Automatic discharging method, system and equipment and storage medium

Abstract

The invention provides an automatic discharging method, system and device and a storage medium. The automatic discharging method comprises the steps that a plurality of printing model files are obtained, printing durations of corresponding printing models are determined based on the printing model files, and the corresponding printing models are distributed to a plurality of printers in combination with the printing durations and a preset distribution rule; the printed printing model is controlled to be transmitted to the main channel through the corresponding branch channel, and whether other printing models are transmitted in the current main channel or not is judged; if yes, the transmission speed of the current branch channel is adjusted based on the first time and the second time, so that when the printing model of the current branch channel is transmitted to the main channel through the intersection area, a safe distance is kept between the printing model of the current branch channel and the printing model which is being transmitted in the current main channel; and if not, the printing model in the current branch channel is transmitted to the main channel, so that collision congestion among the multiple printing models which are printed at the same time is avoided, and the transmission efficiency of the printing models is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of 3D printing, and particularly relates to an automatic discharging method, system, device and storage medium. BACKGROUND

[0002] A 3D printer, also known as a three-dimensional printer or a stereoscopic printer, is a process equipment of rapid prototyping, and is usually used to print materials by using digital technology to realize the printing. The 3D printer has a high application prospect in the fields of industrial design, architecture, engineering and construction, automobile, aerospace, dental and medical industry, education, geographic information system, civil engineering and other fields.

[0003] When a large number of 3D printing models are produced, a plurality of 3D printers are used to print at the same time. A main channel and a plurality of printers extending along the length direction of the main channel are provided. A corresponding branch channel is arranged between the printer bed of each printer and the main channel. In this way, when the printing of the printer is completed, the printed model is transferred into the main channel through the corresponding branch channel, so as to realize the collection of a plurality of printed models and shorten the overall production time.

[0004] However, in the actual transmission process, since the printing time of each printed model is not the same, when a plurality of printers work at the same time, a plurality of printed models after printing will collide, congest or accumulate in the main channel, which not only causes damage to the printed models, but also affects the transmission efficiency of the printed models. In severe cases, the staff needs to stop and maintain, which causes waste of time cost. SUMMARY

[0005] The application provides an automatic discharging method, system, device and storage medium, which can avoid the collision, congestion and accumulation of a plurality of printed models in the main channel, and improve the transmission efficiency of the printed models.

[0006] In order to solve the above technical problems, in a first aspect, the application provides an automatic discharging method applied to a 3D printing system. The 3D printing system includes a main channel and a plurality of printers arranged along the length direction of the main channel. A corresponding branch channel is arranged between each printer and the main channel. The method includes the following steps:

[0007] A plurality of printed model files are obtained. The printing time of the corresponding printed model is determined based on each printed model file. Each printed model is allocated to a corresponding printer according to the printing time and a preset allocation rule.

[0008] The printed model after printing is transferred to the main channel through the corresponding branch channel. It is determined whether other printed models are transferred in the main channel.

[0009] If yes, a first time at which a printing model in the main channel reaches an intersection region of the current branch channel and the main channel, and a second time at which the printing model in the current branch channel reaches the intersection region are obtained;

[0010] A transmission speed of the current branch channel is adjusted based on the first time and the second time, so that the printing model in the current branch channel is transmitted to the main channel through the intersection region while maintaining a safety distance from the printing model being transmitted in the current main channel;

[0011] If no, the printing model in the current branch channel is transmitted to the main channel.

[0012] As a further improvement of the present application, the obtaining of the plurality of printing model files comprises:

[0013] A Gcode file corresponding to the plurality of printing models is obtained, the Gcode file comprising a printing progress, a printing layer number and a printing consumable parameter of the printing model, and the printing time of each printing model is determined according to the Gcode file;

[0014] The printing model file is a Gcode file corresponding to the printing model.

[0015] As a further improvement of the present application, the assigning of the corresponding printing model to the plurality of printers in combination with the printing time and a preset assignment rule comprises:

[0016] The printing times of the plurality of printing models are sorted, and the printing times of the printing models are divided into at least a first time interval and a second time interval;

[0017] According to a preset assignment rule of alternation of the first time interval and the second time interval, the corresponding printing model is assigned to the plurality of printers arranged along the main channel in sequence.

[0018] As a further improvement of the present application, the judging of whether there is another printing model being transmitted in the current main channel comprises:

[0019] Each intersection region of each branch channel and the main channel is detected to determine whether there is another printing model being transmitted in the current main channel;

[0020] When it is detected at a certain intersection region that there is a printing model being transmitted in the current main channel, a current position of the printing model being transmitted in the main channel is determined based on a position of the current intersection region.

[0021] As a further improvement of the present application, the obtaining of the first time at which the printing model in the main channel reaches the intersection region of the current branch channel and the main channel comprises:

[0022] determine a first time for the printing model transmitted in the main channel to arrive at the current intersection region according to a current position of the printing model transmitted in the main channel, a transmission speed of the main channel, and a distance between the printing model in the main channel and the current intersection region.

