A control system for a portable folding 3D printer

Abstract

The present invention relates to the field of printing control technology, and the present invention discloses a control system for a portable foldable 3D printer; the control system comprises constructing a sampling time and basic parameters into a stage diagram, determining whether the 3D printer enters the printing stage, obtaining the comprehensive printing parameters of the 3D printer in a sub-segment, identifying the abnormal segment from the sub-segment, selecting the corresponding printing control mode, formulating and controlling the 3D printer to execute control instructions; compared with the prior art, the present invention can achieve accurate identification and judgment effects of the printing state of the 3D printer, and by collecting and analyzing the comprehensive printing parameters in the sub-segment, the printing stability of the 3D printer in the printing stage can be determined, so that the printing anomalies and fault phenomena of the 3D printer can be discovered in a multi-dimensional, timely and accurate manner, and targeted control instructions can be formulated according to the parameters causing the anomalies and fault phenomena, and finally the 3D printer can be controlled to perform reasonable and accurate optimization control.

Description

Technical Field

[0001] The present invention relates to the field of printing control technology, and more specifically, to a control system of a portable folding 3D printer. Background Art

[0002] In the decades of development of 3D printing technology, 3D printers have gradually moved towards the civilian market and occupied a place. Traditional desktop 3D printers cannot meet the needs of users to print products outdoors or in other places due to their bulky size and weight. Therefore, foldable 3D printers have been improved and manufactured. In order to ensure that foldable 3D printers can maintain high-quality and safe 3D printing effects, it is necessary to accurately and reliably control the 3D printer to avoid printing anomalies or failures.

[0003] The patent application with reference publication number CN105751519A discloses a safety control system and control method for a 3D printer, including a power failure detection module for detecting the working state of a power module; the power failure detection module includes a comparator and a voltage stabilizing chip; a broken wire detection module for detecting whether a printing material is broken and / or exhausted; the power module includes a power supply for converting AC power into DC power, and a backup power supply; the positive and negative input terminals of the power supply and the backup power supply are both electrically connected to the positive and negative input terminals of the voltage stabilizing chip; the positive and negative output terminals of the voltage stabilizing chip are electrically connected to the power terminals of the control module; so as to achieve an efficient and safe control effect on the 3D printer;

[0004] The existing 3D printer control system can immediately trigger an early warning prompt when abnormal printing data is found, and optimize the control operation of the printing process by collecting and analyzing real-time printing data during the printing process. Since the printing parts of the 3D printer will continue to move in multiple directions during printing, when the printing parts move to a certain node and move in the opposite direction to print, it will cause temporary and short-term abnormal changes in the printing data, which may easily cause early warning prompts and optimization control to be falsely triggered, thereby interfering with the normal printing operation of the 3D printer and reducing the control accuracy of the 3D printer.

[0005] In view of this, the present invention proposes a control system of a portable folding 3D printer to solve the above problems. Summary of the invention

[0006] In order to overcome the above-mentioned defects of the prior art and to achieve the above-mentioned purpose, the present invention provides the following technical solution: a control system of a portable folding 3D printer, applied to a printing controller, comprising:

[0007] The first acquisition module, in the folded open state, marks the sampling time within the sampling period and obtains the basic parameters of the 3D printer at the sampling time, the basic parameters including the printing power value, the nozzle temperature value and the hot bed temperature value;

[0008] The stage determination module constructs a stage diagram with sampling time and basic parameters, marks the effective waveforms in the stage diagram, including effective power waveform, effective nozzle waveform and effective hot bed waveform, and determines whether the 3D printer enters the printing stage based on the admission criteria;

[0009] The second acquisition module constructs a sub-segment in the control segment based on the segment construction criteria, and obtains the comprehensive printing parameters of the 3D printer in the sub-segment, the comprehensive printing parameters including power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value;

[0010] The mode selection module performs safety identification on the comprehensive printing parameters, identifies the abnormal sections from the sub-sections, and selects the corresponding printing control mode, which includes the non-stop optimization mode and the shutdown maintenance mode;

[0011] The printing control module identifies the abnormal parameters of the abnormal section, formulates control instructions corresponding to the abnormal parameters, and controls the 3D printer to execute the control instructions according to the printing control mode.

[0012] Furthermore, the marking method of the sampling time includes:

[0013] The time when the working signal of the limit sensor on the folding mechanism is 1 is queried through the timestamp, recorded as the starting time, and the period from the starting time to the current time is recorded as the sampling period;

[0014] A data recording events of the 3D printer are queried through the database, and the time spans of the A data recording events are counted one by one to obtain A time values, and the A time values ​​are accumulated and averaged to obtain the processing time;

[0015] Taking the processing time as the interval standard and the start time as the starting point, B non-adjacent moments are marked in the sampling period to obtain B sampling moments.

[0016] Furthermore, the stage diagram includes a first stage diagram, a second stage diagram and a third stage diagram, and the construction methods of the first stage diagram, the second stage diagram and the third stage diagram include:

[0017] Draw three rectangular coordinate systems, cut out the first quadrant from the three rectangular coordinate systems, and assign the intersection of the horizontal and vertical coordinates to 0;

[0018] The B sampling moments are sorted in chronological order, and the sorted sampling moments are used as the abscissa of the first quadrant, and the printing power value, the nozzle temperature value, and the hot bed temperature value are used as the ordinates, respectively, to construct the first basic graph, the second basic graph, and the third basic graph;

[0019] On the first basic graph, the second basic graph, and the third basic graph, the points of the printing power values, the nozzle temperature values, and the hot bed temperature values ​​corresponding to B sampling moments are marked respectively, and B first points, B second points, and B third points are obtained;

[0020] After connecting B first points, B second points and B third points in sequence respectively, a first stage graph, a second stage graph and a third stage graph are constructed.

