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

Abstract

The application 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, which comprises the following steps: receiving a model to be printed, analyzing the model to be printed to obtain a task chain table; reading the execution progress of the task chain table in real time, 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 application can obtain environmental parameters in a printing process in real time through multiple sensors, couple multiple environmental parameters, adjust the originally set reference speed, finely adjust the set speed according to actual conditions, convert the invariable printing speed into a dynamically adapted printing speed, and optimize the printing process.

Description

Technical Field

[0001] This invention relates to the field of 3D printing control technology, specifically a 3D printing method and system based on real-time scanning. Background Technology

[0002] 3D printing technology is a new type of rapid prototyping device that utilizes techniques such as photopolymerization and paper lamination. Its working principle is basically the same as ordinary printing; the printer contains liquid or powder "printing materials," and after being connected to a computer, the computer controls the layering of these materials to ultimately transform the blueprint on the computer into a physical object.

[0003] In this process, the basic mechanical components are a three-dimensional translational component and a nozzle. The nozzle is used to add "printing material," and the three-dimensional translational component is used to control the position of the nozzle. The translational process of the three-dimensional translational component is the part that needs to be intelligently controlled in the 3D printing process. If the speed is too fast, the forming effect will be poor, and if the speed is too slow, a lot of printing time will be consumed. How to control the printing speed, that is, the working speed of the three-dimensional translational component, is the technical problem that the present invention aims to solve. Summary of the Invention

[0004] The purpose of this invention is to provide a 3D printing method and system based on real-time scanning to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A 3D printing method based on real-time scanning, the method comprising:

[0007] Receive the model to be printed, analyze it to obtain a task list; the task list is a sequential task list, each task list corresponds to a part of the model to be printed, and the elements in the task list include at least three types of three-dimensional coordinates to represent the printing position.

[0008] The execution progress of the task chain is read in real time, and the baseline execution speed is determined based on the execution progress.

[0009] The sensor data from each sensor is read to construct a data field, and the baseline execution speed is dynamically adjusted based on the data field; wherein, each sensor corresponds to a data field.

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

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

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

[0013] Select the cutting surfaces that intersect with the model to be printed, and read the selected cutting surfaces sequentially from bottom to top;

[0014] Find the intersection points between the cutting surface and the model to be printed, mark them as one, and mark the other positions as zero to obtain matrices at different heights, which can be used as the task matrix;

[0015] A task table is generated based on the task matrix, and the task table is sorted in ascending order according to height to obtain a task linked list.

[0016] As a further aspect of the present invention: the step of real-time reading of the execution progress of the task chain and determining the baseline execution speed based on the execution progress includes:

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

[0018] The three-dimensional matrix is ​​obtained by superimposing the task matrix with the task matrix at its height.

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

[0020] The workstation of the execution component is acquired in real time, and the benchmark execution speed is matched according to the workstation.

[0021] The process for determining the baseline execution speed is as follows:

[0022] In the formula, v(x,y,z) is the baseline execution speed at position (x,y,z), f() is a subtractive function of the preset value within the parentheses, and H k x is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at coordinate (i,j) in the z-th task matrix.

[0023] As a further aspect of the present invention: the step of reading the sensing data from each sensor, constructing a data field, and dynamically adjusting the reference execution speed based on the data field includes:

[0024] Read the sensing data from each sensor, and statistically analyze the sensing data based on the coordinates of the monitoring points to obtain the sensing matrix;

[0025] The data in the sensing matrix is ​​extended to obtain a data field;

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

[0027] A correction factor is determined based on the environmental score, and the baseline execution speed is adjusted accordingly; the correction factor is proportional to the environmental score.

[0028] As a further aspect of the present invention: the process of extending each data in the sensing matrix to obtain the data field is as follows:

[0029]

[0030] In the formula, z(i,j,k) is the value at point (i,j,k) in the data field, L is the total number of sensor data measured by the sensor, and N is the total number of sensor data. l For the l-th sensor data, (x l ,y l ,z l ) represents the coordinates of the l-th sensor data.

