Printer control method, printer and computer readable storage medium

Abstract

The embodiment of the invention provides a control method of a printer, the printer and a computer readable storage medium, and the method comprises the steps: controlling a first collection device to collect first detection information containing a nozzle assembly of the printer, carrying out the calibration of the nozzle assembly for at least one time based on the first detection information, and carrying out the calibration of the nozzle assembly through automatic calibration. And deviation accumulation caused by mechanical installation errors, thermal expansion and cold contraction and long-term use is reduced.

Description

[0001] This application claims priority to Chinese application No. 202510284203.6, filed on March 7, 2025, entitled "Control method for printer, printer, storage medium and computer program product", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of printer technology, and in particular to a printer control method, a printer, and a computer-readable storage medium. Background Technology

[0003] In related technologies, Fused Deposition Modeling (FDM) is a method of heating and melting various thermoplastic filamentary materials (such as ABS, nylon, PLA, etc.) to form a shape. It is a type of 3D printing technology and can also be called FFM (Fused Filament Modeling) or FFF (Fused Filament Fabrication). However, FDM 3D printers mainly have the following problems:

[0004] When installing the printhead assembly of an FDM 3D printer, even a tiny mechanical error in the installation of a single printhead, such as a deviation of only a fraction of a millimeter, can lead to misalignment between printed layers, resulting in problems such as seams, overlaps, or gaps, thus degrading the overall print quality. Multi-printhead systems have even higher precision requirements for the printhead assembly, requiring accurate measurement of the relative deviation between multiple printheads. If the deviation setting error is large, layer alignment cannot be guaranteed when switching printheads, resulting in obvious splicing marks on the printed model. Summary of the Invention

[0005] This application provides a printer control method, a printer, and a computer-readable storage medium to solve the problem of poor printing quality caused by nozzle installation errors or cumulative errors when printing 3D models using an FDM 3D printer in the related art.

[0006] The technical solution of this application embodiment is implemented as follows:

[0007] This application provides a printer control method, the control method comprising: controlling a first acquisition device to acquire first detection information of a printhead assembly of the printer; the printhead assembly includes a first nozzle and a second nozzle; the first detection information is used to determine the position of the first nozzle and / or the position of the second nozzle; calibrating the printhead assembly at least once based on the first detection information, the calibration comprising: adjusting the position of the printhead assembly based on the deviation of the printhead assembly if the deviation of the printhead assembly exceeds a preset deviation range; the deviation of the printhead assembly is determined based on the position of the first nozzle and / or the position of the second nozzle; controlling the first acquisition device to acquire second detection information of the calibrated printhead assembly; and, when the deviation of the printhead assembly corresponding to the second detection information is within the preset deviation range, switching the printer to a ready state or resuming a printing task.

[0008] In this embodiment, by automatically detecting and calibrating the printhead assembly, firstly, automated calibration is achieved, which not only reduces manual calibration and improves production efficiency, but also reduces the possibility of accumulated offsets caused by mechanical installation errors, thermal expansion and contraction, and long-term use. This reduces the possibility of seams, overlaps, gaps, etc., caused by misalignment of the printed layers, thereby improving printing accuracy and printer stability. Secondly, printhead position errors are compensated in real time during the calibration process, ensuring consistent layer accuracy when printing multiple materials and colors. This significantly improves print quality and ensures that the print results meet the requirements of high-precision printing. Finally, this first acquisition device can be integrated into existing FDM printers, exhibiting good compatibility and upgradeability.

[0009] In some embodiments, the first detection information is first image information, and the method further includes: performing feature extraction based on the first image information to obtain the position of the target nozzle and the calibration point information of the target nozzle; the target nozzle includes the first nozzle and / or the second nozzle; determining the deviation corresponding to the nozzle assembly based on the position of the target nozzle and the calibration point information of the target nozzle; the deviation corresponding to the nozzle assembly includes: the deviation of the first nozzle and / or the deviation of the second nozzle, wherein the deviation of the first nozzle is the deviation between the position of the first contact nozzle and the calibration point information of the first nozzle; and the deviation of the second nozzle is the deviation between the position of the second contact nozzle and the calibration point information of the second nozzle.

[0010] In this embodiment, high-precision visual inspection enables rapid calibration of the multi-nozzle system: based on the acquired first image information, the system automatically identifies the actual position of the target nozzle (first and / or second nozzle) and the preset calibration point, calculates the spatial deviation of each nozzle in the X / Y / Z axes using a feature matching algorithm, and generates a compensation matrix that includes the relative position error between nozzles; this scheme can simultaneously correct the absolute position deviation of a single nozzle and the concentricity error of two nozzles, improving the alignment accuracy of the multi-nozzle printing system to ±0.01mm, shortening the calibration time, and supporting differentiated compensation for different material combinations.

[0011] In some implementations, the feature extraction characterization is based on at least one of template matching, edge detection, and deep learning algorithms to extract features from the first detection information, thereby obtaining the three-dimensional position of the target nozzle and the calibration point information of the target nozzle; the adjustment of the position of the nozzle assembly includes: adjusting the position of the nozzle assembly based on compensation parameters corresponding to the deviation of the nozzle assembly, and updating the coordinate reference of the nozzle assembly after the position adjustment of the nozzle assembly is completed; the compensation parameters of the nozzle assembly are determined based on the deviation of the center of the target nozzle, and the deviation of the center of the target nozzle is determined based on the three-dimensional position of the target nozzle and the calibration point information of the target nozzle.

[0012] In this embodiment, the three-dimensional position and calibration point information of the target nozzle are accurately obtained through multimodal feature extraction (integrating template matching, edge detection, and deep learning algorithms). Based on the spatial deviation of the nozzle's center (determined by the difference between the actual coordinates and the theoretical calibration value), high-precision compensation parameters are generated to dynamically adjust the position of the nozzle assembly, enabling rapid calibration of single / dual nozzle systems. This improves the absolute positioning accuracy of the print head to ±0.005mm, eliminates concentricity errors between multiple nozzles, and increases the interlayer alignment accuracy of multi-material printing by more than 60%. The entire process is automated without manual intervention, significantly improving the reliability and product quality of industrial-grade 3D printing.

[0013] In some implementations, the feature extraction characterization is based on at least one of template matching, edge detection, and deep learning algorithms to extract features from the first detection information, thereby obtaining the three-dimensional position of the target nozzle and the calibration point information of the target nozzle.

[0014] In this embodiment, the three-dimensional spatial coordinates of the target nozzle are accurately calculated by a feature extraction algorithm (which integrates the robustness of template matching, the sub-pixel accuracy of edge detection, and the environmental anti-interference capability of deep learning), and the preset calibration point information is intelligently matched to achieve rapid calibration of the absolute position and relative concentricity of the nozzle, thereby reducing the dynamic positioning error of the multi-nozzle system and improving the calibration efficiency.

[0015] In some implementations, the position of the nozzle assembly and its coordinate reference are adjusted based on compensation parameters corresponding to the deviation of the nozzle assembly; the compensation parameters of the nozzle assembly are determined based on the deviation of the center of the target nozzle, which is determined based on the three-dimensional position of the target nozzle and the calibration point information of the target nozzle.

[0016] In this embodiment, based on the deviation between the three-dimensional coordinates of the target nozzle center and the theoretical calibration point, the system automatically generates multiple maintenance positive parameters including dynamic PID parameters, back clearance compensation, and thermal expansion coefficient. By adjusting the nozzle position and the coordinate reference of the nozzle assembly in real time, the absolute positioning accuracy of a single nozzle is improved, the concentricity error of multiple nozzles is reduced, and the influence of thermal deformation is eliminated through a temperature adaptive compensation algorithm, thereby improving the interlayer alignment stability under high-speed printing.

[0017] In some implementations, the printhead assembly is controlled to print an initial print sample; based on the dimensional deviation of the printed initial print sample, the printing path of the printhead assembly is corrected to align the first nozzle and the second nozzle in the printhead assembly.

[0018] In this embodiment, intelligent calibration of the dual-nozzle system is achieved through closed-loop feedback: First, the nozzles are controlled to print an initial sample containing feature structures. High-precision measurements (such as laser scanning or machine vision) are used to capture the deviation between the actual dimensions of the sample and the design model. Then, based on this deviation data, the nozzle position error (including the relative offset between the first and second nozzles) is calculated in reverse, and the coordinate transformation parameters are automatically corrected to ensure precise alignment of the extrusion trajectories of the two nozzles in three-dimensional space. This process not only eliminates nozzle misalignment problems caused by mechanical assembly errors and thermal deformation but also adapts to the shrinkage characteristics of different materials, while simultaneously reducing calibration time.

[0019] In some implementations, in response to detecting a nozzle switching command, the first acquisition device is controlled to acquire third detection information of the working nozzle; wherein the working nozzle includes the first nozzle or the second nozzle; another nozzle is switched to the working nozzle; the first acquisition device is controlled to acquire fourth detection information of the working nozzle; and the working nozzle is calibrated at least once based on the third detection information and the fourth detection information.

[0020] In the embodiments of this application, when switching nozzles, the working nozzles are dynamically monitored and calibrated to overcome mechanical deviations caused by temperature changes and long-term operation, which not only improves the stability and reliability of printing, but also extends the service life of the equipment.

[0021] In some implementations, the working nozzle is calibrated once based on the third detection information and the fourth detection information; the first acquisition device is controlled to acquire the next fourth detection information of the working nozzle; if the next fourth detection information indicates that the deviation corresponding to the working nozzle is within a preset deviation range, the printer is switched to a ready state or the printing task is resumed.

[0022] In this embodiment, the calibrated nozzles are then subjected to deviation verification to ensure the actual effect of the calibration. This not only reduces the possibility of error accumulation due to long-term use or environmental changes, but also forms a closed-loop management by combining calibration and verification. This ensures timely correction of print quality and maintains stable equipment performance, ultimately achieving comprehensive optimization of efficiency, cost and compliance.

[0023] In some embodiments, the printhead assembly of the printer is controlled to print a target set of exterior walls of a three-dimensional model, the three-dimensional model including multiple sets of exterior walls and a corresponding fill set for each set of exterior walls, the target set of exterior walls being one of the multiple sets of exterior walls, the target set of exterior walls including at least two layers of exterior walls, and each fill set including at least one layer of fill; and the printhead assembly is controlled to print a target fill set corresponding to the target set of exterior walls, the total height of each fill layer in the target fill set being the same as the total height of each exterior wall layer in the target set of exterior walls, and the number of layers in the target fill set being less than the number of layers in the target set of exterior walls.

[0024] In this embodiment, by first printing an outer wall set containing at least two layers of outer walls and then printing a fill set containing at least one layer of fill, on the one hand, compared to the related technologies where the height of the outer wall and the height of the fill are the same, since the height of the outer wall in this application is less than the height of the fill, the height of the outer wall is reduced, improving the printing effect of the outer surface of the 3D model, increasing the structural strength of the 3D model, and reducing post-processing costs. On the other hand, compared to the related technologies where one layer of outer wall is printed first and then one layer of fill is printed, since the height of one layer of fill in this application is the same as the height of at least two layers of outer walls, the combined printing of multiple layers of fill is achieved, greatly reducing the printing time.

[0025] In some embodiments, in response to a first calibration command, a distance sensor in a first acquisition device is controlled to acquire first detection information of the printer printhead assembly. The printhead assembly includes a first nozzle and a second nozzle. The first detection information includes a first distance in the Z direction between a target nozzle in the printhead assembly and the printer printing platform, and / or a first distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly. The target nozzle includes the first nozzle and / or the second nozzle. The printhead assembly is calibrated at least once based on the first detection information, including: adjusting the position of the printhead assembly in the Z direction based on the Z-direction deviation when the Z-direction deviation corresponding to the first Z-direction distance exceeds a preset Z-direction deviation range; and / or adjusting the position of the printhead assembly in the X / Y direction when the Z-direction deviation corresponding to the first Z-direction distance exceeds a preset Z-direction deviation range; and / or adjusting the position of the printhead assembly in the X / Y direction when the Z-direction deviation exceeds a preset Z-direction deviation range. If the X / Y direction deviation corresponding to the first distance exceeds a preset X / Y direction deviation range, the position of the printhead assembly in the X / Y direction is adjusted based on the X / Y direction deviation; the distance sensor in the first acquisition device is controlled to acquire the second detection information after calibration of the printhead assembly; the second detection information includes: the second distance in the Z direction between the target nozzle in the printhead assembly and the printer printing platform, and / or the second distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly; if the Z direction deviation corresponding to the second distance in the Z direction is within the preset Z direction deviation range, and the X / Y direction deviation corresponding to the second distance in the X / Y direction is within the preset X / Y direction deviation range, the printer is switched to a ready state or the printing task is resumed.

[0026] In this embodiment, intelligent calibration of multi-nozzle printers is achieved through a high-precision closed-loop calibration system: based on the three-dimensional spatial data of the printhead (Z-axis height and XY plane distance) collected by the distance sensor, the system automatically identifies the deviations in the Z direction (±0.005mm accuracy) and XY direction (±0.01mm concentricity) and dynamically adjusts the position. After verifying through secondary detection that the compensation effect strictly meets the preset tolerance range, it seamlessly switches to the ready state or resumes the printing task. The entire process is completed within 2 minutes without manual intervention, which improves the first-layer printing success rate of multi-nozzle systems, improves the interlayer alignment accuracy of multi-material printing, and significantly reduces the printing failure rate caused by mechanical errors.

[0027] In some embodiments, the distance sensor includes a first eddy current sensor disposed on the printhead assembly and a second eddy current sensor disposed on the printing platform. The method further includes: when the first calibration command is to perform Z-direction calibration on the printhead assembly, acquiring a first Z-direction distance between the target nozzle and the printing platform using the first eddy current sensor; or, when the first calibration command is to perform X / Y-direction calibration on the printhead assembly, acquiring a first X / Y-direction distance between the first nozzle and the second nozzle using the second eddy current sensor.

[0028] In this embodiment, the collaborative operation of dual eddy current sensors enables multi-dimensional high-precision calibration: during Z-axis calibration, the first eddy current sensor integrated in the nozzle non-contactly measures the distance between the nozzle and the platform, correcting the Z-axis zero-point offset in real time; during XY-axis calibration, the second eddy current sensor embedded in the platform dynamically scans the electromagnetic characteristic signals of the two nozzles, accurately determining the concentricity error between the nozzles by calculating the phase difference. This modal detection strategy improves the Z-axis layer thickness control accuracy, reduces the multi-nozzle alignment error in the XY direction, and the calibration process requires no physical contact, avoiding the nozzle wear problem caused by traditional probe calibration, making it particularly suitable for rapid online calibration requirements in high-temperature environments.

[0029] In some embodiments, the position of the target nozzle in the Z direction and the coordinate reference of the target nozzle in the Z direction are adjusted based on the Z direction compensation parameter corresponding to the Z direction deviation, wherein the Z direction compensation parameter is determined based on the Z direction deviation and a preset first mapping relationship; and the position of the nozzle assembly in the X / Y direction and the coordinate reference of the nozzle assembly in the X / Y direction are adjusted based on the X / Y direction compensation parameter corresponding to the X / Y direction deviation, wherein the X / Y direction compensation parameter is determined based on the X / Y direction deviation and a preset second mapping relationship.

[0030] In this embodiment, a smart mapping compensation mechanism is used to achieve full-dimensional precision calibration of the multi-nozzle system: the nozzle height reference is dynamically adjusted based on the Z-direction deviation (combined with the temperature-pressure compensation model), and the deviation is automatically adjusted by the dual-nozzle concentricity parameters (including material thermal expansion coefficient compensation) calculated by the XY-direction deviation. After the two-axis compensation data are fused in real time through nonlinear mapping relationship, the flatness of the first layer of multi-material printing is improved, the interlayer alignment accuracy is improved, and the assembly tolerance and thermal deformation of the multi-nozzle system are significantly reduced.

