Printing system, printing system control method and storage medium

Abstract

The embodiment of the invention discloses a printing system, a printing system control method and a storage medium, and relates to the technical field of 3D printing. According to the specific implementation scheme, the printing system comprises a main control module, an image acquisition module, a spray head module and a spray head wiping module; the main control module is connected with the image acquisition module and the nozzle module, and is used for controlling the image acquisition module to acquire image data of the nozzle module and controlling the nozzle module to move to the nozzle wiping module to wipe the nozzle when determining that the nozzle module has a bonding condition according to the image data; the nozzle wiping module is connected with the image acquisition module and is used for sending an image acquisition command to the image acquisition module to trigger the image acquisition module to reacquire image data of the nozzle module, so that the bonding condition of the nozzle can be quickly and effectively identified, the adhesive material of the nozzle can be timely and effectively removed, and the cleanliness of the nozzle is ensured; and the occurrence of material embedding defects is avoided, and the printing effect and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a printing system, a printing system control method and a storage medium. Background Art

[0002] 3D printing technology is a machine that uses rapid prototyping technology. It uses a digital model file as the basis, and uses powdered metal or plastic and other bondable materials to construct objects by printing layer by layer. The nozzle is a component used to output consumables in a 3D printer. During the printing process, residual filaments will adhere to the surface of the nozzle. The residual filaments move with the nozzle, and eventually form embedded defects on the surface or inside of the part, affecting the mechanical properties of the part. In severe cases, it may cause failures in use.

[0003] Currently, the solution to the residual adhesion material on the nozzle surface is to reduce the adhesion of the filament on the nozzle surface by wiping the nozzle during the printing process of the 3D printer under manual supervision.

[0004] However, the existing solution to the residual adhesion material on the surface of the nozzle cannot remove the adhesion material of the nozzle in time, cannot guarantee the effect of removing the adhesion material, and cannot control the occurrence of embedded defects. The manual operation is troublesome, time-consuming and labor-intensive. Summary of the invention

[0005] The present invention provides a printing system, a printing system control method and a storage medium to realize rapid and effective identification of nozzle adhesion conditions, timely and effective removal of nozzle adhesion materials, ensure the cleanliness of the nozzle, avoid the occurrence of material embedded defects, and improve printing effect and efficiency.

[0006] In a first aspect, an embodiment of the present invention provides a printing system, the printing system comprising:

[0007] Main control module, image acquisition module, nozzle module and nozzle wiping module;

[0008] The main control module is connected to the image acquisition module and the nozzle module respectively, and is used to control the image acquisition module to acquire image data of the nozzle module and control the nozzle module to move to the nozzle wiping module to wipe the nozzle when it is determined that the nozzle module is bonded according to the image data;

[0009] The nozzle wiping module is connected to the image acquisition module, and is used for sending an image acquisition command to the image acquisition module to trigger the image acquisition module to re-acquire image data of the nozzle module.

[0010] In a second aspect, an embodiment of the present invention further provides a printing system control method, comprising:

[0011] Control the nozzle module to move to the reset origin to heat and spit silk, and control the nozzle module to perform printing operations;

[0012] Collect image data of the nozzle module according to the image acquisition module;

[0013] When it is determined according to the image data that the nozzle module is bonded, the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle.

[0014] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement any one of the printing system control methods in the embodiments of the present invention when executed.

[0015] According to the technical solution of the embodiment of the present invention, a printing system including a main control module, an image acquisition module, a nozzle module and a nozzle wiping module is provided, wherein the main control module controls the image acquisition module to acquire image data of the nozzle module and controls the nozzle module to move to the nozzle wiping module to wipe the nozzle when it is determined that the nozzle module is sticky according to the image data; the nozzle wiping module sends an image acquisition command to the image acquisition module to trigger the image acquisition module to re-acquire the image data of the nozzle module, thereby realizing rapid and effective identification of nozzle sticking conditions, realizing timely and effective removal of nozzle sticking materials, ensuring the cleanliness of the nozzle, avoiding the occurrence of material embedded defects, and improving printing effect and efficiency.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of a printing system provided according to Embodiment 1 of the present invention;

