Control method of 3D printing platform and 3D printing equipment

Abstract

The invention discloses a control method of a 3D printing platform and 3D printing equipment. The control method comprises the steps that S1, automatic calibration is started, and real-time image information of the 3D printing platform is collected; s2, whether the 3D printing platform is located at the zero point position or not is judged; if yes, skipping to the step S3; if not, skipping to the step S4; step S3, calibrating and correcting the position data of at least two mark positions except the zero position, and skipping to step S6; s4, the 3D printing platform is controlled to move to the zero point position; s5, correcting the position data of the zero position stored in the motor encoder, and returning to the step S2; s6, the 3D printing platform is controlled to return to the zero point position; and S7, a motion instruction, sent by the CPU, of the 3D printing platform is received, and subsequent 3D printing steps are executed based on the motion instruction. According to the control method of the 3D printing platform, errors caused by manual calibration of the leveling calibration parameters of the 3D printing platform are avoided, and the control precision is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of 3D printing, and in particular relates to a control method for a 3D printing platform and a 3D printing device. Background Art

[0002] 3D printing technology has developed rapidly because it is superior to existing processing technology. The current automatic calibration of 3D printing platforms relies on the motor encoder to perform closed-loop feedback control on the 3D printing platform for calibration. This calibration method is overly dependent on the accuracy of the motor encoder. When the motor encoder accuracy is insufficient or there is a difference, the accuracy of the self-calibration will be affected. In addition, there are many types of motor encoders, such as the existing grating motor encoder, magnetic motor encoder, etc. The same motor encoder cannot be applied to different application scenarios. The installation and maintenance of the motor encoder will take up more space and the subsequent maintenance cost is high. In addition, the existing calibration method can only determine whether the calibration is in place through the feedback data of the motor encoder. There is a situation where the calibration is not in place due to the motor encoder accuracy or the actual 3D printing platform motion control problem. Summary of the invention

[0003] In view of the above technical problems, an object of the present invention is to provide an improved control method of a 3D printing platform and a 3D printing device.

[0004] To achieve the above object, a first aspect of the present invention provides a control method for a 3D printing platform, comprising:

[0005] Step S1, after the 3D printing platform is started, automatic calibration is started, and real-time image information of the 3D printing platform is collected through an image acquisition module;

[0006] Step S2, analyzing and processing the real-time image information to determine whether the 3D printing platform is at a zero position, the 3D printing platform has N marking positions, the zero position is one of the N marking positions, and N is a positive integer; if yes, jump to step S3; if no, jump to step S4;

[0007] Step S3, calibrating the position data of at least two marking positions except the zero position and correcting the corresponding position data stored in the motor encoder, and jumping to step S6;

[0008] Step S4, controlling the 3D printing platform to move toward the zero position until the image acquisition module captures that the 3D printing platform is at the zero position;

[0009] Step S5, correcting the position data of the zero point position stored in the motor encoder, and returning to step S2;

[0010] Step S6, controlling the 3D printing platform to return to the zero position;

[0011] Step S7: receiving the motion instruction of the 3D printing platform sent by the CPU and executing subsequent 3D printing steps based on the motion instruction.

[0012] Preferably, between step S6 and step S7, the control method further includes:

[0013] Step S61, collecting real-time image information of the 3D printing platform through the image acquisition module and confirming again whether the 3D printing platform is at the zero position, if so, jumping to step S7; if not, jumping to step S62;

[0014] Step S62, control the 3D printing platform to move toward the zero position until the image acquisition module captures that the 3D printing platform is at the zero position, correct the position data of the zero position stored in the motor encoder, and correspondingly correct the position data of the remaining mark positions except the zero position, and jump to step S7.

[0015] Preferably, each of the marking positions has a locator and an identification number, the identification numbers corresponding to each of the marking positions are different, and the position data of the marking positions are three-dimensional coordinate data.

[0016] Furthermore, the locator is in the form of “+”.

