Three-dimensional printing method and system based on real-time scanning

Abstract

The invention relates to the technical field of three-dimensional printing control, and particularly discloses a three-dimensional printing method and system based on real-time scanning, and the method comprises the steps: receiving a to-be-printed model, and carrying out the analysis based on the to-be-printed model, and obtaining a task chain table; reading the execution progress of the task chain table in real time, and determining a reference execution speed according to the execution progress; reading sensing data of each sensor, constructing a data field, and dynamically adjusting the reference execution speed according to the data field; wherein each sensor corresponds to one data field; and synchronously adjusting the reading frequency of the sensing data according to the data field. The environment parameters in the printing process are obtained in real time through the multiple sensors, the multiple environment parameters are coupled, the originally set reference speed is adjusted, the set speed can be finely adjusted according to the actual situation, the unchanged printing speed is converted into the dynamically-adaptive printing speed, and the printing process is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional printing control, and in particular to a three-dimensional printing method and system based on real-time scanning. Background Art

[0002] 3D printing technology is the latest rapid prototyping device that uses technologies such as photocuring and paper stacking. It works in the same principle as ordinary printing. The printer is filled with "printing materials" such as liquid or powder. After connecting to a computer, the "printing materials" are stacked layer by layer under computer control, and finally the blueprint on the computer is turned into a physical object.

[0003] In this process, the basic mechanical components are a three-dimensional translation member and a nozzle. The nozzle is used to add "printing material", and the three-dimensional translation member is used to control the position of the nozzle. Among them, the translation process of the three-dimensional translation member is the part that requires intelligent control in the three-dimensional printing process. Too fast speed will result in poor molding effect, and too slow speed will consume a lot of printing time. How to control the printing speed, that is, the working speed of the three-dimensional translation member is the technical problem that the technical solution of the present invention wants to solve. Summary of the invention

[0004] The object of the present invention is to provide a three-dimensional printing method and system based on real-time scanning to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A three-dimensional printing method based on real-time scanning, the method comprising:

[0007] Receiving the model to be printed, analyzing the model to be printed, and obtaining a task list; the task list is a task list with a sequence, each task list corresponds to a component in the model to be printed, and the elements in the task list include at least three types, which are used to represent the three-dimensional coordinates of the printing position;

[0008] Reading the execution progress of the task chain table in real time, and determining the benchmark execution speed according to the execution progress;

[0009] Reading sensor data from each sensor, constructing a data field, and dynamically adjusting the benchmark execution speed according to the data field; wherein each sensor corresponds to a data field;

[0010] The reading frequency of the sensing data is adjusted synchronously according to the data field.

[0011] As a further solution of the present invention: the step of receiving the model to be printed, analyzing the model to be printed, and obtaining the task list includes:

[0012] Receive the model to be printed, and set the cutting surface according to the preset height interval; each cutting surface contains a height label;

[0013] Select the segmentation surface that intersects with the model to be printed, and read the selected segmentation surface from bottom to top;

[0014] Get the intersection position of the segmentation surface and the model to be printed, mark it as one, mark other positions as zero, and obtain matrices at different heights as the task matrix;

[0015] Generate a task list based on the task matrix, and arrange the task list in increasing order according to the height to obtain a task linked list.

[0016] As a further solution of the present invention: the step of reading the execution progress of the task linked list in real time and determining the benchmark execution speed according to the execution progress comprises:

[0017] Read the task list and query the corresponding task matrix of the task list in order;

[0018] Superimpose the task matrices according to their heights to obtain a three-dimensional matrix;

[0019] Determine the benchmark execution speed at each coordinate in the three-dimensional matrix;

[0020] Acquire the workstation of the execution part in real time, and match the benchmark execution speed according to the workstation;

[0021] The process of determining the benchmark execution speed is as follows:

[0022] Where v(x,y,z) is the baseline execution speed at the position (x,y,z), f() is the decreasing function of the preset value in the brackets, and H k is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at the (i,j) coordinate in the zth task matrix.