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

[0032] The data fields are arranged in chronological order.

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

[0034] The data in the cumulative difference data field are used as feature values;

[0035] The frequency of reading the sensor data is adjusted according to the feature value.

[0036] The present invention also provides a 3D printing system based on real-time scanning, the system comprising:

[0037] The task list generation module receives the model to be printed, analyzes it, and obtains the task list. The task list is a sequential task list, with each task corresponding to a part of the model to be printed. The elements in the task list include at least three types of coordinates to represent the printing position.

[0038] The baseline speed query module is used to read the execution progress of the task chain in real time and determine the baseline execution speed based on the execution progress.

[0039] The execution speed adjustment module 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;

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

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

[0042] The splitting face setting unit is used to receive the model to be printed and set the splitting faces according to the preset height interval; each splitting face contains a height label;

[0043] The splitting surface selection unit is used to select splitting surfaces that intersect with the model to be printed, and reads the selected splitting surfaces sequentially from bottom to top;

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

[0045] The task table statistics unit is used to generate a task table based on the task matrix, and then sort the task table in ascending order according to height to obtain a task linked list.

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

[0047] The matrix query unit is used to read the task list and query the corresponding task matrix in the task list in sequence.

[0048] The matrix overlay unit is used to overlay the task matrix according to the height of the task matrix to obtain a three-dimensional matrix;

[0049] The speed determination unit is used to determine the baseline execution speed at each coordinate in the three-dimensional matrix.

[0050] The speed matching unit is used to acquire the workstation of the actuator in real time and match the execution speed according to the workstation reference.

[0051] The process for determining the baseline execution speed is as follows:

[0052] In the formula, v(x,y,z) is the baseline execution speed at position (x,y,z), f() is a subtractive function of the preset value within the parentheses, and H k x is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at coordinate (i,j) in the z-th task matrix.

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

[0054] The sensor data reading unit is used to read the sensor data from each sensor, and to obtain the sensor matrix by statistically analyzing the sensor data based on the coordinates of the monitoring points.

[0055] A data extension unit is used to extend each data in the sensing matrix to obtain a data field.

[0056] The scoring generation unit is used to collect data from all sensors, input the data into a trained neural network model, and obtain an environmental score. The environmental score is used to characterize the safety level of the printing environment; the higher the environmental score, the higher the safety level.

[0057] An adjustment execution unit is used to determine a correction coefficient based on the environmental score and adjust the baseline 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 acquires environmental parameters in real time during the printing process through multiple sensors, couples multiple environmental parameters, adjusts the originally set reference speed, can fine-tune the set speed according to the actual situation, and converts the constant printing speed into a dynamically adapted printing speed, thus optimizing the printing process. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention.

[0060] Figure 1 This is a flowchart of a 3D printing method based on real-time scanning.

[0061] Figure 2 This is the first sub-flowchart of the 3D printing method based on real-time scanning.

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

[0063] Figure 4 This is the flowchart of the third sub-process of the 3D printing method based on real-time scanning.

[0064] Figure 5 This is the fourth sub-process flowchart of the 3D printing method based on real-time scanning.

[0065] Figure 6 This is a block diagram of the structure of a 3D printing system based on real-time scanning. Detailed Implementation

[0066] To make the technical problems, solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0067] Figure 1The flowchart illustrates a real-time scanning-based 3D printing method. In this embodiment of the invention, a real-time scanning-based 3D printing method includes:

[0068] Step S100: Receive the model to be printed, analyze it based on the model to be printed, and obtain the task list; the task list is a task list with order, each task list corresponds to a part of the model to be printed, and the elements in the task list include at least three types, used to characterize the three-dimensional coordinates of the printing position.

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

[0070] STL (STereoLithography) files: This is one of the most common 3D printing file formats, consisting 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. It can contain richer information, such as texture mapping and normal information.

[0072] CAD files (Computer-Aided Design): CAD files are created by computer-aided design software and typically contain the model's geometry, dimensions, and structural information. Common CAD file formats include STP / STEP, IGES, and SolidWorks.

