3D printer integrated with photoelectric three-dimensional imaging system and automatic modeling and monitoring method thereof

Abstract

The invention discloses a 3D printer integrated with a photoelectric three-dimensional imaging system and an automatic modeling and monitoring method of the 3D printer, and aims to solve the problems that a traditional 3D printer is long in time consumption and prone to printing errors in the modeling process, and a large amount of time and labor cost are consumed in model reconstruction in cultural relic repair. A photoelectric three-dimensional imaging system is integrated in the 3D printer, a grating with phase shift is projected on an object through a projector, a grating pattern influenced by the object is shot through two cameras, three-dimensional coordinates of points on the surface of the object are finally obtained through a series of algorithm processing, and the automatic modeling function is achieved. In the 3D printing process, after each layer is printed, a built-in photoelectric three-dimensional imaging system is used for conducting scanning modeling on a printed part, the model is compared with an actual model, and the printing quality is monitored; by integrating the photoelectric three-dimensional imaging system, the modeling process is simplified, the precision and efficiency of 3D printing are improved, the consumption of consumables is reduced, and the 3D printer is particularly suitable for modeling and printing small fine articles.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a 3D printer integrated with a photoelectric three-dimensional imaging system and an automatic modeling and monitoring method thereof and an automatic modeling and monitoring method thereof. Background Art

[0002] 3D printing technology, as a rapid prototyping technology that manufactures physical objects by stacking materials layer by layer based on three-dimensional model data in the computer, has shown broad application prospects in many fields such as manufacturing, cultural relics restoration and artistic creation. However, traditional 3D printing technology faces a series of challenges in its implementation.

[0003] First, in the modeling process of 3D printers, when the product model to be printed is delicate and complex, the traditional modeling method - manual hand-drawing modeling is inadequate. This method is not only time-consuming and increases time costs, but also has very high labor costs. In addition, due to the cumbersome and time-consuming modeling, the cycle from design to actual production is prolonged, which is not conducive to quickly responding to market demand.

[0004] Secondly, printing anomalies often occur during the 3D printing process. These anomalies may be caused by external interference, such as temperature fluctuations, vibrations, etc., or they may be due to problems with the printer itself, such as print head blockage, material supply problems, etc. When these situations occur, the printed products often deviate greatly from the actual design and cannot meet the accuracy requirements. In order to correct these deviations, it is usually necessary to reprint, which not only further increases the time cost, but also leads to a waste of consumables, which is not conducive to the sustainable development of resources.

[0005] In the field of cultural relic restoration, traditional methods usually require 3D scanning of cultural relics, then rebuilding the model and restoring it based on this model. This process is also time-consuming, especially for complex and delicate cultural relics, which requires a lot of manpower and time. This not only limits the efficiency and speed of cultural relic restoration, but also increases the uncertainty and risk in the restoration process.

[0006] In response to the above problems, some solutions have been proposed. For example, one solution is to use a separate three-dimensional scanner in combination with a 3D printer. However, this solution requires additional equipment investment and space occupancy, and the operation is relatively cumbersome. Another solution is to design a three-dimensional scanning system inside the 3D printer, but such solutions are often technically complex and costly. Specifically, for example, a 3D printer with an integrated one-dimensional scanning device disclosed in CN217752808U, although it solves the problem of integration difficulty, uses a laser scanning method, and its accuracy and applicable scenarios may not fully match certain specific needs. Another example is a 3D printer disclosed in CN211868657U, which combines structured light technology with a 3D printer for three-dimensional scanning and integrated printing, but its structure is relatively complex and the cost is relatively high.