[0019] Figure 2 A schematic diagram of another printing system provided according to Embodiment 1 of the present invention;

[0020] Figure 3 A flowchart of a printing system control method provided according to Embodiment 2 of the present invention;

[0021] Figure 4This is a flowchart of another printing system control method provided according to Embodiment 3 of the present invention;

[0022] Figure 5 A structural model diagram of a printing system control method provided according to an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of the structure of a printing system control device provided according to a fourth embodiment of the present invention;

[0024] Figure 7 The figure is a schematic diagram of the structure of an electronic device provided according to the fifth embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 This is a schematic diagram of a printing system provided in accordance with Embodiment 1 of the present invention. This embodiment is applicable to the situation of quickly and effectively identifying and removing adhesive materials on the nozzle.

[0029] like Figure 1 As shown, a printing system provided in this embodiment may include:

[0030] A main control module 101 , an image acquisition module 102 , a nozzle module 103 and a nozzle wiping module 104 .

[0031] Specifically, the printing system may include a main control module 101 for overall system control, an image acquisition module 102 for nozzle image acquisition, a nozzle module 103 having a nozzle device, and a nozzle wiping device 104 having a function of removing nozzle adhesion materials.

[0032] The main control module 101 is connected to the image acquisition module 102 and the nozzle module 103 respectively. The main control module 101 is used to control the image acquisition module 102 to acquire image data of the nozzle module 103 and control the nozzle module 103 to move to the nozzle wiping module 104 to wipe the nozzle when it is determined that the nozzle module 103 is sticky according to the image data.

[0033] Specifically, the main control module 101 can be connected to the image acquisition module 102 and the nozzle module 103 respectively. The image acquisition module 102 can include a camera, an image sensor, and a camera. The main control module 101 can control the image acquisition module 102 to acquire image data of the nozzle module 103. The main control module 101 controls other modules by sending commands to other modules through wired transmission. The image data of the nozzle module 103 acquired by the image acquisition module 102 can include binary digital images of images such as a top view, a color image, and a grayscale image of the nozzle surface. The main control module 101 can also When the image data collected by the collection module 102 determines that the nozzle module 103 is sticky, the nozzle module 103 is controlled to move to the nozzle wiping module 104 to perform a nozzle wiping operation. The method for determining whether the nozzle module 103 is sticky can use image recognition algorithms including convolutional neural networks, support vector machines, etc. to identify whether adhesion materials appear in the image data. The movement method of the nozzle module 103 can include a motor, a linear actuator, etc. The nozzle wiping module 104 can include a brush for removing adhesion materials, a foam board for removing adhesion materials, etc. The nozzle wiping method can include the nozzle module 103 moving left and right at the nozzle wiping module 104.

[0034] The nozzle wiping module 104 is connected to the image acquisition module 102 , and is used to send an image acquisition command to the image acquisition module 102 to trigger the image acquisition module 102 to re-acquire image data of the nozzle module 103 .

[0035] Specifically, the nozzle wiping module 104 can be connected to the image acquisition module 102. After the nozzle completes the last wiping, the nozzle wiping module 104 can send an image acquisition command to the image acquisition module 102 to trigger the image acquisition module 102 to re-acquire the image data of the nozzle module 103. The nozzle wiping module 104 can send the image acquisition command to the image acquisition module 102 via wired transmission. After receiving the image acquisition command, the image acquisition module 102 can acquire binary digital images including overhead views, color images, grayscale images, and other images of the nozzle surface.

[0036] The technical solution provided by the embodiment of the present invention is a printing system including a main control module 101, an image acquisition module 102, a nozzle module 103 and a nozzle wiping module 104, wherein the main control module 101 controls the image acquisition module 102 to acquire image data of the nozzle module 103 and controls the nozzle module 103 to move to the nozzle wiping module 104 to wipe the nozzle when it is determined that the nozzle module 103 is sticky according to the image data; the nozzle wiping module 104 sends an image acquisition command to the image acquisition module 102 to trigger the image acquisition module 102 to re-acquire the image data of the nozzle module 103, thereby realizing rapid and effective identification of nozzle sticking conditions, realizing timely and effective removal of nozzle sticking, ensuring the cleanliness of the nozzle, avoiding the occurrence of material embedded defects, and improving printing effect and efficiency. Based on the above embodiment, the printing system further includes: a lighting module 105 , which is connected to the main control module 101 and arranged around the image acquisition module 102 . The lighting module 105 turns on or off the lighting according to the lighting control instruction sent by the main control module 101 .