[0023] As a further improvement of the present application, the second time for the printing model in the current branch channel to arrive at the intersection region comprises:

[0024] determine the second time for the printing model in the current branch channel to arrive at the current intersection region according to a transmission speed of the current branch channel and a distance between the printing model in the current branch channel and the current intersection region.

[0025] As a further improvement of the present application, the adjusting the transmission speed of the current branch channel based on the first time and the second time comprises:

[0026] comparing a difference between the first time and the second time with a preset threshold value;

[0027] when the difference is greater than the preset threshold value, accelerating the current branch channel so that the printing model in the current branch channel passes through the current intersection region earlier than the printing model in the main channel;

[0028] when the difference is less than or equal to the preset threshold value, decelerating the current branch channel, and accelerating the current branch channel after the printing model in the main channel passes through the current intersection region earlier than the printing model in the branch channel, so as to transmit the printing model in the current branch channel to the main channel.

[0029] As a further improvement of the present application, the controlling the printing model in the current branch channel to be transmitted to the main channel comprises:

[0030] controlling the current branch channel to maintain the current transmission speed, or accelerating the current branch channel so as to transmit the printing model in the current branch channel to the main channel through the corresponding intersection region.

[0031] In a second aspect, the present application provides an automatic unloading system, which comprises a server, and the server is in communication connection with a plurality of printers.

[0032] The server is configured to execute the steps of the automatic unloading method according to any one of the above aspects.

[0033] In a third aspect, the present application provides an electronic device, which comprises a processor and a memory coupled to the processor, and the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the automatic unloading method according to any one of the above aspects.

[0034] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement any of the above-mentioned automatic unloading methods.

[0035] Compared with the prior art, the automatic unloading method, system, equipment and storage medium provided by the present application, by determining the printing time of each printing model and assigning corresponding printing models to several printers according to different printing times, can avoid the similar printing time of two adjacent printers, which causes the completed printed models to collide or be jammed in the process of entering the main channel. This alternating setting method can make the production process of the printed model smoother and reduce the mutual interference of several printed models during the transportation of the main channel. According to the first time when the printed model of the main channel arrives at the intersection area of ​​the current branch channel and the main channel, and the second time when the printed model in the current branch channel arrives at the intersection area, the transmission speed of the current branch channel is adjusted, so that the time interval for the printed model to enter the main channel is more reasonable, the possibility of mutual interference between the printed models is reduced, the quality of the printed model is ensured, and the transmission efficiency of the printed model is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A schematic diagram of the structure of a 3D printing system provided in the related art;

[0038] Figure 2 A flow chart of the automatic blanking method provided in an embodiment of the present application;

[0039] Figure 3 A schematic structural diagram of the main channel in the automatic unloading method provided in an embodiment of the present application;

[0040] Figure 4 A schematic structural diagram of a guide member in the automatic blanking method provided in an embodiment of the present application;

[0041] Figure 5 for Figure 1 A specific embodiment diagram of the 3D printing system shown;

[0042] Figure 6 for Figure 5 Schematic diagram of printing model distribution in the embodiment shown;

[0043] Figure 7 A first embodiment diagram of the automatic unloading method provided by the embodiments of the present application is shown in FIG. 1;

[0044] Figure 8 A second embodiment diagram of the automatic unloading method provided by the embodiments of the present application is shown in FIG. 2;

[0045] Figure 9 A flowchart of the automatic unloading method provided by the embodiments of the present application for speed regulation of the current branch channel is shown in FIG. 3;

[0046] Figure 10 A third embodiment diagram of the automatic unloading method provided by the embodiments of the present application is shown in FIG. 4;

[0047] Figure 11 A fourth embodiment diagram of the automatic unloading method provided by the embodiments of the present application is shown in FIG. 5;

[0048] Figure 12 A structural schematic diagram of the automatic unloading system provided by the embodiments of the present application is shown in FIG. 6;

[0049] Figure 13 A structural schematic diagram of the electronic device provided by the embodiments of the present application is shown in FIG. 7;

[0050] Figure 14 A structural schematic diagram of the storage medium provided by the embodiments of the present application is shown in FIG. 8. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application are further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present application, and are not used to limit the embodiments of the present application.

[0052] In the description of the embodiments of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), if the certain posture changes, the directional indications also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0053] To make the description of the present disclosure more detailed and complete, the following describes the embodiments of the present application in the embodiments and specific examples; but this is not the only form of implementation or use of the specific embodiments of the present application. The embodiments include the features of the specific embodiments and the method steps and their order for constructing and operating the specific embodiments. However, other specific embodiments can also be used to achieve the same or equivalent functions and step sequences.

[0054] In the embodiments of the present application, "exemplary", "in some embodiments", "in another embodiment" and the like are used to indicate an example, illustration or description. Any embodiment or design scheme described as "exemplary" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the use of the word "exemplary" is intended to present the concept in a specific manner.

[0055] Please refer to Figures 1-14 The embodiments of the present application provide an automatic unloading method, system, device and storage medium, applied to a 3D printing system, which can avoid collision, congestion and accumulation of multiple printing models in the main channel, and improve the transmission efficiency of the printing models.