[0031] In some embodiments, the first acquisition device includes a first image sensor disposed on the printer body, and the method further includes: responding to a second calibration command to control the printhead assembly to print a calibration pattern; controlling the first image sensor to acquire second image information containing the calibration pattern; and, if the printing deviation determined based on the second image information exceeds the deviation range, adjusting the position of the printhead assembly based on the second image information until the printing deviation is within the deviation range.

[0032] In this embodiment of the application, the technical solution achieves high-precision printing correction through a machine vision-guided closed-loop calibration system: after the printhead prints the calibration graphic, the first image sensor automatically acquires the model image, analyzes geometric feature deviations (such as line offset, angle error, etc.) through deep learning algorithms, dynamically generates three-dimensional compensation parameters and feeds them back to the motion control system, thereby improving printing accuracy; the calibration process is fully automated, which can eliminate systematic deviations caused by multiple factors such as mechanical transmission errors and thermal deformation, improve the interlayer alignment accuracy of multi-material printing, and ensure compensation stability through iterative optimization.

[0033] In some embodiments, the first nozzle in the printhead assembly is controlled to print the first calibration pattern, and the second nozzle in the printhead assembly is controlled to print the second calibration pattern; the first calibration pattern and the second calibration pattern are acquired by the first image sensor to obtain the second image information; based on the first parallel line segment group in the second image information, the printing deviation of the printhead assembly in the first direction corresponding to the first parallel line segment group is determined; the two parallel lines in the first parallel line segment group are respectively located in the first calibration pattern and the second calibration pattern.

[0034] In this embodiment, different nozzles in the printhead assembly are controlled to print a first calibration pattern and a second calibration pattern containing parallel line segments, respectively. An image sensor is used to acquire the pattern information, enabling precise detection of printing deviations in a specific direction. This method achieves non-contact, high-precision printhead alignment calibration, effectively solving the misalignment problem in multi-nozzle printing systems, significantly improving print quality and consistency, while simplifying the calibration process and increasing production efficiency.

[0035] In some embodiments, the calibration pattern includes a third calibration pattern and a fourth calibration pattern. The method further includes: after the position adjustment of the printhead assembly is completed, controlling the first nozzle in the printhead assembly to print the third calibration pattern again, and controlling the second nozzle in the printhead assembly to print the fourth calibration pattern; acquiring the printed third calibration pattern and the fourth calibration pattern through the first image sensor to obtain third image information; determining the printing deviation of the printhead assembly in the second direction corresponding to the second parallel line segment group based on the second parallel line segment group in the third image information; the first direction and the second direction are different; controlling the calibration termination of the printhead assembly based on the printing deviation in the first direction and the printing deviation in the second direction.

[0036] In this embodiment, a step-by-step calibration method is used. First, the printing deviation of the printhead assembly in the first direction (e.g., the X-axis) is adjusted. Then, third and fourth calibration patterns are printed to detect deviations in the second direction (e.g., the Y-axis or oblique direction). An image sensor is used to collect information from parallel line segment groups in different directions, achieving multi-dimensional precision calibration. This method not only efficiently identifies and corrects printhead misalignment in orthogonal or specific angular directions but also dynamically controls the calibration termination condition by comprehensively evaluating the deviations in both directions, ensuring optimal alignment accuracy of the printhead assembly. This closed-loop calibration mechanism significantly improves the overall alignment accuracy of the multi-nozzle printing system, reduces the number of repeated adjustments, adapts to the high-precision requirements of complex printing tasks, and ultimately improves the consistency and yield of printed products.

[0037] In some embodiments, the first acquisition device further includes a laser sensor and a second image sensor disposed on the printhead assembly, and the method further includes: emitting a laser to the printed calibration pattern through the laser sensor; and acquiring an image of the laser-illuminated calibration pattern through the second image sensor to obtain the second image information.

[0038] In this embodiment, a laser sensor and a second image sensor integrated on the printhead assembly work together. By illuminating the calibration pattern with a laser and acquiring the reflected image using the second image sensor, the feature recognition accuracy of the calibration pattern can be enhanced, especially under low-contrast or complex background conditions. The directional projection of the laser highlights the edges and geometric features of the calibration pattern, while the high-resolution acquisition of the second image sensor further improves the signal-to-noise ratio and detail reproduction capability of the image information, thereby more accurately detecting printhead position deviations or printing defects. This active optical detection scheme significantly improves the robustness and adaptability of the calibration system, and is particularly suitable for the dynamic calibration needs of high-precision industrial printing equipment, effectively reducing ambient light interference and improving calibration efficiency.

[0039] In some embodiments, printing information of the printhead assembly is determined based on the second image information; the printing information includes: the printing height of the target line in the Z direction in the second image information, and / or the printing length of the target line in the X / Y direction in the second image information; the position of the printhead assembly and the coordinate reference of the printhead assembly are adjusted based on the printing deviation corresponding to the printing information; the printing deviation includes: the deviation between the printing height in the Z direction and the theoretical height in the Z direction of the calibration pattern, and / or the deviation between the printing length in the X / Y direction and the theoretical length in the X / Y direction of the calibration pattern.

[0040] In this embodiment of the application, the technical solution achieves closed-loop calibration of the printing system through high-precision visual measurement and intelligent compensation: based on image analysis, the actual printing size of the target line in the calibration graphic is extracted, the system automatically calculates the deviation value from the theoretical model, and generates three-dimensional compensation parameters through a nonlinear mapping algorithm, dynamically adjusting the nozzle movement trajectory and extrusion amount, thereby improving the dimensional accuracy of the printed parts and eliminating the concentricity error of the multi-nozzle system.

[0041] In some embodiments, the first acquisition device includes a second image sensor disposed on the nozzle assembly, and the method further includes: responding to a third calibration command to control the movement of the nozzle assembly; while the nozzle assembly is in motion, controlling the second image sensor to acquire motion video of the nozzle assembly in motion; and if the motion deviation determined based on the motion video exceeds a deviation range, adjusting the position of the nozzle assembly based on the motion video until the motion deviation is within the deviation range.

[0042] In this embodiment, a closed-loop control of dynamic motion accuracy is achieved through a printhead-integrated vision system: during the printhead movement, a high-speed second image sensor captures the motion trajectory in real time, identifies dynamic deviations such as vibration and offset through a feature point tracking algorithm, and dynamically adjusts the servo control parameters to reduce the trajectory error under high-speed printhead movement, while suppressing mechanical resonance, thereby improving the boundary alignment accuracy of multi-material printing, and the calibration process is fully automated.

[0043] In some embodiments, the second image sensor is controlled to acquire target encoding information from a visual encoding plate below the printhead assembly, and at least two frames containing the target encoding information are set as the motion video. The visual encoding plate is detachably mounted on the printer platform. The visual encoding plate includes at least two encoding information items, and the target encoding information is used to determine the relative position between the printhead assembly and the printer platform. Adjusting the position of the printhead assembly based on the motion video further includes: determining the motion trajectory of the printhead assembly based on the target encoding information in at least two frames of the motion video; determining the motion deviation of the printhead assembly based on the motion trajectory and the standard trajectory corresponding to the third calibration command; and adjusting the position of the printhead assembly and the coordinate reference of the printhead assembly based on the motion compensation parameters corresponding to the motion deviation.

[0044] In this embodiment, the synergistic effect of the detachable vision encoding board and high-speed image acquisition enables sub-micron level dynamic calibration of the printhead motion trajectory: when the printhead moves, the integrated second image sensor continuously captures the absolute position markers on the encoding board, and reconstructs the six-degree-of-freedom motion trajectory of the printhead in real time by decoding the target encoding information in at least two key images, and compares it with the theoretical path in time and space, automatically calculating the motion deviation including parameters such as position offset and vibration amplitude; based on the generated dynamic compensation parameters, the motion system is injected through the real-time control bus to reduce the trajectory error under high-speed motion, shorten the positioning time when switching multiple nozzles, and support rapid changeover calibration for different printing platforms (such as high-temperature heated beds / flexible substrates).

[0045] This application provides a printer, including a processor and a memory. The memory stores a computer program that can run on the processor, and the processor executes the computer program to implement any of the methods described above.

[0046] In some embodiments, the nozzle assembly includes a first nozzle and a second nozzle, wherein one of the first nozzle and the second nozzle is fixed, and the other nozzle is movable relative to the fixed nozzle in a direction perpendicular to the horizontal plane.

[0047] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements any of the methods described above.

[0048] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0050] Figure 1 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 1 ;

[0051] Figure 2 A schematic diagram of a nozzle assembly for printing exterior walls and filling, provided as an embodiment of this application;

[0052] Figure 3 A schematic diagram of the composition structure of a printer control system provided in this application embodiment. Figure 1 ;

[0053] Figure 4 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 2 ;

[0054] Figure 5 A schematic diagram of the composition structure of a printer control system provided in this application embodiment. Figure 2 ;

[0055] Figure 6 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 3 ;

[0056] Figure 7 A schematic diagram of a printer control method provided in this application embodiment, including calibration via a distance sensor. Figure 4 ;

[0057] Figure 8 A further schematic diagram of the control calibration process for a printer provided in this application embodiment using visual analysis. Figure 5 ;

[0058] Figure 9 This application provides another flowchart illustrating the control calibration process of a printer control method based on motion analysis, as illustrated in the embodiments of this application. Figure 6 ;

[0059] Figure 10 This is a schematic diagram of the hardware entity of a printer provided in an embodiment of this application. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0061] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0062] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0064] The method provided in this application can be executed by an electronic device, which can be a laptop, tablet, desktop computer, set-top box, mobile device (e.g., mobile phone, portable music player, personal digital assistant, dedicated messaging device, portable gaming device), printer, or other types of terminal. It can also be implemented as a server. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0065] The technical solutions in the embodiments of this application will now be clearly and completely described with reference to the accompanying drawings.

[0066] Figure 1 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the control method includes steps S11 and S12, wherein:

[0067] Step S11: Control the printhead assembly of the printer to print the target exterior wall set of the three-dimensional model. The three-dimensional model includes multiple exterior wall sets and a fill set corresponding to each exterior wall set. The target exterior wall set is one of the multiple exterior wall sets. The target exterior wall set includes at least two layers of exterior walls, and each fill set includes at least one layer of fill.

[0068] Step S12: Control the nozzle assembly to print the target fill set corresponding to the target exterior wall set. The total height of each layer of fill in the target fill set is the same as the total height of each layer of exterior wall in the target exterior wall set. The number of layers in the target fill set is less than the number of layers in the target exterior wall set.

[0069] Here, the printer includes at least a printhead assembly, a drive unit, and a work platform.

[0070] The nozzle assembly is connected to a drive unit and is used to generate relative displacement between itself and the work platform under the drive of the drive unit, so as to perform 3D printing, engraving, cutting, and other operations on the work platform. The nozzle assembly can be any suitable component capable of printing. The nozzle assembly includes at least one nozzle. For example, the nozzle assembly includes one nozzle. Another example is that the nozzle assembly includes two nozzles. In some embodiments, the nozzle assembly may also include a heating component for heating the printing material to a molten state, and the nozzle is used to extrude the molten material, thereby printing a model on the printing platform.

[0071] In some implementations, the nozzles for printing the exterior wall set and the nozzles for printing the fill set may be the same or different. For example, when the printhead assembly includes a single nozzle, both the exterior wall set and the fill set can be printed using that single nozzle. As another example, when the printhead assembly includes a first nozzle and a second nozzle, the first nozzle can be used to print the exterior wall set, and the second nozzle can be used to print the fill set, or both the first nozzle and the second nozzle can be used to print both the exterior wall set and the fill set.

[0072] In some embodiments, the printhead assembly includes a nozzle; the step S11 of "controlling the printhead assembly of the printer to print the target exterior wall set of the three-dimensional model" includes step S111, and the step S12 of "controlling the printhead assembly to print the target fill set corresponding to the target exterior wall set" includes step S121, wherein:

[0073] Step S111: Control the nozzle to print the target exterior wall assembly;

[0074] Step S112: Control the nozzle to print the target fill set corresponding to the target outer wall set.

[0075] Here, the single nozzle is controlled to print the outer wall set first, and after the outer wall set is printed, the single nozzle is controlled to print the fill set corresponding to the outer wall set.

[0076] In this embodiment, the nozzle is controlled to print the target exterior wall set; the nozzle is also controlled to print the target fill set corresponding to the target exterior wall set. Thus, by printing both the exterior wall set and the fill set using the same nozzle, firstly, the material extrusion parameters (e.g., temperature, flow rate) remain consistent, reducing interlayer bonding problems caused by parameter differences and enhancing the overall integrity of the internal and external structures; secondly, compared to multi-nozzle operations, it avoids the mechanical complexity of multi-nozzle systems (e.g., calibration, synchronization control), reducing hardware failure rates and maintenance difficulty. Since there is no need for multi-nozzle switching processes, it reduces printing interruptions or material residue problems caused by switching, improving equipment reliability and shortening the overall printing cycle; finally, continuous extrusion with a single nozzle reduces the movement frequency of the printhead assembly, reducing vibration errors caused by frequent start-stop cycles, improving dimensional accuracy, and thus enhancing printing quality.

[0077] In some embodiments, the printhead assembly includes a first nozzle and a second nozzle; the step S11 of "controlling the printhead assembly of the printer to print the target exterior wall set of the three-dimensional model" includes step S112, and the step S12 of "controlling the printhead assembly to print the target fill set corresponding to the target exterior wall set" includes step S122, wherein:

[0078] Step S112: Control the first target nozzle to print the target outer wall set, wherein the first target nozzle includes the first nozzle or the second nozzle;

[0079] Step S122: Control the second target nozzle to print the target filling set corresponding to the target outer wall set, wherein the second target nozzle includes the first nozzle or the second nozzle.

[0080] Here, the properties of the first nozzle and the second nozzle can be the same or different. Nozzle properties may include, but are not limited to, diameter, consumable color, and consumable type. Colors may include, but are not limited to, any suitable color such as red, blue, or black. Consumables may include, but are not limited to, ABS, PLA, etc. For example, the diameter of the first nozzle is 0.2 mm, and the diameter of the second nozzle is 0.4 mm. In some embodiments, one of the first and second nozzles can be fixed, while the other nozzle moves relative to that nozzle in a target direction. The target direction can be a direction perpendicular to the horizontal plane (e.g., the Z-axis direction in a three-dimensional coordinate system). The displacement in the target direction must be within a movement range, which can be any suitable small range, such as 0–10 mm, 0–8 mm, etc. In implementation, this movement range can be comprehensively set based on factors such as the size of the nozzle assembly, the nozzle diameter, and the movement accuracy. In some embodiments, both the first and second nozzles can move in the target direction.

[0081] In some implementations, the diameter of the first nozzle may be smaller than the diameter of the second nozzle.

[0082] In some implementations, since the exterior walls are a key part of the 3D model's appearance, a smoother surface and finer details can be achieved using high-precision nozzles or appropriate printing speeds, while the infill sections can utilize lower-precision nozzles or faster printing speeds to focus on the strength of the internal structure. In practice, the precision of the first nozzle can be greater than that of the second nozzle, and / or the control parameters of the first nozzle assembly can differ from those of the second nozzle assembly. These control parameters may include, but are not limited to, temperature and flow rate.

[0083] In some implementations, the first nozzle is controlled to print the outer wall set first, and then the first nozzle is controlled to print the fill set corresponding to the outer wall set after the outer wall set is printed.

[0084] In some implementations, the second nozzle is controlled to print the outer wall set first, and then, after the outer wall set is printed, the second nozzle is controlled to print the fill set corresponding to the outer wall set.

[0085] In some implementations, the first nozzle is controlled to print the outer wall set first, and then the second nozzle is controlled to print the fill set corresponding to the outer wall set after the outer wall set is printed.