[0037] Specifically, Figure 2 As shown, the printing system may also include a lighting module 105. The lighting module 105 may be connected to the main control module 101 and may be arranged around the image acquisition module 102. The image acquisition module 102 may include a camera, an image sensor, and a camera, etc. The lighting module 105 may include a fill light, an energy-saving lamp, etc. The lighting module 105 may be arranged around the image acquisition module 102 in a circular shape. The lighting module 105 may turn on or off the lighting according to the lighting control instruction sent by the main control module 101, and the lighting control instruction may be transmitted via wired transmission.

[0038] Based on the above embodiment, the main control module 101 at least includes a printer motion control unit and an image processing unit;

[0039] The printer motion control unit is connected to the nozzle module 103, and the printer motion unit is used to control the movement of the nozzle module 103;

[0040] The image processing unit is connected to the image acquisition module 102 , and is used to receive the image data acquired by the image acquisition module 102 , and determine the bonding condition of the nozzle module 103 according to the image data.

[0041] Specifically, the main control module 101 for overall system control may include at least a printer motion control unit and an image processing unit, and may also include a system light detection unit. The printer motion control unit may use motion control algorithms including multi-axis linear interpolation algorithm and digital integration method to control the movement of the nozzle module 103. The image processing unit may use image recognition algorithms such as convolutional neural network algorithm and vector machine algorithm to process the image data collected by the image acquisition module 102.

[0042] Furthermore, the printer motion control unit may be connected to the nozzle module 103 , and the printer motion control unit may use motion control algorithms including multi-axis linear interpolation algorithm, digital integration method, etc. to control the movement of the nozzle module 103 .

[0043] Specifically, the image processing unit can be connected to the image acquisition module 102, and the image processing unit can receive image data acquired by the image acquisition module 102. The image data may include binary digital images of images such as a top view, a color image, and a grayscale image of the nozzle surface. The image processing unit can also use image recognition algorithms such as convolutional neural network algorithms and vector machine algorithms to process the received image data, identify whether there is adhesion material in the nozzle module 103, and determine the bonding condition of the nozzle module.

[0044] On the basis of the above embodiment, the nozzle module 103 is arranged on the movable guide rail, and a waste recovery bucket is arranged below the nozzle wiping module 104 .

[0045] Specifically, the nozzle module 103 can be set on a movable guide rail, which can include an XY-axis movable guide rail. The nozzle module 103 can move horizontally on the movable guide rail. A waste recovery bucket can be set below the nozzle wiping module 104. The waste recovery bucket can collect the adhesion material adhered to the nozzle module 103 removed by the nozzle wiping module 104. The waste recovery bucket can be set directly below the nozzle wiping module 103. The waste recovery bucket can be located on the bottom surface of the printing system or the inner wall of the printing system.

[0046] Embodiment 2

[0047] Figure 3 A flowchart of a printing system control method provided in Embodiment 2 of the present invention. This embodiment can be applied to the above embodiments. The method can be executed by a printing system control device, and the printing system control device can be implemented in the form of hardware and / or software.

[0048] like Figure 3 As shown, a printing system control method provided by this embodiment may include:

[0049] S210, controlling the nozzle module to move to the reset origin to heat and spit silk, and controlling the nozzle module to perform printing operation.

[0050] In this embodiment, the reset origin may include the initial position of the nozzle module on the movable guide rail when the printing system is initially started, and the reset origin may be pre-configured.