[0073] PLY (Polygon File Format): PLY files are also a file format used to represent 3D graphics. They can include color, transparency, and other additional attributes.

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

[0075] Point cloud data: 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 real-world objects to create three-dimensional models.

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

[0077] The main implementer of this method is typically a 3D printer. During operation, the 3D printer first identifies the model to be printed and then generates printing tasks. These tasks are stored in the form of a task chain and continuously sent to the executor. The executor in the 3D printer includes three mechanisms that drive the nozzle to move in three dimensions. Therefore, each task in the task chain is actually a set of three-dimensional coordinates. The term "chain" signifies dividing a complete model into multiple smaller models for printing; that is, a large task (task chain) is composed of multiple sub-tasks (task lists).

[0078] Step S200: Read the execution progress of the task chain in real time, and determine the baseline execution speed based on the execution progress;

[0079] During the 3D printing process, the environmental conditions of the printing environment become increasingly worse. This is because the printing environment itself is enclosed, and the temperature will increase. The work process is inherently executed for a period of time and then paused for a period of time. In other words, the execution speed is different at different stages of the work. The execution progress of the task chain is read in real time to determine which stage the work process has reached. Different stages have different baseline execution speeds.

[0080] Step S300: Read the sensing data of each sensor, construct a data field, and dynamically adjust 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 acquired by each sensor is analyzed separately. The acquired data is statistically analyzed in the form of a three-dimensional matrix, which is called a data field. By analyzing the data fields corresponding to different sensors, the environmental state can be determined, and then the execution speed can be adjusted according to the environmental state, that is, the baseline execution speed can be adjusted.

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

[0083] After step S300 is completed, the function of adjusting the 3D printing process has been realized. On this basis, this application makes additional applications to the data field, analyzes the data field, and then determines the reading frequency of the sensor's sensing data. The data reading frequency of the sensor is increased in harsh environments and decreased in safe environments.

[0084] Figure 2 The first sub-flowchart of the real-time scanning-based 3D printing method includes the following steps: receiving the model to be printed, analyzing the model, and obtaining the task list:

[0085] Step S101: Receive the model to be printed and set the cutting surfaces according to the preset height interval; each cutting surface contains a height label;

[0086] Step S102: Select the cutting surfaces that intersect with the model to be printed, and read the selected cutting surfaces sequentially from bottom to top;

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

[0088] Step S104: Generate a task table based on the task matrix, and sort the task table in ascending order according to height to obtain a task linked list.

[0089] The above content defines the generation process of the task list and task chain list. After receiving the model to be printed, multiple cutting surfaces are set according to the preset height interval. The height interval is generally based on the size of the molding material. Each cutting surface has 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] The relative position of the model to be printed in the printer is queried. The cutting surfaces that intersect with the model to be printed are selected. In each cutting surface, it is checked whether each position intersects with the model to be printed. The distance between adjacent positions is the size of the molding material. The existence of intersection is represented in the form of a matrix, called the task matrix. The cutting surfaces correspond one-to-one with the task matrix.

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

[0092] The following is a simplified explanation of the above process:

[0093] The model to be printed is divided into multiple layers. The nozzle sprays each layer of the model from bottom to top to obtain the final product. The movement of the nozzle in each layer is a task list. By counting multiple task lists, a task chain list is obtained.

[0094] Furthermore, the task matrix contains only two types of elements: zero and one. At positions where there is intersection, the element is set to one, and at positions where there is no intersection, the element is set to zero.

[0095] Figure 3 The second sub-process flowchart of the 3D printing method based on real-time scanning includes the step of reading the execution progress of the task chain in real time and determining the baseline execution speed based on the execution progress, which includes:

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

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

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

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

[0100] The above describes in detail the process of generating the baseline execution speed. Based on the task list that has already been generated, the task list and the corresponding task matrix are read sequentially; different task matrices are superimposed according to the height labels of the task matrices to obtain a three-dimensional matrix; the baseline 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 execution component is obtained in real time, and the baseline execution speed at the corresponding position can be queried from the workstation.