[0086] In some implementations, the second nozzle is controlled to print the outer wall set first, and then the first nozzle is controlled to print the fill set corresponding to the outer wall set after the outer wall set is printed.

[0087] In some implementations, the printing of the target exterior wall set can be done sequentially according to the order of each exterior wall layer; the printing of the target fill set can be done sequentially according to the order of each fill layer.

[0088] In this embodiment, a first target nozzle is controlled to print the target outer wall set, the first target nozzle including either the first nozzle or the second nozzle; a second target nozzle is controlled to print the target fill set corresponding to the target outer wall set, the second target nozzle including either the first nozzle or the second nozzle. Thus, on the one hand, if both the outer wall set and the fill set are printed using a single nozzle, the material extrusion parameters remain consistent, reducing interlayer bonding problems caused by parameter differences and enhancing the integrity of the internal and external structures. Simultaneously, since no nozzle switching process is required, printing interruptions or material residue problems caused by switching are reduced, improving equipment reliability and shortening the overall printing cycle. On the other hand, if the outer wall set and the fill set are printed using two nozzles respectively, the possibility of residual contamination during material switching with a single nozzle is reduced. This not only ensures the purity of the outer wall and fill but also reduces unnecessary material consumption and ensures the cleanliness of the outer surface. While improving printing quality, the internal structure is strengthened, thereby optimizing print quality and reducing printing costs. Furthermore, by integrating two nozzles into the printhead assembly, the dual nozzles can handle the model material and soluble support material (e.g., water-soluble materials or low-temperature hot-melt materials) separately. After the support is removed, a smoother surface can be obtained, reducing the risk of post-processing damage. At the same time, the dual nozzles can also support printing two different materials simultaneously (e.g., metal + ceramic, two polymers), giving the model multi-regional functional characteristics (e.g., local conductivity, high temperature resistance), which is especially suitable for scenarios with high demands for complexity, functional diversity, or production efficiency.

[0089] In some embodiments, step S112 includes step S1121, wherein:

[0090] Step S1121: For each of the at least two layers of the target exterior wall, adjust the height of the first target nozzle to the height corresponding to the exterior wall, and control the first target nozzle to print the exterior wall.

[0091] Here, the nozzle height needs to be adjusted before printing to facilitate printing. In practice, if the first target nozzle is the first nozzle, the height of the first nozzle can be lowered and / or the height of the second nozzle raised to reduce interference from the second nozzle on the exterior wall printed by the first nozzle, thereby improving the print quality of the exterior wall. If the first target nozzle is the second nozzle, the height of the second nozzle can be lowered and / or the height of the first nozzle raised to reduce interference from the first nozzle on the exterior wall printed by the second nozzle, thereby improving the print quality of the exterior wall.

[0092] The height corresponding to the outer wall can be, but is not limited to, the height of the outer wall itself, greater than the height of the outer wall, or less than the height of the outer wall. In some embodiments, the height of the first target nozzle can be adjusted in real time during the printing of the outer wall, so the height corresponding to the outer wall can be less than the height of the outer wall. In some embodiments, the height of the first target nozzle can be adjusted to be greater than the height of the outer wall. This not only reduces the number of times the height of the first target nozzle needs to be adjusted, but also reduces the possibility of the first target nozzle coming into contact with the already printed portion of the outer wall.

[0093] In this embodiment, on the one hand, printing each layer of the exterior wall sequentially according to the order of each layer not only improves the accuracy of printing, but also improves the accuracy of printing while ensuring the printing effect and printing time. On the other hand, a suitable nozzle height allows the molten material to be evenly attached to the printing platform, avoiding warping or demolding of the first layer, which is especially effective for heat-sensitive materials such as PLA and ABS. At the same time, if the nozzle is too high, the extruded filaments will not be compacted, resulting in gaps or interlayer separation. If the nozzle is too low, it may scratch the printed layers and damage the surface texture. Therefore, a suitable nozzle height can reduce such errors, optimize dimensional accuracy, and flexibly meet the printing needs of multiple materials.

[0094] In some embodiments, step S122 includes step S1221, wherein:

[0095] Step S1221: For each layer of at least one layer of the target filling set, adjust the height of the second target nozzle to the height corresponding to the filling, and control the second target nozzle to print the filling.

[0096] Here, the nozzle height needs to be adjusted before printing to facilitate printing. In practice, if the second target nozzle is the first nozzle, the height of the first nozzle can be lowered and / or the height of the second nozzle raised to reduce interference from the second nozzle on the outer wall printed by the first nozzle, thereby improving the printing quality of the infill. Conversely, if the second target nozzle is the second nozzle, the height of the second nozzle can be lowered and / or the height of the first nozzle raised to reduce interference from the first nozzle on the outer wall printed by the second nozzle, thereby improving the printing quality of the infill.

[0097] The height corresponding to the fill can be, but is not limited to, the height of the fill itself, greater than the height of the fill, or less than the height of the fill. In some embodiments, the height of the second target nozzle can be adjusted in real time during the printing of the fill, so the height corresponding to the fill can be less than the height of the fill itself. In some embodiments, the height of the second target nozzle can be adjusted to be greater than the height of the fill, which not only reduces the number of times the height of the second target nozzle needs to be adjusted, but also reduces the possibility of the second target nozzle coming into contact with the already printed fill portion.

[0098] In the embodiments of this application, on the one hand, each layer is printed sequentially according to the order of each layer filling, which improves the printing accuracy; on the other hand, the appropriate nozzle height allows the molten material to be uniformly attached to the printing platform, avoiding warping or demolding of the first layer, which is particularly effective for heat-sensitive materials such as PLA and ABS. At the same time, if the nozzle is too high, the extruded filaments will not be compacted, resulting in gaps or interlayer separation. If the nozzle is too low, it may scratch the printed layers and damage the surface texture. Therefore, the appropriate nozzle height can reduce such errors, optimize dimensional accuracy, and flexibly meet the printing needs of multiple materials.

[0099] Figure 2 This application provides a schematic diagram of a nozzle assembly for printing and filling an exterior wall, as shown in the embodiment. Figure 2 As shown, the printhead assembly includes a first printhead and a second printhead, the outer wall assembly includes a first outer wall 21 and a second outer wall 22, and the fill assembly includes a first filler 23. The height of the first outer wall 21 is 0.18 mm, the height of the second outer wall 22 is 0.12 mm, and the height of the first filler 23 is 0.3 mm. The printing process of this printhead assembly is as follows:

[0100] First, print the outer wall set, that is: lower the height of the first nozzle to print the first outer wall 21, and after the first outer wall 21 is printed, raise the height of the first nozzle to print the second outer wall 22.

[0101] After printing on the second outer wall 22, switch to the second nozzle;

[0102] Reprint the fill set: Lower the height of the second nozzle to print the first fill 23.

[0103] In this embodiment, the exterior walls are printed sequentially according to their order, and then the fill layers are printed sequentially according to their order, which improves printing accuracy while ensuring printing effect and printing time.

[0104] The 3D model can be any suitable solid structure, such as a sphere or a cube. In some implementations, before printing the 3D model, the corresponding printing data can be obtained, and then the printing process can be performed sequentially based on this data. This printing data may include, but is not limited to, multiple sets of exterior walls, corresponding infill sets for each set of exterior walls, the printing order of each set of exterior walls, and the printing order of each set of infill sets. In some implementations, the printhead assembly can be controlled to print the exterior wall sets first, followed by the corresponding infill sets.

[0105] In some embodiments, the 3D model includes at least one cross-section, each cross-section being composed of multiple geometric shapes, including but not limited to triangles, rectangles, etc., and different cross-sections may have the same or different dimensions. In some embodiments, each cross-section may correspond to multiple sets of exterior walls. For multiple sets of exterior walls corresponding to the same cross-section, the two sets of exterior walls may contain the same number of layers, and the height of each layer of the exterior walls in the two sets may also be the same. For multiple sets of exterior walls corresponding to two cross-sections, the two sets of exterior walls (the set of exterior walls corresponding to one cross-section and the set of exterior walls corresponding to another cross-section) may contain the same or different number of layers, and the height of each layer of the exterior walls in the two sets may be the same or different.

[0106] The exterior wall set (including the target exterior wall set and other exterior wall sets mentioned later) consists of at least two layers of exterior walls, each of which may have the same or different heights. The outer surface (outer wall) constitutes the outermost layer of the model and directly affects the appearance quality and mechanical strength. The outer surface of the model is printed by printing multiple exterior wall sets.

[0107] The height of the exterior wall (or floor height) can be any suitable height, such as 0.06mm, 0.1mm, etc.

[0108] In some implementations, the height of the outer wall can be determined based on at least one of the following: the diameter of the first nozzle, the cross-section corresponding to the outer wall assembly, and the consumable material of the first nozzle. The first nozzle is the nozzle for printing the outer wall.

[0109] In some implementations, different consumables can correspond to the same or different floor heights of exterior walls. During implementation, a correspondence between each consumable and each floor height of an exterior wall can be established in advance. Based on this correspondence, the floor height of the exterior wall corresponding to that consumable can be determined.

[0110] In some implementations, each nozzle diameter has a suitable range for printed layer height. The basic principle of 3D printing is to melt filaments and place them on a flat surface using an extruder and heated nozzles. The current flat surface is then printed, and layers are stacked on top, repeating this process. The height between the filament and the flat surface when it is placed in a layer is the layer height. When the filament is melted and placed directly on a flat surface, the nozzle is usually circular, so its cross-section is circular or cylindrical. To ensure good adhesion between upper and lower layers, the contact area between layers should be maximized, so the layer height should not be too high. To increase the contact area between upper and lower layers, the nozzle height should be reduced so that the printed filament, under pressure, becomes a rectangular shape with curved sides. Because the filament deforms, the extruder experiences a reaction force from this deformation. In other words, the extruder needs to apply pressure to the filament to allow the finally extruded filament to deform between the nozzle and the printed layer. The pressure applied to the bottom is limited by factors such as extruder capacity and material properties, resulting in an upper limit to the extrusion pressure. When the nozzle is too low, the pressure is insufficient, preventing continuous extrusion and leading to poor surface finish. Furthermore, low material flow velocity within the nozzle can cause other problems. In such cases, a smaller diameter nozzle should be used to facilitate easier extrusion of the bottom layer material. Therefore, to ensure better printing results, generally, a smaller nozzle diameter allows for a lower layer height. Thus, while maintaining good surface finish and structural strength, a larger nozzle diameter generally allows for a higher suitable layer height, and vice versa. Layer heights that are too small or too large will impair material flowability and interlayer bonding, leading to printing failures, reduced surface quality, and decreased structural strength. Therefore, each nozzle diameter has a suitable range for printing layer height.

[0111] In some implementations, different nozzle diameters correspond to different floor height ranges, and the height of the exterior wall can be determined from these ranges. For example, if the nozzle diameter is 0.8 mm, the floor height range can be 0.24 mm to 0.56 mm; if the nozzle diameter is 0.4 mm, the floor height range can be 0.08 mm to 0.28 mm; and if the nozzle diameter is 0.2 mm, the floor height range can be 0.06 mm to 0.14 mm. The method for determining the height of the exterior wall from these floor height ranges can be any suitable method. For example, the height of the exterior wall can be determined from these floor height ranges based on user settings, default values, etc. Another example is that the average, median, maximum, and minimum values ​​corresponding to these floor height ranges can be used as the floor height of the exterior wall by default. Yet another example is that the height of the exterior wall can be further determined from these floor height ranges based on the cross-section corresponding to the exterior wall set, the consumable material of the nozzle, etc.

[0112] In some implementations, the three-dimensional model includes at least one cross section, and the height of each layer of the exterior wall in the exterior wall set is determined based on the cross section corresponding to the exterior wall set.

[0113] Here, the 3D model includes multiple cross-sections, each corresponding to multiple sets of exterior walls. The printing of a cross-section is completed by printing multiple sets of exterior walls.

[0114] The height of the exterior wall can be determined in any suitable way.

[0115] For example, the floor height of the exterior wall can be determined based on the area of ​​the cross-section, with different areas corresponding to different floor heights. In some implementations, a correspondence between each area and each floor height can be pre-established, and the floor height adapted to the area can be obtained based on this correspondence. In some implementations, an arbitrarily suitable adaptive slicing algorithm based on area error can be used to determine the floor height of the exterior wall based on the area of ​​the cross-section. In some implementations, an arbitrarily suitable neural network model capable of determining the floor height based on area can be used to determine the floor height adapted to the area of ​​the slice.

[0116] For example, the floor height of the exterior wall can be determined based on the slope of the cross-section. A steeper slope corresponds to a lower floor height, while a gentler slope results in a higher floor height. The slope of the cross-section can be determined in any suitable way. In some implementations, a pre-established correspondence between slopes and floor heights can be used to determine the floor height appropriate for each slope. In some implementations, an adaptive slicing algorithm based on slope error can be used to determine the floor height of the exterior wall according to the slope of the cross-section. In some implementations, an appropriate neural network model capable of determining floor height based on slope can be used to determine the floor height appropriate for the slope of the slice.

[0117] In some implementations, the floor heights of the various exterior walls in the exterior wall cluster can be the same or different. Different cross-sections correspond to different floor heights in the exterior wall clusters to achieve variable diameter printing.

[0118] In this embodiment, the height of the exterior wall is dynamically determined by the cross-section corresponding to the exterior wall set. Compared with a uniform exterior wall height, this not only improves the accuracy, flexibility and specificity of the exterior wall height, but also enhances the fit between the printed model and the 3D model, thereby further improving the surface smoothness and detail reproduction.

[0119] In some implementations, the height of the exterior walls on each floor of the exterior wall cluster is the same. This ensures both printing quality and efficiency by setting the height of all exterior walls in the cluster to be the same.

[0120] In some implementations, the cross-section corresponding to the outer wall set includes multiple triangles, and the height of each layer of the outer wall in the outer wall set is determined based on the target angle between the normal vector of the target triangle in the cross-section corresponding to the outer wall set and the target direction.

[0121] Here, the target direction is the direction perpendicular to the tangent plane corresponding to the set of outer walls (e.g., the Z-axis in a triangular coordinate system). The target triangle (or triangular face) is a triangle within the tangent plane. In implementation, the angle between the normal vector of each triangle and the target direction can be determined first. Then, the angles are compared, and the triangle corresponding to a given angle is taken as the target triangle, and that angle is taken as the target angle. This angle can be the smallest angle, the largest angle, or the angle closest to a preset angle, etc. For example, the smallest angle can be taken as the target angle.

[0122] The floor height of the exterior wall can be determined in any suitable way. In some embodiments, a correspondence between each included angle and each floor height can be pre-established, and the floor height adapted to the target included angle can be obtained based on this correspondence. In some embodiments, any suitable adaptive slicing algorithm based on angle error can be used to determine the floor height of the exterior wall according to the target included angle. In some embodiments, any suitable neural network model capable of determining the floor height based on the included angle can be used to determine the floor height adapted to the target included angle.

[0123] In this embodiment, the outer wall height is dynamically determined by the target angle between the normal vector of the target triangle in the cross-section and the direction perpendicular to the cross-section. This allows for more accurate identification of the precision requirements of each printing area. A smaller height is used for triangular faces with a larger slope to reduce errors, while a larger height is used for triangular faces with a smaller slope to improve printing efficiency. This ensures that the printing results meet the precision requirements while also optimizing printing efficiency, achieving an optimal balance between quality and speed.

[0124] In some implementations, the height of the exterior walls on each floor is proportional to the target angle. That is, the larger the target angle, the greater the height of the exterior wall; the smaller the target angle, the smaller the height of the exterior wall. By making the floor height proportional to the target angle, the accuracy requirements of each printing area can be more accurately identified. Smaller floor heights are used in areas with smaller angles (i.e., steeper slopes of the triangular face) to reduce errors, while larger floor heights are used in areas with larger angles (i.e., shallower slopes of the triangular face) to improve printing efficiency. This ensures that the printing results meet accuracy requirements while optimizing printing efficiency, achieving an optimal balance between quality and speed.