[0051] Specifically, the printer motion control unit in the main control module can control the movement of the nozzle module to the initial position on the moving guide rail when the printing system is initially set. The printer motion control unit can use motion control algorithms including multi-axis linear interpolation algorithm and digital integration method to control the movement of the nozzle module. After the nozzle module moves to the reset origin, the printing material can be heated and spit out silk. The printing material can include engineering plastics, photosensitive resins, rubber materials, etc. The printer motion control unit in the main control module can also control the nozzle module to perform printing operations.

[0052] S220, collecting image data of the nozzle module according to the image collection module.

[0053] Specifically, the image acquisition module can acquire binary digital images including top view, color image, grayscale image and the like of the nozzle surface as image data of the nozzle module. The image acquisition module can include a camera, an image sensor and a camera.

[0054] S230, when it is determined according to the image data that the nozzle module is stuck, the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle.

[0055] Specifically, image recognition algorithms including convolutional neural networks and vector machines can be used to identify whether adhesion occurs in the image data of the nozzle module collected by the image acquisition module. When adhesion occurs in the nozzle module, that is, when there is residual adhesion material on the nozzle, the main control module can send a movement command through wired transmission to control the nozzle module to move to the nozzle wiping module and perform a nozzle wiping operation. The nozzle wiping module may include a brush for brushing off adhesion materials. The operation of wiping the nozzle may include moving the nozzle module left and right at the nozzle wiping module. The movement method of the nozzle module may include a motor, a linear actuator, etc.

[0056] The technical solution provided by the embodiment of the present invention controls the nozzle module to move to the reset origin for heating and spinning, and controls the nozzle module to perform printing operations. The image acquisition module collects image data of the nozzle module to determine whether there is adhesion material in the nozzle module. When it is determined according to the image data that the nozzle module is adhered, the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle, thereby realizing rapid and effective identification of the adhesion of the nozzle, realizing timely and effective removal of adhesion material of the nozzle, ensuring the cleanliness of the nozzle, avoiding the occurrence of material embedded defects, and improving printing effect and efficiency.

[0057] Based on the above embodiment, before controlling the nozzle module to perform the printing operation, it also includes: controlling the nozzle module to move to the nozzle wiping module to perform initial nozzle wiping.

[0058] Specifically, before the main control module controls the nozzle module to perform a printing operation, the main control module may also control the nozzle module to move to the nozzle wiping module to perform the first nozzle wiping operation. The printing system may control the movement of the nozzle module by using motion control algorithms including multi-axis linear interpolation algorithm, digital integration method, etc. The nozzle wiping module may include a brush for removing adhesion materials, and the nozzle wiping operation may include the nozzle module moving left and right at the nozzle wiping module.

[0059] Based on the above embodiment, after controlling the nozzle module to move to the nozzle wiping module to wipe the nozzle, the method further includes:

[0060] Re-collect image data of the nozzle module according to the image acquisition module;

[0061] If it is determined according to the image data that the nozzle module is still stuck, the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle;

[0062] If it is determined according to the image data that the nozzle module does not have a bonding condition, the nozzle module is controlled to continue the printing operation.

[0063] Specifically, after the main control module controls the nozzle module to move to the nozzle wiping module to perform the nozzle wiping operation, it can also include that the image acquisition module re-collects the image data of the nozzle module, and the image data may include a binary digital image of the top view, color image, grayscale image and other images of the nozzle surface; image recognition algorithms including convolutional neural network algorithm, vector machine algorithm and other image recognition algorithms can be used to process the received image data to identify whether there is adhesion material in the nozzle module and determine the adhesion condition of the nozzle module; if there is still adhesion in the nozzle module, the main control module can re-control the nozzle module to move to the nozzle wiping module to perform the nozzle wiping operation, and the command of the main control module to re-control the movement of the nozzle module may include transmission in a wired transmission manner, the nozzle wiping module may include a brush for brushing off adhesion material, and the nozzle wiping operation may include the nozzle module moving left and right at the nozzle wiping module, and if there is no adhesion in the nozzle module, the main control module can control the nozzle module to continue the printing operation.

[0064] Based on the above embodiment, it also includes:

[0065] When it is determined that printing starts, the lighting module is started to provide lighting for the image acquisition module;

[0066] When you are sure that printing is finished, turn off the lighting module.