[0017] Furthermore, step S4 specifically includes:

[0018] Step S41, determining a movement path of the 3D printing platform to the zero position according to the result of the real-time image information analysis and processing, and controlling the 3D printing platform to move to the zero position according to the movement path; the image acquisition module acquires the real-time image information of the 3D printing platform until the identification number corresponding to the zero position appears in the real-time image information;

[0019] Step S42: fine-tune the 3D printing platform until the image acquisition module captures that the 3D printing platform is at the zero position.

[0020] Furthermore, step S42 specifically includes: controlling the 3D printing platform to move until the position of the locator corresponding to the zero point position in the real-time image information is consistent with the standard position of the locator, and the size of the locator corresponding to the zero point position is consistent with the standard size of the locator.

[0021] Furthermore, step S3 specifically includes:

[0022] Step S31, controlling the 3D printing platform to move to the nth marking position, where n is a positive integer and n is less than or equal to N; the image acquisition module acquires real-time image information of the 3D printing platform until an identification number corresponding to the nth marking position appears in the real-time image information;

[0023] Step S32, continue to control the movement of the 3D printing platform until the position of the locator corresponding to the nth mark position is consistent with the standard position of the locator, and the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator, and the position data of the nth mark position stored in the motor encoder is corrected and the travel parameter data stored in the memory is corrected accordingly;

[0024] Step S33, determine whether the calibration of the position data of at least two marking positions except the zero position is completed, if so, jump to step S6; if not, return to step S31.

[0025] Furthermore, step S7 specifically includes:

[0026] Step S700, receiving an instruction from the CPU to send the 3D printing platform to the nth marked position;

[0027] Step S701, based on the instruction, retrieve the travel parameter data for going to the nth marking position stored in the memory;

[0028] Step S702, controlling the movement of the 3D printing platform according to the travel parameter data;

[0029] Step S703, determine whether all the travel parameter data to the nth mark position have been sent, if so, jump to step S704; if not, return to step S702;

[0030] Step S704, obtaining the real-time feedback position data of the nth mark position in the motor encoder, and determining whether the real-time feedback position data is consistent with the position data corresponding to the nth mark position stored in the motor encoder, if so, jumping to step S705; if not, jumping to step S708;

[0031] Step S705, the image acquisition module acquires real-time image information of the 3D printing platform, and determines whether the identification number corresponding to the nth marking position appears in the real-time image information. If so, jump to step S706; if not, jump to step S708;

[0032] Step S706: determine whether the position of the locator corresponding to the nth mark position is consistent with the standard position of the locator, and whether the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator; if so, jump to step S707; if not, jump to step S709;

[0033] Step S707, determine whether the CPU sends a next step instruction, if yes, jump to step S701; if no, end the 3D printing;

[0034] Step S708, controlling the 3D printing platform to move toward the nth marking position according to the moving path; the image acquisition module acquires real-time image information of the 3D printing platform until the identification number corresponding to the nth marking position appears in the real-time image information;

[0035] Step S709, controlling the 3D printing platform to move until the position of the locator corresponding to the nth mark position in the real-time image information is consistent with the standard position of the locator, and the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator;

[0036] Step S710, correct the position data of the nth mark position stored in the motor encoder and correspondingly correct the travel parameter data stored in the CPU, and jump to step S707.

[0037] Preferably, the control method further comprises step A, performing fault detection in real time, and step A specifically comprises:

[0038] Step A1: Real-time detection of whether the 3D printing platform stops running;

[0039] Step A2: if the 3D printing platform stops running, determine whether a stop running instruction sent by the CPU is received, if so, stop fault detection; if not, jump to step A3;

[0040] Step A3: Detect anomalies that occur during the operation of the 3D printing platform and send a fault code to the CPU.