[0125] In some implementations, the height of each layer of the outer wall in the outer wall cluster is determined based on the target included angle and the maximum surface deviation.

[0126] Here, maximum surface deviation refers to the maximum value of this surface deviation. This maximum surface error can be preset by the slicing software or determined in real time based on the printing parameters. Printing parameters may include, but are not limited to, layer height information, target ratios between printing details and printing speed.

[0127] The floor height of the exterior wall can be determined in any suitable way. In some embodiments, a correspondence between various included angles, maximum surface deviations, and various floor heights can be established in advance. Based on this correspondence, a floor height that matches both the target included angle and the maximum surface deviation can be obtained. In some embodiments, an adaptive slicing algorithm based on area error can be used to determine the floor height of the exterior wall according to the target included angle and the maximum surface deviation. In some embodiments, an arbitrary suitable neural network model capable of determining the floor height based on the included angle and the maximum surface deviation can be used to determine a floor height that matches both the target included angle and the maximum surface deviation.

[0128] In this embodiment, the layer height is dynamically adjusted based on the target included angle and maximum surface error corresponding to the cross-section. By constraining the adjustment of the layer height through the maximum surface deviation, a higher layer height is selected to shorten the printing time. At the same time, resource waste caused by excessive pursuit of low layer height is avoided, thus achieving the optimal solution of quality and efficiency. This is especially suitable for manufacturing complex models that require consideration of cost, speed, and accuracy.

[0129] In some implementations, the maximum surface deviation is determined based on the printer's printing parameters, including layer height information and a target ratio between print detail and print speed.

[0130] Here, the floor height information can be any suitable floor height, for example, 0.2mm. This floor height information can be customized by the user through the slicing software, or it can be a default value.

[0131] The target ratio can be any suitable ratio, such as 0.5, 0.52, etc. This target ratio can be user-defined using the slicing software or it can be a default value.

[0132] The maximum surface deviation can be determined in any suitable way. In some implementations, a correspondence between each layer height, each target ratio, and each maximum surface deviation can be pre-established. Based on this correspondence, the maximum surface deviation that matches both the layer height and the target ratio can be obtained. In some implementations, the maximum surface deviation that matches both the layer height and the target ratio can be determined using any suitable neural network model capable of determining the maximum surface deviation based on the layer height and the target ratio.

[0133] In this embodiment, the maximum surface deviation is dynamically determined based on printing parameters such as layer height information and target ratio. Compared with a fixed maximum surface deviation, the accuracy, flexibility and specificity of the maximum surface deviation are improved, thereby further improving the accuracy of the layer height determined based on the maximum surface deviation. While ensuring printing accuracy, printing efficiency is also optimized, which is especially suitable for processing models with complex geometric features (e.g., inclined planes, curved surfaces).

[0134] In some implementations, the maximum surface deviation is determined by a target interpolation function, the parameters of which are determined based on the layer height information and the target scale.

[0135] Here, the target interpolation function can be any suitable interpolation function. For example, linear interpolation functions such as the lerp(·) function. Other examples include second-order polynomial interpolation functions and third-order spline interpolation functions. The lerp(a, b, t) function can be expressed as: lerp(a, b, t) = a + (ba)*t. When t = 0, the result is a; when t = 1, the result is b; when t takes the intermediate value (0, 1), the result changes linearly between a and b.

[0136] The maximum surface deviation can be a first value of the target interpolation function determined according to the first parameter, or a second value of the target interpolation function determined according to the second parameter. During implementation, if the target ratio is less than a preset value, the first value is used as the maximum surface deviation; if the target ratio is not less than the preset value, the second value is used as the maximum surface deviation. The preset value can be any suitable value, such as 0.5, 0.6, etc.

[0137] For example, if the target interpolation function is lerp(·), then the first and second parameters both include a, b, and t. In implementation, a can be the minimum floor height ε1, b can be the target ratio, and t can be the maximum floor height ε2.

[0138] The minimum layer height ε1 can be determined in any suitable way. In some implementations, the user can customize the minimum layer height ε1 through slicing software, or use a default value. In some implementations, the minimum layer height ε1 can be determined based on the nozzle diameter. The method for determining the minimum layer height ε1 may include, but is not limited to, the product of the nozzle diameter and a first weighting coefficient, or a weighted average of the product. The first weighting coefficient can be any suitable value, such as 0.2, 0.15, 0.3, etc.

[0139] The maximum layer height ε2 can be determined in any suitable way. In some embodiments, the user can customize the maximum layer height ε2 through slicing software, or use a default value. In some embodiments, the maximum layer height ε2 can be determined based on the nozzle diameter. The method for determining the maximum layer height ε2 may include, but is not limited to, the product of the nozzle diameter and a second weighting coefficient, or a weighted average of the product. The second weighting coefficient can be any suitable value, such as 0.7, 0.75, 0.8, etc. In practice, the second weighting coefficient is greater than the first weighting coefficient. The first and second weighting coefficients can be set independently according to actual needs, and this application embodiment is not limited to this.

[0140] In this embodiment, the maximum surface deviation is determined based on the target interpolation function, which not only improves the accuracy of the maximum surface deviation, but also ensures that the maximum surface deviation is always controlled within the allowable range, avoiding local overload or undercompensation. This is especially suitable for 3D printing scenarios that require a balance between accuracy, efficiency and complex surface treatment.

[0141] In some implementations, for 3D models with complex geometric features, the floor height of the exterior wall can be determined using a suitable adaptive slicing algorithm. For example, this adaptive slicing algorithm could be the Vojtech algorithm based on area error. The core idea of ​​the Vojtech algorithm is to dynamically adjust the floor height according to the slope of the triangular faces and control the error area by using the maximum surface deviation. Triangular faces with a larger slope use a smaller floor height to reduce error, while triangular faces with a smaller slope use a larger floor height to improve printing efficiency, ensuring that the printing results meet accuracy requirements while also optimizing printing efficiency.

[0142] The first-level height l_h1 corresponding to the triangular face calculated by the Vojtech algorithm can be represented by the following formula (1-1):

[0143]

[0144] Where max_s_d represents the maximum surface deviation, which is used to control printing accuracy; n_sinθ represents the normal vector. The perpendicular component in the Z direction (i.e., the slope of the triangle); n_cosθ represents the normal vector. The horizontal component in the Z direction (i.e., the flatness of the triangular face); α is a weighting coefficient, which can be any suitable value, such as 1.44, etc.

[0145] In some implementations, when the normal vector of the triangle is close to perpendicular (n_cosθ→0), the first layer height l_h1 in formula (1-1) tends to infinity, causing the calculation of the first layer height corresponding to the triangle to fail. Therefore, in practice, it is necessary to add a constraint. For example, a minimum threshold is set for n_cosθ. When n_cosθ is less than the minimum threshold, the target layer height corresponding to the triangle can be a maximum layer height FLT_MAX (indicating that it cannot be calculated); when n_cosθ is not less than the minimum threshold, the target layer height corresponding to the triangle can be l_h1 in formula (1-1). Therefore, the target layer height face_l_h corresponding to the triangle can be represented by the following formula (1-2), that is:

[0146]

[0147] Where max_s_d represents the maximum surface deviation; γ1 is the deviation weighting coefficient, which can be any suitable value, such as 0.184, 0.2, etc.; n_cosθ represents the normal vector of the triangular face. The horizontal component in the Z direction; γ2 is the minimum threshold, which can be any suitable value, for example, 1e-5; FLT_MAX is the maximum layer height.

[0148] In some implementations, the maximum surface deviation max_s_d can be determined according to the following formulas (1-3), i.e.:

[0149] max_s_d=(c<0.5)? X1:X2(1-3);

[0150] Where X1 = lerp(ε1, delta_mid, μ*c), X2 = lerp(ε2, delta_mid, μ*(1.0-c)), c represents the target ratio between printing detail and printing speed, delta_mid represents the set layer height information, ε1 represents the minimum layer height, ε2 represents the maximum layer height, μ represents the ratio weighting coefficient, which can be any suitable value, such as 2, 2.5, 3, etc., and the lerp(·) function is a linear interpolation function.

[0151] Therefore, the height of the exterior wall can be determined based on the target floor heights corresponding to all the triangular faces in the cross-section. For example, the minimum target floor height corresponding to all the triangular faces can be used as the height of the exterior wall. Another example is the average of the target floor heights corresponding to all the triangular faces. Yet another example is the median of the target floor heights corresponding to all the triangular faces.

[0152] In some implementations, the height_t of the exterior wall can be determined according to the following formulas (1-4), i.e.:

[0153] height_t=min(height_c, face_l_h[i]) (1-4);

[0154] Where face_l_h[i] represents the target floor height corresponding to the i-th triangular face, which can be determined by the above formula (1-2); i is not greater than the total number of triangular faces of this section; height_c represents the current height of the exterior wall. In implementation, the height_t of the exterior wall is determined through multiple iterations, so as to realize that the minimum target floor height corresponding to all triangular faces is taken as the height of the exterior wall.

[0155] In some implementations, the number of layers in the outer wall assembly is determined based on the diameter of the nozzle assembly and the height of each layer of the outer wall in the outer wall assembly.

[0156] Here, the diameter of the printhead assembly refers to the diameter of the nozzle. In practice, if the printhead assembly includes a single nozzle, the diameter of the printhead assembly is the diameter of that single nozzle; if the printhead assembly includes multiple nozzles, the diameter of the printhead assembly is the diameter of the nozzle that prints the filling.

[0157] The number of floors included in this set of exterior walls falls within a range, with a minimum of 2 and a maximum of [missing value]. The value is rounded down, where d1 is the diameter of the nozzle assembly and height_t is the height of the exterior wall. In some implementations, the number of layers contained in this exterior wall set can be... The number of layers in the outer wall set can be selected based on factors such as printing accuracy and printing speed. In practice, the product of the number of layers in the outer wall set and the height of the outer wall should not exceed the diameter of the nozzle used to print the fill.

[0158] In this embodiment, the number of exterior wall layers is dynamically determined based on the diameter of the nozzle assembly and the height of the exterior wall. This achieves the constraint of the number of exterior wall layers by the diameter of the nozzle assembly and the height of the exterior wall, improving the accuracy and rationality of the number of layers and achieving the optimal solution for quality and efficiency.

[0159] The infill set (including the target infill set and other infill sets mentioned below) comprises at least one infill layer, each with a height that can be the same or different. The 3D model includes infill, and the infill determines the internal support structure, affecting weight, material consumption, and mechanical properties. During printing, infill patterns such as grids / honeycombs and lines / crosses can be used. Grid / honeycomb patterns offer optimal strength at high densities and are suitable for load-bearing components. Line / cross patterns are suitable for regular printing, balancing efficiency and strength. Infill materials can include, but are not limited to, sound / heat insulation materials or grout.

[0160] The height of the fill (or floor height) can be any suitable height, for example, 0.3mm or 0.6mm.

[0161] In some implementations, the filling height can be determined based on at least one of the following: the diameter of the second nozzle, the consumable material of the second nozzle, and the outer wall set corresponding to the filling set. The second nozzle is the nozzle for printing the filling.

[0162] In some implementations, different consumables can correspond to the same or different filling layer heights. During implementation, a correspondence between each consumable and each filling layer height can be established in advance, and the filling layer height corresponding to that consumable can be determined based on this correspondence.

[0163] In some implementations, different diameters of the second nozzle correspond to the same or different filling layer heights. In practice, a correspondence between each diameter and each filling layer height can be established in advance, and based on this correspondence, the filling layer height corresponding to the diameter of the second nozzle can be determined.

[0164] In some implementations, the number of layers in the infill set and the height of each layer in the infill set are determined based on the external wall set corresponding to the infill set.

[0165] Here, the number of layers in the infill set can be determined based on the height of each layer in the infill set and the corresponding set of exterior walls. For example, if the height of the infill is fixed, the number of layers in the infill set is based on the ratio between the total height of the exterior walls in the set and the height of the infill. For instance, if the height of the infill is 0.3mm, and the total height of the exterior walls in the set is 0.3mm, then the infill set contains one layer.

[0166] The height of each layer in the infill set can be determined based on the number of layers it contains and the corresponding set of exterior walls. For example, if the number of layers in the infill set is fixed, the height of the infill is based on the ratio between the total height of the exterior walls in the set and the number of layers in the infill set. For instance, if the infill set contains two layers and the total height of the exterior walls in the set is 0.3mm, then the height of the infill can be 0.15mm.

[0167] In this embodiment, the number of layers in the infill set and the height of each layer in the infill set are determined based on the corresponding outer wall set. Thus, by dynamically determining the corresponding number of infill layers and their heights based on the number and height of the outer walls, and matching the infill height with the outer wall height, on the one hand, the mechanical properties of the internal support structure can be optimized, ensuring uniform compressive and tensile strength in both the XY plane and Z-axis directions of the 3D model. This avoids deformation, collapse, or localized fragility caused by stress concentration or directional differences in the outer walls. On the other hand, it allows for precise matching of the model's stress requirements, reducing material waste. Simultaneously, it achieves flexible configuration of the number of infill layers and their heights, realizing an optimal balance between strength, efficiency, cost, and environmental friendliness in the printed model.

[0168] In some implementations, the 3D model may further include at least one inner wall, located inside the outer surface, used to connect the infill structure and balance internal support and external strength. Each inner wall may correspond to multiple inner wall sets, and printing multiple inner wall sets is used to print at least one inner wall of the model. The printing of the inner wall can also be variable-diameter printing or non-variable-diameter printing. In implementation, if the inner wall is printed using variable-diameter printing, the process for determining the multiple inner wall sets corresponding to the inner wall can refer to the aforementioned process for determining the outer wall sets.

[0169] In some implementations, where the 3D model includes at least one inner wall, the inner wall can be printed first, then the outer surface can be printed, and finally the fill can be printed.

[0170] In this embodiment, the printhead assembly of the printer is controlled to print a target set of exterior walls of a 3D model. The 3D model includes multiple sets of exterior walls and a corresponding fill set for each set of exterior walls. The target set of exterior walls is one of the multiple sets of exterior walls. The target set of exterior walls includes at least two layers of exterior walls, and each fill set includes at least one layer of fill. The printhead assembly is controlled to print a target fill set corresponding to the target set of exterior walls. The total height of each fill layer in the target fill set is the same as the total height of each exterior wall layer in the target set of exterior walls. The number of layers in the target fill set is less than the number of layers in the target set of exterior walls. In this way, by first printing an outer wall set containing at least two layers of outer walls and then printing an infill set containing at least one layer of infill, on the one hand, compared with the related technology where the layer height of the outer walls and the layer height of the infill are the same, since the layer height of the outer walls in this application is less than the layer height of the infill, the layer height of the outer walls is reduced, improving the printing effect of the outer surface of the 3D model, improving the structural strength of the 3D model, and reducing the post-processing cost. On the other hand, compared with the related technology where one layer of outer walls is printed first and then one layer of infill is printed, since the layer height of one layer of infill in this application is the same as the layer height of at least two layers of outer walls, the combined printing of multiple layers of infill is realized, which greatly reduces the printing time.

[0171] Based on the above embodiments, this application also provides a printer control system. Figure 3 A schematic diagram of the composition structure of a printer control system provided in this application embodiment. Figure 1 ,like Figure 3 As shown, the control system 30 includes a first controller 31, wherein:

[0172] The first controller is used to control the printhead assembly of the printer to print a target exterior wall set of the 3D model; and to control the printhead assembly to print a target fill set corresponding to the target exterior wall set; wherein, the 3D model includes multiple exterior wall sets and a fill set corresponding to each exterior wall set, the target exterior wall set is one of the multiple exterior wall sets, the target exterior wall set includes at least two layers of exterior walls, each fill set includes at least one layer of fill, the total height of each fill layer in the target fill set is the same as the total height of each exterior wall layer in the target exterior wall set, and the number of layers in the target fill set is less than the number of layers in the target exterior wall set.