[0007] In summary, the existing technology still has many deficiencies in 3D printing modeling efficiency, printing process accuracy and resource utilization, etc. Therefore, there is an urgent need for a new technical solution that can overcome the above defects and improve 3D printing efficiency and accuracy. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a 3D printer with an integrated optoelectronic three-dimensional imaging system and an automatic modeling and monitoring method thereof, so as to solve multiple key technical problems existing in the field of 3D printing and cultural relics restoration. Specifically, in the modeling process of the 3D printer, when faced with fine and complex modeling products, the traditional manual hand-drawn modeling method is not only time-consuming and labor-intensive, but also inefficient; in addition, printing anomalies often occur during the 3D printing process due to external interference or the printer's own reasons, resulting in large product deviations and the need for reprinting, thereby increasing time costs and material consumption; in the process of cultural relics restoration, for complex and fine cultural relics, rebuilding the model and then repairing them is also time-consuming and labor-intensive.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is: a 3D printer with an integrated optoelectronic three-dimensional imaging system, including an integrated optoelectronic sensing system and a 3D printer structure, the optoelectronic sensing system including a projector, a first camera, and a second camera, the projector is installed in the center behind the printing area, and is used to project a grating with a phase shift onto an object, the first camera and the second camera are symmetrically distributed on the left and right sides of the projector, and are used to capture the grating image after being affected by the object; the 3D printer structure includes a print head fixing frame, the print head fixing frame is used to fix the print head and the print head can move up and down, the print head is placed on the print head fixing frame and slides left and right, the mobile printing table is located at the bottom of the printer and slides back and forth, and is used to place the object to be printed; the material cylinder is designed on the left side of the print head fixing frame, and is provided with a small door for easy material replacement.

[0010] In a preferred embodiment, the 3D printer further comprises computer software, which is connected to the photoelectric sensing system and is used to receive and process the grating images captured by the first camera and the second camera, generate a three-dimensional model of the object, and import the model into the 3D printer for printing.

[0011] Preferably, the 3D printer is also equipped with a high-precision stepper motor to ensure accurate movement of the print head and the mobile printing table, thereby improving the printing quality. In addition, the computer software has multiple built-in printing modes, and users can choose according to actual needs to achieve personalized printing needs.

[0012] Preferably, the phase-shift grating projection method adopted by the photoelectric sensing system has higher accuracy and faster scanning speed than the laser scanning method, and is suitable for modeling small and delicate objects.

[0013] The automatic modeling method of a 3D printer with an integrated optoelectronic three-dimensional imaging system is a 3D printer with an integrated optoelectronic three-dimensional imaging system as described above, and the method comprises the following steps: Step 1: Place the object to be printed on the mobile printing table of the 3D printer; Step 2: Start the photoelectric sensing system of the 3D printer and project a grating with phase shift onto the object to be printed through a projector; Step 3: Use the first camera and the second camera to capture the raster image affected by the object to be printed; Step 4: Process the captured raster image through computer software to generate a three-dimensional model of the object to be printed.

[0014] Preferably, the method further includes optimizing the details of the generated three-dimensional model after the three-dimensional model is generated in Step 4, including smoothing and filling holes to ensure printing quality; and also includes importing the optimized three-dimensional model into a 3D printer, converting it into a format recognizable by the 3D printer, and sending it to the printer for layer-by-layer printing.

[0015] In a preferred solution, the specific steps of Step 3 are that the first camera and the second camera take the raster image, and the three-dimensional coordinates of the surface points of the object are obtained through the algorithm integrated in the computer software in Step 4 to generate a three-dimensional model of the object to be printed.

[0016] The automatic monitoring method of a 3D printer with an integrated optoelectronic three-dimensional imaging system is a 3D printer with an integrated optoelectronic three-dimensional imaging system as described above, and the method comprises the following steps: Step 1: During the 3D printing process, after each layer is printed, the print head holder, print head, and mobile printing table return to their initial positions; Step 2: Start the photoelectric sensing system of the 3D printer to scan and model the printed parts; Step 3: Compare the scanned 3D model with the actual model and calculate the mean square error of the surface coordinates; Step 4: When the mean square error exceeds the set threshold, printing stops automatically.

[0017] Preferably, the method further includes, after the printing is automatically stopped in Step 4, a step of issuing an error prompt and suggesting the user to check the printer or to re-model and print.

[0018] In a preferred solution, the error prompt method in Step 4 includes but is not limited to displaying an error message on a display screen of the 3D printer and sending an error notification message to a mobile device of the user.