[0021] Furthermore, the admission criterion is: the number of sampling moments corresponding to each target waveform is greater than the lower limit value of the number;

[0022] The methods for determining whether to enter the printing stage include:

[0023] The last sampling moment of C effective power waveforms, D effective nozzle waveforms and E effective hot bed waveforms is recorded as the termination moment, and C first termination moments, D second termination moments and E third termination moments are obtained;

[0024] According to the chronological order, the C first termination moments, the D second termination moments and the E third termination moments are arranged in sequence, and the effective power waveform, the effective nozzle waveform and the effective hot bed waveform corresponding to the last first termination moment, the second termination moment and the third termination moment are recorded as the power target waveform, the nozzle target waveform and the hot bed target waveform;

[0025] Respectively counting the number of sampling moments in the power target waveform, the nozzle target waveform, and the hot bed target waveform to obtain a first value, a second value, and a third value;

[0026] When the first value, the second value and the third value are all greater than the lower limit value of the quantity, it is determined to enter the printing stage;

[0027] When the first value, the second value or the third value is less than or equal to the lower limit value of the quantity, it is determined not to enter the printing stage.

[0028] Furthermore, the segment construction criterion is: the last moment of the previous sub-segment and the first moment of the next sub-segment are adjacent moments;

[0029] The subsection construction methods include:

[0030] According to the chronological order, the first sampling moments of the power target waveform, the nozzle target waveform and the hot bed target waveform are sequentially arranged to obtain a sampling arrangement row;

[0031] The last sampling time in the sampling arrangement row is recorded as the starting point of the segment, the current time is recorded as the end point of the segment, and the period between the starting point of the segment and the end point of the segment is recorded as the control segment;

[0032] One third of the processing time is recorded as the segment interval, and one segment interval is used as the marking standard to mark Q+1 moments in the control segment, and the period between two adjacent moments is recorded as a sub-segment, thereby obtaining Q sub-segments;

[0033] The first sub-segment is numbered 1, and the remaining Q-1 sub-segments are numbered in ascending order.

[0034] Furthermore, the method for obtaining the power fluctuation value includes:

[0035] Marking the first moment, the middle moment and the last moment in the Q sub-segments respectively, and detecting the real-time power of the 3D printer at the first moment, the middle moment and the last moment respectively by a power sensor to obtain a first power value, a second power value and a third power value;

[0036] The first power value, the second power value, and the third power value of the Q sub-segments are respectively added and averaged to obtain Q real-time power values;

[0037] After subtracting the Q real-time power values ​​from the rated power value of the 3D printer in turn, Q power fluctuation values ​​are obtained;

[0038] The expression of power fluctuation value is:

[0039] ;

[0040] In the formula, For the The power fluctuation value of each sub-segment, =1,2...Q, For the The first power value of the sub-segments, For the The second power value of the sub-segments, For the The third power value of the sub-segments, is the rated power value.

[0041] Furthermore, the method for obtaining the maximum offset value includes:

[0042] In the Q sub-sections, the displacement sensors are used to detect the X-axis displacement value, the Y-axis displacement value, the Z-axis displacement value and the nozzle displacement value of the 3D printer respectively;

[0043] The maximum value of the X-axis displacement value, the maximum value of the Y-axis displacement value, the maximum value of the Z-axis displacement value and the maximum value of the nozzle displacement value are compared, and the maximum value after comparison is recorded as the maximum displacement value, and Q maximum displacement values ​​are obtained;

[0044] After subtracting the Q maximum displacement values ​​from the reference displacement values ​​in turn, Q maximum offset values ​​are obtained;

[0045] The expression for the maximum offset value is:

[0046] ;

[0047] In the formula, For the The maximum offset value of the sub-segments, For the The maximum displacement value of each sub-segment, is the standard offset value.

[0048] Furthermore, the method for identifying the abnormal section includes:

[0049] According to the order of numbering from small to large, the power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value of the Q sub-sections are compared with the safe fluctuation value, safe hot bed range, safe nozzle range and safe offset value respectively;

[0050] When there is no power fluctuation value greater than the safe fluctuation value, the hot bed temperature value is not within the safe hot bed range, the nozzle temperature value is not within the safe nozzle range, or the maximum offset value is greater than the safe offset value in the sub-section, the sub-section is not recorded as an abnormal section;

[0051] When there is a power fluctuation value greater than the safe fluctuation value, the hot bed temperature value is not within the safe hot bed range, the nozzle temperature value is not within the safe nozzle range, or the maximum offset value is greater than the safe offset value in the sub-segment, the sub-segment is recorded as an abnormal segment, and P abnormal segments are obtained.

[0052] Furthermore, the selection method of the non-stop optimization mode and the shutdown maintenance mode includes:

[0053] Arrange the numbers of the P abnormal sections in order from small to large, and count the number of numbers in a continuous state, which is recorded as a continuous value;

[0054] When the continuous value is less than or equal to 2, the non-stop optimization mode is selected;

[0055] When the continuous value is greater than 2, the shutdown maintenance mode is selected.

[0056] Furthermore, the control instructions include an instruction to reduce the power supply, an instruction to increase or decrease the temperature of the hot bed, an instruction to increase or decrease the temperature of the nozzle, and an instruction to reduce the motor stroke. The method for formulating the instruction to reduce the power supply, the instruction to increase or decrease the temperature of the hot bed, the instruction to increase or decrease the temperature of the nozzle, and the instruction to reduce the motor stroke includes:

[0057] When the power fluctuation value is greater than the safe fluctuation value, the power fluctuation value is recorded as an abnormal parameter and an instruction to reduce the power supply is formulated;

[0058] When the hot bed temperature value is not within the safe hot bed range, the hot bed temperature value is recorded as an abnormal parameter, and an instruction to increase or decrease the hot bed temperature is formulated;

[0059] When the nozzle temperature value is not within the safe nozzle range, the nozzle temperature value is recorded as an abnormal parameter, and an instruction to increase or decrease the nozzle temperature is formulated;

[0060] When the maximum offset value is greater than the safety offset value, the maximum offset value is recorded as an abnormal parameter and a command to reduce the motor stroke is formulated.