[0173] Here, the controller (including the first controller and other controllers mentioned below) can be any suitable component capable of implementing control functions. For example, MCU (Microcontroller Unit), CPU (Central Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), microcontroller, etc.

[0174] The printhead assembly can be any suitable component capable of printing. The printhead assembly includes at least one nozzle. In some embodiments, the nozzle for printing the exterior wall set and the nozzle for printing the fill set can be the same or different.

[0175] The exterior wall assembly includes at least two layers of exterior walls, each layer of which may have the same or different heights. The process by which the first controller controls the printhead assembly to print the exterior wall assembly can be found in the specific implementation of step S11 above.

[0176] The fill set includes at least one fill layer, and the height of each fill layer may be the same or different. The process by which the first controller controls the printhead assembly to print the fill set can be referred to the specific implementation of step S12 above.

[0177] In this embodiment, the first controller first prints an outer wall set containing at least two outer walls and then prints a fill set containing at least one fill layer. On the one hand, compared with the related technology where the height of the outer wall and the fill layer are the same, since the height of the outer wall in this application is less than the height of the fill layer, the height of the outer wall is reduced, improving the printing effect of the outer surface of the 3D model, improving the structural strength of the 3D model, and reducing the post-processing cost. On the other hand, compared with the related technology where one outer wall layer is printed first and then one fill layer is printed, since the height of one fill layer in this application is the same as the height of at least two outer walls, the combined printing of multiple fill layers is realized, which greatly reduces the printing time.

[0178] The description of the controller embodiments above is similar to that of the method embodiments above, and has similar beneficial effects. For technical details not disclosed in the controller embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0179] In related technologies, there may be very small mechanical errors during the installation of the nozzle assembly. Therefore, it is necessary to calibrate the nozzle assembly regularly or in real time.

[0180] For multi-nozzle printhead assemblies, it is crucial to ensure precise alignment of the nozzles in the X, Y, and Z directions. Even a deviation of only a fraction of a millimeter can lead to misalignment between printed layers, resulting in seams, overlaps, or gaps. Currently, it is common practice to set the relative offset between multiple nozzles in the printing software. This requires accurate measurement of the actual physical position of the nozzles and precise setting in the printing software. If the offset is set incorrectly, layer alignment cannot be maintained when switching nozzles, resulting in noticeable stitching marks on the printed object. In actual printing, the requirements for calibration and alignment accuracy are even higher due to the high-speed movement and frequent switching of nozzles. Any dynamic deviation can accumulate over long periods of printing, causing a decline in overall print quality, making maintenance and real-time adjustments a significant challenge.

[0181] This application provides a printer control method. First, by automatically detecting and calibrating the relative offset and angular error of the printhead assembly in the XYZ axis directions, the method avoids the problem of offset accumulation caused by mechanical installation errors, thermal expansion and contraction, and long-term use. Second, it reduces the difficulty and time cost of manual calibration, and improves printing accuracy and printer stability. Finally, by realizing real-time or timed calibration, it ensures that the nozzle alignment state always meets the high-precision printing requirements during the printing process.

[0182] Figure 4 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 2 ,like Figure 4 As shown, the control method includes steps S41 and S42, wherein:

[0183] Step S41: Control the first acquisition device to acquire first detection information including the printhead assembly of the printer;

[0184] Step S42: Perform at least one calibration on the nozzle assembly based on the first detection information.

[0185] Here, the first acquisition device can be any suitable device capable of acquiring data from the nozzle assembly. For example, the first acquisition device can be a high-resolution lidar camera, a binocular camera, a laser sensor, an infrared sensor, an image acquisition card, etc. In some embodiments, the first acquisition device may include multiple sensors to acquire the position of the nozzle assembly from multiple angles, thereby improving the accuracy of the detected position and achieving more stable calibration.

[0186] The detection information (including the first detection information and other detection information mentioned below) may include, but is not limited to, infrared information, laser information, image information, etc. In implementation, the first acquisition device may acquire the detection information periodically, in real time, or according to received acquisition instructions.

[0187] The calibration process may include, but is not limited to, preprocessing, feature extraction, and deviation compensation. Preprocessing refers to performing grayscale conversion and noise reduction on the initial detection information. Feature extraction involves using algorithms such as template matching, edge detection, and deep learning to extract the 3D position and calibration point information of the nozzle. Deviation compensation involves automatically adjusting the coordinate reference or modifying the printing path based on compensation parameters, which are determined according to the deviation of the printhead assembly. This deviation may include, but is not limited to, positional deviation and angular deviation. For example, this calibration process may include feature extraction + deviation compensation. Or, for another example, this calibration process may include preprocessing + feature extraction + deviation compensation.

[0188] In some implementations, after completing a printhead assembly calibration, a post-compensation verification can be performed. Post-compensation verification refers to verifying the printhead assembly after deviation compensation to determine whether the deviation corresponding to the printhead assembly is within a preset deviation range. If the deviation corresponding to the printhead assembly is within the preset deviation range, the printer can be switched to a ready state for printing; if the deviation corresponding to the printhead assembly is not within the preset deviation range, recalibration is required until the deviation corresponding to the printhead assembly is within the preset deviation range before switching the printer to a ready state. The preset deviation range can be any suitable range. In practice, the preset deviation range can be set according to the printer's printing accuracy, the sensitivity of the first acquisition device, the accuracy of the first acquisition device, etc., and this application embodiment does not impose such limitations.

[0189] In some implementations, the printhead assembly can be calibrated before printing, by switching nozzles in the printhead assembly, etc.

[0190] In some embodiments, the automatic calibration of the nozzle assembly can also be achieved by adding an adjustable fine-tuning mechanism at the nozzle assembly mounting location. This fine-tuning mechanism achieves initial alignment through physical adjustment, followed by software calibration in conjunction with steps S41 and S42 to improve accuracy.

[0191] In some implementations, nozzle alignment issues can also be indirectly corrected by analyzing the dimensional deviations of the initial printed sample and automatically adjusting the printing path based on these deviations.

[0192] In this embodiment, the first acquisition device is controlled to acquire first detection information of the printhead assembly of the printer; the printhead assembly is calibrated at least once based on the first detection information. Thus, by automatically detecting and calibrating the printhead assembly, firstly, automated calibration is achieved, which not only reduces manual calibration and improves production efficiency, but also reduces the possibility of accumulated offsets due to mechanical installation errors, thermal expansion and contraction, and long-term use, thereby reducing the possibility of seams, overlaps, gaps, etc., caused by misalignment of the printed layers, and thus improving printing accuracy and printer stability; secondly, printhead position errors are compensated in real time during the calibration process, ensuring consistent layer accuracy when printing multiple materials and colors, significantly improving print quality while ensuring that the printed results meet high-precision printing requirements; finally, the first acquisition device can be integrated into existing FDM printers, exhibiting good compatibility and upgradeability.

[0193] In some embodiments, step S42 includes steps S421 to S423, wherein:

[0194] Step S421: Perform a calibration on the nozzle assembly based on the first detection information;

[0195] Step S422: Control the first acquisition device to acquire second detection information including the nozzle assembly;

[0196] Step S423: If the deviation of the printhead assembly is within the preset deviation range as indicated by the second detection information, switch the printer to the ready state.

[0197] Here, a single calibration may include, but is not limited to, preprocessing, feature extraction, and deviation compensation. In implementation, the first detection information can be preprocessed to obtain the target's first detection information; then, algorithms such as template matching, edge detection, and deep learning can be used to extract the nozzle's three-dimensional position and calibration point information from the target's first detection information; next, the nozzle's deviation information can be calculated based on the nozzle's three-dimensional position and calibration point information; finally, compensation parameters can be calculated based on the nozzle's deviation information, and the coordinate reference or printing path can be automatically adjusted based on the compensation parameters.

[0198] The second detection information may include, but is not limited to, infrared information, laser information, and image information. During implementation, after calibrating the printhead assembly once, the first acquisition device can be controlled to acquire the second detection information containing the printhead assembly again, so as to compensate and verify the printhead assembly based on this second detection information. During implementation, if the deviation corresponding to the printhead assembly is not within the preset deviation range, recalibration is required until the deviation corresponding to the printhead assembly is within the preset deviation range; if the deviation corresponding to the printhead assembly is within the preset deviation range, the printer is switched to the ready state.

[0199] For example, taking a nozzle assembly including a first nozzle and a second nozzle as an example to illustrate the entire calibration process, namely:

[0200] (1) The printer switches to the first nozzle and performs a zeroing operation on the mechanical coordinates XYZ of the whole machine. The lidar camera (corresponding to the aforementioned first acquisition device) acquires the first detection information of the first nozzle (including three-dimensional image and laser data). Then it switches to the second nozzle and the lidar camera acquires the first detection information of the second nozzle (including three-dimensional image and laser data).

[0201] (2) Perform preprocessing such as grayscale conversion and noise filtering on the first detection information of the first nozzle and the first detection information of the second nozzle;

[0202] (3) Using template matching, edge detection, deep learning and other algorithms, feature extraction is performed on the first detection information of the preprocessed first nozzle to obtain the three-dimensional position of the first nozzle and the calibration point information of the first nozzle. Feature extraction is performed on the first detection information of the preprocessed second nozzle to obtain the three-dimensional position of the second nozzle and the calibration point information of the second nozzle.

[0203] (4) Based on the three-dimensional position of the first nozzle and the calibration point information of the first nozzle, determine the deviation of the center of the first nozzle in the first detection information of the first nozzle; based on the three-dimensional position of the second nozzle and the calibration point information of the second nozzle, determine the deviation of the center of the second nozzle in the first detection information of the second nozzle.

[0204] (5) Determine the compensation parameters of the first nozzle based on the deviation of the center of the first nozzle, determine the compensation parameters of the second nozzle based on the deviation of the center of the second nozzle, and automatically adjust the coordinate reference of the motion control system or directly modify the printing path based on the compensation parameters of the first and second nozzles to ensure that the materials extruded by the first and second nozzles are accurately superimposed in physical position during the printing process. When switching to the second nozzle later, set the offset of the global mechanical coordinates XYZ to the deviation of the center of the second nozzle minus the deviation of the center of the first nozzle;

[0205] (6) After adjustment, the lidar camera is restarted to collect the second detection information of the first nozzle and the second detection information of the second nozzle, so as to verify the calibration effect based on the second detection information of the first nozzle and the second detection information of the second nozzle, until the deviations corresponding to the first nozzle and the second nozzle are both controlled within the preset deviation range, and then the printing task is resumed.

[0206] In this embodiment, the printhead assembly is calibrated once based on the first detection information; the first acquisition device is controlled to acquire second detection information including the printhead assembly; if the deviation of the printhead assembly indicated by the second detection information is within a preset deviation range, the printer is switched to a ready state. In this way, the deviation of the calibrated printhead assembly is verified again to ensure the actual effect of the calibration. This not only reduces the possibility of error re-accumulation due to long-term use or environmental changes, but also, by combining calibration and verification to form a closed-loop management system, ensures both immediate correction of print quality and maintenance of stable equipment performance, ultimately achieving comprehensive optimization of efficiency, cost, and compliance.

[0207] In some embodiments, when the second detection information indicates that the deviation corresponding to the nozzle assembly is not within the deviation range, the control method further includes steps S424 and S425, wherein:

[0208] Step S424: Control the first acquisition device to acquire the next first detection information including the nozzle assembly;

[0209] Step S425: Perform at least one calibration on the nozzle assembly based on the next first detection information.

[0210] Here, the "next first detection information" refers to the first detection information collected in the next iteration. The method of collecting the next first detection information can be the same as or different from the method of collecting the first detection information. For example, the first acquisition device includes a camera, which can collect both the first detection information and the next first detection information. Alternatively, the first acquisition device includes two cameras, one of which can collect the first detection information, and the other camera can collect the next first detection information.

[0211] Since the deviation of the nozzle assembly is not within the deviation range, the nozzle assembly needs to be recalibrated. The process of recalibrating the nozzle assembly according to the next first detection information can be found in the specific implementation of the aforementioned step S42.

[0212] In this embodiment, the printhead assembly is recalibrated if the deviation verification fails. Repeated calibration can further eliminate minor errors that may remain after the previous calibration (e.g., nozzle offset or extrusion deviation). This not only avoids step marks or dimensional deviations caused by uneven layer thickness, but also maintains the flatness of the printed surface and the interlayer bonding strength, thereby ensuring the accuracy of the printed output and the reliability of the equipment operation.

[0213] In some embodiments, the nozzle assembly further includes a first nozzle and a second nozzle, and the control method further includes steps S431 to S434, wherein:

[0214] Step S431: In response to the detection of a nozzle switching command, control the first acquisition device to acquire third detection information of the working nozzle; wherein, the working nozzle includes the first nozzle or the second nozzle;

[0215] Step S432: Switch the other nozzle to the working nozzle;

[0216] Step S433: Control the first acquisition device to acquire the fourth detection information of the working nozzle;

[0217] Step S434: Based on the third detection information and the fourth detection information, calibrate the working nozzle at least once.

[0218] Here, the nozzle switching command can be any suitable command capable of switching nozzles. The nozzle switching command can be generated in any suitable way, such as a nozzle switching command automatically generated during printing, or a user-defined nozzle switching command.

[0219] The third and fourth detection information may include, but are not limited to, infrared information, laser information, and image information.

[0220] During implementation, if the currently operating nozzle is the first nozzle, then if the next operating nozzle is also the first nozzle, no nozzle switching is required; the first nozzle can be calibrated or not. If the next operating nozzle is the second nozzle, then after switching from the first nozzle to the second nozzle, the second nozzle needs to be calibrated. Similarly, if the currently operating nozzle is the second nozzle, then if the next operating nozzle is also the second nozzle, no nozzle switching is required; the second nozzle can be calibrated or not. If the next operating nozzle is the first nozzle, then after switching from the second nozzle to the first nozzle, the first nozzle needs to be calibrated.

[0221] The nozzles in the nozzle switching assembly need to be calibrated after switching to improve the accuracy of subsequent operations. The calibration process may include, but is not limited to, preprocessing, feature extraction, and deviation compensation.

[0222] In implementation, the working nozzle can be calibrated first based on the third and fourth detection information. The calibration process for this working nozzle can be found in the specific implementation of step S42 above. After the first calibration, a compensation verification is performed on the working nozzle to ensure that the deviation corresponding to the working nozzle is within its deviation range. If the deviation corresponding to the working nozzle is within its deviation range, the printer can be switched to the ready state for printing. If the deviation corresponding to the working nozzle is not within its deviation range, recalibration is required until the deviation corresponding to the working nozzle is within its deviation range before switching the printer to the ready state. The deviation ranges for different working nozzles can be the same or different.

[0223] In this embodiment, in response to a detected nozzle switching command, the first acquisition device is controlled to acquire third detection information of the working nozzle; wherein the working nozzle includes the first nozzle or the second nozzle; another nozzle is switched to the working nozzle; the first acquisition device is controlled to acquire fourth detection information of the working nozzle; based on the third and fourth detection information, the working nozzle is calibrated at least once. Thus, by dynamically monitoring and calibrating the working nozzle during nozzle switching, mechanical deviations caused by temperature changes and prolonged operation are overcome, improving printing stability and reliability, and extending the equipment's lifespan.

[0224] In some embodiments, step S434 includes steps S4341 to S4343, wherein:

[0225] Step S4341: Based on the third detection information and the fourth detection information, perform a calibration on the working nozzle;

[0226] Step S4342: Control the first acquisition device to acquire the next fourth detection information of the working nozzle;

[0227] Step S4343: If the deviation corresponding to the working nozzle is within the preset deviation range as indicated by the next fourth detection information, switch the printer to the ready state.