[0023] As a further solution of the present invention: the steps of reading the sensing data of each sensor, constructing a data field, and dynamically adjusting the benchmark execution speed according to the data field include:

[0024] Read the sensor data of each sensor, count the sensor data according to the coordinates of the monitoring points, and obtain the sensor matrix;

[0025] Extending each data in the sensor matrix to obtain a data field;

[0026] The data fields of all sensors are counted and input into the trained neural network model to obtain an environmental score; the environmental score is used to characterize the safety level of the printing environment, and the higher the environmental score, the higher the safety level;

[0027] A correction coefficient is determined according to the environmental score to adjust the benchmark execution speed; the correction coefficient is proportional to the environmental score.

[0028] As a further solution of the present invention: the process of extending each data in the sensor matrix to obtain the data field is:

[0029]

[0030] Where z(i,j,k) is the value at the midpoint (i,j,k) of the data field, L is the total number of sensor data measured by the sensor, and N l is the lth sensor data, (x l ,y l ,z l ) is the coordinate of the lth sensor data.

[0031] As a further solution of the present invention: the step of adjusting the reading frequency of the sensing data according to the data field synchronization includes:

[0032] Arrange data fields in chronological order;

[0033] Compare adjacent data fields and calculate difference data fields;

[0034] The data in the accumulated difference data field are used as eigenvalues;

[0035] The reading frequency of the sensing data is adjusted according to the characteristic value.

[0036] The technical solution of the present invention also provides a three-dimensional printing system based on real-time scanning, the system comprising:

[0037] A task list generation module is used to receive the model to be printed, analyze the model to be printed, and obtain a task list; the task list is a task list with a sequence, each task list corresponds to a component in the model to be printed, and the elements in the task list include at least three types, which are used to represent the three-dimensional coordinates of the printing position;

[0038] A benchmark speed query module is used to read the execution progress of the task chain table in real time and determine the benchmark execution speed according to the execution progress;

[0039] An execution speed adjustment module, used for reading the sensing data of each sensor, constructing a data field, and dynamically adjusting the reference execution speed according to the data field; wherein each sensor corresponds to a data field;

[0040] The reading frequency adjustment module is used to adjust the reading frequency of the sensing data synchronously according to the data field.

[0041] As a further solution of the present invention: the task list generation module includes:

[0042] A cutting plane setting unit is used to receive the model to be printed and set the cutting plane according to the preset height interval; each cutting plane has a height label;

[0043] A segmentation plane selection unit is used to select segmentation planes that intersect with the model to be printed, and read the selected segmentation planes in sequence from bottom to top;

[0044] The task matrix generation unit is used to obtain the intersection position of the segmentation surface and the model to be printed, mark it as one, mark other positions as zero, and obtain matrices at different heights as the task matrix;

[0045] The task table statistics unit is used to generate a task table according to the task matrix, and arrange the task table in increasing order according to the height to obtain a task linked list.

[0046] As a further solution of the present invention: the reference speed query module includes:

[0047] A matrix query unit is used to read the task list and query the corresponding task matrix of the task list in order;

[0048] A matrix superposition unit, used for superimposing the task matrix according to the height of the task matrix to obtain a three-dimensional matrix;

[0049] A speed determination unit, used to determine a reference execution speed at each coordinate in the three-dimensional matrix;

[0050] A speed matching unit, used to obtain the workstation of the actuator in real time and match the reference execution speed according to the workstation;

[0051] The process of determining the benchmark execution speed is as follows:

[0052] Where v(x,y,z) is the baseline execution speed at the position (x,y,z), f() is the decreasing function of the preset value in the brackets, and H k is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at the (i,j) coordinate in the zth task matrix.

[0053] As a further solution of the present invention: the execution speed adjustment module includes:

[0054] A sensor data reading unit is used to read the sensor data of each sensor, count the sensor data according to the coordinates of the monitoring points, and obtain a sensor matrix;

[0055] A data extension unit, used for extending each data in the sensor matrix to obtain a data field;

[0056] A scoring generating unit is used to count the data fields of all sensors and input the data into the trained neural network model to obtain an environmental score; the environmental score is used to characterize the safety level of the printing environment, and the higher the environmental score, the higher the safety level;

[0057] The adjustment execution unit is used to determine a correction coefficient according to the environmental score and adjust the benchmark execution speed; the correction coefficient is proportional to the environmental score.

[0058] Compared with the prior art, the beneficial effects of the present invention are: the present invention obtains the environmental parameters in the printing process in real time through multiple sensors, couples multiple environmental parameters, adjusts the originally set reference speed, can fine-tune the set speed according to actual conditions, and converts the unchanged printing speed into a dynamically adaptive printing speed, thereby optimizing the printing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0060] Figure 1 A flowchart of a three-dimensional printing method based on real-time scanning.