[0056] In some optional embodiments, the above-mentioned 3D printing system can be applied to embodiments that need to produce a large number of printing models, and through the 3D printing system, multiple 3D printers can print at the same time, improve the printing speed, and shorten the overall printing time.

[0057] Please refer to Figure 1 For the structural diagram of the 3D printing system provided in the related art, the 3D printing system generally includes a main channel and a plurality of printers arranged along the length extension direction of the main channel. A corresponding branch channel is arranged in communication between the printer bed of each printer and the main channel. In this way, when the printing of the printer is completed, the printed printing model will be transmitted into the main channel through the corresponding branch channel, realizing the collection of multiple printing models.

[0058] However, in the actual transmission process, since the printing time of each printing model is not the same, when multiple printers work at the same time, multiple printing models will collide, congest or accumulate in the main channel, not only causing damage to the printing models, but also affecting the transmission efficiency of the printing models, and the staff needs to maintain regularly, causing waste of time cost.

[0059] Therefore, the present application provides an automatic unloading method, please refer to Figure 2 The flowchart of the automatic unloading method provided in the embodiments of the present application, the detection method includes the following steps:

[0060] Step S1: obtaining a plurality of printing model files, determining the printing time of the corresponding printing model based on each printing model file, and allocating the corresponding printing model to a plurality of printers in combination with the printing time and a preset allocation rule;

[0061] As an optional implementation, the above obtaining a plurality of printing model files and determining the printing time of the corresponding printing model based on each printing model file comprises:

[0062] obtaining a Gcode file corresponding to a plurality of printing models, the Gcode file including the printing progress, the printing layer number and the printing consumable parameter of the printing model, and determining the printing time of each printing model according to the Gcode file;

[0063] The printing model file is a Gcode file corresponding to the printing model.

[0064] As an optional implementation, the above allocating the corresponding printing model to a plurality of printers in combination with the printing time and a preset allocation rule comprises:

[0065] sorting the printing time of a plurality of printing models, and dividing the printing time of each printing model into at least a first time interval and a second time interval;

[0066] allocating the corresponding printing model to a plurality of printers arranged along the main channel in turn according to a preset allocation rule of alternation of the first time interval and the second time interval.

[0067] In the embodiments of the present application, when a plurality of printing models are formally printed, the printing model file corresponding to each printing model can be obtained first, usually a three-dimensional model is created using computer-aided design software first, and then the three-dimensional model is sliced using slicing software. In this process, the slicing software will convert the three-dimensional model into a series of two-dimensional slices according to the shape of the printing model, the parameters of the printer and the printing parameters set by the user, etc., to generate the Gcode file corresponding to the printing model, that is, the printing model file corresponding to the printing model.

[0068] Specifically, the Gcode file is a numerical control NC programming language used to control the movement of devices such as printers, and usually includes the printing progress, the printing layer number and the printing consumable parameter of the printing model. According to the Gcode file, the printing time required for each printing model can be estimated.

[0069] Of course, some existing software can also directly estimate the printing time required for the printing model based on the Gcode file, such as Cura, ReplicatorG and other common software that can parse and execute Gcode instructions. Therefore, this application does not elaborate on the principle of how to determine the printing time required for each printing model through the Gcode file.

[0070] Of course, other methods for determining the printing time of the printed model are also feasible, and this application does not impose any further restrictions on this.

[0071] Furthermore, since several printers are arranged along the length direction of the main channel, the present application takes the length extension direction of the main channel as the transmission direction of the printed model. Figure 5 Six printers are shown along the length of the main channel, and several printers in the figure are numbered. In this embodiment, the six printers are numbered M1, M2, M3, M4, M5 and M6 respectively. In this application, the end where M1 is located is recorded as the first end of the main channel, and the end where M6 is located is recorded as the second end of the main channel. The transmission direction of the printed model is determined to be from the first end to the second end. That is to say, the printed model transmitted by M1 needs to travel a longer transmission distance than the printed models transmitted by other printers.

[0072] In an embodiment of the present application, after the printing time of each printing model is determined, the printing times of several printing models need to be sorted, and the printing time of the printing models needs to be divided into at least a first time interval and a second time interval according to the printing time of each printing model.

[0073] For example, six printing models are provided corresponding to the above-mentioned six printers, and the printing times of the six printing models are N1, N2, N3, N4, N5 and N6 respectively. After sorting the printing times of these six printing models, it can be obtained that N1>N2>N3>N4>N5>N6, and then the printing time of the printing model is divided into a first time interval and a second time interval, wherein the first time interval includes N1, N2 and N3, representing a printing model with relatively longer time, and the second time interval includes N4, N5 and N6, representing a printing model with relatively shorter time.

[0074] After the printing times of the plurality of printing models are divided into a first time interval and a second time interval, the corresponding printing models are allocated to the plurality of printers sequentially arranged along the main channel according to a preset allocation rule.