[0061] The technical effects and advantages of the control system of a portable folding 3D printer of the present invention are as follows:

[0062] The present invention marks the sampling moment in the sampling period in the folded open state, obtains the basic parameters of the 3D printer at the sampling moment, constructs the sampling moment and the basic parameters into a stage diagram, marks the effective waveform in the stage diagram, and determines whether the 3D printer enters the printing stage based on the access criteria, constructs a sub-section in the control section based on the section construction criteria, obtains the comprehensive printing parameters of the 3D printer in the sub-section, performs security identification on the comprehensive printing parameters, identifies the abnormal section from the sub-section, selects the corresponding printing control mode, identifies the abnormal parameters of the abnormal section, formulates the control instructions corresponding to the abnormal parameters, and controls the 3D printer to execute the control instructions according to the printing control mode; compared with the prior art, by collecting the basic parameters of the 3D printer at the sampling moment and constructing them into a stage diagram, the graphical display effect of the basic parameters can be achieved, which is convenient for subsequent By analyzing and identifying basic parameters and performing access analysis on valid waveforms in the stage diagram, accurate identification and judgment of the printing status of the 3D printer can be achieved, ensuring that subsequent printing analysis and control operations can be based on the 3D printer being in the printing stage. At the same time, by collecting and analyzing the comprehensive printing parameters in the sub-segment, the printing stability of the 3D printer in the printing stage can be determined, so that printing anomalies and faults in the 3D printer can be discovered in a multi-dimensional, timely and accurate manner, avoiding the phenomenon of false triggering of printing control due to short-term anomalies in the printing stage, and formulating targeted control instructions based on the parameters that cause the anomalies and faults. Finally, the 3D printer is controlled to optimize the control of parameters with anomalies and safety hazards under a reasonable mode, thereby avoiding the phenomenon of reduced printing quality of the 3D printer and achieving accurate, timely and efficient control of the 3D printer. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A schematic diagram of a control system of a portable folding 3D printer provided in Embodiment 1 of the present invention;

[0064] Figure 2 A schematic diagram of a first stage diagram provided in Embodiment 1 of the present invention;

[0065] Figure 3 A schematic diagram of the second stage diagram provided in the first embodiment of the present invention;

[0066] Figure 4 A schematic diagram of the third stage diagram provided by the first embodiment of the present invention;

[0067] Figure 5 A schematic flow chart of a control method for a portable foldable 3D printer provided in the second embodiment of the present invention;

[0068] Figure 6A schematic diagram of a structural diagram of an electronic device provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] Example 1: Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the control system of a portable folding 3D printer described in this embodiment is applied to a printing controller, including:

[0071] The first acquisition module, in the folded open state, marks the sampling time within the sampling period and obtains the basic parameters of the 3D printer at the sampling time, the basic parameters including the printing power value, the nozzle temperature value and the hot bed temperature value;

[0072] The folded open state refers to the state in which the folding mechanism of the 3D printer is in a rotated open state, so that the current 3D printer can meet the requirements for the preliminary work of 3D printing. In order to know whether the 3D printer is in the folded open state, it can be obtained by querying the working signal of the limit sensor installed on the folding mechanism; illustratively, when the working signal of the limit sensor on the folding mechanism is 0, the 3D printer is in the folded closed state; when the working signal of the limit sensor on the folding mechanism is 1, the 3D printer is in the folded open state.

[0073] The sampling period refers to the period from when the 3D printer is in the folded open state to the current moment, so that the past operation period of the 3D printer can be fully represented, and the sampling moment refers to the corresponding moment when the 3D printer collects basic working parameters in the sampling period, which can limit the parameter collection time point for judging whether the initial operation state of the 3D printer is reasonable and stable, so as to ensure that the basic parameters obtained can provide accurate data support for the situation analysis of the 3D printer in the early initial operation state;

[0074] The marking methods of sampling time include:

[0075] The time when the working signal of the limit sensor on the folding mechanism is 1 is queried through the timestamp, recorded as the starting time, and the period from the starting time to the current time is recorded as the sampling period;

[0076] A data recording events of the 3D printer are queried through the database, and the time spans of the A data recording events are counted one by one to obtain A time values, and the A time values ​​are accumulated and averaged to obtain the processing time; a data recording event refers to an event that can record the time used for a complete data recording of various data of the 3D printer in a folded and open state, so as to serve as a time limit for marking the sampling moment;

[0077] Taking the processing time as the interval standard and the start time as the starting point, B non-adjacent moments are marked in the sampling period to obtain B sampling moments.

[0078] Basic parameters refer to data that can represent the working status of the 3D printer during the sampling period, and are used as data to determine the actual situation of the 3D printer in the initial operating state, and also provide data support for the subsequent judgment of whether the 3D printer has entered the printing stage;

[0079] Basic parameters include printing power value, nozzle temperature value and hot bed temperature value;

[0080] The printing power value refers to the total operating power of the 3D printer at each sampling moment, which can represent the sum of the powers of each power-consuming component of the 3D printer and serve as one of the bases for judging whether the 3D printer has reached a normal printing state. The printing power value is obtained by accumulating the operating power after the power sensor detects the operating power of each power-consuming component at B sampling moments.

[0081] The nozzle temperature value refers to the nozzle heating temperature of the 3D printer at each sampling moment, which can represent the real-time temperature at the nozzle of the 3D printer and serve as one of the bases for judging whether the 3D printer has reached a normal printing state; the nozzle temperature value is obtained by detecting at B sampling moments through a temperature sensor installed at the nozzle.

[0082] The hot bed temperature value refers to the heating temperature of the hot bed of the 3D printer at each sampling moment, which can represent the real-time temperature of the hot bed of the 3D printer and serve as one of the bases for judging whether the 3D printer has reached a normal printing state; the hot bed temperature value is obtained by detecting at B sampling moments through a temperature sensor installed on the hot bed.