[0061] Figure 2 This is a block diagram of the first sub-process of a three-dimensional printing method based on real-time scanning.

[0062] Figure 3 This is a second sub-process flowchart of the three-dimensional printing method based on real-time scanning.

[0063] Figure 4 This is a block diagram of the third sub-process of the three-dimensional printing method based on real-time scanning.

[0064] Figure 5 This is a fourth sub-process flowchart of the three-dimensional printing method based on real-time scanning.

[0065] Figure 6 This is a structural block diagram of the composition of a 3D printing system based on real-time scanning. DETAILED DESCRIPTION

[0066] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0067] Figure 1The flowchart of the three-dimensional printing method based on real-time scanning is as follows. In an embodiment of the present invention, a three-dimensional printing method based on real-time scanning includes:

[0068] Step S100: receiving a model to be printed, analyzing the model to be printed, and obtaining a task list; the task list is a task list with a sequence, each task list corresponds to a component in the model to be printed, and the elements in the task list include at least three types, which are used to represent the three-dimensional coordinates of the printing position;

[0069] The model to be printed is a model that can be recognized by 3D printing technology. Common 3D printing input models are as follows:

[0070] STL file (STereoLithography): This is one of the most common 3D printing file formats, which consists of a series of connected triangles. STL files define the model by describing the surface geometry.

[0071] OBJ file (Wavefront OBJ): OBJ file is also a common 3D model file format, which can contain richer information, such as texture mapping and normal information.

[0072] CAD file (Computer-Aided Design): CAD files are created by computer-aided design software and usually contain the geometry, size and structure information of the model. Common CAD file formats include STP / STEP, IGES, SolidWorks, etc.

[0073] PLY file (Polygon File Format): PLY file is also a file format used to represent three-dimensional graphics, which can contain color, transparency and other additional attributes.

[0074] AMF file (Additive Manufacturing File Format): AMF file is an open 3D printing file format that supports richer geometry and property descriptions and is suitable for more complex 3D printing applications.

[0075] Point Cloud: Point cloud data is a collection of three-dimensional points that describes the external shape of an object. Point cloud data is often used to scan objects in the real world to create three-dimensional models.

[0076] Image files: Some 3D printing technologies can generate 3D models from image files, using image processing and computer vision techniques to extract the geometry of the object.

[0077] The execution subject of this method is generally a 3D printer. When the 3D printer is working, it will first identify the model to be printed, and then generate a printing task. The printing task is stored in the form of a task chain list and continuously sent to the execution part. The execution part in the 3D printer includes three mechanisms for driving the nozzle to move in three dimensions. Therefore, each task table in the task chain list is actually a collection of 3D coordinates. The meaning of the chain is to divide a whole model into multiple small models for printing, that is, a large task (task chain list) is composed of multiple subtasks (task tables).

[0078] Step S200: reading the execution progress of the task chain table in real time, and determining a benchmark execution speed according to the execution progress;

[0079] During the 3D printing process, the environmental conditions of the printing environment are getting worse and worse. This is because the printing environment itself is closed, and at least the temperature will get higher and higher. The working process is to execute for a period of time and pause for a period of time, that is, the execution speed of different work progress is different. The execution progress of the task list is read in real time to determine which stage the work process has reached. Different stages have different benchmark execution speeds.

[0080] Step S300: reading the sensing data of each sensor, constructing a data field, and dynamically adjusting the benchmark execution speed according to the data field; wherein each sensor corresponds to a data field;

[0081] Different types of sensors are set in the 3D printer to detect environmental parameters, such as temperature and humidity. The data obtained by each sensor is analyzed separately, and the obtained data is counted in the form of a three-dimensional matrix, called a data field. By analyzing the data fields corresponding to different sensors, the environmental state can be determined, and then the execution speed is adjusted according to the environmental state, that is, the benchmark execution speed is adjusted.

[0082] Step S400: synchronously adjusting the reading frequency of the sensing data according to the data field;

[0083] After step S300 is completed, the function of adjusting the three-dimensional printing process has actually been realized. On this basis, the present application makes additional applications to the data field, analyzes the data field, and then determines the reading frequency of the sensor data, increases the data reading frequency of the sensor in harsh environments, and reduces the data reading frequency of the sensor in safe environments.