[0019] The 3D printer with integrated optoelectronic three-dimensional imaging system and the automatic modeling and monitoring method thereof provided by the present invention have the following beneficial effects: 1. The present invention integrates the photoelectric three-dimensional imaging system with the 3D printer to realize the automatic modeling and real-time monitoring functions, effectively solving the problem of time-consuming, labor-intensive and inefficient manual modeling of traditional 3D printers; 2. The present invention uses a binocular structured light system for high-precision 3D reconstruction, which improves the accuracy and efficiency of modeling compared to the existing technology, and is particularly suitable for modeling of delicate and complex products; 3. The present invention introduces a real-time monitoring mechanism during the printing process, which can timely detect and correct printing deviations, avoid material waste and time loss caused by repeated printing, and optimize printing quality; 4. The present invention overcomes the printing abnormality problem caused by external interference or the printer's own reasons during the 3D printing process, reduces product deviation, and improves the printing success rate; 5. In the field of cultural relics restoration, the present invention provides a more convenient and efficient solution for cultural relics restoration through high-precision three-dimensional reconstruction technology, reduces restoration costs, and improves resource utilization efficiency; 6. The photoelectric sensing system of the present invention has good adaptability and flexibility, and can be adjusted according to different printing requirements, further broadening its application scenarios. At the same time, the structure is simplified, effectively avoiding the use of additional equipment such as microprocessors, and reducing equipment and maintenance costs; 7. Compared with the prior art, the structured light scanning method adopted by the present invention has higher accuracy and faster scanning speed than laser scanning, and is more suitable for modeling and printing monitoring of small and delicate objects; 8. The successful application of the present invention not only significantly improves the modeling efficiency and accuracy of 3D printing, reduces labor costs and time costs, but also opens up a new way for the inheritance and protection of historical culture, promotes the research and development of multiple disciplines such as archaeology and art history, and demonstrates a wide range of application potential and far-reaching social value; 9. The 3D printer of the present invention has a simple structure, is easy to integrate, and has relatively low equipment and maintenance costs. It has broad application prospects and significant economic and social benefits in the fields of 3D printing and cultural relics restoration. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings and implementation examples: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a layout diagram of the overall structure of the present invention; Figure 3 It is a left side view of the overall structure of the present invention; Figure 4 It is a front view of the overall structure of the present invention; Figure 5 A top view of the overall structure of the present invention; In the figure: a projector 1, a first camera 2, a second camera 3, a print head fixing bracket 4, a print head 5, a movable printing table 6, and a material cylinder 7. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments: Example 1 like Figures 1 to 5 As shown, this embodiment provides a 3D printer integrated with an optoelectronic three-dimensional imaging system, and its structure mainly includes two parts: a 3D printer structure and an optoelectronic sensor system.

[0022] 1. 3D printer structure: Print head fixing frame 4: This part is used to fix the print head 5 and can move up and down to accurately control the printing height; Print head 5: The print head 5 is placed on the print head holder 4 and can slide left and right to ensure that the material is printed layer by layer according to the preset three-dimensional model; Mobile printing platform 6: located at the bottom of the printer, it can slide forward and backward, and cooperate with the movement of the print head 5 and the print head fixing frame 4 to achieve all-round printing of objects; Material barrel 7: It is designed on the left side of the print head fixing frame 4 and is equipped with a small door to facilitate the replacement and management of materials.

[0023] 2. Photoelectric sensing system: Projector 1: installed in the rear center of the printing area, its main function is to project a grating with a specific phase shift onto the object on the mobile printing table 6.

[0024] The first camera 2 and the second camera 3: These two cameras are symmetrically distributed on the left and right sides of the projector 1, with their optical axes kept parallel, and are used to capture the grating image after being affected by the object. The phase-shift grating projection method adopted by the photoelectric sensing system can ensure high-precision and high-resolution three-dimensional reconstruction.

[0025] 3. Other parts: Computer software: This software is closely connected with the photoelectric sensing system and is responsible for receiving and processing the grating images captured by the first camera 2 and the second camera 3. Through a series of algorithms, the software can generate a three-dimensional model of the object and import the model into the 3D printer for printing.

[0026] High-precision stepper motor: This device ensures that the print head 5 and the movable printing table 6 can move accurately, thereby improving the overall quality of printing.