[0075] Exemplarily, corresponding printing models can be assigned to several printers in an alternating manner of the first time interval and the second time interval; that is, the printing model of the same time interval needs to be assigned to M1, M3 and M5, and the printing model of the same time interval needs to be assigned to M2, M4 and M6.

[0076] Specifically, when the printing model of the first time interval is assigned to M1, M3 and M5, the printing model of the second time interval needs to be assigned to M2, M4 and M6; when the printing model of the second time interval is assigned to M1, M3 and M5, the printing model of the first time interval needs to be assigned to M2, M4 and M6, to ensure that the time interval to which the printing model corresponding to the current printer belongs is different from the time interval to which the printing model corresponding to the adjacent printer belongs.

[0077] In an alternative embodiment, see Figure 6 ,for Figure 5 According to the printing model allocation diagram in the embodiment diagram, a printing model with a printing time of N1 can be allocated to printer M1, a printing model with a printing time of N4 can be allocated to printer M2, a printing model with a printing time of N2 can be allocated to printer M3, a printing model with a printing time of N5 can be allocated to printer M4, a printing model with a printing time of N3 can be allocated to printer M5, and a printing model with a printing time of N6 can be allocated to printer M6. Of course, other allocation methods are also feasible. In principle, the allocation can be performed in an alternating manner according to the first time interval and the second time interval.

[0078] By alternating the first time interval and the second time interval mentioned above, it is possible to avoid the printing time of two adjacent printers being similar, which would cause the completed printed models to collide or be jammed when entering the main channel, and the printed models of other printers to be unable to be transmitted normally. This alternating setting method can make the production process of the printed models smoother, and there will be no idleness of the main channel in a certain area due to a uniformly long printing time, and congestion of the main channel in another area due to a uniformly short printing time; it can also reduce the mutual interference of several printed models during the transportation of the main channel. If the printing time of adjacent printers is similar and less than the safe distance, the completed printed models may be closely arranged on the main channel, increasing the risk of collision and friction between each other. The present application arranges the printers alternately according to the length of the printing time, which can make the time interval for the printed models to enter the main channel more reasonable, improve the transmission efficiency of the printed models, and reduce the possibility of mutual interference between the printed models.

[0079] Step S2: Control the transmission of the printed model to the main channel via the corresponding branch channel, and determine whether other printed models are being transmitted in the current main channel;

[0080] As an optional implementation, the determining whether the other printing model is transmitted in the current main channel comprises:

[0081] detecting at each intersection region of each branch channel and the main channel to determine whether the other printing model is transmitted in the current main channel;

[0082] When the printing model is detected to be transmitted in the current main channel at a certain intersection region, the current position of the printing model transmitted in the main channel is determined based on the position of the current intersection region.

[0083] In the embodiments of the present application, please refer to Figure 3 The automatic unloading method provided in the embodiments of the present application is shown in the structural diagram of the main channel. The detection member is arranged at each intersection region of each branch channel and the main channel. The detection member can determine whether the other printing model is transmitted at the intersection region of the current branch channel and the main channel.

[0084] For example, the detection member can be arranged in the form of a transmitting end and a receiving end. The transmitting end or the receiving end can be arranged at the side of the corresponding intersection region close to the branch channel, and the receiving end or the transmitting end can be arranged at the side of the intersection region away from the branch channel. The transmitting end is used to transmit a laser signal, and the receiving end is used to receive the laser signal. When the printing model exists in the main channel and passes through the intersection region between the transmitting end and the receiving end, the printing model will block the laser signal, thereby determining whether the other printing model is transmitted in the current main channel.

[0085] It can be understood that since the detection member is arranged at each intersection region of each branch channel and the main channel, the detection members are also arranged in the transmission direction of the printing model, and in principle, the position relationship of one-to-one correspondence with the branch channel is met. When the detection member detects that the printing model is transmitted at the current intersection region, the current position of the printing model in the main channel can be determined according to the position of the main channel where the detection member is located.

[0086] Please refer to Figure 4 The structural diagram of the guide member in the automatic unloading method provided in the embodiments of the present application is shown. The guide member arranged at each intersection region of each branch channel and the main channel can be switched between the first position and the second position. When the guide member is located at the first position, the current branch channel can be blocked. When the guide member is located at the second position, the printing model in the current branch channel can be guided to the main channel, and the other printing models in the main channel that do not pass through the current branch channel can be blocked.

[0087] In an alternative embodiment, the guide member can be provided in the form of a guide plate, which is preferably hingedly arranged at a side of the branch passage close to the main passage. When the guide plate is arranged close to the branch passage, i.e. the guide plate is switched to the first position, the guide plate can block the branch passage and will not affect the normal transmission of the printing models in the main passage.

[0088] When the guide plate is switched to the second position, the printing models transmitted from the branch passage can be guided to enter the main passage for transmission. On the other hand, when the guide plate is turned to the second position, i.e. the intersection region, the guide plate can also block other printing models in the main passage that do not pass through the current intersection region, so as to avoid the collision between the printing models in the branch passage and the other printing models being transmitted in the main passage.