[0084] Figure 2 The first sub-process flowchart of the three-dimensional printing method based on real-time scanning is as follows: the steps of receiving the model to be printed, analyzing the model to be printed, and obtaining the task list include:

[0085] Step S101: receiving a model to be printed, and setting a segmentation surface according to a preset height interval; each segmentation surface contains a height label;

[0086] Step S102: selecting a segmentation surface that intersects with the model to be printed, and reading the selected segmentation surfaces in sequence from bottom to top;

[0087] Step S103: Obtain the intersection position of the segmentation surface and the model to be printed, mark it as one, mark other positions as zero, and obtain matrices at different heights as the task matrix;

[0088] Step S104: Generate a task list according to the task matrix, and arrange the task list in increasing order according to the height to obtain a task linked list.

[0089] The above content limits the generation process of the task table and the task chain list. After receiving the model to be printed, multiple cutting surfaces are set according to the preset height interval. The height interval generally adopts the size of the molding material. Each cutting surface contains a height label; the height of each cutting surface is relative to the height in the 3D printer and is a relative height; all cutting surfaces are surfaces inside the printer.

[0090] Query the relative position of the model to be printed in the printer, select the cutting surface that intersects with the model to be printed, and in each cutting surface, query whether each position intersects with the model to be printed. The distance between adjacent positions is the size of the molding material. Whether there is an intersection is represented in the form of a matrix, called the task matrix, and the cutting surface corresponds to the task matrix one by one.

[0091] Finally, the task matrix reflects the positions of the model to be printed at which the molding material needs to be sprayed during the printing process; the movement trajectory of the nozzle is determined according to the task matrix, and the movement trajectory is the task table at each height. The task table is counted in order of height to obtain a task chain list.

[0092] A simple description of the above process is as follows:

[0093] The model to be printed is divided into multiple layers, and the nozzle sprays each layer of the model from bottom to top in turn to obtain the final product. The movement process of the nozzle in each layer is a task list. Multiple task lists are counted to obtain a task chain list.

[0094] In addition, there are only two types of elements in the task matrix, namely zero and one; at the position where there is an intersection, the element is set to one, and at the position where there is no intersection, the element is set to zero.

[0095] Figure 3 The second sub-flow chart of the three-dimensional printing method based on real-time scanning, wherein the step of reading the execution progress of the task chain list in real time and determining the benchmark execution speed according to the execution progress comprises:

[0096] Step S201: Read the task list and query the corresponding task matrix of the task list in order;

[0097] Step S202: superimposing the task matrix according to its height to obtain a three-dimensional matrix;

[0098] Step S203: determining the benchmark execution speed at each coordinate in the three-dimensional matrix;

[0099] Step S204: Acquire the workstation of the actuator in real time, and match the benchmark execution speed according to the workstation.

[0100] The above content specifically describes the process of generating the benchmark execution speed. On the basis that the task list has been generated, the task list and the corresponding task matrix are read in sequence; different task matrices are superimposed according to the height labels of the task matrix to obtain a three-dimensional matrix; the benchmark execution speed at each position is determined based on the three-dimensional matrix to realize the calibration process.

[0101] In practical applications, the workstation of the actuator is obtained in real time, and the benchmark execution speed at the corresponding position is queried from the workstation.

[0102] The process of determining the benchmark execution speed is as follows:

[0103] Where v(x,y,z) is the baseline execution speed at the position (x,y,z), f() is the decreasing function of the preset value in the brackets, and H k is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at the (i,j) coordinate in the zth task matrix.

[0104] The principle of determining the benchmark execution speed is not complicated. For a certain point (the position that needs to be sprayed), the numerical sum of all points before this point is calculated. The numerical sum is actually the sum of the values ​​of one (one means that the position is part of the model to be processed). The larger the value, the more times it has been sprayed. At this time, the benchmark execution speed will be lower; that is, f() is a decreasing function of the preset values ​​in brackets.