[0067] Specifically, when it is determined that printing has started, the main control module can start the lighting module to provide lighting for the image acquisition module. The way in which the main control module starts the lighting module may include transmitting lighting control instructions via wired transmission. The lighting module may include a fill light, an energy-saving lamp, etc. The way in which the lighting module provides lighting for the image acquisition module may include lighting the image acquisition module in a circular shape. When it is determined that printing has ended, the printing system may transmit lighting control instructions via wired transmission to control the lighting module to turn off.

[0068] On the basis of the above embodiment, when it is determined according to the image data that the nozzle is bonded, the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle, including:

[0069] Identify whether there is a material image of adhesive material in the image data according to a preset target inspection rule;

[0070] If yes, it is determined that the nozzle module is bonded, and the nozzle module is controlled to move along a preset moving guide rail to the nozzle wiping module to wipe the nozzle;

[0071] If not, it is determined that the nozzle module does not have a bonding condition, and the nozzle module is controlled to continue the printing operation.

[0072] In this embodiment, the preset target inspection rules may include inspection rules for performing adhesion material inspection in the nozzle module image data set in advance according to actual conditions, which can determine whether adhesion occurs in the nozzle module; the preset moving guide rail may include a guide rail on which the nozzle module can move, which is set in advance according to actual conditions, and the preset moving guide rail may include an XY axis moving guide rail.

[0073] Specifically, the image processing unit in the main control module analyzes the image data of the nozzle module collected by the image acquisition device, and when it is determined that the nozzle is sticky, the nozzle module can be controlled to move to the nozzle wiping module to perform a nozzle wiping operation. The process can include the main control module identifying the image data of the nozzle module collected by the image acquisition module according to the inspection rules for the adhesion material inspection set in advance according to the actual situation, and judging whether the image data contains the material image of the adhesive material. The adhesive material can include the engineering plastics, photosensitive resins and rubber materials to be printed, etc. The material image of the adhesive material can include the binary digital image of the color image, grayscale image and other images of the adhesive material; if the image data contains the adhesive material If a material image of the adhesive material is present in the image data, it can be determined that the nozzle module is not adhered, and the main control module can control the nozzle module to move along a preset moving guide rail to the nozzle wiping module to perform a nozzle wiping operation by transmitting a movement command via wired transmission. The preset moving guide rail may include an XY-axis moving guide rail set in advance according to actual conditions. The nozzle wiping module may include a brush to remove the adhered material. The nozzle wiping operation may include moving the nozzle module left and right at the nozzle wiping module. If the image data does not contain a material image of the adhesive material, it can be determined that the nozzle module is not adhered, and the main control module may control the nozzle module to continue printing. The method for the main control module to control the nozzle module may include sending a command to continue printing via wired transmission.

[0074] Embodiment 3

[0075] Figure 4 This is a flowchart of another printing system control method provided in Embodiment 3 of the present invention. This embodiment is further optimized and expanded on the basis of the above embodiments and can be applied to Figure 5 Printing system shown.

[0076] like Figure 5 As shown, the printing system includes a computer control module 1, an FDM printer motion control module 2, an image acquisition module 3, an image processing module 4, a nozzle module 5, an illumination module 6, and a nozzle wiping module 7, wherein the computer control module 1 is connected to the FDM printer motion control module 2, the image processing module 4, and the illumination module 6, the FDM printer motion control module 2 is connected to the nozzle module 5, the image acquisition module 3 is connected to the image processing module 4 and the nozzle wiping module 7, the nozzle module 5 is installed on an XY axis moving guide rail 10, and a waste recovery bucket 20 is provided under the nozzle wiping module 7.

[0077] like Figure 4 As shown, another printing system control method provided by this embodiment may include:

[0078] S310, printing starts, and the computer control module sends a command to start lighting to the lighting module.

[0079] Specifically, when printing starts, the computer control module can send a command to start lighting to the lighting module. Turning on the lighting can provide light for the image acquisition module to acquire images. The command can be transmitted via wired transmission.

[0080] S320, the computer control module sends a reset command to the FDM printer motion control module, the nozzle module resets the origin on the XY axis moving guide rail, and the nozzle heats up to spit out silk.