[0089] Of course, the guide member can also be provided in other structures capable of guiding or blocking the printing models in the branch passage, and the specific structure of the guide member is not limited in the present application.

[0090] Further, when the guide member is provided in the form of a guide plate, the emitting end and the receiving end of the detection member can be arranged at the guide plate of the current branch passage and the inner side wall of the main passage corresponding to the current branch passage, respectively. Preferably, the emitting end and the receiving end are arranged at the side end of the guide plate close to the first end, so as to ensure the positional relationship between the receiving end and the emitting end. In this way, when the printing models are transmitted in the main passage, the detection member can immediately detect the printing models being transmitted in the main passage.

[0091] For example, each guide plate is provided with a corresponding driving member (not shown in the drawings), which can switch the guide plate between the first position and the second position. The driving member can be provided in the form of a driving motor or a common driving member of a rotary motor, and the specific structure of the driving member is not limited in the present application.

[0092] As an alternative embodiment, please refer to Figure 7 In the first embodiment of the automatic unloading method provided in the present application, the inductive member is arranged at a position of each branch passage close to the main passage. The inductive member can sense whether there is a printing model in the corresponding branch passage, and can also sense the distance between the printing model and the intersection region, so as to determine the current position of the printing model in the branch passage.

[0093] Preferably, the inductive element can be arranged in the form of a distance sensor, and the distance sensor is arranged at the side where the branch channel and the main channel are close to each other, so that when the printing model exists in the branch channel, the distance between the printing model and the intersection region can be determined, and the current position of the printing model in the branch channel can be detected in real time.

[0094] Of course, the specific arrangement form of the inductive element is not limited to the arrangement form of the distance sensor provided above, and those skilled in the art should know.

[0095] Step S3: If yes, the first time when the printing model in the main channel reaches the intersection region between the current branch channel and the main channel, and the second time when the printing model in the current branch channel reaches the intersection region are obtained.

[0096] The transmission speed of the current branch channel is adjusted based on the first time and the second time, so that the printing model in the current branch channel is transmitted to the main channel through the intersection region, and the printing model being transmitted in the current main channel is kept at a safe distance.

[0097] If no, the current branch channel is controlled to maintain the current transmission speed, and the printing model is transmitted to the main channel.

[0098] As an optional embodiment, the first time when the printing model in the main channel reaches the intersection region between the current branch channel and the main channel includes:

[0099] According to the current position of the printing model being transmitted in the main channel, the transmission speed of the main channel, and the distance between the printing model in the main channel and the intersection region between the current branch channel and the main channel, the first time when the printing model being transmitted in the main channel passes through the current intersection region is determined.

[0100] When it is determined that there is another transmission model in the current main channel, please refer to Figure 10 As can be observed from the third embodiment of the automatic unloading method provided in the embodiments of the present application, the main channel is transmitting a printing model, the printing model in the current branch channel has completed printing, and the printing model being transmitted in the main channel has passed through the intersection region corresponding to the current branch channel, and the guide element has been switched to the second position in advance to avoid blocking the printing model being transmitted in the main channel.

[0101] Please refer to Figure 8If the printing model transmitted in the main channel has not passed the intersection region corresponding to the current branch channel, since a plurality of transmitting ends and receiving ends are arranged at each intersection region, the current position of the printing model transmitted in the main channel can be determined according to the laser shielding condition between the transmitting end and the receiving end, the distance X1 between the printing model in the main channel and the current intersection region is further determined, and then the first time T1 of the printing model in the main channel passing the current intersection region can be determined according to the transmission speed V1 of the main channel.

[0102] As an optional implementation, the second time of the printing model in the current branch channel reaching the intersection region between the current branch channel and the main channel is determined according to the transmission speed of the current branch channel and the distance between the printing model in the current branch channel and the main channel.

[0103] In the embodiment of the application, since the inductive element is arranged on the side of each branch channel close to the main channel, the distance X2 between the printing model in the branch channel and the intersection region can be determined through the inductive element, and the second time T2 of the printing model in the current branch channel reaching the intersection region can be calculated according to the transmission speed V2 of the current branch channel.

[0104] As an optional implementation, please refer to Figure 9 The flow chart of the automatic unloading method provided in the embodiment of the application for adjusting the transmission speed of the current branch channel, the transmission speed of the current branch channel being adjusted based on the first time and the second time, comprises the following steps.

[0105] The difference between the first time and the second time is compared with a preset threshold value.

[0106] When the difference is greater than the preset threshold value, the current branch channel is accelerated, so that the printing model in the current branch channel passes the intersection region earlier than the printing model in the main channel.

[0107] When the difference is less than or equal to the preset threshold value, the current branch channel is decelerated, and after the printing model in the main channel passes the intersection region earlier than the printing model in the branch channel, the current branch channel is accelerated to transmit the printing model in the current branch channel to the main channel.

[0108] In the embodiment of the application, after the first time T1 and the second time T2 are determined, the first time T1 and the second time T2 are subtracted to obtain the time difference ΔT therebetween, the time difference ΔT is compared with a preset threshold value, and the transmission speed V2 of the current branch channel is adjusted.

