the base mark moves to align with the second target mark, controlling the image acquisition device (101) to adjust the focal length to obtain a base image including a clear base mark; The focal plane position corresponding to the base mark is determined based on the focusing parameters used when obtaining the base image with a clear base mark.

22. The device according to claim 17, characterized in that The controller is configured to: For each base mark, after the base mark moves to align with the second target mark position, controlling the second moving device to drive the printing base (105) to move in the longitudinal direction, and simultaneously acquiring a base image including the base mark, until a base image with a clear base mark is obtained; The focal plane position of the base mark is determined based on the movement parameters of the second moving device in the above process.

23. The device according to claim 17, characterized in that The controller is configured to: determine the current tilt angle and tilt direction of the printing base (105) according to the height difference between the focal plane positions; determining a swing parameter of a second swing device based on the tilt angle and the tilt direction; Based on the swing parameter, the printing base (105) is controlled to swing to level.

24. The device according to claim 17, characterized in that The controller is configured to: Determine the height adjustment value of each base mark according to the height difference between each focal plane, each height adjustment value is used to adjust each base mark to the same height; Based on the height adjustment value, the second swing device is controlled to adjust the height of each base mark until the printing base (105) is leveled.

25. The device according to any one of claims 1 to 3, characterized in that The device further comprises a material pool (106) for accommodating the moldable material, the material pool (106) being located below the printing base (105) and the printing base (105) being able to extend into the material pool (106), and the image acquisition device (101) and the material pool (106) being respectively located on different sides of the molding surface of the printing base (105).

26. The device according to claim 25, characterized in that The image acquisition device (101) is located above the molding surface of the printing base (105), and the material pool (106) is located below the molding surface.

27. The device according to claim 5, characterized in that The first leveling mechanism further comprises a first rotating device, which is capable of driving the release film (104) to rotate around the Z-axis direction, so as to adjust the relative position of the release film (104) and the material pool (106).

28. The apparatus according to claim 16, characterized in that The second leveling mechanism further comprises a second rotating device capable of driving the printing base (105) to rotate around the Z-axis direction, so as to adjust the relative position of the printing base (105) and the material pool (106).

29. The device according to any one of claims 1 to 3, characterized in that A first lens group (107), a first beam splitter (108) and a processing lens (109) are arranged between the first light source (102) and the release film (104), and a second lens group (110) is arranged between the image acquisition device (101) and the release film (104); The first lens group (107), the first beam splitter (108) and the processing lens (109) are located in a first optical path between the first light source (102) and the release film 104, and the processing lens (109), the first beam splitter (108) and the second lens group (110) are located in a second optical path between the image acquisition device (101) and the release film (104).

30. The device according to any one of claims 1 to 3, characterized in that A third lens group (112) and a second beam splitter (111) are arranged between the second light source (103) and the release film (104); the third lens group (112), the second beam splitter (111) and the processing lens (109) are located in a third light path between the second light source (103) and the release film (104).

31. The device according to claim 4, characterized in that The controller is also configured to: In response to the moldable material solidifying into the molded material (115), a separation process is triggered and the second moving device is controlled to drive the printing base (105) away from the release film (104) to form a printing space (114) between the surface of the molded material (115) and the release film (104).

32. The device according to any one of claims 1 to 3, characterized in that The target image is obtained with the release film (104) as the focus plane, and the controller is configured to: In a state where the release film (104) and the formed material (115) are not separated, performing shape detection of the formed material (115) based on the target image to obtain a shape detection result; Based on the comparison information between the shape detection result and the target graphic information corresponding to the formed material (115), a forming abnormality detection result is generated.

33. A 3D printing method, characterized in that: A 3D printing device applied to any one of claims 1 to 32, the 3D printing device comprising a release film (104), a printing base (105), an image acquisition device (101), a first light source (102) for providing illumination light, a second light source (103) for providing curing light, a controller and a first moving device, wherein the first moving device is connected to the release film (104) in a transmission manner; the release film (104) is located above the printing base (105), a printing space (114) is formed between the release film (104) and the printing base (105), and the printing space (114) is used to fill a formable material; the curing light is used to irradiate the moldable material on the printing base (105) and solidify the moldable material; the wavelength band of the irradiation light provided by the first light source (102) is the insensitive wavelength band of the moldable material; the release film (104) is capable of transmitting the illumination light provided by the first light source (102), the illumination light is used to irradiate the release film (104) and the printing space (114), and the image acquisition device (101) is used to receive the light formed by the illumination light passing through the molded material (115) in the printing space (114) and the release film (104) and generate a target image; the method comprises: During the separation process of the release film (104) and the printing base (105), the release state of the formed material (115) is identified on the target image to obtain a release state, wherein the release state is used to indicate the separation state of the formed material (115) and the release film (104).

34. A 3D printing controller, applied to the 3D printing device according to any one of claims 1 to 32, the 3D printing device comprising a release film (104), a printing base (105), an image acquisition device (101), a first light source (102) for providing illumination light, a second light source (103) for providing curing light, a controller and a first moving device, wherein the first moving device is connected to the release film (104) in a transmission manner; the release film (104) is located above the printing base (105), a printing space (114) is formed between the release film (104) and the printing base (105), and the printing space (114) is 14) is used to fill the moldable material; the curing light is used to irradiate the moldable material on the printing base (105) and solidify the moldable material; the wavelength band of the irradiation light provided by the first light source (102) is the insensitive wavelength band of the moldable material; the release film (104) is capable of transmitting the illumination light provided by the first light source (102), the illumination light is used to irradiate the release film (104) and the printing space (114), and the image acquisition device (101) is used to receive the light formed by the illumination light passing through the molded material (115) in the printing space (114) and the release film (104) and generate a target image; The controller is configured to identify the release state of the molded material (115) on the target image during the separation process of the release film (104) and the printing base (105), and obtain a release state, wherein the release state is used to indicate the separation state of the molded material (115) and the release film (104).

35. An electronic device, comprising a processor and a memory, characterized in that: The memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the 3D printing method as described in claim 33.

36. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the 3D printing method as described in claim 33.

37. A computer program product, characterized in that The computer program product or computer program comprises computer instructions which, when executed by a processor, implement the 3D printing method of claim 33 .

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