[0081] In this embodiment, fused deposition modeling (FDM) is a method of heating and melting various hot-melt filamentary materials to form a shape, and is a type of 3D printing technology.

[0082] Specifically, the computer control module can send a reset command to the FDM printer motion control module. The reset command can be transmitted via wired transmission. After receiving the reset command, the nozzle module can move on the XY axis moving guide rail until it reaches the set reset origin position. The nozzle can heat and spit out printing materials. The printing materials can include engineering plastics, photosensitive resins, rubber materials, etc. The nozzle heating method can include using a print head heating device. The movement of the nozzle can be achieved by devices including linear actuators, motors, etc.

[0083] S330, the computer control module sends a command to the FDM printer motion control module, so that the nozzle module performs a nozzle wiping operation under the action of the nozzle wiping module.

[0084] Specifically, the computer control module can send commands to the FDM printer motion control module. The commands can be transmitted via wired transmission. After receiving the commands, the nozzle can perform a nozzle wiping operation under the action of the nozzle wiping module. The nozzle wiping module can include a fixed brush for brushing off adhesion materials. The nozzle wiping operation can include the nozzle module moving left and right at the nozzle wiping module.

[0085] S340, the nozzle wiping module sends an image acquisition signal to the image acquisition module.

[0086] Specifically, after the nozzle wiping operation is completed, the nozzle wiping module can send an image acquisition signal to the image acquisition module. The signal sending method may include wired transmission, wireless transmission, etc. The image acquisition module may include a camera, an image sensor, and a camera, etc. The image acquisition signal may include an optical signal, an acoustic signal, and an electrical signal for image acquisition, etc.

[0087] S350: The image acquisition module sends the acquired image to the image processing module, and the image processing module sends the processing result to the computer control module.

[0088] Specifically, after receiving the image acquisition signal, the image acquisition module can acquire the image of the nozzle, and the image acquisition module can send the acquired image to the image processing module. The acquired image can include a binary digital image of an overhead view, a color image, a grayscale image, etc. of the nozzle surface, and the image sending method can include wired transmission. The image processing module can use image recognition algorithms including convolutional neural networks, vector machines, etc. to process the image. The image processing module can send the processing result to the computer control module, and the processing result sending method can include wired transmission. The processing result can include whether the nozzle has been wiped clean in the image acquired by the image acquisition module.

[0089] S360: Determine whether the processing result is that the nozzle has been cleaned.

[0090] Specifically, the computer control module can determine whether the processing result sent by the image processing module is a material image without adhesion material in the image collected by the image acquisition module, that is, the nozzle has been wiped clean.

[0091] S370: If the processing result is that the nozzle has been cleaned, the computer control module sends a continue printing command to the FDM printer motion control module.

[0092] Specifically, if the computer control module determines that the processing result sent by the image processing module is that the nozzle has been wiped clean, the computer control module can send a continue printing command to the FDM printer motion control module. The continue printing command can be transmitted through wired transmission methods. After receiving the continue printing command, the FDM printer motion control module can control the nozzle module to continue printing. The control method may include motion control algorithms such as multi-axis linear interpolation algorithm and digital integration method.

[0093] S380: Determine whether printing is finished.

[0094] Specifically, the method of determining whether printing is completed may include determining whether the printing time reaches the printing time set in advance, whether the staff manually completes the printing, and the like.

[0095] S390. When printing is finished, the computer control module sends a command to the lighting module to turn off the lighting, and printing is finished.

[0096] Specifically, when printing is completed, the computer control module can send a command to turn off the lighting to the lighting module. When printing is completed, the command to turn off the lighting can be transmitted via wired transmission. The lighting module can include a fill light, an energy-saving lamp, etc.