[0041] Furthermore, step A3 specifically includes:

[0042] Step A31, the CPU collects real-time image information of the 3D printing platform through the image acquisition module, and determines whether other images except the 3D printing platform appear in the real-time image information. If so, jump to step A32; if not, jump to step A33;

[0043] Step A32, sending a first fault code to the CPU;

[0044] Step A33, determine whether there is a motor encoder fault, if yes, jump to step A34; if no, jump to step A35;

[0045] Step A34, sending a second fault code to the CPU;

[0046] Step A35, comparing the real-time printed model in the real-time image information with the standard model to determine whether there is any model printing abnormality, if so, jump to step A36; if not, jump to step A37;

[0047] Step A36, sending a third fault code to the CPU;

[0048] Step A37, obtaining the motor voltage and motor current data, and determining whether there is an abnormality. If so, jump to step A38; if not, jump to step A39;

[0049] Step A38, sending a fourth fault code to the CPU;

[0050] Step A39: Send an unknown fault code to the CPU.

[0051] A second aspect of the present invention provides a 3D printing device for executing the control method described above, the 3D printing device comprising:

[0052] 3D printing platform;

[0053] CPU;

[0054] An image acquisition module, which is used to acquire real-time image information of the 3D printing platform, and the image acquisition module is electrically connected to the 3D printing platform and the CPU respectively;

[0055] A motor, which is used to drive the 3D printing platform to move, and the motor is electrically connected to the CPU and the 3D printing platform respectively;

[0056] A motor encoder is used to send motor motion state information to the CPU, and the motor encoder is electrically connected to the CPU and the motor respectively.

[0057] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0058] In the present invention, the real-time image information of the 3D printing platform is collected by the image acquisition module, and then the automatic calibration of the 3D printing platform is realized according to the real-time image information, so as to reduce the excessive reliance of the traditional closed-loop 3D printing platform control system on the motor encoder to realize position calibration, and the use scenario is no longer limited by the accuracy of the motor encoder. Due to the inherent cumulative error problem in the 3D printing platform control system, the present invention can dynamically adjust the positioning data in real time based on image recognition, without the need to manually correct the parameter values ​​regularly, which greatly reduces the maintenance time and avoids the errors caused by manual calibration.

[0059] In a further preferred scheme, by introducing image recognition, in certain 3D printing platform control application scenarios with relatively narrow spaces, the 3D printing platform can also be operated by video remote control and remote graphic inspection can be performed. At the same time, when an abnormal stop failure occurs during the 3D printing process, the camera can collect images, intelligently analyze the cause of the abnormal failure, and output the corresponding fault code, greatly improving the efficiency of 3D printing fault cause analysis and fault handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0061] Figure 1 This is a flow chart of a control method of a 3D printing platform in an embodiment of the present invention;

[0062] Figure 2 Another flow chart of the control method of the 3D printing platform in an embodiment of the present invention;

[0063] Figure 3 It is another flow chart of the control method of the 3D printing platform in the embodiment of the present invention;

[0064] Figure 4 This is another flow chart of the control method of the 3D printing platform in the embodiment of the present invention;

[0065] Figure 5 Another flow chart of the control method of the 3D printing platform in an embodiment of the present invention;

[0066] Figure 6 It is another flow chart of the control method of the 3D printing platform in the embodiment of the present invention;

[0067] Figure 7 Schematic diagram of image acquisition module in an embodiment of the present invention;

[0068] Figure 8 4 is a hardware block diagram of a 3D printing device in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0070] like Figures 1 to 7 As shown, the control method of the 3D printing platform in this embodiment includes:

[0071] Step S1: After the 3D printing platform is started, automatic calibration is started, and real-time image information of the 3D printing platform is collected through the image acquisition module;

[0072] In this embodiment, the image acquisition module is specifically a camera, and the acquisition range of the camera is as follows: Figure 7 As shown, the dotted frame is the acquisition range of the camera.

[0073] Step S2, analyzing and processing the real-time image information to determine whether the 3D printing platform is at the zero position, the 3D printing platform has N marking positions, the zero position is one of the N marking positions, and N is a positive integer; if yes, jump to step S3; if no, jump to step S4;

[0074] In this embodiment, Figure 7 As shown, the center position of the 3D printing platform is defined as the zero point position.