[0102] The process for determining the baseline execution speed is as follows:

[0103] In the formula, v(x,y,z) is the baseline execution speed at position (x,y,z), f() is a subtractive function of the preset value within the parentheses, and H k x is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at coordinate (i,j) in the z-th task matrix.

[0104] The principle for determining the baseline execution speed is not complicated. For a certain point (the position to be sprayed), calculate the sum of the values ​​of all points before that point. The sum of the values ​​is actually the sum of the values ​​that are 1 (a 1 indicates that the position is part of the model to be processed). The larger the value, the more times it has been sprayed. In this case, the baseline execution speed should be lower. That is, f() is a subtractive function of the preset value in parentheses.

[0105] Figure 4 The third sub-flowchart of the real-time scanning-based 3D printing method includes the following steps: reading sensor data from various sensors, constructing a data field, and dynamically adjusting the baseline execution speed based on the data field.

[0106] Step S301: Read the sensing data of each sensor, and statistically analyze the sensing data based on the coordinates of the monitoring points to obtain the sensing matrix;

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

[0108] Step S303: Statistically analyze the data fields of all sensors, input them into the trained neural network model, and 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: Determine a correction coefficient based on the environmental score and adjust the baseline execution speed; the correction coefficient is proportional to the environmental score.

[0110] In one example of the technical solution of this invention, the adjustment process of the reference execution speed is specifically defined. The sensing data of each sensor is read, and the sensing data is statistically analyzed according to the coordinates of the monitoring points and represented in the form of a matrix to obtain a sensing matrix, which is also a three-dimensional matrix. It should be noted that the number of monitoring points is limited, and data exists only at certain positions in the sensing matrix. To address this, this application introduces an extension scheme to extend the sensing data. After extension, the sensing matrix filled with data is called a data field.

[0111] In the above, 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 measures the data inside the 3D printer in advance and represents it in the form of a data field. Then, the management evaluates and scores the data to obtain an environmental score. This constructs a sample set from the data field to the environmental score. The sample set is divided into a training set, a test set, and a validation set. The neural network model from the data field to the environmental score is then trained.

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

[0114]

[0115] In the formula, z(i,j,k) is the value at point (i,j,k) in the data field, L is the total number of sensor data measured by the sensor, and N is the total number of sensor data. l For the l-th sensor data, (x l ,y l ,z l ) represents the coordinates of the l-th sensor data.

[0116] The principle of the extension process is very simple. For a point that needs to be extended, calculate the distance between the measured data and the point that needs to be extended. Divide the measured data by the square of the distance to get the influence value of each measured data at the point that needs to be extended. Accumulate the influence values ​​of all measured data at the point that needs to be extended, and the sum is the extended value in the data field.

[0117] Figure 5 The fourth sub-flowchart of the real-time scanning-based 3D printing method includes the step of synchronously adjusting the reading frequency of the sensor data according to the data field, which comprises:

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

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

[0120] Step S403: Accumulate the data in the difference data field as feature values;

[0121] Step S404: Adjust the reading frequency of the sensor data according to the feature value.

[0122] In one embodiment of the technical solution of this invention, a data transmission optimization process for sensors is added. The data field is arranged in chronological order, and the data fields at adjacent time points are compared to calculate the difference data field. The difference data field represents the change of sensor data at adjacent time points. 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 sum of the values ​​of all elements in the difference data field is accumulated and used as a feature value to characterize the change of sensor data at adjacent time points. The reading frequency of sensor data is adjusted according to the feature value. The smaller the feature value, the smaller the reading frequency. That is, the reading frequency is directly proportional to the feature value.

[0123] The practical significance of the above adjustment is that if the change in sensor data is small, the reading frequency will be lower, and if the change in sensor data is large, the reading frequency will be higher.

[0124] Figure 6 The diagram shows the structural composition of a real-time scanning-based 3D printing system. In this embodiment of the invention, a real-time scanning-based 3D printing system 10 includes:

[0125] The task list generation module 11 is used to receive the model to be printed, analyze it based on the model to be printed, and obtain the task list. The task list is a task list with a sequence. Each task list corresponds to a part of the model to be printed. 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] The baseline speed query module 12 is used to read the execution progress of the task chain in real time and determine the baseline execution speed based on the execution progress.