[0109] It needs to be explained that, due to the transmission speed of the main channel and the branch channel cannot be accurately controlled in the actual transmission process of the printing model, and the switching of the guide piece between the first position and the second position may cause time delay, and the process of guiding the printing model in the branch channel to the main channel also occupies a certain time, the superposition of various factors will affect the final actual transmission time, if the first time T1 and the second time T2 are directly combined to judge, the corresponding transmission action is performed on the printing model, then a large error will be introduced, and the final result is not referenceable, and the congestion or collision of multiple printing models in the main channel cannot be avoided.

[0110] Therefore, the first time T1 and the second time T2 are subtracted to obtain a time difference ΔT between them in the embodiment of the application, and the time difference ΔT is compared with a preset threshold, which can be a preset threshold within an error allowable range determined by the superposition of various factors such as the time used for switching the guide piece between the first position and the second position in the actual transmission, and the time used for guiding the printing model from the branch channel to the main channel.

[0111] In a specific embodiment, the preset threshold is 10s, and of course the above-mentioned preset threshold can be adjusted according to the actual working condition, and the specific value of the preset threshold is not limited further in the application.

[0112] Further, when it is judged that the difference ΔT is greater than the preset threshold, there are two cases, one is that the first time T1 is greater than the second time T2, and the difference ΔT is greater than the preset threshold, and the other case is that the first time T1 is less than the second time T2, and the difference ΔT is greater than the preset threshold, which will be described below.

[0113] Please continue to refer to Figure 7 When the first time T1 is greater than the second time T2, and the difference ΔT is greater than the preset threshold, that is, the first time T1 of the printing model in the main channel passing through the current intersection area is greater than the second time T2 of the printing model in the current branch channel reaching the intersection area, that is, after the printing model in the branch channel enters the main channel, the printing model in the main channel will pass through the current intersection area.

[0114] Because in the actual transmission process, considering the time error caused by various factors, the printing model in the branch channel and the printing model in the main channel may collide or have too close spacing, therefore, the current branch channel needs to be accelerated.

[0115] It can be understood that in order to enable the printing model in the branch channel to smoothly enter the main channel, the transmission speed V2 of the branch channel is generally set to be greater than the transmission speed V1 of the main channel, and the transmission speed of the branch channel is adjusted, which has less impact on the entire 3D printing system compared to adjusting the transmission speed of the main channel, so the transmission speed V2 of the branch channel is preferably adjusted.

[0116] Specifically, when the first time T1 is greater than the second time T2 and the difference AT is greater than the preset threshold, it indicates that the printing model in the branch channel enters the main channel first, and then the printing model in the main channel passes through the current branch channel, so the transmission speed V2 of the branch channel can be appropriately increased to guide the printing model in the current branch channel to the main channel faster.

[0117] Please refer to Figure 8 In the second embodiment of the automatic unloading method provided by the embodiment of the application, when the first time T1 is less than the second time T2 and the difference AT is greater than the preset threshold, that is, the first time T1 at which the printing model in the main channel passes through the current intersection region is less than the second time T2 at which the printing model in the current branch channel reaches the main channel, that is, the printing model in the main channel passes through the current intersection region first, and then the printing model in the branch channel enters the main channel.

[0118] In the above case, the printing model in the branch channel may be closer to the second end of the main channel than the currently transmitted printing model in the main channel. Since the transmission speed of the main channel is slow, if the printing model in the main channel is waited to pass through the current branch channel first, time will be wasted.

[0119] And the difference AT is greater than the preset threshold, so there is enough time to increase the transmission speed V2 of the branch channel, so as to guide the printing model in the current branch channel to the main channel faster, improve the transmission efficiency of the entire 3D printing system, and reduce the waiting time of the printing model.

[0120] Therefore, when the difference AT is greater than the preset threshold, the current branch channel is preferably increased in speed so that the printing model in the current branch channel passes through the intersection region before the printing model in the main channel.

[0121] It should be noted that the increase in the transmission speed V2 of the branch channel here means that the transmission speed V2 of the branch channel is increased by no more than ten times based on the current transmission speed V2, and is preferably appropriately adjusted within one to three times to avoid too fast speed increase causing the printing model to fall during transmission.

[0122] Further, when the difference ΔT is less than or equal to the preset threshold, there are two cases, one is that the first time T1 is greater than the second time T2, and the difference ΔT is less than or equal to the preset threshold; the other case is that the first time T1 is less than the second time T2, and the difference ΔT is less than or equal to the preset threshold, which will be described next.

[0123] When the first time T1 is greater than the second time T2, and the difference ΔT is less than or equal to the preset threshold, that is, the first time T1 of the printing model in the main channel passing through the current intersection region is greater than the second time T2 of the printing model in the current branch channel reaching the main channel, that is, after the printing model in the branch channel enters the main channel, the currently transmitted printing model in the main channel will pass through the intersection region corresponding to the current branch channel.