[0075] Step S3, calibrating the position data of at least two marking positions except the zero position and correcting the corresponding position data stored in the motor encoder, and jumping to step S6;

[0076] Step S4, controlling the 3D printing platform to move toward the zero position until the image acquisition module captures that the 3D printing platform is at the zero position;

[0077] Step S5, correcting the position data of the zero point position stored in the motor encoder, and returning to step S2;

[0078] In 3D printing, the motors in the three directions of XYZ are usually equipped with encoders, which are used to provide feedback information about the motor's motion state. Specifically, the encoder can measure the angle, position and speed of the motor shaft. By knowing the current position of the motor, the CPU can adjust the movement of the motor to ensure that there are no errors in the printing process. In this embodiment, the motor can be a stepper motor or a servo motor, which is not specifically limited here.

[0079] Step S6, controlling the 3D printing platform to return to the zero position;

[0080] Step S7: receiving the motion instruction of the 3D printing platform sent by the CPU and executing subsequent 3D printing steps based on the motion instruction.

[0081] Specifically, between step S6 and step S7, the control method further includes:

[0082] Step S61, collecting real-time image information of the 3D printing platform through the image acquisition module and confirming again whether the 3D printing platform is at the zero position, if so, jump to step S7; if not, jump to step S62;

[0083] Step S62, control the 3D printing platform to move toward the zero position until the image acquisition module captures that the 3D printing platform is at the zero position, correct the position data of the zero position stored in the motor encoder, and correspondingly correct the position data of the remaining mark positions except the zero position, and jump to step S7.

[0084] After all the mark positions are calibrated, the CPU controls the 3D printing platform to return to the zero position, and then collects image data through the camera to confirm the zero position information again. If there is a deviation in the zero position, recalibrate it and correct the position data of all the mark positions based on the new zero position data to prevent data deviation and cumulative error problems that may occur during the automatic positioning process.

[0085] Each marked position has a locator and an identification number, and the identification number corresponding to each marked position is different. The position data of the marked position is specifically three-dimensional coordinate data along the x, y, and z axes. Figure 7As shown, in this embodiment, taking N=15 as an example, there are three rows of 15 marking positions, and 5 marking positions are distributed in each row, wherein the identification numbers corresponding to the marking positions on the left side of the zero position are all even numbers, the identification numbers corresponding to the marking positions on the right side of the zero position are all odd numbers, the identification numbers corresponding to the marking positions on the upper side of the zero position are even numbers and multiples of 5, and the identification numbers corresponding to the marking positions on the lower side of the zero position are odd numbers and multiples of 5, and the 5 numbers in each row are 5 numbers that are continuous from small to large. Multiple marking positions are set on the 3D printing platform, and the identification numbers corresponding to the marking positions can reduce the moving path in the 3D printing process to a certain extent according to this arrangement, and improve the efficiency of 3D printing. In some other embodiments, the total number of marking positions on the 3D printing platform, the total number of rows, and the number of marking positions in each row can also be set according to actual needs. Further, in this embodiment, the locator of each marking position is "+", and the plus sign can be better positioned relative to a point, which is convenient for identifying the size of the locator and whether it is in the center of the camera acquisition range.

[0086] Step S4 specifically includes:

[0087] Step S41, determining a movement path of the 3D printing platform toward the zero position according to the result of real-time image information analysis and processing, and controlling the 3D printing platform to move toward the zero position according to the movement path; the image acquisition module acquires real-time image information of the 3D printing platform until an identification number corresponding to the zero position appears in the real-time image information;

[0088] Step S42: fine-tune the 3D printing platform until the image acquisition module detects that the 3D printing platform is at the zero position.

[0089] Further, step S42 specifically includes: controlling the 3D printing platform to move until the position of the locator corresponding to the zero point position in the real-time image information is consistent with the standard position of the locator, and the size of the locator corresponding to the zero point position is consistent with the standard size of the locator.