[0027] Multiple printing modes: The computer software has built-in multiple printing modes, and users can choose according to actual needs to meet personalized printing needs.

[0028] Example 2 In another preferred embodiment, based on Embodiment 1, this embodiment provides a method for automatic modeling using the 3D printer integrated with the optoelectronic three-dimensional imaging system described in Embodiment 1, comprising the following steps: Step 1: Place the object to be printed on the mobile printing table of the 3D printer.

[0029] Step 2: Start the photoelectric sensing system of the 3D printer, and the projector begins to project a grating with a phase shift onto the object to be printed.

[0030] Step 3: Use the first camera 2 and the second camera 3 to capture the raster image affected by the object to be printed.

[0031] Step 4: Computer software receives and processes these raster images and generates a three-dimensional model of the object to be printed through a series of algorithms.

[0032] In addition, the method also includes optimizing the details of the generated 3D model, such as smoothing, filling holes, etc., to ensure the final printing quality. The optimized 3D model will be imported into the 3D printer, converted into a format recognizable by the printer, and start printing layer by layer.

[0033] It is worth noting that in Step 3, the raster images captured by the first camera 2 and the second camera 3 are processed by an algorithm integrated by the computer software to obtain the three-dimensional coordinates of the surface points of the object, thereby generating a three-dimensional model of the object to be printed.

[0034] Example 3 In another preferred embodiment, based on Embodiment 1, this embodiment provides a method for monitoring using the 3D printer integrated with the optoelectronic three-dimensional imaging system described in Embodiment 1, comprising the following steps: Step 1: During the 3D printing process, each time the print head completes printing of a layer, the print head holder 4, the print head 5 and the movable printing table 6 will return to their initial positions.

[0035] Step 2: Start the photoelectric sensing system of the 3D printer to scan and model the printed parts.

[0036] Step 3: Compare the scanned 3D model with the actual model and calculate the mean square error of the surface coordinates.

[0037] Step 4: When the mean square error exceeds the set threshold, the 3D printer will automatically stop printing.

[0038] In addition, the method also includes issuing an error prompt after automatically stopping printing and suggesting that the user check the printer or re-model and print. The error prompt method includes displaying an error message on the display screen of the 3D printer, sending an error notification message to the user's mobile device, etc.

[0039] Example 4 In another preferred embodiment, based on the embodiment 1, this embodiment is basically the same as the embodiment 1, but is different in the specific implementation of the photoelectric sensor system. In this embodiment, the models, performance parameters, etc. of the projector and the first camera 2 and the second camera 3 are adjusted to meet the printing requirements of different precision and speed. At the same time, the algorithm of the computer software is optimized to improve the accuracy and efficiency of the three-dimensional reconstruction.

[0040] The 3D printer of the present invention not only realizes efficient and accurate automatic modeling function by integrating the optoelectronic three-dimensional imaging system and the automatic modeling and monitoring method, but also has the ability of real-time monitoring and printing quality assurance. In practical applications, the invention significantly improves the modeling efficiency and printing quality of 3D printing, and reduces the labor cost and time cost. At the same time, it also shows broad application prospects in the fields of cultural relics restoration.

[0041] In a preferred solution, the 3D printer also includes computer software, which is connected to the photoelectric sensing system and is used to receive and process the raster images captured by the first camera 2 and the second camera 3, generate a three-dimensional model of the object, and import the model into the 3D printer for printing; the above settings realize an integrated process from image capture to model generation and then to 3D printing, greatly improving printing efficiency and accuracy. At the same time, the software also supports users to customize and edit models to meet different personalized needs.

[0042] In a preferred solution, the 3D printer is also equipped with a high-precision stepper motor to ensure the precise movement of the print head 5 and the mobile printing table 6, thereby improving the printing quality. In addition, the computer software has multiple built-in printing modes, and users can choose according to actual needs to achieve personalized printing needs. The above settings make the 3D printer not only suitable for professional design fields, but also can meet the diverse needs of education, scientific research and DIY enthusiasts, greatly improving the practicability and market competitiveness of the equipment.