[0124] Since the current difference ΔT is less than or equal to the preset threshold, that is, there is not enough time to speed up the transmission speed V2 of the current branch channel in order to guide the printing model in the current branch channel to the main channel faster, and the first time T1 and the second time T2 are very close, it is extremely likely that the printing model transmitted in the branch channel will enter the main channel, and the printing model being transmitted in the main channel will collide or appear congestion. Therefore, in this case, the transmission speed V2 of the current branch channel needs to be slowed down to ensure that the printing model in the main channel passes through the current branch channel, and then the printing model in the current branch channel is guided to the main channel by speeding up.

[0125] When the first time T1 is less than the second time T2, and the difference ΔT is greater than the preset threshold, that is, the first time T1 of the printing model in the main channel passing through the current intersection region is less than the second time T2 of the printing model in the current branch channel reaching the main channel, that is, after the printing model in the main channel passes through the intersection region corresponding to the current branch channel, the printing model in the branch channel will enter the main channel.

[0126] Since the first time T1 and the second time T2 are very close, and there is not enough time to speed up the transmission speed V2 of the branch channel, it is extremely likely that the printing model transmitted in the branch channel will enter the main channel, and the printing model being transmitted in the main channel will collide or appear congestion. Therefore, in this case, the transmission speed V2 of the branch channel also needs to be slowed down to ensure that the printing model in the main channel passes through the current branch channel, and then the printing model in the current branch channel is guided to the main channel by speeding up.

[0127] Therefore, when the difference ΔT is less than or equal to the preset threshold, the current branch channel is preferably decelerated, so that the printing model in the main channel passes through the intersection area before the printing model in the branch channel, and after the printing model in the main channel passes through the intersection area, the current branch channel is accelerated, so that the printing model in the current branch channel is transmitted to the main channel, avoiding the time waste caused by the long time of the current branch channel in the low speed.

[0128] It can be understood that the appropriate deceleration of the transmission speed V2 of the branch channel refers to deceleration of no less than ten times on the basis of the current transmission speed V2, and preferably adjusting in the range of one to three times to avoid excessive deceleration causing the printing model to stay in the current branch channel for too long.

[0129] It should be noted that the safety distance provided in the above application needs to be determined in combination with the actual size of the printing model and the transmission speed of the current main channel. In principle, it is necessary to ensure that the printing model transmitted by the main channel does not collide with the printing model transmitted by the current branch channel into the main channel, and to ensure that the printing model transmitted by the main channel and the printing model transmitted by the branch channel have a certain time interval when passing through the intersection area between the current branch channel and the main channel. Therefore, the specific value of the safety distance is not limited further, and those skilled in the art can adjust it according to the actual situation.

[0130] As an optional embodiment, please refer to Figure 11 The fourth embodiment of the automatic unloading method provided in the embodiment of the application is shown in the figure. If there is no other printing model transmitted in the current main channel, the printing model in the current branch channel is directly guided into the main channel.

[0131] In the embodiment of the application, the current branch channel can be controlled to maintain the current transmission speed V2 to directly transmit the printing model of the branch channel to the main channel, or the current branch channel can be accelerated to guide the printing model of the branch channel to the main channel faster to improve the transmission speed of the printing model. The application does not make too many limitations.

[0132] The automatic unloading method provided in the application can avoid the situation that the printing time of two adjacent printers is similar, which causes the completed printing models to collide or jam in the process of entering the main channel, and the alternating arrangement can make the production process of the printing models more smooth and reduce the mutual interference of the printing models in the main channel transportation process; the transmission speed of the current branch channel is adjusted according to the first time at which the printing models in the main channel arrive at the intersection area of the current branch channel and the main channel, and the second time at which the printing models in the current branch channel arrive at the intersection area, so that the time interval of the printing models entering the main channel is more reasonable, the possibility of mutual interference between the printing models is reduced, the quality of the printing models is ensured, and the transmission efficiency of the printing models is improved.

[0133] Based on the above automatic unloading method, the application provides an automatic unloading system, please refer to Figure 12 The automatic unloading system provided in the embodiment of the application includes a server, which is in communication connection with the plurality of printers, and the steps of the above-provided automatic unloading method are executed through the server, so as to reduce the possibility of mutual interference between the printing models, ensure the quality of the printing models, and improve the transmission efficiency of the printing models.

[0134] For other details of the server implementation technical solution in the automatic unloading system provided in the above embodiment, please refer to the description of the automatic unloading method in the above embodiment, which will not be repeated here.

[0135] It should be noted that each embodiment in the present specification adopts a progressive description manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts between each embodiment can be referred to. For system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0136] Please refer to Figure 13 The structure schematic diagram of the electronic device provided in the embodiment of the application includes a processor 51 and a memory 52 coupled with the processor 51.

[0137] The memory 52 stores a computer program, and the computer program is executed by the processor 51 to make the processor 51 execute the steps of the artificial intelligence-based actuarial method in the above embodiment.