[0090] For example, after the CPU analyzes and processes the real-time image information, it finds Figure 7The number "1" appears within the acquisition range of the camera. If you want to make the number "0" appear within the acquisition range of the camera, there are theoretically multiple ways to move it. However, if you want to quickly reach the zero position, you need to control the 3D printing platform to move to the right, which is the movement path of the 3D printing platform to the zero position calculated by the CPU. After the number "0" appears within the acquisition range of the camera, further fine-tuning control is required to ensure that the position of the locator corresponding to the zero position is consistent with the standard position of the locator (for example, "+" is located in the center of the camera's acquisition range), and the size of the locator corresponding to the zero position is consistent with the standard size of the locator. The standard size of the locator will be set in advance to ensure that the 3D printing platform is at an appropriate height. Each mark position has an identification number and a locator. By combining coarse adjustment and fine adjustment, the efficiency of self-calibration can be greatly improved.

[0091] Step S3 specifically includes:

[0092] Step S31, controlling the 3D printing platform to move to the nth marking position, where n is a positive integer and n is less than or equal to N; the image acquisition module acquires real-time image information of the 3D printing platform until an identification number corresponding to the nth marking position appears in the real-time image information;

[0093] Step S32, continue to control the movement of the 3D printing platform until the position of the locator corresponding to the nth mark position is consistent with the standard position of the locator, and the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator, and the position data of the nth mark position stored in the motor encoder is corrected and the travel parameter data stored in the memory is corrected accordingly;

[0094] The memory in step S32 may be a memory in the main control CPU, or a memory in other modules of the 3D printing device, which is not specifically limited here.

[0095] Step S33, determine whether the calibration of at least two mark positions other than the zero position is completed, if so, jump to step S6; if not, return to step S31.

[0096] The travel parameter data specifically refers to the step data during the movement of the 3D printing platform. During the calibration process, it is necessary to ensure that the position data of the nth marker position is consistent with the travel parameter data. For example, Figure 7In the example, to move from the zero position (0,0,0) to the mark position (1,0,0) corresponding to "1", the 3D printing platform needs to move 1 step along the x-axis. At this time, it is necessary to verify whether the travel parameter data records 1 step along the x-axis, and whether the position data of the mark position corresponding to "1" is (1,0,0). If not, make corrections accordingly. Furthermore, in this embodiment, at least two mark positions other than the zero position are calibrated. In order to improve the calibration accuracy, all other mark positions except the zero position may also be calibrated, which is not limited here.

[0097] Step S7 specifically includes:

[0098] Step S700, receiving an instruction from the CPU to send the 3D printing platform to the nth marked position;

[0099] Step S701, based on the instruction, retrieve the travel parameter data for going to the nth marking position stored in the memory;

[0100] Step S702, controlling the movement of the 3D printing platform according to the travel parameter data;

[0101] Step S703, determine whether all the travel parameter data to the nth mark position have been sent, if so, jump to step S704; if not, return to step S702;

[0102] Step S704, obtaining the real-time feedback position data of the nth mark position in the motor encoder, and determining whether the real-time feedback position data is consistent with the position data corresponding to the nth mark position stored in the motor encoder, if so, jumping to step S705; if not, jumping to step S708;

[0103] Step S705: The image acquisition module acquires real-time image information of the 3D printing platform, and determines whether the identification number corresponding to the nth marking position appears in the real-time image information. If so, jump to step S706; if not, jump to step S708;

[0104] Step S706: determine whether the position of the locator corresponding to the nth mark position is consistent with the standard position of the locator, and whether the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator; if so, jump to step S707; if not, jump to step S709;

[0105] Step S707, determine whether the CPU sends a next step instruction, if yes, jump to step S701; if no, end the 3D printing;

[0106] Step S708, controlling the 3D printing platform to move to the nth marking position according to the moving path; the image acquisition module acquires real-time image information of the 3D printing platform until an identification number corresponding to the nth marking position appears in the real-time image information;

[0107] Step S709, controlling the 3D printing platform to move until the position of the locator corresponding to the nth mark position in the real-time image information is consistent with the standard position of the locator, and the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator;

[0108] Step S710, correct the position data of the nth mark position stored in the motor encoder and correspondingly correct the travel parameter data stored in the CPU, and jump to step S707.