[0043] The preferred solution is that the photoelectric sensing system adopts a phase-shift grating projection method; the above setting can ensure high-precision displacement measurement. The light signal projected by the phase-shift grating is captured by the receiver after being reflected by the object. The displacement of the object can be accurately calculated by analyzing the phase change of the light signal, thereby improving the overall performance of the system and measurement accuracy.

[0044] According to a preferred embodiment, the automatic modeling method further comprises optimizing the details of the generated three-dimensional model after the three-dimensional model is generated in Step 4, including smoothing and filling holes to ensure the printing quality. The above settings realize high-quality automatic modeling of complex structural parts, effectively improving the accuracy and efficiency of three-dimensional printing. In addition, the method also integrates an automatic detection module, which can identify and correct modeling errors in real time, further ensuring the molding quality of the final product.

[0045] In the selected solution, the automatic modeling method also includes importing the optimized three-dimensional model into the 3D printer, converting it into a format recognizable by the 3D printer, and sending it to the printer for layer-by-layer printing; the above settings enable users to quickly and accurately convert design concepts into physical models, greatly improving product development efficiency and accuracy, while also shortening the cycle from design to prototyping.

[0046] The preferred solution is that the specific steps of Step 3 are that the first camera 2 and the second camera 3 shoot the raster image, and the three-dimensional coordinates of the surface points of the object are obtained through the algorithm integrated in the computer software in Step 4, so as to generate a three-dimensional model of the object to be printed; the above settings can ensure the shooting accuracy and data processing efficiency, and then the three-dimensional model is imported into the 3D printer, and the object entity is accurately replicated by stacking materials layer by layer, so as to achieve a seamless connection from digital design to physical manufacturing.

[0047] In a preferred solution, the method further includes the step of issuing an error prompt and suggesting the user to check the printer or re-model and print after the printing is automatically stopped in Step 4; the above settings are intended to improve the user experience and ensure that the problem is solved in a timely manner. In addition, the system can record error logs to provide a basis for subsequent analysis and optimization, continuously optimize the printing process, and achieve efficient and accurate 3D printing operations.

[0048] In a preferred solution, the error prompt method in Step 4 includes but is not limited to displaying the error message on the display screen of the 3D printer and sending the error notification information to the user's mobile device; the above settings can also be configured to prompt the user of the current error by voice, or to send the error information remotely to a professional technical support team by connecting to a cloud server, so as to quickly respond to and solve the problem.

[0049] In summary, the present invention proposes a 3D printer integrated with an optoelectronic three-dimensional imaging system and an automatic modeling and monitoring method thereof, which effectively solves multiple key technical problems in the field of 3D printing and cultural relics restoration. In the face of the time-consuming, labor-intensive and inefficient problems of manual hand-drawn modeling in traditional 3D printing, especially when dealing with delicate and complex modeling products, the present invention realizes the automatic modeling function through an integrated optoelectronic three-dimensional imaging system, which significantly improves the modeling efficiency. At the same time, in view of the printing anomalies often caused by external interference or equipment factors in the 3D printing process, the present invention introduces a real-time monitoring mechanism. After each layer of printing is completed, a three-dimensional scan and model comparison will be performed. Once a deviation is detected, the printing will be automatically stopped immediately, thereby effectively reducing product deviations and reducing the time and material costs caused by repeated printing. In the field of cultural relics restoration, this method also shows great potential and can efficiently model and repair complex and delicate cultural relics. In addition, the optoelectronic sensing system of the present invention has good adaptability and flexibility, can be adjusted according to different printing requirements, and combined with optimized computer software algorithms, it further broadens its application scenarios. By integrating binocular structured light technology with 3D printing technology, the present invention not only realizes efficient and accurate automatic modeling and printing monitoring, but also demonstrates unique advantages and technological progress in the field of 3D printing.