[0127] The 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 synchronously adjust the reading frequency of the sensor data according to the data field.

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

[0130] The splitting face setting unit is used to receive the model to be printed and set the splitting faces according to the preset height interval; each splitting face contains a height label;

[0131] The splitting surface selection unit is used to select splitting surfaces that intersect with the model to be printed, and reads the selected splitting surfaces sequentially from bottom to top;

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

[0133] The task table statistics unit is used to generate a task table based on the task matrix, and then sort the task table in ascending order according to height to obtain a task linked list.

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

[0135] The matrix query unit is used to read the task list and query the corresponding task matrix in the task list in sequence.

[0136] The matrix overlay unit is used to overlay the task matrix according to the height of the task matrix to obtain a three-dimensional matrix;

[0137] The speed determination unit is used to determine the baseline execution speed at each coordinate in the three-dimensional matrix.

[0138] The speed matching unit is used to acquire the workstation of the actuator in real time and match the execution speed according to the workstation reference.

[0139] The process for determining the baseline execution speed is as follows:

[0140] In the formula, v(x,y,z) is the baseline execution speed at position (x,y,z), f() is a subtractive function of the preset value within the parentheses, and H kx is the sum of the values ​​at all coordinates in the first z-1 task matrices; x(i,j) is the value at coordinate (i,j) in the z-th task matrix.

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

[0142] The sensor data reading unit is used to read the sensor data from each sensor, and to obtain the sensor matrix by statistically analyzing the sensor data based on the coordinates of the monitoring points.

[0143] A data extension unit is used to extend each data in the sensing matrix to obtain a data field.

[0144] The scoring generation unit is used to collect data from all sensors, input the data into a trained neural network model, and obtain an environmental score. The environmental score is used to characterize the safety level of the printing environment; the higher the environmental score, the higher the safety level.

[0145] An adjustment execution unit is used to determine a correction coefficient based on the environmental score and adjust the baseline 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 within the protection scope of the present invention.

Claims

1. A method of three-dimensional printing based on real-time scanning, characterized in that, The method comprises: receiving a to-be-printed model, performing analysis based on the to-be-printed model to obtain a task chain table; the task chain table is a task table containing a sequence, each task table corresponds to a component in the to-be-printed model, and elements in the task table include at least three types of three-dimensional coordinates for representing printing positions; reading an 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; each type of sensor corresponds to one type of data field; synchronously adjusting a reading frequency of the sensing data according to the data field; the step of receiving the to-be-printed model, performing analysis based on the to-be-printed model to obtain the task chain table comprises: receiving the to-be-printed model, and setting a cutting surface according to a preset height interval; each cutting surface contains a height label; selecting a cutting surface having an intersection relationship with the to-be-printed model, and reading the selected cutting surface from bottom to top in sequence; obtaining an intersection position of the cutting surface and the to-be-printed model, marking the intersection position as one, and marking other positions as zero to obtain a matrix at different heights as a task matrix; generating a task table according to the task matrix, and performing ascending arrangement on the task table according to the heights to obtain the task chain table.

2. The real-time scanning based three-dimensional printing method according to claim 1, wherein, the step of reading the execution progress of the task chain table in real time, and determining the reference execution speed according to the execution progress comprises: reading the task chain table, and sequentially querying corresponding task matrices of the task tables; stacking the task matrices according to the heights to obtain a three-dimensional matrix; determining reference execution speeds at all coordinates in the three-dimensional matrix; obtaining a work position of an execution member in real time, and matching the reference execution speed according to the work position; wherein, the determination process of the reference execution speed comprises: ; where, is the reference execution speed at the location, is a predetermined decreasing function of the value in the parentheses, is the sum of the values at all coordinates in the previous task matrix; is the value at the coordinate in the jth task matrix .