[0097] The technical solution provided by the embodiment of the present invention is that a computer control module sends a command to start lighting to the lighting module, the lighting is turned on, the computer control module sends a reset command to the FDM printer motion control module, the nozzle module resets the origin on the XY axis moving guide rail, the nozzle heats up to spit silk, the computer control module sends a command to the FDM printer motion control module, so that the nozzle module performs a nozzle wiping operation under the action of the nozzle wiping module, after the nozzle wiping operation is completed, the nozzle wiping module sends an image acquisition signal to the image acquisition module, after receiving the image acquisition signal, the image acquisition module acquires the nozzle image, and the image acquisition module sends the acquired image to the image processing module, FIG. The image processing module sends the processing result to the computer control module, and the computer control module determines whether the processing result shows that the nozzle has been cleaned. If the processing result shows that the nozzle has been cleaned, the computer control module sends a continue printing command to the FDM printer motion control module. If the processing result shows that the nozzle has not been cleaned, the above operation is repeated until the processing result shows that the nozzle has been cleaned. When printing is finished, the computer control module sends a command to turn off the lighting to the lighting module, and printing is finished, thereby realizing rapid and effective identification of nozzle adhesion, realizing timely and effective removal of nozzle adhesion, ensuring the cleanliness of the nozzle, avoiding the occurrence of material embedded defects, and improving the printing effect and efficiency. Example 4

[0098] Figure 6 This is a schematic diagram of the structure of a printing system control device provided in Embodiment 4 of the present invention. This embodiment can implement the above-mentioned implementation mode. This embodiment can be applied to the situation of quickly and effectively identifying and removing the adhesive material of the nozzle. The device can be implemented in hardware / software and can be configured in an electronic device.

[0099] like Figure 6 As shown, the nozzle control module 401, the image data acquisition module 402, and the nozzle wiping module 403 provided in this embodiment include:

[0100] The nozzle control module 401 is used to control the nozzle module to move to the reset origin to heat and spit silk, and control the nozzle module to perform printing operations.

[0101] The image data acquisition module 402 is used to acquire image data of the nozzle module according to the image acquisition module.

[0102] The nozzle wiping module 403 is used to control the nozzle module to move to the nozzle wiping module to wipe the nozzle when it is determined according to the image data that the nozzle module is stuck.

[0103] The technical solution provided by the embodiment of the present invention controls the nozzle module to move to the reset origin for heating and spinning, and controls the nozzle module to perform printing operations. The image acquisition module collects image data of the nozzle module to determine whether there is adhesion material in the nozzle module. When it is determined according to the image data that the nozzle module is adhered, the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle, thereby realizing rapid and effective identification of the nozzle adhesion, realizing timely and effective removal of the nozzle adhesion, ensuring the cleanliness of the nozzle, avoiding the occurrence of material embedded defects, and improving the printing effect and efficiency.

[0104] Based on the above embodiment, the nozzle control module 401 includes:

[0105] The initial nozzle wiping unit is used to control the nozzle module to move to the nozzle wiping module to perform initial nozzle wiping.

[0106] Based on the above embodiment, the nozzle wiping module 403 includes:

[0107] The image data re-collection unit is used to re-collect the image data of the nozzle module according to the image collection module.

[0108] The nozzle wiping unit is used to control the nozzle module to move to the nozzle wiping module to wipe the nozzle if it is determined according to the image data that the nozzle module is still adhered.

[0109] The printing unit continues, and is used for controlling the nozzle module to continue the printing operation if it is determined according to the image data that the nozzle module does not have a bonding condition.

[0110] Based on the above embodiment, it also includes:

[0111] The lighting unit is started to determine that when printing starts, the lighting module is started to provide lighting for the image acquisition module.

[0112] Turn off the lighting unit, which is used to turn off the lighting module when printing is finished.

[0113] Based on the above embodiment, the nozzle wiping module 403 further includes:

[0114] The material image recognition unit is used to recognize whether the image data contains a material image of an adhesive material according to a preset target inspection rule.

[0115] The second nozzle wiping unit is used to determine whether the nozzle module is bonded, and control the nozzle module to move along a preset moving guide rail to the nozzle wiping module to wipe the nozzle.

[0116] The second unit continues to print, and if it does not exist, it is determined that the nozzle module does not have a bonding condition, and the nozzle module is controlled to continue the printing operation.