[0105] Figure 4 The third sub-process flowchart of the three-dimensional printing method based on real-time scanning is as follows: the steps of reading the sensing data of each sensor, constructing a data field, and dynamically adjusting the benchmark execution speed according to the data field include:

[0106] Step S301: reading the sensor data of each sensor, and counting the sensor data according to the coordinates of the monitoring points to obtain a sensor matrix;

[0107] Step S302: Extending each data in the sensing matrix to obtain a data field;

[0108] Step S303: Counting the data fields of all sensors and inputting them into the trained neural network model to obtain an environmental score; the environmental score is used to characterize the safety level of the printing environment, and the higher the environmental score, the higher the safety level;

[0109] Step S304: determining a correction coefficient according to the environmental score and adjusting the benchmark execution speed; the correction coefficient is proportional to the environmental score.

[0110] In an example of the technical solution of the present invention, the adjustment process of the benchmark execution speed is specifically limited, the sensor data of each sensor is read, the sensor data is statistically analyzed according to the coordinates of the monitoring points, and the sensor data is represented in the form of a matrix to obtain a sensor matrix, which is also a three-dimensional matrix; it should be noted that the number of monitoring points is limited, and in the sensor matrix, only certain positions have data. For this, the present application introduces an extension scheme to extend the sensor data. After the extension, the sensor matrix filled with data is called a data field.

[0111] In the above content, each sensor corresponds to a data field at each moment. By inputting each data field at the same moment into the trained neural network model, an environmental score can be obtained. The environmental score is used to characterize the safety level of the printing environment. The higher the environmental score, the higher the safety level.

[0112] For the neural network model, its training process is a preprocessing process. The management party measures the data inside the 3D printer in advance and represents it in the form of a data field. Then, the management party evaluates and scores it to obtain an environmental score. Thus, a sample set from the data field to the environmental score is constructed, and the sample set is divided into a training set, a test set and a validation set, and the data field is trained to the environmental score neural network model.

[0113] The process of extending each data in the sensor matrix to obtain the data field is as follows:

[0114]

[0115] Where z(i,j,k) is the value at the midpoint (i,j,k) of the data field, L is the total number of sensor data measured by the sensor, and N l is the lth sensor data, (x l ,y l ,z l ) is the coordinate of the lth sensor data.

[0116] The principle of the extension process is very simple. For a point that needs to be extended, the distance between the measured data and the point that needs to be extended is calculated. The square of the distance divided by the measured data is used as the influence value of each measured data at the point that needs to be extended. The influence values ​​of all measured data at the points that need to be extended are accumulated, and the sum obtained is used as the value after extension in the data field.

[0117] Figure 5 The fourth sub-flow chart of the three-dimensional printing method based on real-time scanning, wherein the step of synchronously adjusting the reading frequency of the sensor data according to the data field comprises:

[0118] Step S401: Arrange the data fields in chronological order;

[0119] Step S402: Compare adjacent data fields and calculate difference data fields;

[0120] Step S403: accumulating the data in the difference data field as a feature value;

[0121] Step S404: adjusting the reading frequency of the sensing data according to the characteristic value.

[0122] In an example of the technical solution of the present invention, a sensor-oriented data transmission optimization process is added, the data field is arranged in chronological order, the data fields at adjacent moments are compared, and the difference data field is calculated. The difference data field represents the change of the sensor data at adjacent moments. If the data at a certain position in the difference data field is zero, it means that the change is zero. The larger the data, the greater the degree of change. Therefore, the values ​​of all elements in the difference data field are accumulated, and the sum is obtained as a characteristic value, which is used to characterize the change of the sensor data at adjacent moments; the reading frequency of the sensor data is adjusted according to the characteristic value. The smaller the characteristic value, the smaller the reading frequency, that is, the reading frequency is proportional to the characteristic value.

[0123] The practical significance of the above adjustment is that if the sensor data changes slightly, the reading frequency will be lower, and if the sensor data changes significantly, the reading frequency will be higher.

[0124] Figure 6 1 is a structural block diagram of a three-dimensional printing system based on real-time scanning. In an embodiment of the present invention, a three-dimensional printing system based on real-time scanning, the system 10 includes:

[0125] The task list generation module 11 is used to receive the model to be printed, analyze the model to be printed, and obtain a task list; the task list is a task list with a sequence, each task list corresponds to a component in the model to be printed, and the elements in the task list include at least three types, which are used to represent the three-dimensional coordinates of the printing position;

[0126] A reference speed query module 12 is used to read the execution progress of the task chain table in real time and determine the reference execution speed according to the execution progress;

[0127] An execution speed adjustment module 13 is used to read the sensing data of each sensor, construct a data field, and dynamically adjust the reference execution speed according to the data field; wherein each sensor corresponds to a data field;

[0128] The reading frequency adjustment module 14 is used to adjust the reading frequency of the sensing data synchronously according to the data field.