3. The real-time scanning based three-dimensional printing method according to claim 1, wherein, the step of reading the sensing data of each sensor, constructing the data field, and dynamically adjusting the reference execution speed according to the data field comprises: reading the sensing data of each sensor, counting the sensing data according to monitoring point coordinates to obtain a sensing matrix; extending each data in the sensing matrix to obtain a data field; counting the data fields of all sensors, inputting a trained neural network model to obtain an environment score; the environment score is used to represent a safety degree of a printing environment, and the higher the environment score is, the higher the safety degree is; determining a correction coefficient according to the environment score, and adjusting the reference execution speed; the correction coefficient is directly proportional to the environment score.

4. The real-time scanning based three-dimensional printing method according to claim 3, wherein, the process of extending each data in the sensing matrix to obtain the data field comprises: ； wherein is the value at the midpoint of the data field, is the total number of sensor data measured by the sensor, is the first sensor data, is the coordinate of the first sensor data.​ 5. The real-time scanning based three-dimensional printing method according to claim 1, wherein, the step of synchronously adjusting the reading frequency of the sensing data according to the data field comprises: arranging the data field in time sequence; comparing adjacent data fields to calculate a difference data field; accumulating data in the difference data field as a feature value; adjusting the reading frequency of the sensing data according to the feature value.

6. A real-time scanning based three-dimensional printing system, characterized by, The system comprises: a task chain table generation module, configured to receive a to-be-printed model, perform analysis based on the to-be-printed model, and obtain a task chain table; the task chain table is a task table containing a sequence, each task table corresponds to a component in the to-be-printed model, and elements in the task table include at least three types of three-dimensional coordinates for representing printing positions. The benchmark speed query module is configured to read an execution progress of the task chain table in real time, and determine a benchmark execution speed according to the execution progress. The execution speed adjustment module is configured to read sensing data of each sensor, construct a data field, and dynamically adjust the benchmark execution speed according to the data field; each type of sensor corresponds to one type of data field. The reading frequency adjustment module is configured to synchronously adjust a reading frequency of the sensing data according to the data field. The task chain table generation module includes: The slicing surface setting unit is configured to receive a to-be-printed model, and set slicing surfaces according to preset height intervals; each slicing surface contains a height label. The slicing surface selection unit is configured to select slicing surfaces that have intersection relationships with the to-be-printed model, and read the selected slicing surfaces from bottom to top. The task matrix generation unit is configured to obtain intersection positions of the slicing surfaces and the to-be-printed model, mark the intersection positions as one, and mark other positions as zero, to obtain matrices at different heights as task matrices. The task table statistical unit is configured to generate a task table according to the task matrices, arrange the task table in ascending order according to heights, and obtain a task chain table.

7. The real-time scanning based three-dimensional printing system of claim 6, wherein, The benchmark speed query module includes: The matrix query unit is configured to read the task chain table, and sequentially query corresponding task matrices of the task table. The matrix superposition unit is configured to superimpose the task matrices according to heights of the task matrices, to obtain a three-dimensional matrix. The speed determination unit is configured to determine benchmark execution speeds at each coordinate in the three-dimensional matrix. The speed matching unit is configured to obtain a work position of an execution member in real time, and match the benchmark execution speed according to the work position. The determination process of the benchmark execution speed includes: ; where, is the reference execution speed at the location, is a predetermined decreasing function of the value in the parentheses, is the sum of the values at all coordinates in the previous task matrix; is the value at the coordinate in the jth task matrix. ​ 8. The real-time scanning based three-dimensional printing system of claim 6, wherein, The execution speed adjustment module includes: The sensing data reading unit is configured to read sensing data of each sensor, and obtain a sensing matrix according to coordinates of monitoring points. The data extension unit is configured to extend each data in the sensing matrix, to obtain a data field. The score generation unit is configured to obtain an environment score by inputting the data field of each sensor into a trained neural network model; the environment score is used to represent a safety degree of a printing environment; the higher the environment score is, the higher the safety degree is. The adjustment execution unit is configured to determine a correction coefficient according to the environment score, and adjust the benchmark execution speed according to the correction coefficient; the correction coefficient is directly proportional to the environment score.

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