[0083] The stage determination module constructs a stage diagram from the sampling time and basic parameters, marks the valid waveforms in the stage diagram, and determines whether the 3D printer enters the printing stage based on the admission criteria;

[0084] The stage diagram is a graph constructed and drawn based on the sampling time and basic parameters of the 3D printer, which can represent the specific data type and size of the 3D printer at the sampling time and serve as the basis for subsequent judgment on whether to enter the printing stage;

[0085] Since the number of basic parameters is not unique, and the basic parameters correspond to three different types of data of the 3D printer, the stage diagram needs to correspond to the basic parameters;

[0086] The stage diagram includes the first stage diagram, the second stage diagram and the third stage diagram; wherein the first stage diagram is used to represent the printing power value and the sampling time, the second stage diagram is used to represent the nozzle temperature value and the sampling time, and the third stage diagram is used to represent the hot bed temperature value and the sampling time;

[0087] The construction methods of the first stage graph, the second stage graph and the third stage graph include:

[0088] Draw three rectangular coordinate systems, cut out the first quadrant from the three rectangular coordinate systems, and assign the intersection of the horizontal and vertical coordinates to 0;

[0089] The B sampling moments are sorted in chronological order, and the sorted sampling moments are used as the abscissa of the first quadrant, and the printing power value, the nozzle temperature value, and the hot bed temperature value are used as the ordinates, respectively, to construct the first basic graph, the second basic graph, and the third basic graph;

[0090] On the first basic graph, the second basic graph, and the third basic graph, the points of the printing power values, the nozzle temperature values, and the hot bed temperature values ​​corresponding to B sampling moments are marked respectively, and B first points, B second points, and B third points are obtained;

[0091] After connecting B first points, B second points and B third points in sequence respectively, a first stage graph, a second stage graph and a third stage graph are constructed.

[0092] It should be noted that the first-stage graph, the second-stage graph, and the third-stage graph are constructed with 0 as the starting position and the point corresponding to the last sampling moment as the ending position, so as to represent the numerical value of the parameter corresponding to each sampling moment.

[0093] Exemplarily, according to the construction method of the first phase diagram, the second phase diagram and the third phase diagram, a complete first phase diagram, a second phase diagram and a third phase diagram are constructed, wherein: Figure 2 This is the first stage diagram. In the diagram, the maximum printing power value is 160W, and the printing power value after stabilization is no higher than 60W. Figure 3 This is the second stage diagram. In the figure, the nozzle temperature after stabilization is 223 degrees Celsius. Figure 4 This is the third stage diagram. In the figure, the hot bed temperature after stabilization is 77 degrees Celsius.

[0094] After the first stage graph, the second stage graph and the third stage graph are constructed, it is necessary to identify the waveform that can directly determine whether to enter the printing stage on the first stage graph, the second stage graph and the third stage graph, and record the waveform as a valid waveform. Only after the valid waveform appears on the first stage graph, the second stage graph and the third stage graph, can it be determined that the 3D printer can enter the printing stage and start to perform subsequent analysis and control operations of the 3D printer;

[0095] The effective waveform includes the effective power waveform, the effective nozzle waveform and the effective hot bed waveform. When there is an effective waveform, the first stage graph, the second stage graph and the third stage graph should have waveforms with static values ​​of the printing power value, the nozzle temperature value and the hot bed temperature value respectively.

[0096] Therefore, the waveform in the first stage diagram whose printing power value does not change with the sampling time is recorded as the effective power waveform, and C effective power waveforms are obtained. The waveform in the second stage diagram whose nozzle temperature value does not change with the sampling time is recorded as the effective nozzle waveform, and D effective nozzle waveforms are obtained. The waveform in the third stage diagram whose hot bed temperature value does not change with the sampling time is recorded as the effective hot bed waveform, and E effective hot bed waveforms are obtained.

[0097] The printing stage refers to the stage where the working state of the 3D printer leaves the initial operating state and formally enters the stage where 3D printing can be performed according to the predetermined parameter standards, and also meets the needs of analyzing and controlling the operating state of the 3D printer. In order to ensure the accuracy of determining whether to enter the printing stage, it is necessary to analyze the time span of the effective waveform, that is, to analyze and determine the effective waveform under the restriction of the access criteria;

[0098] The admission criteria are: the number of sampling moments corresponding to each target waveform is greater than the lower limit value; the lower limit value is the minimum value of the number of sampling moments corresponding to each target waveform when determining to enter the printing stage, so as to ensure that the 3D printer entering the printing stage can perform 3D printing according to the predetermined parameter standard;

[0099] The methods for determining whether to enter the printing stage include:

[0100] The last sampling moment of C effective power waveforms, D effective nozzle waveforms and E effective hot bed waveforms is recorded as the termination moment, and C first termination moments, D second termination moments and E third termination moments are obtained;

[0101] According to the chronological order, the C first termination moments, the D second termination moments and the E third termination moments are arranged in sequence, and the effective power waveform, the effective nozzle waveform and the effective hot bed waveform corresponding to the last first termination moment, the second termination moment and the third termination moment are recorded as the power target waveform, the nozzle target waveform and the hot bed target waveform;

[0102] Respectively counting the number of sampling moments in the power target waveform, the nozzle target waveform, and the hot bed target waveform to obtain a first value, a second value, and a third value;

[0103] When the first value, the second value and the third value are all greater than the lower limit value, the 3D printer can ensure that the 3D printer entering the printing stage performs 3D printing according to the predetermined parameter standard, and it is determined to enter the printing stage;

[0104] When the first value, the second value or the third value is less than or equal to the lower limit value, the 3D printer cannot ensure that the 3D printer entering the printing stage performs 3D printing according to the predetermined parameter standard, and it is determined not to enter the printing stage.

[0105] The second acquisition module constructs a sub-segment in the control segment based on the segment construction criteria, and obtains the comprehensive printing parameters of the 3D printer in the sub-segment, the comprehensive printing parameters including power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value;

[0106] After entering the printing stage, the 3D printer needs to maintain the preset parameter standard and stable state to perform 3D printing operations. During the printing process, the 3D printer will be affected by external environmental factors, wear and tear of its own components, and interference from printing materials, which will cause the 3D printer to have reduced printing stability. In severe cases, it will cause the 3D printer to malfunction. In order to timely and accurately understand the printing status of the 3D printer, it is necessary to collect the comprehensive printing parameters of the 3D printer during the printing stage.

[0107] The obtained comprehensive printing parameters are used to comprehensively represent the printing conditions of the 3D printer in each shorter time span, so as to provide an analysis basis for the printing status of the 3D printer on a continuous timeline. Therefore, by constructing sub-segments, the sub-segments can be used as the collection and representation time periods of the comprehensive printing parameters.