[0138] The processor 51 can also be called a CPU (Central Processing Unit). The processor 51 can be an integrated circuit chip having a processing capability of signals. The processor 51 can also be a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application-Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0139] Please refer to Figure 14 The computer program 60 can be stored in the storage medium in the form of a software product, and includes a plurality of instructions for enabling an electronic device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes, or a computer, a server, a mobile phone, a tablet, etc. The server can be a stand-alone server, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content distribution networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

[0140] In several embodiments provided in the present application, it should be understood that the disclosed terminal, system and method can be implemented in other ways. For example, the system embodiments described above are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed mutual units can be indirect coupling or communication connection through some interfaces, systems or units, and can be electrical, mechanical or other forms.

[0141] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. The above is only an implementation manner of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

[0142] The above implementation manners are only exemplary implementation manners adopted for illustrating the principles of the embodiments of the present application, and the embodiments of the present application are not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the embodiments of the present application, and these modifications and improvements are also considered to be within the protection scope of the embodiments of the present application.

Claims

1. An automatic unloading method applied to a 3D printing system, the 3D printing system comprising a main channel and a plurality of printers arranged along the length direction of the main channel, each of the printers being in communication with the main channel via a corresponding branch channel, characterized in that, The method comprises the following steps: Obtain a plurality of printing model files, determine the printing time of the corresponding printing model based on each printing model file, and allocate the corresponding printing model to a plurality of printers in combination with the printing time and a preset allocation rule; Control the printing model that has completed printing to be transmitted to the main channel through the corresponding branch channel, and determine whether there is another printing model being transmitted in the current main channel; If so, obtain the first time at which the printing model in the main channel reaches the intersection area of the current branch channel and the main channel, and the second time at which the printing model in the current branch channel reaches the intersection area; Adjust the transmission speed of the current branch channel based on the first time and the second time, so that the printing model in the current branch channel is transmitted to the main channel through the intersection area while maintaining a safe distance from the printing model being transmitted in the current main channel; If not, transmit the printing model in the current branch channel to the main channel.

2. The automatic unloading method according to claim 1, characterized in that, The method comprises the following steps: Obtain a plurality of printing model files, determine the printing time of the corresponding printing model based on each printing model file, and allocate the corresponding printing model to a plurality of printers in combination with the printing time and a preset allocation rule; Obtain a plurality of Gcode files corresponding to the printing models, wherein the Gcode files comprise the printing progress, the printing layer number, and the printing consumable parameters of the printing model, and the printing time of each printing model is determined according to the Gcode files; 3. The automatic unloading method according to claim 2, characterized in that, The printing model file is the Gcode file corresponding to the printing model. The method comprises the following steps: Sort the printing time of a plurality of printing models, and divide the printing time of each printing model into at least a first time interval and a second time interval; 4. The automatic unloading method according to claim 1, wherein According to the preset allocation rule that the first time interval and the second time interval are alternated, allocate the corresponding printing model to a plurality of printers arranged along the main channel in sequence. The method comprises the following steps: Detect the intersection area of each branch channel and the main channel to determine whether there is another printing model being transmitted in the current main channel; 5. The automatic unloading method according to claim 1, wherein When it is detected that there is a printing model being transmitted in the current main channel at a certain intersection area, determine the current position of the printing model being transmitted in the main channel based on the position of the current intersection area. The method comprises the following steps:

6. The automatic unloading method according to claim 5, wherein Determine the first time at which the printing model being transmitted in the main channel reaches the current intersection area according to the current position of the printing model being transmitted in the main channel, the transmission speed of the main channel, and the distance between the printing model in the main channel and the intersection area of the current branch channel and the main channel. The method comprises the following steps:

7. The automatic unloading method according to claim 1, wherein Determine the second time at which the printing model in the current branch channel reaches the current intersection area according to the transmission speed of the current branch channel and the distance between the printing model in the current branch channel and the intersection area of the current branch channel and the main channel. The method comprises the following steps: Compare the difference between the first time and the second time with a preset threshold value. When the difference is greater than a preset threshold, the current branch channel is accelerated so that the printing model in the current branch channel passes through the current intersection area before the printing model in the main channel; When the difference is less than or equal to the preset threshold, the current branch channel is decelerated, and after the printing model in the main channel passes through the current intersection area before the printing model in the branch channel, the current branch channel is accelerated to transmit the printing model in the current branch channel to the main channel.

8. The automatic unloading method according to claim 1, wherein The control of the transmission of the printing model in the current branch channel to the main channel comprises: controlling the current branch channel to maintain the current transmission speed, or accelerating the current branch channel to transmit the printing model in the current branch channel to the main channel through the corresponding intersection area.

9. An automatic unloading system characterized by, The automatic unloading system comprises a server, which is in communication connection with a plurality of printers. The server is configured to perform the steps of the automatic unloading method according to any one of claims 1-8.

10. An electronic device, comprising: The electronic device comprises a processor and a memory coupled to the processor, and the memory stores a computer program, which is executed by the processor to enable the processor to perform the steps of the automatic unloading method according to any one of claims 1-8.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, which is executed by the processor to implement the automatic unloading method according to any one of claims 1-8.

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