[0109] After receiving the motion command, the 3D printing platform will run to the specified position according to the calibrated data. After reaching the specified position, the camera will be turned on to perform a second confirmation of the position to confirm whether it has reached the command specified position, so as to ensure the absolute reliability of the motion position. If there is a deviation in the recognition, the corresponding adjustment process will be carried out to ensure the real-time dynamic correction of the position data and eliminate the problem of unreliable motor motion position caused by external reasons (accumulated error, encoder abnormality, motor abnormality).

[0110] Furthermore, the control method further includes step A, performing fault detection in real time, and step A specifically includes:

[0111] Step A1: After the 3D printing platform is started, real-time detection is performed to determine whether the 3D printing platform has stopped running;

[0112] Step A2: if the 3D printing platform stops running, determine whether a stop command sent by the CPU is received. If yes, stop fault detection; if no, jump to step A3;

[0113] Step A3: Detect abnormalities that occur during the operation of the 3D printing platform and send a fault code to the CPU.

[0114] Preferably, step A can be executed after step S1, that is, after the 3D printing platform is started, and fault detection is performed in real time during the calibration process. Further, step A can also be executed after step S6, that is, after the 3D printing platform is calibrated, and fault detection is performed in real time during the formal start of 3D printing. In this embodiment, it is preferred to perform fault detection in real time during the calibration process to prevent faults from occurring during the calibration process and affecting the subsequent printing process.

[0115] Step A3 specifically includes:

[0116] Step A31, the CPU collects real-time image information of the 3D printing platform through the image acquisition module, and determines whether other images except the 3D printing platform appear in the real-time image information. If so, jump to step A32; if not, jump to step A33;

[0117] Step A32, sending a first fault code to the CPU;

[0118] Step A33, determine whether there is a motor encoder fault, if yes, jump to step A34; if no, jump to step A35;

[0119] Step A34, sending a second fault code to the CPU;

[0120] Step A35, comparing the real-time printed model in the real-time image information with the standard model to determine whether there is any model printing abnormality, if so, jump to step A36; if not, jump to step A37;

[0121] Step A36, sending a third fault code to the CPU;

[0122] Step A37, obtaining the motor voltage and motor current data, and determining whether there is an abnormality. If so, jump to step A38; if not, jump to step A39;

[0123] Step A38, sending a fourth fault code to the CPU;

[0124] Step A39: Send an unknown fault code to the CPU.

[0125] When the 3D printing platform is started, the printing fault detection parallel thread is also started. When the 3D printing operation stops abnormally, the camera collects the current stop position image. The CPU analyzes the stop position image to determine the cause of the printing abnormality and outputs the corresponding fault code after determining the specific cause.

[0126] like Figure 8 As shown, this embodiment also includes a 3D printing device, which specifically implements the above-mentioned control method. The 3D printing device includes: a 3D printing platform, a CPU, an image acquisition module, a motor and a motor encoder. Among them, the image acquisition module is used to collect real-time image information of the 3D printing platform, and the image acquisition module is electrically connected to the 3D printing platform and the CPU respectively. The motor is used to drive the 3D printing platform to move, and the motor is electrically connected to the CPU and the 3D printing platform respectively. The motor encoder is used to send motor motion state information to the CPU, and the motor encoder is electrically connected to the CPU and the motor respectively.

[0127] In summary, the MCU software update method and device in this embodiment have the following advantages:

[0128] The real-time image information of the 3D printing platform is collected through the image acquisition module, and then the automatic calibration of the 3D printing platform is realized according to the real-time image information, which reduces the excessive reliance of the traditional closed-loop 3D printing platform control system on the motor encoder to realize position calibration, and the use scenario is no longer limited by the accuracy of the motor encoder. Due to the inherent cumulative error problem in the 3D printing platform control system, the present invention can dynamically adjust the positioning data in real time based on image recognition, without the need to manually correct the parameter values ​​regularly, which greatly reduces the maintenance time and avoids the errors caused by manual calibration.