[0129] Furthermore, the task list generation module 11 includes:

[0130] A cutting plane setting unit is used to receive the model to be printed and set the cutting plane according to the preset height interval; each cutting plane has a height label;

[0131] A segmentation plane selection unit is used to select segmentation planes that intersect with the model to be printed, and read the selected segmentation planes in sequence from bottom to top;

[0132] The task matrix generation unit is used to obtain the intersection position of the segmentation surface and the model to be printed, mark it as one, mark other positions as zero, and obtain matrices at different heights as the task matrix;

[0133] The task table statistics unit is used to generate a task table according to the task matrix, and arrange the task table in increasing order according to the height to obtain a task linked list.

[0134] Specifically, the reference speed query module 12 includes:

[0135] A matrix query unit is used to read the task list and query the corresponding task matrix of the task list in order;

[0136] A matrix superposition unit, used for superimposing the task matrix according to the height of the task matrix to obtain a three-dimensional matrix;

[0137] A speed determination unit, used to determine a reference execution speed at each coordinate in the three-dimensional matrix;

[0138] A speed matching unit, used to obtain the workstation of the actuator in real time and match the reference execution speed according to the workstation;

[0139] The process of determining the benchmark execution speed is as follows:

[0140] Where v(x,y,z) is the baseline execution speed at the position (x,y,z), f() is the decreasing function of the preset value in the brackets, and H kis the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at the (i,j) coordinate in the zth task matrix.

[0141] Furthermore, the execution speed adjustment module 13 includes:

[0142] A sensor data reading unit is used to read the sensor data of each sensor, count the sensor data according to the coordinates of the monitoring points, and obtain a sensor matrix;

[0143] A data extension unit, used for extending each data in the sensor matrix to obtain a data field;

[0144] A scoring generating unit is used to count the data fields of all sensors and input the data into the trained neural network model to obtain an environmental score; the environmental score is used to characterize the safety level of the printing environment, and the higher the environmental score, the higher the safety level;

[0145] The adjustment execution unit is used to determine a correction coefficient according to the environmental score and adjust the benchmark execution speed; the correction coefficient is proportional to the environmental score.

[0146] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional printing method based on real-time scanning, characterized in that: The method comprises: Receiving the model to be printed, analyzing the model to be printed, and obtaining a task list; the task list is a task list with a sequence, each task list corresponds to a component in the model to be printed, and the elements in the task list include at least three types, which are used to represent the three-dimensional coordinates of the printing position; Reading the execution progress of the task chain table in real time, and determining the benchmark execution speed according to the execution progress; Reading sensor data from each sensor, constructing a data field, and dynamically adjusting the benchmark execution speed according to the data field; wherein each sensor corresponds to a data field; The reading frequency of the sensing data is adjusted synchronously according to the data field.

2. The three-dimensional printing method based on real-time scanning according to claim 1, characterized in that: The step of receiving the model to be printed, analyzing the model to be printed, and obtaining the task list comprises: Receive the model to be printed, and set the cutting surface according to the preset height interval; each cutting surface contains a height label; Select the segmentation surface that intersects with the model to be printed, and read the selected segmentation surface from bottom to top; Get the intersection position of the segmentation surface and the model to be printed, mark it as one, mark other positions as zero, and obtain matrices at different heights as the task matrix; Generate a task list based on the task matrix, and arrange the task list in increasing order according to the height to obtain a task linked list.

3. The three-dimensional printing method based on real-time scanning according to claim 1, characterized in that: The step of reading the execution progress of the task chain table in real time and determining the benchmark execution speed according to the execution progress comprises: Read the task list and query the corresponding task matrix of the task list in order; Superimpose the task matrices according to their heights to obtain a three-dimensional matrix; Determine the benchmark execution speed at each coordinate in the three-dimensional matrix; Acquire the workstation of the execution part in real time, and match the benchmark execution speed according to the workstation; The process of determining the benchmark execution speed is as follows: Where v(x,y,z) is the baseline execution speed at the position (x,y,z), f() is the decreasing function of the preset value in the brackets, and H k is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at the (i,j) coordinate in the zth task matrix.