[0228] Here, a single calibration may include, but is not limited to, preprocessing, feature extraction, and deviation compensation. The calibration process for this working nozzle can be found in the specific implementation of step S42 above.

[0229] The "next fourth detection information" refers to the fourth detection information to be collected next. The method used to collect this next fourth detection information can be the same as or different from the method used to collect the fourth detection information. For example, the first acquisition device includes a camera, which can collect both the fourth detection information and the next fourth detection information. Alternatively, the first acquisition device includes two cameras, one of which can collect the fourth detection information, and the other camera can collect the next fourth detection information.

[0230] During implementation, if the deviation corresponding to the working nozzle is not within the deviation range of the working nozzle, it needs to be recalibrated until the deviation corresponding to the working nozzle is within the deviation range of the working nozzle; if the deviation corresponding to the working nozzle is within the deviation range of the working nozzle, the printer is switched to the ready state.

[0231] In this embodiment, the calibrated nozzles are then subjected to deviation verification to ensure the actual effect of the calibration. This not only reduces the possibility of error accumulation due to long-term use or environmental changes, but also forms a closed-loop management by combining calibration and verification. This ensures timely correction of print quality and maintains stable equipment performance, ultimately achieving comprehensive optimization of efficiency, cost and compliance.

[0232] In some embodiments, if the next fourth detection information indicates that the deviation corresponding to the working nozzle is not within the deviation range, the control method further includes step S4344, wherein:

[0233] Step S4344: Based on the third detection information and the next fourth detection information, calibrate the working nozzle at least once.

[0234] Here, since the deviation corresponding to the working nozzle is not within the deviation range of the working nozzle, the working nozzle needs to be recalibrated. The process of recalibrating the working nozzle according to the next fourth detection information and the third detection information can be found in the specific implementation of the aforementioned step S4341.

[0235] In the embodiments of this application, the working nozzle is recalibrated if the deviation verification fails. Repeated calibration can further eliminate the small errors that may remain after the previous calibration (e.g., nozzle offset or extrusion deviation). This not only avoids step marks or dimensional deviations caused by uneven layer thickness, but also maintains the flatness of the printed surface and the interlayer bonding strength, thereby ensuring the accuracy of the printed output and the reliability of the equipment operation.

[0236] Based on the above embodiments, this application also provides a printer control system. Figure 5 A schematic diagram of the composition structure of a printer control system provided in this application embodiment. Figure 2 ,like Figure 5 As shown, the control system 50 includes a second controller 51, wherein:

[0237] The second controller is configured to: control the first acquisition device to acquire first detection information including the printhead assembly of the printer; and perform at least one calibration on the printhead assembly based on the first detection information.

[0238] Here, the second controller can be any suitable component capable of performing control functions. Examples include MCUs, CPUs, DSPs, FPGAs, and microcontrollers. In implementation, the second controller can be the same as or different from the first controller.

[0239] The first acquisition device can be any suitable device capable of acquiring data from the nozzle assembly. For example, the first acquisition device can be a high-resolution lidar camera, a binocular camera, a laser sensor, an infrared sensor, an image acquisition card, etc.

[0240] The first detection information may include, but is not limited to, infrared information, laser information, image information, etc. In implementation, the process by which the second controller controls the first acquisition device to acquire the first detection information can be found in the specific implementation of step S41 described above.

[0241] The calibration process may include, but is not limited to, preprocessing, feature extraction, and deviation compensation. In practice, the process of the second controller controlling the calibration of the nozzle assembly can be found in the specific implementation of step S42 described above.

[0242] In some implementations, after completing a calibration of the nozzle assembly, the second controller can also control a post-calibration compensation of the nozzle assembly calibration.

[0243] Figure 6 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 3 ,like Figure 6 As shown, the control method includes steps S601 to S607, wherein:

[0244] Step S601: The printer receives a nozzle switching command and controls the depth LiDAR camera (corresponding to the aforementioned first acquisition device) to acquire the third detection information of the first nozzle;

[0245] Step S602: Control the printer to switch the working nozzle to the second nozzle;

[0246] Step S603: Control the depth lidar camera to acquire the fourth detection information of the second nozzle;

[0247] Step S604: Based on the third and fourth detection information, calibrate the second nozzle once;

[0248] Step S605: Control the depth lidar camera to acquire the fifth detection information of the second nozzle;

[0249] Step S606: Determine whether the deviation corresponding to the second nozzle is within the preset deviation range. If yes, proceed to step S607; otherwise, proceed to step S603.

[0250] Step S607: Switch the printer to the ready state.

[0251] In this embodiment, by automatically detecting and calibrating the printhead assembly, firstly, automated calibration is achieved, which not only reduces manual calibration and improves production efficiency, but also reduces the possibility of accumulated offsets caused by mechanical installation errors, thermal expansion and contraction, and long-term use. This reduces the possibility of seams, overlaps, gaps, etc., caused by misalignment of the printed layers, thereby improving printing accuracy and printer stability. Secondly, printhead position errors are compensated in real time during the calibration process, ensuring consistent layer accuracy when printing multiple materials and colors. This significantly improves print quality and ensures that the print results meet the requirements of high-precision printing. Finally, this first acquisition device can be integrated into existing FDM printers, exhibiting good compatibility and upgradeability.

[0252] The description of the controller embodiments above is similar to that of the method embodiments above, and has similar beneficial effects. For technical details not disclosed in the controller embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0253] It should be noted that, in the embodiments of this application, if the above methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to the related technology, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0254] Reference Figure 7 , Figure 7 A schematic diagram of a printer control method provided in this application embodiment, including calibration via a distance sensor. Figure 4 The calibration operation performed by the controller in the control system of this application further includes steps 701-704, specifically:

[0255] Step 701: In response to the first calibration command, control the distance sensor in the first acquisition device to acquire the first detection information of the printer printhead assembly. The printhead assembly includes: a first nozzle and a second nozzle. The first detection information includes: a first distance in the Z direction between the target nozzle in the printhead assembly and the printer printing platform, and / or a first distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly. The target nozzle includes: the first nozzle and / or the second nozzle.

[0256] The first calibration command in this embodiment is used to calibrate the position of the printhead assembly in the printer. The printhead assembly in this embodiment includes a first nozzle and a second nozzle. The printer in this embodiment is a dual-printhead printer. The first calibration command in this embodiment is used to resolve physical deviations between the two printheads and avoid problems such as overlapping text, blurred images, or crooked vertical lines caused by misalignment. For example, by calibrating the printhead assembly to adjust the horizontal and vertical alignment of the printheads, consistent output results are ensured during bidirectional printing.

[0257] The triggering method for the first calibration command is not specifically limited. That is, the first calibration command can be triggered actively by the user. For example, if the printer is equipped with a display screen and a communication module, the user can actively trigger the first calibration command by clicking "Basic Calibration" on the display screen, or the user can click "Basic Calibration" on a terminal device such as a mobile phone and send it to the printer. The printer's communication module receives the information sent by the mobile phone and actively triggers the first calibration command. The first calibration command can also be triggered automatically by the printing device. For example, if the printer is preset to trigger the first calibration command after each 100-hour printing session, the printer will automatically trigger the first calibration command after detecting that the printing time has reached 100 hours to avoid positional deviation caused by long-term printing.

[0258] In this embodiment of the application, after the printer responds to the first calibration command, it controls the first acquisition device to acquire the first detection information of the printer printhead assembly. The first acquisition device in this embodiment of the application includes at least one of a distance sensor, a lidar camera, a binocular camera, a laser sensor, an infrared sensor, and an image acquisition card.

[0259] Furthermore, the types and number of sensors installed in the printer in this embodiment are not limited. Specifically, multiple image sensors are installed at different locations on the printer. For example, an image sensor is installed on the printer body to collect printing information from the printing platform, and an image sensor is installed on the printhead assembly to detect the state of the nozzles during printing. Another example is that a distance sensor is installed on the printer body to detect the distance between the two nozzles in the printhead assembly, and a distance sensor is installed on the printhead assembly to detect the distance between the printhead assembly and the printing platform.

[0260] In this embodiment, the first detection device is described using a distance sensor as an example, and the first detection information is distance, which specifically includes:

[0261] The distance in the X direction between the first nozzle in the printhead assembly and the calibration point on the printer's printing platform;

[0262] The distance in the X direction between the second nozzle in the printhead assembly and the calibration point on the printer's printing platform;

[0263] The distance in the Y direction between the first nozzle in the printhead assembly and the calibration point on the printer's printing platform;

[0264] The distance in the Y direction between the second nozzle in the printhead assembly and the calibration point on the printer's printing platform;

[0265] The distance in the Z direction between the first nozzle in the printhead assembly and the printer platform;

[0266] The distance in the Z direction between the second nozzle in the printhead assembly and the printer platform;

[0267] The distance in the X direction between the first nozzle and the second nozzle in the nozzle assembly;

[0268] The distance in the Y direction between the first nozzle and the second nozzle in the nozzle assembly;

[0269] The distance in the Z direction between the first nozzle and the second nozzle in the nozzle assembly.

[0270] It can be understood that, in this embodiment of the application, the dual nozzle positions in the printhead assembly are such that one of the first nozzle and the second nozzle is fixed, while the other nozzle moves relative to the fixed nozzle in a direction perpendicular to the horizontal plane. Therefore, to facilitate the detection of the first detection information in this embodiment of the application, it includes: the first distance in the Z direction between the target nozzle in the printhead assembly and the printer printing platform, and / or the first distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly; the target nozzle includes: the first nozzle and / or the second nozzle. The amount of first detection information in this embodiment of the application is relatively small, enabling rapid calibration.

[0271] In the embodiments of this application, the first detection information can be flexibly set according to the specific calibration scenario. For example, if the first calibration instruction is to perform Z-direction calibration on the first nozzle, then the first detection information is the Z-direction distance between the first nozzle in the printhead assembly and the printer printing platform; or, if the first calibration instruction is to perform horizontal alignment calibration on the dual nozzles, then the first detection information is the X / Y-direction distance between the first nozzle and the second nozzle; or, if the first calibration instruction is to perform horizontal alignment calibration on the first nozzle, then the first detection information is the X-direction distance between the first nozzle in the printhead assembly and the calibration point in the printer printing platform, and the Y-direction distance between the first nozzle in the printhead assembly and the calibration point in the printer printing platform.

[0272] In this embodiment, the first calibration command can be understood as an initial calibration command, which mainly realizes the three-dimensional coordinate alignment of the two nozzles. Therefore, when performing targeted calibration on the nozzle assembly, detection information can be collected by sensors other than the distance sensor. For example, multi-dimensional information can be collected by LiDAR camera, binocular camera, laser sensor, infrared sensor and image acquisition card or other sensors. This embodiment does not limit the scope of the calibration.

[0273] Step 702, calibrating the nozzle assembly at least once based on the first detection information, including: adjusting the coordinate system of the nozzle assembly in the Z direction based on the Z direction deviation when the Z direction deviation corresponding to the first distance in the Z direction exceeds a preset Z direction deviation range; and / or adjusting the coordinate system of the nozzle assembly in the X / Y direction based on the X / Y direction deviation when the X / Y direction deviation corresponding to the first distance in the X / Y direction exceeds a preset X / Y direction deviation range.

[0274] In this embodiment, the control system determines the deviation of the nozzle assembly based on the first detection information. Specifically, in this embodiment, the control system compares the first detection information with standard detection information and sets the difference between the first detection information and the standard detection information as the deviation of the nozzle assembly. For example, the controller compares the first distance in the Z direction with the standard distance in the Z direction to obtain the Z-direction deviation. The standard distance in the Z direction can be associated with the first calibration command, or the standard distance in the Z direction can be a set distance. The controller also compares the first distance in the X / Y direction with the standard distance in the X / Y direction to obtain the X / Y-direction deviation. The standard distance in the X / Y direction can be associated with the first calibration command, or the standard distance in the X / Y direction can be a set distance.

[0275] Z-axis deviation refers to the difference in distance between the nozzle assembly (such as the first nozzle) and its ideal or standard position, typically defined in the Z-axis direction. For example, if the standard starting printing height (i.e., the ideal Z-axis distance between the nozzle and the printing platform) of a 3D printer is set to 0.2mm, but the actual detected distance of a nozzle from the printing platform is 0.3mm, then 0.3mm - 0.2mm = 0.1mm is the Z-axis deviation (here, 0.2mm is assumed to be the standard value; the actual deviation value depends on the specific situation).

[0276] X / Y direction deviation refers to the difference between the relative position of the first nozzle and the second nozzle in the planar direction and the ideal relative position (such as alignment, specific spacing, etc.). Ideally, the first nozzle and the second nozzle should be perfectly aligned in the X direction (i.e., the X direction deviation is 0). However, if the actual test shows that the first nozzle is 0.1mm ahead of the second nozzle in the X direction, then the 0.1mm is the X direction deviation part of the X / Y direction deviation (similarly, the Y direction deviation is a similar concept, which is the positional difference in the Y-axis direction).

[0277] In this embodiment, after the controller obtains the deviation of the nozzle assembly, the controller compares the deviation with a preset deviation range. The preset deviation range refers to the maximum error range of the nozzle assembly. Specifically, the deviation range includes a preset Z-direction deviation range and a preset X / Y-direction deviation range. For example, the preset Z-direction deviation range is set to be less than 0.1 mm, and the preset X / Y-direction deviation range is set to be less than 0.2 mm. In this embodiment, the preset Z-direction deviation range and the preset X / Y-direction deviation range may be the same or different.

[0278] If the controller determines that the Z-direction deviation corresponding to the first distance in the Z-direction is within the preset Z-direction deviation range, and the X / Y-direction deviation corresponding to the first distance in the X / Y-direction is within the preset X / Y-direction deviation range, then no deviation calibration processing will be performed.

[0279] If the controller determines that the Z-direction deviation corresponding to the first distance in the Z-direction exceeds the preset Z-direction deviation range, or if the controller determines that the X / Y-direction deviation corresponding to the first distance in the X / Y direction exceeds the preset X / Y-direction deviation range, the controller will perform a calibration operation. The controller will adjust the coordinate system through software algorithms to correct and improve the deviation of the nozzle assembly (such as the first nozzle) in the Z-direction or X / Y direction.

[0280] In this embodiment, if the deviation is in the Z direction, the starting reference point of the printhead assembly on the Z axis may be redefined to better match the actual height reference required for printing. If the deviation is in the X or Y direction, the reference position of the printhead on the plane coordinate axis will be corrected accordingly to ensure that the printhead can be positioned and printed with high precision based on the adjusted and more accurate position during subsequent movement and printing. This is like recalibrating the printhead assembly with a precise positioning ruler to ensure print quality and accuracy.

[0281] In this embodiment, after obtaining the first distance in the Z direction, the position of the printhead assembly in the Z direction is precisely adjusted based on the Z direction deviation corresponding to this distance, making its position in the vertical direction more accurate and ensuring the stacking accuracy of the printing material in the Z-axis direction. Simultaneously, if a first distance exists in the X / Y direction, the position of the printhead assembly in the X / Y direction is also adjusted based on the X / Y direction deviation corresponding to this distance, thereby optimizing the positional relationship of the printhead in the plane and ensuring the accuracy and consistency of the printed pattern in the horizontal direction. Through this calibration method, the positioning accuracy of the printhead in the spatial coordinate system is significantly improved, and its precise calibration ensures the smooth progress of the entire printing process.

[0282] Step 703: Control the distance sensor in the first acquisition device to acquire the second detection information after the printhead assembly is calibrated; the second detection information includes: the second distance in the Z direction between the target nozzle in the printhead assembly and the printer printing platform, and / or the second distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly.