[0108] When constructing sub-segments, it is necessary to ensure that the constructed sub-segments remain continuous on the timeline. Therefore, the segment construction criterion is: the last moment of the previous sub-segment and the first moment of the next sub-segment are adjacent moments;

[0109] The subsection construction methods include:

[0110] According to the chronological order, the first sampling moments of the power target waveform, the nozzle target waveform and the hot bed target waveform are sequentially arranged to obtain a sampling arrangement row;

[0111] The last sampling time in the sampling arrangement row is recorded as the starting point of the segment, the current time is recorded as the end point of the segment, and the period between the starting point of the segment and the end point of the segment is recorded as the control segment;

[0112] One third of the processing time is recorded as the segment interval, and one segment interval is used as the marking standard to mark Q+1 moments in the control segment, and the period between two adjacent moments is recorded as a sub-segment, thereby obtaining Q sub-segments;

[0113] The first sub-segment is numbered 1, and the remaining Q-1 sub-segments are numbered in ascending order.

[0114] The comprehensive printing parameters are used to analyze the parameters that can affect the stability of the 3D printer when the 3D printer performs 3D printing in the sub-section, so as to serve as a basis for judging whether the 3D printer has abnormalities or failures;

[0115] Comprehensive printing parameters include power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value;

[0116] The power fluctuation value refers to the difference between the real-time printing power and the rated power of the 3D printer when performing 3D printing in the sub-segment, which can represent the power variation amplitude of the 3D printer during the printing stage. The larger the power fluctuation value, the larger the power variation amplitude of the 3D printer during the printing stage, and the worse the working stability of the 3D printer.

[0117] Methods for obtaining the power fluctuation value include:

[0118] The first moment, the middle moment and the last moment in the Q sub-segments are marked respectively, and the real-time power of the 3D printer at the first moment, the middle moment and the last moment is detected by a power sensor to obtain a first power value, a second power value and a third power value; by collecting the power at the first moment, the middle moment and the last moment, the power at the starting point, the midpoint and the end point of the sub-segment can be collected relatively comprehensively, ensuring that the calculated real-time power value is more representative;

[0119] The first power value, the second power value, and the third power value of the Q sub-segments are respectively added and averaged to obtain Q real-time power values;

[0120] After subtracting the Q real-time power values ​​from the rated power value of the 3D printer in turn, Q power fluctuation values ​​are obtained; the rated power value refers to the rated printing power of the 3D printer during the printing stage, and the rated power value is obtained by querying the technical parameter table of the 3D printer;

[0121] The expression of power fluctuation value is:

[0122] ;

[0123] In the formula, For the The power fluctuation value of each sub-segment, =1,2...Q, For the The first power value of the sub-segments, For the The second power value of the sub-segments, For the The third power value of the sub-segments, is the rated power value.

[0124] The hot bed temperature value refers to the real-time temperature value of the hot bed component when the 3D printer performs 3D printing in the sub-section, which can indicate the high and low temperature of the hot bed of the 3D printer during the printing stage; the hot bed temperature value is obtained by real-time detection by a temperature sensor installed on the hot bed.

[0125] The nozzle temperature value refers to the real-time temperature value of the nozzle component when the 3D printer performs 3D printing in a sub-section, which can indicate the nozzle temperature of the 3D printer during the printing stage; the nozzle temperature value is obtained through real-time detection by a temperature sensor installed on the nozzle.

[0126] The maximum offset value refers to the maximum value of the displacement offset amplitude of each moving part when the 3D printer performs 3D printing in the sub-segment, which can represent the offset degree of the 3D printer during the printing stage. When the maximum offset value is larger, it means that the offset degree of the 3D printer during the printing stage is more serious, and the working stability of the 3D printer is worse;

[0127] Methods for obtaining the maximum offset value include:

[0128] In the Q sub-sections, the displacement sensors are used to detect the X-axis displacement value, the Y-axis displacement value, the Z-axis displacement value and the nozzle displacement value of the 3D printer respectively;

[0129] The maximum value of the X-axis displacement value, the maximum value of the Y-axis displacement value, the maximum value of the Z-axis displacement value and the maximum value of the nozzle displacement value are compared, and the maximum value after comparison is recorded as the maximum displacement value, and Q maximum displacement values ​​are obtained;

[0130] After subtracting the Q maximum displacement values ​​from the standard displacement values ​​in turn, Q maximum offset values ​​are obtained; the standard displacement value refers to the maximum value that the X-axis displacement value, Y-axis displacement value, Z-axis displacement value and nozzle displacement value of the 3D printer can reach during the printing stage, thereby providing a basis for calculating the maximum offset value;

[0131] The expression for the maximum offset value is:

[0132] ;

[0133] In the formula, For the The maximum offset value of the sub-segments, For the The maximum displacement value of each sub-segment, is the standard offset value.

[0134] The mode selection module performs safety identification on the comprehensive printing parameters, identifies the abnormal sections from the sub-sections, and selects the corresponding printing control mode, which includes the non-stop optimization mode and the shutdown maintenance mode;

[0135] An abnormal section refers to a sub-section in which a large number of oversized or undersized comprehensive printing parameters appear, and safety identification is a verification operation that compares the numerical values ​​of the comprehensive printing parameters in the sub-section, and serves as the basis for identifying abnormal sections;

[0136] The identification methods of abnormal sections include:

[0137] In order of numbering from small to large, the power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value of the Q sub-segments are compared with the safe fluctuation value, safe hot bed range, safe nozzle range and safe offset value respectively; the safe fluctuation value refers to the maximum value of the power fluctuation value of the 3D printer under normal and high stability, the safe hot bed range refers to the range between the minimum and maximum values ​​of the hot bed temperature value of the 3D printer under normal and high stability, the safe nozzle range refers to the range between the minimum and maximum values ​​of the nozzle temperature value of the 3D printer under normal and high stability, and the safe offset value refers to the maximum value of the maximum offset value of the 3D printer under normal and high stability;

[0138] When there is no power fluctuation value greater than the safe fluctuation value, the hot bed temperature value is not within the safe hot bed range, the nozzle temperature value is not within the safe nozzle range, or the maximum offset value is greater than the safe offset value in the sub-section, the safety of the sub-section is high, and the sub-section is not recorded as an abnormal section;

[0139] When there is a power fluctuation value greater than the safe fluctuation value in a sub-segment, the hot bed temperature value is not within the safe hot bed range, the nozzle temperature value is not within the safe nozzle range, or the maximum offset value is greater than the safe offset value, the safety of the sub-segment is low, and the sub-segment is recorded as an abnormal segment, and P abnormal segments are obtained.