4. The three-dimensional printing method based on real-time scanning according to claim 1, characterized in that: The steps of reading the sensing data of each sensor, constructing a data field, and dynamically adjusting the benchmark execution speed according to the data field include: Read the sensor data of each sensor, count the sensor data according to the coordinates of the monitoring points, and obtain the sensor matrix; Extending each data in the sensor matrix to obtain a data field; The data fields of all sensors are counted and input into the trained neural network model to obtain an environmental score; the environmental score is used to characterize the safety level of the printing environment, and the higher the environmental score, the higher the safety level; A correction coefficient is determined according to the environmental score to adjust the benchmark execution speed; the correction coefficient is proportional to the environmental score.

5. The three-dimensional printing method based on real-time scanning according to claim 4, characterized in that: The process of extending each data in the sensor matrix to obtain the data field is as follows: Where z(i,j,k) is the value at the midpoint (i,j,k) of the data field, L is the total number of sensor data measured by the sensor, and N l is the lth sensor data, (x l ,y l ,z l ) is the coordinate of the lth sensor data.

6. The three-dimensional printing method based on real-time scanning according to claim 1, characterized in that: The step of synchronously adjusting the reading frequency of the sensing data according to the data field comprises: Arrange data fields in chronological order; Compare adjacent data fields and calculate difference data fields; The data in the accumulated difference data field are used as eigenvalues; The reading frequency of the sensing data is adjusted according to the characteristic value.

7. A three-dimensional printing system based on real-time scanning, characterized in that: The system comprises: A task list generation module is used to receive the model to be printed, analyze the model to be printed, and obtain a task list; the task list is a task list with a sequence, each task list corresponds to a component in the model to be printed, and the elements in the task list include at least three types, which are used to represent the three-dimensional coordinates of the printing position; A benchmark speed query module is used to read the execution progress of the task chain table in real time and determine the benchmark execution speed according to the execution progress; An execution speed adjustment module, used for reading the sensing data of each sensor, constructing a data field, and dynamically adjusting the reference execution speed according to the data field; wherein each sensor corresponds to a data field; The reading frequency adjustment module is used to adjust the reading frequency of the sensing data synchronously according to the data field.

8. The three-dimensional printing system based on real-time scanning according to claim 7, characterized in that: The task list generation module includes: A cutting plane setting unit is used to receive the model to be printed and set the cutting plane according to the preset height interval; each cutting plane has a height label; A segmentation plane selection unit is used to select segmentation planes that intersect with the model to be printed, and read the selected segmentation planes in sequence from bottom to top; The task matrix generation unit is used to obtain the intersection position of the segmentation surface and the model to be printed, mark it as one, mark other positions as zero, and obtain matrices at different heights as the task matrix; The task table statistics unit is used to generate a task table according to the task matrix, and arrange the task table in increasing order according to the height to obtain a task linked list.

9. The three-dimensional printing system based on real-time scanning according to claim 7, characterized in that: The reference speed query module comprises: A matrix query unit is used to read the task list and query the corresponding task matrix of the task list in order; A matrix superposition unit, used for superimposing the task matrix according to the height of the task matrix to obtain a three-dimensional matrix; A speed determination unit, used to determine a reference execution speed at each coordinate in the three-dimensional matrix; A speed matching unit, used to obtain the workstation of the actuator in real time and match the reference execution speed according to the workstation; The process of determining the benchmark execution speed is as follows: Where v(x,y,z) is the baseline execution speed at the position (x,y,z), f() is the decreasing function of the preset value in the brackets, and H k is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at the (i,j) coordinate in the zth task matrix.

10. The three-dimensional printing system based on real-time scanning according to claim 7, characterized in that: The execution speed adjustment module comprises: A sensor data reading unit is used to read the sensor data of each sensor, count the sensor data according to the coordinates of the monitoring points, and obtain a sensor matrix; A data extension unit, used for extending each data in the sensor matrix to obtain a data field; A scoring generating unit is used to count the data fields of all sensors and input the data into the trained neural network model to obtain an environmental score; the environmental score is used to characterize the safety level of the printing environment, and the higher the environmental score, the higher the safety level; The adjustment execution unit is used to determine a correction coefficient according to the environmental score and adjust the benchmark execution speed; the correction coefficient is proportional to the environmental score.

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