Claims

1. A 3D printer with an integrated optoelectronic three-dimensional imaging system, characterized in that: The invention comprises an integrated photoelectric sensor system and a 3D printer structure. The photoelectric sensor system comprises a projector (1), a first camera (2), and a second camera (3). The projector (1) is installed at the center of the rear of the printing area and is used to project a grating with a phase shift onto an object. The first camera (2) and the second camera (3) are symmetrically distributed on the left and right sides of the projector (1) and are used to capture the grating image after being affected by the object. The 3D printer structure comprises a print head fixing frame (4). The print head fixing frame (4) is used to fix the print head (5) and the print head (5) can move up and down. The print head (5) is placed on the print head fixing frame (4) and slides left and right. The movable printing table (6) is located at the bottom of the printer and slides back and forth and is used to place the object to be printed. The material cylinder (7) is designed on the left side of the print head fixing frame (4) and is provided with a small door for easy replacement of materials.

2. The 3D printer with integrated optoelectronic three-dimensional imaging system according to claim 1, characterized in that: The 3D printer also includes computer software, which is connected to the photoelectric sensor system and is used to receive and process the raster images captured by the first camera (2) and the second camera (3), generate a three-dimensional model of the object, and import the model into the 3D printer for printing.

3. The 3D printer with integrated optoelectronic three-dimensional imaging system according to claim 1, characterized in that: The 3D printer is also equipped with a high-precision stepper motor to ensure accurate movement of the print head (5) and the mobile printing table (6), thereby improving the printing quality. The computer software has multiple built-in printing modes, and users can choose according to actual needs to achieve personalized printing needs.

4. The 3D printer with integrated optoelectronic three-dimensional imaging system according to claim 2, characterized in that: The photoelectric sensing system adopts a phase-shift grating projection method.

5. An automatic modeling method for a 3D printer integrated with an optoelectronic three-dimensional imaging system, characterized in that: A 3D printer using the integrated optoelectronic three-dimensional imaging system according to any one of claims 1 to 4, wherein the method comprises the following steps: Step 1: Place the object to be printed on the mobile printing table of the 3D printer; Step 2: Start the photoelectric sensing system of the 3D printer and project a grating with phase shift onto the object to be printed through a projector; Step 3: using the first camera (2) and the second camera (3) to capture the raster image after being affected by the object to be printed; Step 4: Process the captured raster image through computer software to generate a three-dimensional model of the object to be printed.

6. The automatic modeling method of a 3D printer integrated with an optoelectronic three-dimensional imaging system according to claim 5, characterized in that: The method also includes optimizing the details of the generated three-dimensional model after the three-dimensional model is generated in Step 4, including smoothing and filling holes to ensure printing quality; and also includes importing the optimized three-dimensional model into a 3D printer, converting it into a format recognizable by the 3D printer, and sending it to the printer for layer-by-layer printing.

7. The automatic modeling method of a 3D printer integrated with an optoelectronic three-dimensional imaging system according to claim 6, characterized in that: The specific steps of Step 3 are: the first camera (2) and the second camera (3) take a raster image, and the three-dimensional coordinates of the surface points of the object are obtained through the algorithm integrated in the computer software in Step 4, so as to generate a three-dimensional model of the object to be printed.

8. A monitoring method for a 3D printer with an integrated optoelectronic three-dimensional imaging system, characterized in that: A 3D printer using the integrated optoelectronic three-dimensional imaging system according to any one of claims 1 to 4, wherein the method comprises the following steps: Step 1: During the 3D printing process, after each layer is printed, the print head fixing frame (4), the print head (5), and the movable printing table (6) are restored to their initial positions; Step 2: Start the photoelectric sensing system of the 3D printer to scan and model the printed parts; Step 3: Compare the scanned 3D model with the actual model and calculate the mean square error of the surface coordinates; Step 4: When the mean square error exceeds the set threshold, printing stops automatically.

9. The monitoring method of a 3D printer integrated with an optoelectronic three-dimensional imaging system according to claim 8, characterized in that: The method further includes the step of issuing an error prompt and suggesting the user to check the printer or to re-model and print after the printing is automatically stopped in Step 4.

10. The monitoring method of a 3D printer integrated with an optoelectronic three-dimensional imaging system according to claim 9, characterized in that: The error prompt method in Step 4 includes but is not limited to displaying an error message on a display screen of the 3D printer and sending an error notification message to a mobile device of the user.

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