[0140] When the abnormal section is identified, the actual working stability of the 3D printer can be evaluated according to the distribution of the abnormal section, and when there are major abnormalities and failures in the working stability, an early warning prompt can be accurately issued, and a suitable printing control mode can be selected, so as to reasonably and effectively control the printing stage of the 3D printer and avoid more serious printing failures;

[0141] The printing control mode includes non-stop optimization mode and shutdown maintenance mode; the non-stop optimization mode means that the 3D printer does not need to be shut down, and the optimization and adjustment operations of relevant parameters can be performed in the state of continuous operation; the shutdown maintenance mode means that the 3D printer needs to be shut down, and the maintenance and adjustment operations of relevant parameters need to be performed in the state of stopping work;

[0142] The selection methods of non-stop optimization mode and shutdown maintenance mode include:

[0143] Arrange the numbers of the P abnormal sections in order from small to large, and count the number of numbers in a continuous state, which is recorded as a continuous value;

[0144] When the continuous value is less than or equal to 2, the number of continuous abnormal sections in the 3D printer during the printing stage is small, and the duration of low printing stability is short, so the non-stop optimization mode is selected;

[0145] When the continuous value is greater than 2, the 3D printer has a large number of continuous abnormal sections during the printing stage, and the low printing stability phenomenon lasts for a long time, so the shutdown and maintenance mode is selected.

[0146] The printing control module identifies the abnormal parameters of the abnormal section, formulates control instructions corresponding to the abnormal parameters, and controls the 3D printer to execute the control instructions according to the printing control mode;

[0147] Abnormal parameters refer to the parameters of the comprehensive printing parameters in the abnormal section that are too large or too small, and are the objects of subsequent optimization and adjustment. The control instructions are the specific control measures corresponding to the abnormal parameters to ensure that the 3D printer can reasonably and efficiently optimize and control the abnormal parameters.

[0148] The control instructions include an instruction to reduce the power supply, an instruction to increase or decrease the temperature of the hot bed, an instruction to increase or decrease the temperature of the nozzle, and an instruction to reduce the motor stroke;

[0149] The formulation method of reducing the power supply instruction, increasing or decreasing the hot bed temperature instruction, increasing or decreasing the nozzle temperature instruction and reducing the motor stroke instruction includes:

[0150] When the power fluctuation value is greater than the safe fluctuation value, the power fluctuation value is recorded as an abnormal parameter and an instruction to reduce the power supply is formulated;

[0151] When the hot bed temperature value is not within the safe hot bed range, the hot bed temperature value is recorded as an abnormal parameter, and an instruction to increase or decrease the hot bed temperature is formulated;

[0152] When the nozzle temperature value is not within the safe nozzle range, the nozzle temperature value is recorded as an abnormal parameter, and an instruction to increase or decrease the nozzle temperature is formulated;

[0153] When the maximum offset value is greater than the safety offset value, the maximum offset value is recorded as an abnormal parameter and a command to reduce the motor stroke is formulated.

[0154] After the corresponding control instructions are formulated, the 3D printer needs to be optimized and controlled according to the different control modes selected so that the control instructions can be applied to the 3D printer;

[0155] When the non-stop optimization mode is selected, the 3D printer maintains a continuous printing state and executes corresponding control instructions according to different abnormal parameters. When the shutdown maintenance mode is selected, the print controller sends a cut-off message to the power switch, and the power switch cuts off the power supply circuit of the 3D printer. At this time, the 3D printer is in a shutdown state and executes corresponding control instructions according to different abnormal parameters.

[0156] Specifically, when the abnormal parameter is a power fluctuation value, the print controller controls the external power supply of the 3D printer to supply power to the built-in battery to achieve the effect of reducing the power supply. When the abnormal parameter is the hot bed temperature value, and the hot bed temperature value exceeds the safe hot bed range, the print controller controls the cooling fan on the hot bed of the 3D printer to increase the power. When the abnormal parameter is the hot bed temperature value, and the hot bed temperature value does not reach the safe hot bed range, the print controller controls the electric heating rod on the hot bed of the 3D printer to increase the temperature to achieve the effect of increasing or decreasing the hot bed temperature. When the abnormal parameter is the nozzle temperature value, and the nozzle temperature value exceeds the safe hot bed range, the print controller controls the electric heating rod on the hot bed of the 3D printer to increase the temperature. When the abnormal parameter is the nozzle temperature value and the nozzle temperature value does not reach the safe nozzle range, the print controller controls the electric heating rod on the 3D printer nozzle to increase the temperature to increase or decrease the nozzle temperature. When the abnormal parameter is the maximum offset value, it is necessary to identify the moving parts corresponding to the maximum offset value. When the moving parts are the X-axis, Y-axis, Z-axis or nozzle, the print controller controls the stepper motor on the 3D printer X-axis, Y-axis, Z-axis or nozzle to reduce the number of rotations to reduce the motor stroke.