[0129] In a further preferred scheme, by introducing image recognition, in certain 3D printing platform control application scenarios with relatively narrow spaces, the 3D printing platform can also be operated by video remote control and remote graphic inspection can be performed. At the same time, when an abnormal stop failure occurs during the 3D printing process, the camera can collect images, intelligently analyze the cause of the abnormal failure, and output the corresponding fault code, greatly improving the efficiency of 3D printing fault cause analysis and fault handling.

[0130] As shown in this specification and claims, the terms "comprises" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements. The term "and / or" as used herein includes any combination of one or more of the relevant listed items.

[0131] The above embodiment is only for illustrating the technical concept and features of the present invention, and is a preferred embodiment. Its purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a 3D printing platform, characterized in that: include: Step S1, after the 3D printing platform is started, automatic calibration is started, and real-time image information of the 3D printing platform is collected through an image acquisition module; Step S2, analyzing and processing the real-time image information to determine whether the 3D printing platform is at a zero position, the 3D printing platform has N marking positions, the zero position is one of the N marking positions, and N is a positive integer; If yes, jump to step S3; if no, jump to step S4; Step S3, calibrating the position data of at least two marking positions except the zero position and correcting the corresponding position data stored in the motor encoder, and jumping to step S6; Step S4, controlling the 3D printing platform to move toward the zero position until the image acquisition module captures that the 3D printing platform is at the zero position; Step S5, correcting the position data of the zero point position stored in the motor encoder, and returning to step S2; Step S6, controlling the 3D printing platform to return to the zero position; Step S7: receiving the motion instruction of the 3D printing platform sent by the CPU and executing subsequent 3D printing steps based on the motion instruction.

2. The control method of the 3D printing platform according to claim 1, characterized in that: Between step S6 and step S7, the control method further includes: Step S61, collecting real-time image information of the 3D printing platform through the image acquisition module and confirming again whether the 3D printing platform is at the zero position, if so, jumping to step S7; if not, jumping to step S62; Step S62, control the 3D printing platform to move toward the zero position until the image acquisition module captures that the 3D printing platform is at the zero position, correct the position data of the zero position stored in the motor encoder, and correspondingly correct the position data of the remaining mark positions except the zero position, and jump to step S7.

3. The control method of the 3D printing platform according to claim 1, characterized in that: Each of the marking positions has a locator and an identification number, and the identification numbers corresponding to each of the marking positions are different. The position data of the marking positions are three-dimensional coordinate data.

4. The control method of the 3D printing platform according to claim 3, characterized in that: The locator is "+".

5. The control method of the 3D printing platform according to claim 3, characterized in that: Step S4 specifically includes: Step S41, determining a movement path of the 3D printing platform to the zero position according to the result of the real-time image information analysis and processing, and controlling the 3D printing platform to move to the zero position according to the movement path; the image acquisition module acquires the real-time image information of the 3D printing platform until the identification number corresponding to the zero position appears in the real-time image information; Step S42: fine-tune the 3D printing platform until the image acquisition module captures that the 3D printing platform is at the zero position.

6. The control method of the 3D printing platform according to claim 5, characterized in that: Step S42 specifically includes: controlling the 3D printing platform to move until the position of the locator corresponding to the zero point position in the real-time image information is consistent with the standard position of the locator, and the size of the locator corresponding to the zero point position is consistent with the standard size of the locator.

7. The control method of the 3D printing platform according to claim 3, characterized in that: Step S3 specifically includes: Step S31, controlling the 3D printing platform to move to the nth marking position, where n is a positive integer and n is less than or equal to N; the image acquisition module acquires real-time image information of the 3D printing platform until an identification number corresponding to the nth marking position appears in the real-time image information; Step S32, continue to control the movement of the 3D printing platform until the position of the locator corresponding to the nth mark position is consistent with the standard position of the locator, and the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator, and the position data of the nth mark position stored in the motor encoder is corrected and the travel parameter data stored in the memory is corrected accordingly; Step S33, determine whether the calibration of the position data of at least two marking positions except the zero position is completed, if so, jump to step S6; if not, return to step S31.