[0117] The printing system control device provided in the fourth embodiment of the present invention can execute any printing system control method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The contents not described in detail in this embodiment can refer to the description in any method embodiment of the present invention.

[0118] Embodiment 5

[0119] Figure 7 A schematic diagram of the structure of an electronic device provided for Embodiment 5 of the present invention. An electronic device 50 that can be used to implement an embodiment of the present invention is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0120] like Figure 7 As shown, the electronic device 50 includes at least one processor 51, and a memory connected to the at least one processor 51 in communication, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 to the random access memory (RAM) 53. In the RAM 53, various programs and data required for the operation of the electronic device 50 can also be stored. The processor 51, the RAM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0121] A number of components in the electronic device 50 are connected to the I / O interface 55, including: an input unit 55, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0122] The processor 51 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as a printing system control method.

[0123] In some embodiments, the printing system control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the printing system control method described above may be performed. Alternatively, in other embodiments, the processor 51 may be configured to execute the printing system control method in any other appropriate manner (e.g., by means of firmware).

[0124] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0126] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0130] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0131] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A printing system, characterized in that: The printing system includes: a main control module, an image acquisition module, a nozzle module and a nozzle wiping module; The main control module is connected to the image acquisition module and the nozzle module respectively, and is used to control the image acquisition module to acquire image data of the nozzle module and control the nozzle module to move to the nozzle wiping module to wipe the nozzle when it is determined that the nozzle module is adhered according to the image data; The nozzle wiping module is connected to the image acquisition module, and the nozzle wiping module is used to send an image acquisition command to the image acquisition module to trigger the image acquisition module to re-acquire the image data of the nozzle module.

2. The printing system according to claim 1, characterized in that: The printing system further includes: a lighting module, which is connected to the main control module and is arranged around the image acquisition module. The lighting module turns on or off lighting according to a lighting control instruction sent by the main control module.

3. The printing system according to claim 1, characterized in that: The main control module at least includes a printer motion control unit and an image processing unit; Wherein, the printer motion control unit is connected to the nozzle module, and the printer motion unit is used to control the movement of the nozzle module; The image processing unit is connected to the image acquisition module, and is used to receive the image data acquired by the image acquisition module and determine the bonding condition of the nozzle module according to the image data.

4. The printing system according to claim 1, characterized in that: The nozzle module is arranged on a movable guide rail, and a waste recovery bucket is arranged below the nozzle wiping module.

5. A printing system control method, characterized in that: Applied to a printing system, the method comprises: Controlling the nozzle module to move to the reset origin to heat and spit out silk, and controlling the nozzle module to perform printing operation; Collecting image data of the nozzle module according to the image acquisition module; When it is determined according to the image data that the nozzle module is stuck, the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle.

6. The method according to claim 5, characterized in that: Before controlling the nozzle module to perform printing operation, the method further includes: The nozzle module is controlled to move to the nozzle wiping module to perform initial nozzle wiping.

7. The method according to claim 5, characterized in that: After controlling the nozzle module to move to the nozzle wiping module to wipe the nozzle, the method further includes: Re-collecting the image data of the nozzle module according to the image acquisition module; If it is determined according to the image data that the nozzle module is still stuck, then the nozzle module is controlled to move to the nozzle wiping module to wipe the nozzle; If it is determined according to the image data that the nozzle module is not stuck, the nozzle module is controlled to continue the printing operation.

8. The method according to claim 5, characterized in that: Also includes: When it is determined that printing starts, starting the lighting module to provide lighting for the image acquisition module; When it is determined that printing is finished, the lighting module is turned off.

9. The method according to claim 5, characterized in that: When it is determined according to the image data that the nozzle is stuck, controlling the nozzle module to move to the nozzle wiping module to wipe the nozzle, comprises: identifying whether the image data contains a material image of an adhesive material according to a preset target inspection rule; If yes, it is determined that the nozzle module is stuck, and the nozzle module is controlled to move along a preset moving guide rail to the nozzle wiping module to wipe the nozzle; If not, it is determined that the nozzle module does not have a bonding condition, and the nozzle module is controlled to continue the printing operation.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the printing system control method according to any one of claims 5 to 9 when executed.

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