[0157] In the present embodiment, by marking the sampling moment within the sampling period in the folded open state, and obtaining the basic parameters of the 3D printer at the sampling moment, the sampling moment and the basic parameters are constructed into a stage diagram, the valid waveform in the stage diagram is marked, and based on the access criteria, it is determined whether the 3D printer enters the printing stage, based on the segment construction criteria, a sub-segment is constructed in the control segment, and the comprehensive printing parameters of the 3D printer in the sub-segment are obtained, the comprehensive printing parameters are security identified, the abnormal segment is identified from the sub-segment, and the corresponding printing control mode is selected, the abnormal parameters of the abnormal segment are identified, the control instructions corresponding to the abnormal parameters are formulated, and according to the printing control mode, the 3D printer is controlled to execute the control instructions; compared with the prior art, by collecting the basic parameters of the 3D printer at the sampling moment and constructing them into a stage diagram, a graphical display effect of the basic parameters can be achieved, which is convenient for later By continuing to analyze and identify the basic parameters and conducting access analysis on the effective waveforms in the stage diagram, the printing status of the 3D printer can be accurately identified and judged, ensuring that subsequent printing analysis and control operations can be based on the 3D printer being in the printing stage. At the same time, by collecting and analyzing the comprehensive printing parameters in the sub-segment, the printing stability of the 3D printer in the printing stage can be determined, so that the printing anomalies and faults of the 3D printer can be discovered in a multi-dimensional, timely and accurate manner, avoiding the phenomenon of false triggering of printing control due to short-term anomalies in the printing stage, and formulating targeted control instructions based on the parameters that cause the anomalies and faults. Finally, the 3D printer is controlled to optimize the control of parameters with anomalies and safety hazards under a reasonable mode, thereby avoiding the phenomenon of reduced printing quality of the 3D printer and achieving accurate, timely and efficient control of the 3D printer.

[0158] Example 2: Please refer to Figure 5 As shown, the part not described in detail in this embodiment is described in the first embodiment, and a control method of a portable folding 3D printer is provided, which is applied to a printing controller and is implemented based on a control system of a portable folding 3D printer, including:

[0159] S1: In the folded open state, mark the sampling time within the sampling period, and obtain the basic parameters of the 3D printer at the sampling time, including the printing power value, the nozzle temperature value and the hot bed temperature value;

[0160] S2: Construct the sampling time and basic parameters into a stage diagram, mark the effective waveforms in the stage diagram, the effective waveforms include effective power waveform, effective nozzle waveform and effective hot bed waveform, and determine whether the 3D printer enters the printing stage based on the admission criteria;

[0161] S3: If the printing stage is entered, a sub-segment is constructed in the control segment based on the segment construction criteria, and the comprehensive printing parameters of the 3D printer in the sub-segment are obtained. The comprehensive printing parameters include power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value;

[0162] S4: Perform safety identification on the comprehensive printing parameters, identify abnormal sections from the subsections, and select corresponding printing control modes, which include non-stop optimization mode and non-stop maintenance mode;

[0163] S5: Identify the abnormal parameters of the abnormal section, formulate control instructions corresponding to the abnormal parameters, and control the 3D printer to execute the control instructions according to the printing control mode.

[0164] Example 3: Please refer to Figure 6 As shown, this embodiment discloses an electronic device, including a processor and a memory;

[0165] Wherein, the memory stores a computer program that can be called by the processor;

[0166] The processor executes the control method of the portable folding 3D printer by calling the computer program stored in the memory.

[0167] Since the electronic device introduced in this embodiment is an electronic device used to implement the control method of a portable folding 3D printer in the second embodiment of this application, based on the control method of a portable folding 3D printer introduced in the embodiment of this application, the technical personnel of this field can understand the specific implementation of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of this application is not described in detail here. As long as the electronic device used by the technical personnel of this field to implement the control method of a portable folding 3D printer in the embodiment of this application, it belongs to the scope of protection of this application.

[0168] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A control system for a portable folding 3D printer, applied to a printing controller, characterized in that: include: The first acquisition module, in the folded open state, marks the sampling time within the sampling period and obtains the basic parameters of the 3D printer at the sampling time, the basic parameters including the printing power value, the nozzle temperature value and the hot bed temperature value; The stage determination module constructs a stage diagram with sampling time and basic parameters, marks the effective waveforms in the stage diagram, including effective power waveform, effective nozzle waveform and effective hot bed waveform, and determines whether the 3D printer enters the printing stage based on the admission criteria; The stage diagram includes a first stage diagram, a second stage diagram and a third stage diagram. The construction methods of the first stage diagram, the second stage diagram and the third stage diagram include: Draw three rectangular coordinate systems, cut out the first quadrant from the three rectangular coordinate systems, and assign the intersection of the horizontal and vertical coordinates to 0; The B sampling moments are sorted in chronological order, and the sorted sampling moments are used as the abscissa of the first quadrant, and the printing power value, the nozzle temperature value, and the hot bed temperature value are used as the ordinates, respectively, to construct the first basic graph, the second basic graph, and the third basic graph; On the first basic graph, the second basic graph, and the third basic graph, the points of the printing power values, the nozzle temperature values, and the hot bed temperature values ​​corresponding to B sampling moments are marked respectively, and B first points, B second points, and B third points are obtained; After connecting B first points, B second points and B third points in sequence, a first stage graph, a second stage graph and a third stage graph are constructed; The waveform whose printing power value does not change with the sampling time in the first stage diagram is recorded as the effective power waveform, and C effective power waveforms are obtained. The waveform whose nozzle temperature value does not change with the sampling time in the second stage diagram is recorded as the effective nozzle waveform, and D effective nozzle waveforms are obtained. The waveform whose hot bed temperature value does not change with the sampling time in the third stage diagram is recorded as the effective hot bed waveform, and E effective hot bed waveforms are obtained. The admission criteria are: the number of sampling moments corresponding to each target waveform is greater than the lower limit of the number; The methods for determining whether to enter the printing stage include: The last sampling moment of C effective power waveforms, D effective nozzle waveforms and E effective hot bed waveforms is recorded as the termination moment, and C first termination moments, D second termination moments and E third termination moments are obtained; According to the chronological order, the C first termination moments, the D second termination moments and the E third termination moments are arranged in sequence, and the effective power waveform, the effective nozzle waveform and the effective hot bed waveform corresponding to the last first termination moment, the second termination moment and the third termination moment are recorded as the power target waveform, the nozzle target waveform and the hot bed target waveform; Respectively counting the number of sampling moments in the power target waveform, the nozzle target waveform, and the hot bed target waveform to obtain a first value, a second value, and a third value; When the first value, the second value and the third value are all greater than the lower limit value of the quantity, it is determined to enter the printing stage; When the first value, the second value or the third value is less than or equal to the lower limit value of the quantity, it is determined not to enter the printing stage; The second acquisition module constructs a sub-segment in the control segment based on the segment construction criteria, and obtains the comprehensive printing parameters of the 3D printer in the sub-segment, the comprehensive printing parameters including power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value; The mode selection module performs safety identification on the comprehensive printing parameters, identifies the abnormal sections from the sub-sections, and selects the corresponding printing control mode, which includes the non-stop optimization mode and the shutdown maintenance mode; The printing control module identifies the abnormal parameters of the abnormal section, formulates control instructions corresponding to the abnormal parameters, and controls the 3D printer to execute the control instructions according to the printing control mode.