8. The control method of the 3D printing platform according to claim 3, characterized in that: Step S7 specifically includes: Step S700, receiving an instruction from the CPU to send the 3D printing platform to the nth marked position; Step S701, based on the instruction, retrieve the travel parameter data for going to the nth marking position stored in the memory; Step S702, controlling the movement of the 3D printing platform according to the travel parameter data; Step S703, determine whether all the travel parameter data to the nth mark position have been sent, if so, jump to step S704; if not, return to step S702; Step S704, obtaining the real-time feedback position data of the nth mark position in the motor encoder, and determining whether the real-time feedback position data is consistent with the position data corresponding to the nth mark position stored in the motor encoder, if so, jumping to step S705; if not, jumping to step S708; Step S705, the image acquisition module acquires real-time image information of the 3D printing platform, and determines whether the identification number corresponding to the nth marking position appears in the real-time image information. If so, jump to step S706; if not, jump to step S708; Step S706: determine whether the position of the locator corresponding to the nth mark position is consistent with the standard position of the locator, and whether the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator; if so, jump to step S707; if not, jump to step S709; Step S707, determine whether the CPU sends a next step instruction, if yes, jump to step S701; if no, end the 3D printing; Step S708, controlling the 3D printing platform to move toward the nth marking position according to the moving path; the image acquisition module acquires real-time image information of the 3D printing platform until the identification number corresponding to the nth marking position appears in the real-time image information; Step S709, controlling the 3D printing platform to move until the position of the locator corresponding to the nth mark position in the real-time image information is consistent with the standard position of the locator, and the size of the locator corresponding to the nth mark position is consistent with the standard size of the locator; Step S710, correct the position data of the nth mark position stored in the motor encoder and correspondingly correct the travel parameter data stored in the CPU, and jump to step S707.

9. The control method of the 3D printing platform according to claim 1, characterized in that: The control method further includes step A, performing fault detection in real time, and step A specifically includes: Step A1: Real-time detection of whether the 3D printing platform stops running; Step A2: if the 3D printing platform stops running, determine whether a stop running instruction sent by the CPU is received, if so, stop fault detection; if not, jump to step A3; Step A3: Detect anomalies that occur during the operation of the 3D printing platform and send a fault code to the CPU.

10. The control method of the 3D printing platform according to claim 9, characterized in that: Step A3 specifically includes: Step A31, the CPU collects real-time image information of the 3D printing platform through the image acquisition module, and determines whether other images except the 3D printing platform appear in the real-time image information. If so, jump to step A32; if not, jump to step A33; Step A32, sending a first fault code to the CPU; Step A33, determine whether there is a motor encoder fault, if yes, jump to step A34; if no, jump to step A35; Step A34, sending a second fault code to the CPU; Step A35, comparing the real-time printed model in the real-time image information with the standard model to determine whether there is any model printing abnormality, if so, jump to step A36; if not, jump to step A37; Step A36, sending a third fault code to the CPU; Step A37, obtaining the motor voltage and motor current data, and determining whether there is an abnormality. If so, jump to step A38; if not, jump to step A39; Step A38, sending a fourth fault code to the CPU; Step A39: Send an unknown fault code to the CPU.

11. A 3D printing device, characterized in that: Used to execute the control method according to any one of claims 1 to 10, the 3D printing device comprises: 3D printing platform; CPU; An image acquisition module, which is used to acquire real-time image information of the 3D printing platform, and the image acquisition module is electrically connected to the 3D printing platform and the CPU respectively; A motor, which is used to drive the 3D printing platform to move, and the motor is electrically connected to the CPU and the 3D printing platform respectively; A motor encoder is used to send motor motion state information to the CPU, and the motor encoder is electrically connected to the CPU and the motor respectively.

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