[0283] After the printhead assembly calibration operation in this embodiment, the distance sensor in the first acquisition device acquires the second detection information of the calibrated printhead assembly. The second detection information includes: the second distance in the Z direction between the target nozzle in the printhead assembly and the printer printing platform, and / or the second distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly. This information can reflect the deviation of the printhead assembly in some key directions (Z direction, X / Y direction) after calibration compensation.

[0284] In this embodiment, after the printhead assembly is calibrated, the first acquisition device detects that the target nozzle was originally too far from the printing platform in the Z direction. After calibration compensation, the change in distance between it and the printing platform is detected (e.g., from a deviation of -0.5mm to +0.1mm, where "-0.5mm" and "+0.1mm" are the Z-direction part of the second detection information). Alternatively, if the first nozzle and the second nozzle were previously offset by 1mm in the X direction, after calibration compensation, the offset is detected to be 0.2mm. That is, in this embodiment, by adjusting the position of the printhead assembly, the "1mm" in the X direction becomes "0.2mm", and then it is further determined whether 0.2mm is within the deviation range of the X / Y directions.

[0285] For example, if the target nozzle is 0.3mm farther from the printing platform in the Z direction than the standard distance (i.e., there is a Z-direction deviation), adjusting the position of the printhead assembly in the Z direction (e.g., lowering the entire printhead by 0.3mm) compensates for the Z-direction deviation. Similarly, if the first and second nozzles should be aligned in the X direction, but there is actually a 0.2mm offset (X-direction deviation), moving the printhead 0.2mm in the X direction via software to align them compensates for the X-direction deviation.

[0286] Step 704: If the Z-direction deviation after target nozzle compensation is within a preset first deviation range, and the X / Y-direction deviation after compensation is within a preset second deviation range, switch the printer to the ready state or resume the printing task.

[0287] In this embodiment of the application, if the deviation in the Z-axis direction (ΔZ) ≤ a preset first deviation range (e.g., ±0.1mm), and the composite deviation vector in the X / Y plane (√(ΔX) ≤ 0.1mm), then the deviation vector in the X / Y plane is within the preset first deviation range (e.g., ±0.1mm). 2 +ΔY 2If the deviation is less than or equal to the preset second deviation range (e.g., ±50μm), the state switching protocol is triggered. That is, firstly, the torque stability of each axis servo motor is checked (fluctuation rate <5% for 3 consecutive sampling cycles), then the GRBL "ready" command (M100) is sent to the motion controller, the offset flag bit in the alarm register is cleared synchronously, and finally the status indicator light is switched to the steady-state blue breathing mode through the HMI interface, and the printing queue is automatically restored (if there is an interrupted task, the cleaning process of pre-extruding 200mm consumables needs to be re-executed).

[0288] It is understood that the preset second deviation range in the embodiments of this application can be flexibly set according to the calibration situation. For example, the preset second deviation range can be the X / Y plane composite deviation vector, or the preset second deviation range can be the deviation in the X direction or the Y direction.

[0289] In this embodiment, a high-precision distance sensor is used to detect the Z-axis height and XY plane position deviation of multiple nozzles in real time, and dynamic compensation calibration is automatically performed to ensure the positioning accuracy of the printhead assembly in three-dimensional space (Z-axis ≤ 0.05mm / XY concentricity ≤ 25μm). Finally, the printing process is autonomously restored when strict tolerance conditions are met. It also has temperature compensation, vibration filtering and fault tracing capabilities, which significantly improves the reliability and forming accuracy of the multi-nozzle printing system.

[0290] In one embodiment of this application, the detection is performed using a distance sensor, as described in the previous embodiments. However, different distance sensors have different detection accuracies. In this embodiment, the distance sensor includes a first eddy current sensor disposed on the printhead assembly and a second eddy current sensor disposed on the printing platform. The method further includes:

[0291] 1. When the first calibration instruction is to perform Z-direction calibration on the printhead assembly, the first distance in the Z-direction between the target nozzle and the printing platform is collected by the first eddy current sensor.

[0292] 2. When the first calibration command is to perform X / Y direction calibration on the nozzle assembly, the first X / Y direction distance between the first nozzle and the second nozzle is collected by the second eddy current sensor.

[0293] The distance sensor described in this embodiment includes: a first eddy current sensor disposed on the printhead assembly, and a second eddy current sensor disposed on the printing platform, wherein...

[0294] The first eddy current sensor is a non-contact displacement detection device on the nozzle assembly. Its working principle is based on the electromagnetic induction principle, which emits a high-frequency alternating magnetic field (typical frequency 1-2MHz) and measures the Z-axis spacing through the eddy current effect of the metal platform. Technical parameters: range: 0.5-5mm, resolution: 0.1μm, working temperature: -20℃~150℃.

[0295] In this embodiment, a first eddy current sensor mounted on the printhead assembly is used to non-contactly measure the Z-axis distance between the target nozzle and the printing platform in real time (with an accuracy of up to 0.1 μm). Compared with traditional mechanical limit switches or photoelectric sensors, this method has the following advantages: First, it completely avoids the risk of nozzle scratching caused by contact measurement, making it particularly suitable for high-temperature (>200℃) printing environments. Second, it directly obtains the absolute distance value through the principle of electromagnetic induction, eliminating measurement errors caused by platform vibration (error reduction of more than 60%). Third, it increases the Z-axis calibration speed to the millisecond level (typical value 20ms / point), and with the dynamic compensation algorithm, the flatness of the first layer of printing can be controlled within ±0.02mm, significantly improving the first layer adhesion success rate of large printed parts.

[0296] The second eddy current sensor is embedded in the auxiliary detection sensor of the printing platform for XY plane calibration (orthogonal to the first sensor) to obtain the relative position between the nozzles (concentricity in dual-nozzle mode). The second eddy current sensor needs to be insulated from the heated bed (to prevent temperature interference) and is arranged in a grid (3×3 array to improve detection coverage). The second eddy current sensor is used to accurately acquire the first distance in the X / Y direction between the first nozzle and the second nozzle.

[0297] In this application's technical solution, a second eddy current sensor embedded in the printing platform is used to non-contactly detect the relative position of the multi-nozzle system in the XY plane (detection accuracy ±5μm). The electromagnetic induction principle is used to directly measure the horizontal distance between the nozzles, overcoming the defect of traditional optical calibration being easily interfered with by the reflective properties of materials (calibration success rate improved by 40%). Secondly, the sensor arranged in an orthogonal array can simultaneously acquire X / Y bidirectional deviation data in a single scan (time <50ms), which is more efficient than step-by-step calibration. Then, combined with a dynamic compensation algorithm, the printing concentricity error of the multi-nozzle system is controlled within ±0.01mm, perfectly solving the problem of blurred color difference boundaries when printing multiple materials.

[0298] In one embodiment of this application, the method further includes: the Z-direction deviation is the deviation between the first distance in the Z-direction and the first standard distance corresponding to the first calibration command; the X / Y-direction deviation is the deviation between the first distance in the X / Y-direction and the second standard distance, wherein the second standard distance is the distance when the first nozzle and the second nozzle are aligned in the X / Y direction.

[0299] In this embodiment, the first standard distance refers to the theoretical reference distance between the target nozzle and the printing platform preset by the system when executing the Z-axis calibration command. This parameter, as the core reference value of the calibration algorithm, has the following technical characteristics: the dynamic reference characteristic is not a fixed value, but is dynamically calculated from a material database based on the printing material type (e.g., PLA / ABS), first layer thickness setting (0.1-0.3mm), and heated bed temperature (ΔT±5℃); simultaneously, it is continuously optimized during operation through the following methods: periodically triggering contact probe-assisted calibration (once a week) and machine learning correction based on historical successful printing data (error convergence rate > 92%). The standard distance maintains the stability of the calibration reference while adapting to different working conditions, increasing the first layer printing success rate from 70% to 95% compared to the traditional fixed gap setting method.

[0300] In this embodiment, under ideal conditions, when the first nozzle (N1) and the second nozzle (N2) are perfectly aligned, the center distance between them in the X / Y plane is the second standard distance. The initial value is calibrated at the factory using high-precision optical measurement (such as a CCD vision system) and stored in the firmware parameter table. During operation, a thermal expansion compensation algorithm is used for dynamic adjustment to eliminate the misalignment problem of the dual nozzles, ensuring that the interlayer alignment error during multi-color / multi-material switching is ≤ ±0.01mm. This process ensures that the dual-nozzle system maintains ultra-high concentricity even during high-speed printing, making it suitable for industrial-grade high-precision multi-material 3D printing needs.

[0301] This application provides a specific method for determining the Z-direction deviation and the X / Y-direction deviation. In the above embodiments of the application, since the detected distance is an actual value, a calibration value needs to be set to determine the deviation. In the technical solution of this application, the calibration value can be flexibly set according to the calibration instruction, so that the printhead assembly can achieve accurate printing in different scenarios.

[0302] In this embodiment, an eddy current sensor is used to accurately measure the actual distance (Z direction) between the printhead assembly and the printing platform, as well as the relative positions (X / Y directions) between multiple nozzles. These measurements are then compared with a preset standard distance to automatically calculate the three-dimensional spatial deviation (Z direction deviation = measured distance - standard distance, X / Y direction deviation = measured nozzle spacing - theoretical alignment distance). When the deviation exceeds a threshold, high-precision dynamic compensation is triggered. Ultimately, the printhead system achieves micron-level calibration requirements (typical values ​​Z≤±0.05mm, XY≤±0.02mm) in both Z-axis positioning accuracy and XY plane concentricity. This enables rapid self-calibration and stable printing state recovery of the printing system, effectively eliminating multi-dimensional positioning errors caused by factors such as thermal deformation and mechanical wear.

[0303] In one embodiment of this application, the position of the target nozzle in the Z direction and the coordinate reference of the target nozzle in the Z direction are adjusted based on the Z direction compensation parameter corresponding to the Z direction deviation; the Z direction compensation parameter is determined based on the Z direction deviation and a preset first mapping relationship; and the position of the nozzle assembly in the X / Y direction and the coordinate reference of the nozzle assembly in the X / Y direction are adjusted based on the X / Y direction compensation parameter corresponding to the X / Y direction deviation; the X / Y direction compensation parameter is determined based on the X / Y direction deviation and a preset second mapping relationship.

[0304] In this embodiment, after detecting the Z-axis deviation (ΔZ), the system automatically matches compensation parameters through a preset nonlinear compensation mapping table. This mapping relationship comprehensively considers nozzle temperature (set in 10°C increments within the 200-300°C range), platform material (metal / glass compensation coefficient difference ±15%), and historical wear data (corrected by cumulative printing hours). The technical solution in this application uses an intelligent nonlinear compensation mechanism to automatically convert the detected Z-axis deviation (ΔZ) into high-precision compensation parameters. Combined with multi-dimensional data such as temperature, material, and mechanical wear, dynamic correction is performed, enabling Z-axis positioning calibration to achieve micron-level accuracy (error ≤ ±0.005mm). The entire compensation process is completed rapidly within 150ms, and stability is ensured through closed-loop control and redundant verification. Simultaneously, the adaptive database is continuously optimized, significantly improving the flatness of the first printed layer and long-term calibration reliability, making it particularly suitable for high-precision industrial-grade 3D printing scenarios.

[0305] The pre-set second mapping relationship in this application (including nozzle temperature compensation coefficient, mechanical backlash correction factor, and material shrinkage parameter) converts the detected X / Y direction deviation (ΔX / ΔY) into high-precision compensation parameters. In this embodiment, an intelligent X / Y direction dynamic compensation system combines the detected nozzle position deviation (ΔX / ΔY) with multiple factors such as temperature, material properties, and mechanical parameters, and generates the optimal compensation parameters in real time through the pre-set second mapping relationship. The nozzle position is adjusted with an ultra-high precision of 0.002mm, so that the concentricity error of the multi-nozzle system is stably controlled within ±0.008mm. This not only effectively solves the problems of interlayer misalignment and color boundary blurring in multi-material printing, but also continuously optimizes the compensation accuracy through an adaptive learning algorithm, significantly improving the geometric accuracy and surface quality of color 3D printed parts. It is particularly suitable for demanding industrial-grade high-precision multi-color printing applications.

[0306] In this embodiment of the application, if it is determined that the Z-direction deviation of the target nozzle exceeds the deviation range, the Z-direction position information of the target nozzle is adjusted; and if it is determined that the X / Y-direction deviation of the nozzle assembly exceeds the deviation range, the X / Y-direction position information of the nozzle assembly is adjusted, and then the adjusted nozzle assembly is subjected to a second detection until the Z-direction deviation of the target nozzle is within the deviation range and the X / Y-direction position information of the nozzle assembly is within the deviation range, and the adjustment is terminated.

[0307] Furthermore, since the nozzle assembly has a pre-set coordinate system, adjusting the position of the nozzle assembly may cause the coordinates of the nozzle assembly to deviate. Therefore, the embodiments of this application can further adjust the coordinate reference of the nozzle assembly. Specifically, if it is determined that the Z-direction deviation of the target nozzle exceeds the deviation range, the Z-direction position information of the target nozzle can be adjusted first. After the Z-direction position information of the target nozzle is adjusted, the Z-direction coordinate reference of the target nozzle is further updated. Also, if it is determined that the X / Y-direction deviation of the nozzle assembly exceeds the deviation range, the X / Y-direction position information of the nozzle assembly can be adjusted first. After the X / Y-direction position information of the nozzle assembly is adjusted, the X / Y-direction coordinate reference of the nozzle assembly is further updated until the Z-direction deviation of the target nozzle is within the deviation range and the X / Y-direction position information of the nozzle assembly is within the deviation range, and the coordinate system of the nozzle assembly is aligned.

[0308] Those skilled in the art will understand that the position adjustment of the nozzle assembly and the coordinate reference adjustment of the nozzle assembly can be performed separately. For example, the position of the nozzle assembly can be adjusted alone, and the coordinate reference of the nozzle assembly can be adjusted alone. Alternatively, the position adjustment of the nozzle assembly and the coordinate reference adjustment of the nozzle assembly can be performed separately. For example, the position adjustment of the nozzle assembly can be performed first, and then the coordinate reference adjustment of the nozzle assembly can be performed. Or, the position adjustment of the nozzle assembly and the coordinate reference adjustment of the nozzle assembly can be performed simultaneously. For example, those skilled in the art can adjust the position and coordinate reference of the nozzle assembly according to the magnitude of the deviation of the nozzle assembly.

[0309] In this embodiment, the position adjustment of the nozzle assembly can be mechanical, while the coordinate reference adjustment of the nozzle assembly can be software-based. During the nozzle deviation adjustment process, both mechanical and software adjustments can be combined to reduce the deviation of the nozzle assembly.

[0310] It should be further noted that the compensation parameters in this embodiment are also used for deviation compensation. That is, in this embodiment, deviation can be reduced not only by position adjustment but also by mechanical adjustment. When mechanical adjustment is performed for compensation, for example, the motion controller adjusts the Z-axis motor with a microstep of 0.001mm, while suppressing mechanical backlash in real time through PID closed-loop (proportional gain Kp = 0.8, integral time Ti = 2ms). After compensation is completed, three redundant checks are triggered (sampling interval 50ms) to ensure that the final Z-axis positioning error is ≤ ±0.005mm. Furthermore, the compensation parameters are dynamically updated to the adaptive learning database to optimize subsequent calibration efficiency.

[0311] Reference Figure 8 , Figure 8 A further schematic diagram of the control calibration process for a printer provided in this application embodiment using visual analysis. Figure 5 In one embodiment of this application, the first acquisition device includes a first image sensor disposed on the printer body, and the method further includes:

[0312] Step 801: In response to the second calibration command, control the printhead assembly to print the calibration pattern.