2. A control system for a portable folding 3D printer according to claim 1, characterized in that: The marking methods of sampling time include: The time when the working signal of the limit sensor on the folding mechanism is 1 is queried through the timestamp, recorded as the starting time, and the period from the starting time to the current time is recorded as the sampling period; A data recording events of the 3D printer are queried through the database, and the time spans of the A data recording events are counted one by one to obtain A time values, and the A time values ​​are accumulated and averaged to obtain the processing time; Taking the processing time as the interval standard and the start time as the starting point, B non-adjacent moments are marked in the sampling period to obtain B sampling moments.

3. A control system for a portable folding 3D printer according to claim 2, characterized in that: The segment construction criteria are: the last moment of the previous sub-segment and the first moment of the next sub-segment are adjacent moments; The subsection construction methods include: According to the chronological order, the first sampling moments of the power target waveform, the nozzle target waveform and the hot bed target waveform are sequentially arranged to obtain a sampling arrangement row; The last sampling time in the sampling arrangement row is recorded as the starting point of the segment, the current time is recorded as the end point of the segment, and the period between the starting point of the segment and the end point of the segment is recorded as the control segment; One third of the processing time is recorded as the segment interval, and one segment interval is used as the marking standard to mark Q+1 moments in the control segment, and the period between two adjacent moments is recorded as a sub-segment, thereby obtaining Q sub-segments; The first sub-segment is numbered 1, and the remaining Q-1 sub-segments are numbered in ascending order.

4. The control system of a portable folding 3D printer according to claim 3, characterized in that: Methods for obtaining the power fluctuation value include: Mark the first moment, the middle moment and the last moment in the Q sub-segments respectively, and detect the real-time power of the 3D printer at the first moment, the middle moment and the last moment respectively through a power sensor to obtain a first power value, a second power value and a third power value; The first power value, the second power value, and the third power value of the Q sub-segments are respectively added and averaged to obtain Q real-time power values; After subtracting the Q real-time power values ​​from the rated power value of the 3D printer in turn, Q power fluctuation values ​​are obtained; The expression of power fluctuation value is: ； In the formula, For the The power fluctuation value of each sub-segment, =1,2...Q, For the The first power value of the sub-segments, For the The second power value of the sub-segments, For the The third power value of the sub-segments, is the rated power value.

5. The control system of a portable folding 3D printer according to claim 4, characterized in that: Methods for obtaining the maximum offset value include: In the Q sub-sections, the displacement sensors are used to detect the X-axis displacement value, the Y-axis displacement value, the Z-axis displacement value and the nozzle displacement value of the 3D printer respectively; The maximum value of the X-axis displacement value, the maximum value of the Y-axis displacement value, the maximum value of the Z-axis displacement value and the maximum value of the nozzle displacement value are compared, and the maximum value after comparison is recorded as the maximum displacement value, and Q maximum displacement values ​​are obtained; After subtracting the Q maximum displacement values ​​from the reference displacement values ​​in turn, Q maximum offset values ​​are obtained; The expression for the maximum offset value is: ； In the formula, For the The maximum offset value of the sub-segments, For the The maximum displacement value of each sub-segment, is the standard offset value.

6. The control system of a portable folding 3D printer according to claim 5, characterized in that: The identification methods of abnormal sections include: According to the order of numbering from small to large, the power fluctuation value, hot bed temperature value, nozzle temperature value and maximum offset value of the Q sub-sections are compared with the safe fluctuation value, safe hot bed range, safe nozzle range and safe offset value respectively; When there is no power fluctuation value greater than the safe fluctuation value, the hot bed temperature value is not within the safe hot bed range, the nozzle temperature value is not within the safe nozzle range, or the maximum offset value is greater than the safe offset value in the sub-section, the sub-section is not recorded as an abnormal section; When there is a power fluctuation value greater than the safe fluctuation value, the hot bed temperature value is not within the safe hot bed range, the nozzle temperature value is not within the safe nozzle range, or the maximum offset value is greater than the safe offset value in the sub-segment, the sub-segment is recorded as an abnormal segment, and P abnormal segments are obtained.

7. The control system of a portable folding 3D printer according to claim 6, characterized in that: The selection methods of non-stop optimization mode and shutdown maintenance mode include: Arrange the numbers of the P abnormal sections in order from small to large, and count the number of numbers in a continuous state, which is recorded as a continuous value; When the continuous value is less than or equal to 2, the non-stop optimization mode is selected; When the continuous value is greater than 2, the shutdown maintenance mode is selected.

8. The control system of a portable folding 3D printer according to claim 7, characterized in that: The control instructions include an instruction to reduce the power supply, an instruction to increase or decrease the temperature of the hot bed, an instruction to increase or decrease the temperature of the nozzle, and an instruction to reduce the motor stroke. The formulation method of the instruction to reduce the power supply, the instruction to increase or decrease the temperature of the hot bed, the instruction to increase or decrease the temperature of the nozzle, and the instruction to reduce the motor stroke includes: When the power fluctuation value is greater than the safe fluctuation value, the power fluctuation value is recorded as an abnormal parameter and an instruction to reduce the power supply is formulated; When the hot bed temperature value is not within the safe hot bed range, the hot bed temperature value is recorded as an abnormal parameter, and an instruction to increase or decrease the hot bed temperature is formulated; When the nozzle temperature value is not within the safe nozzle range, the nozzle temperature value is recorded as an abnormal parameter, and an instruction to increase or decrease the nozzle temperature is formulated; When the maximum offset value is greater than the safety offset value, the maximum offset value is recorded as an abnormal parameter and a command to reduce the motor stroke is formulated.

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