[0313] The second calibration command in this embodiment is used to calibrate the position of the printhead assembly in the printer. The purpose of the second calibration command in this embodiment is the same as that of the first calibration command in the above embodiment, which is to improve the printing effect of the printer. However, the first calibration command is calibrated by parameters collected by a specific sensor, while the second calibration command in this embodiment is calibrated by image information collected by an image sensor.

[0314] In this embodiment, upon receiving the second calibration command, the calibration process is immediately initiated: First, the nozzle assembly is controlled to print a preset cross-grid calibration pattern (line width 0.4mm, layer height 0.1mm) in the central area of ​​the printing platform. Simultaneously, the integrated vision system is activated to scan the geometric features of the model at a frame rate of 200fps. Through deep learning algorithms, the line overlap and corner distortion rate are analyzed in real time. Within 10 seconds, a compensation matrix containing 12 parameters, including XY axis scaling ratio and belt backlash, is generated. Finally, the nonlinear compensation parameter table of the motion controller is automatically updated. The entire process takes no more than 30 seconds and requires no manual intervention, improving the dynamic printing accuracy of the multi-nozzle system to the ±15μm level.

[0315] It is understood that the calibration pattern in this application embodiment can be set according to specific scenarios. The calibration pattern is a specific geometric structure used for printer calibration, using a high-contrast cross grid, concentric circles or stepped patterns (line width adjustable from 0.2 to 0.6 mm), and forming feature edges through precisely controlled extrusion amount; typically it includes orthogonal X / Y axis line segments (to detect axial expansion deviation), and sets a 45° bevel (to measure belt backlash and transmission nonlinearity) multi-layer stacked structure (to evaluate Z-axis step consistency); the geometric deformation of the calibration pattern (such as line misalignment ±5 μm) directly reflects the actual error of the mechanical system, providing a quantitative compensation basis for the visual algorithm.

[0316] Step 802: Control the first image sensor to acquire second image information containing the calibration pattern.

[0317] After the calibration pattern is printed in this embodiment, the printer immediately triggers the first image sensor to acquire the second image information of the calibration pattern in macro mode: first, 3×3 grid-based regional shooting is performed (15% overlap rate per region), then exposure synthesis is used to eliminate reflection interference, and then a GPU-accelerated distortion correction algorithm is used to eliminate lens distortion, and finally the target format image data is output.

[0318] Step 803: If the printing deviation determined based on the second image information exceeds the deviation range, adjust the position of the printhead assembly based on the second image information until the printing deviation is within the deviation range.

[0319] In this embodiment of the application, when the image analysis result of the calibration graphic exceeds the preset deviation threshold, a multi-level compensation process is automatically triggered: First, the geometric distortion features in the image (such as line offset, angle deviation, etc.) are analyzed by a visual algorithm to generate a compensation matrix containing axial scaling ratio and orthogonality error; then, the matrix is ​​converted into the motion parameter correction amount of the printhead assembly, and the position of the X / Y / Z axes is dynamically adjusted (including stepper motor microstep distance, belt tension compensation, etc.); after each adjustment, the verification model is reprinted and a new image is acquired for closed-loop verification until the geometric feature error of the calibration graphic converges to the allowable range, and finally the optimized mechanical parameters are locked and the printer calibration configuration file is updated.

[0320] In this embodiment, a visual feedback closed-loop control system is used to achieve intelligent dynamic calibration of the printhead assembly position. When image analysis detects that the printing deviation exceeds the allowable range, the printer automatically analyzes the deviation characteristics and generates precise compensation parameters. By iteratively adjusting the printhead motion parameters and mechanical compensation, the printing accuracy quickly converges to the preset standard range. This process not only eliminates systematic deviations caused by mechanical transmission errors, thermal deformation, etc., but also ensures calibration reliability through a closed-loop verification mechanism, ultimately improving the overall positioning accuracy of the multi-axis printing system.

[0321] In one embodiment of this application, a first nozzle in the printhead assembly is controlled to print the first calibration pattern, and a second nozzle in the printhead assembly is controlled to print the second calibration pattern; the first calibration pattern and the second calibration pattern are acquired by the first image sensor to obtain the second image information; based on the first parallel line segment group in the second image information, the printing deviation of the printhead assembly in the first direction corresponding to the first parallel line segment group is determined; two parallel lines in the first parallel line segment group are respectively located in the first calibration pattern and the second calibration pattern.

[0322] In this embodiment, pre-designed geometric patterns (such as parallel lines, intersecting lines, grids, etc.) are used to evaluate the printing accuracy and alignment of the nozzles. The first calibration pattern includes the first line from a set of parallel line segments, and the second calibration pattern includes the second parallel line corresponding to the first calibration pattern, used to compare the offset between the two. For example, if two parallel lines with a theoretical spacing of 0.1mm have an actual printed spacing of 0.12mm, it indicates a deviation of 0.02mm.

[0323] In this application embodiment, the first calibration pattern and the second calibration pattern can be the same or different. For example, the first calibration pattern can be a grid, and the second calibration pattern can also be a grid with the same grid size. Each of the first calibration pattern and the second calibration pattern contains a line segment, and the two line segments form a parallel line segment group. In this application embodiment, the parallel line segments can be used for convenient and quick deviation identification.

[0324] In this embodiment, the system controls a first nozzle in the printhead assembly to print the first calibration pattern, and controls a second nozzle in the printhead assembly to print the second calibration pattern. A first image sensor acquires the first and second calibration patterns to obtain second image information. A comparison group consisting of two theoretically parallel line segments in the first and second calibration patterns is identified in the second image information. If the two lines are not actually parallel or the spacing is not as expected, it indicates that the nozzle has offset or mechanical error. By comparing the actual spacing of the two parallel lines with the theoretical spacing, and combining pixel calibration parameters, a physical deviation value is calculated. For example, if the line segment printed by the first nozzle is offset to the right, while the line segment printed by the second nozzle is offset to the left, the spacing between them will increase, and the system calculates the deviation value accordingly.

[0325] In this embodiment, the dual nozzles alternately print calibration patterns and then perform high-precision image acquisition. Based on the acquired image information, the deviation of the parallel line group is analyzed, and then a closed-loop process of dynamic calibration is implemented to achieve high-precision alignment of the printhead assembly. This method achieves non-contact, high-precision printhead alignment calibration, effectively solves the misalignment problem of multi-nozzle printing systems, significantly improves print quality and consistency, simplifies the calibration process, and improves production efficiency.

[0326] In some embodiments, the calibration pattern includes a third calibration pattern and a fourth calibration pattern. The method further includes: after the position adjustment of the printhead assembly is completed, controlling the first nozzle in the printhead assembly to print the third calibration pattern again, and controlling the second nozzle in the printhead assembly to print the fourth calibration pattern; acquiring the printed third calibration pattern and the fourth calibration pattern through the first image sensor to obtain third image information; determining the printing deviation of the printhead assembly in the second direction corresponding to the second parallel line segment group based on the second parallel line segment group in the third image information; the first direction and the second direction are different; controlling the calibration termination of the printhead assembly based on the printing deviation in the first direction and the printing deviation in the second direction.

[0327] In this embodiment, the third and fourth calibration patterns are pre-designed geometric patterns (such as parallel lines, intersecting lines, grids, etc.) used to evaluate the printing accuracy and alignment of the nozzles. The first, second, third, and fourth calibration patterns can be completely identical, partially identical, or completely different. It is understood that the first, second, third, and fourth calibration patterns are mainly for nozzle calibration, and their shapes are based on the rapid printing of the printhead assembly.

[0328] It is understood that in the embodiments of this application, the first nozzle is used to print the first calibration pattern and the third calibration pattern, and the second nozzle is used to print the second calibration pattern and the fourth calibration pattern. Generally, the printing filaments corresponding to the first nozzle and the second nozzle are different, or the sizes of the first nozzle and the second nozzle are different, so the color, material or thickness of the first calibration pattern and the second calibration pattern formed are different; and the color, material or thickness of the third calibration pattern and the fourth calibration pattern formed are different.

[0329] In this embodiment, the digitized data of the third and fourth calibration patterns acquired by the first image sensor are used to analyze the deviation in the second direction. The printer determines whether the deviation values ​​in the first direction (X-axis) and the second direction (Y-axis) have reached a precision threshold, and decides whether to terminate the calibration; for example, if the X-axis deviation is ≤0.01mm and the Y-axis deviation is ≤0.01mm, then the calibration is terminated; otherwise, the printhead position is adjusted. Specifically:

[0330] In this embodiment, the first nozzle is controlled to print a first calibration pattern (e.g., a horizontal line segment), and the second nozzle prints a second calibration pattern (parallel horizontal line segments). Both are captured by a first image sensor to obtain second image information. The first group of parallel line segments in the image is extracted, and the difference between the actual and theoretical spacing in the X-axis direction is calculated to determine the X-axis deviation (e.g., +0.02mm). The X-axis motor or software coordinate offset of the nozzle assembly is finely adjusted based on the deviation value.

[0331] In this embodiment, the first direction is verified: It is confirmed that the X-axis deviation has been corrected to within a threshold (e.g., ±0.005mm). Further control is applied to the second calibration (second direction) using the calibrated printhead to print a third calibration pattern (e.g., a vertical line segment) and a fourth calibration pattern (parallel vertical line segments). The third image information is obtained by capturing images using the same image sensor. The second group of parallel line segments is extracted, and the Y-axis deviation (e.g., -0.015mm) is calculated for multi-dimensional evaluation. If the X-axis deviation is ≤0.01mm and the Y-axis deviation is ≤0.01mm, calibration is complete. If the deviation in any direction is not within the deviation range, the adjustment process for the corresponding direction is returned. In this embodiment, dynamic adjustment is used to gradually approach the target accuracy.

[0332] In this embodiment, a step-by-step calibration method is used. First, the printing deviation of the printhead assembly in the first direction (e.g., the X-axis) is adjusted. Then, third and fourth calibration patterns are printed to detect deviations in the second direction (e.g., the Y-axis or oblique direction). An image sensor is used to collect information on parallel line segments in different directions, achieving multi-dimensional precision calibration. This method not only efficiently identifies and corrects printhead misalignment in orthogonal or specific angular directions but also dynamically controls the calibration termination condition by comprehensively evaluating the deviations in both directions, ensuring optimal alignment accuracy of the printhead assembly. This closed-loop calibration mechanism significantly improves the overall alignment accuracy of the multi-nozzle printing system, reduces the number of repeated adjustments, and avoids interference between multi-dimensional errors. Simultaneously, it adapts to the high-precision requirements of complex printing tasks, ultimately improving the consistency and yield of printed products.

[0333] In some embodiments, the first acquisition device further includes a laser sensor and a second image sensor disposed on the printhead assembly, and the method further includes: emitting a laser to the printed calibration pattern through the laser sensor; and acquiring an image of the laser-illuminated calibration pattern through the second image sensor to obtain the second image information.

[0334] This application embodiment features a multi-sensor system on the printhead assembly for high-precision calibration data acquisition. The first acquisition device includes a laser sensor and a second image sensor mounted on the printhead assembly. The laser sensor emits structured laser light (such as a line laser) that projects onto the printing surface. The second image sensor is a dedicated optical acquisition module that works in conjunction with the laser sensor. Compared to single visual detection, the addition of laser assistance in this application's technical solution enhances the ability to recognize weak features.

[0335] In this embodiment, after printing is completed, the laser sensor instantly emits a laser line to illuminate the first / second calibration pattern. In this embodiment, the laser line width is controlled between 50-100 μm to cover the key features of the calibration pattern. Furthermore, the second image sensor captures the shape of the laser line with a microsecond-level exposure time.

[0336] In this embodiment, if the laser detection data of the laser sensor differs from the detection data of the image sensor, the laser data is preferred. Of course, if the laser line breaks or deviates due to height difference, this embodiment can use a neural network model to fit and correct the information to obtain accurate image information, thereby detecting the deviation of the nozzle assembly.

[0337] In this embodiment, a laser sensor and a second image sensor integrated on the printhead assembly work together. By illuminating the calibration pattern with a laser and acquiring the reflected image using the second image sensor, the feature recognition accuracy of the calibration pattern can be enhanced, especially under low-contrast or complex background conditions. The directional projection of the laser highlights the edges and geometric features of the calibration pattern, while the high-resolution acquisition of the second image sensor further improves the signal-to-noise ratio and detail reproduction capability of the image information, thereby more accurately detecting printhead position deviations or printing defects. This active optical detection scheme significantly improves the robustness and adaptability of the calibration system, and is particularly suitable for the dynamic calibration needs of high-precision industrial printing equipment, effectively reducing ambient light interference and improving calibration efficiency.

[0338] In one embodiment of this application, step 803, adjusting the position of the printhead assembly based on the second image information until the printing deviation is within the deviation range, specifically includes:

[0339] 1. Based on the second image information, determine the printing information of the printhead assembly; the printing information includes: the printing height of the target line in the Z direction in the second image information, and / or the printing length of the target line in the X / Y direction in the second image information;

[0340] 2. Based on the printing deviation corresponding to the printing information, adjust the position of the printhead assembly and the coordinate reference of the printhead assembly; the printing deviation includes: the deviation between the printing height in the Z direction and the theoretical height in the Z direction of the calibration pattern, and / or the deviation between the printing length in the X / Y direction and the theoretical length in the X / Y direction of the calibration pattern.

[0341] In this embodiment, the machine vision algorithm analyzes the second image information and extracts key geometric features from the calibration graphic: First, it identifies the imaging edge contour of the target line and calculates its actual printing height (Z-direction layer thickness deviation) and printing length (X / Y-direction scaling error); then, combined with the preset theoretical size of the calibration graphic, it quantifies the actual printing deviation of the printhead assembly in three-dimensional space; it automatically calculates the compensation amount of the printhead assembly on each coordinate axis, adjusts the position of the printhead assembly, and then, based on the position-adjusted printhead assembly, it gradually corrects the systematic deviation caused by mechanical transmission error and thermal deformation by dynamically adjusting the reference coordinate parameters of the printhead assembly, ultimately making the actual printing size completely match the theoretical geometric features of the calibration graphic.

[0342] Reference Figure 9 , Figure 9 This application provides another flowchart illustrating the control calibration process of a printer control method based on motion analysis, as illustrated in the embodiments of this application. Figure 6 In one embodiment of this application, the first acquisition device includes a second image sensor disposed on the nozzle assembly, and the method further includes:

[0343] Step 901: In response to the third calibration command, control the movement of the nozzle assembly.

[0344] In this embodiment, upon receiving the third calibration command, the motion calibration process of the nozzle assembly is immediately initiated: First, the nozzle is controlled to perform uniform scanning along a preset three-dimensional spatial trajectory (including composite motion of X / Y / Z axes), while simultaneously acquiring the actual position data of each axis in real time through a high-precision encoder; then, the measured values ​​of the motion trajectory are compared and analyzed with the theoretical path to identify nonlinear deviations such as backlash and step distance error in the mechanical transmission system; finally, based on the dynamically established error compensation table, the interpolation algorithm parameters of the motion controller are automatically corrected, so that the positioning accuracy of the nozzle in actual operation reaches the micron-level standard, specifically:

[0345] Step 902: When the nozzle assembly is in motion, control the second image sensor to acquire motion video of the nozzle assembly in motion.

[0346] In this embodiment, when the printhead assembly performs motion calibration, the printer simultaneously activates a high-speed second image sensor (frame rate ≥ 1000fps) for dynamic acquisition: the printhead feature markers are locked by a preset tracking algorithm, and their spatial trajectory is continuously recorded during the XYZ three-axis composite motion. Combined with timestamps and encoder data, a kinematic analysis report (including parameters such as instantaneous velocity, acceleration, and vibration amplitude) is generated, providing a dynamic behavior database with millimeter-level precision for subsequent motion control optimization. The entire process automatically terminates after motion calibration is completed and a visual analysis chart is generated.

[0347] Step 903: If the motion deviation determined based on the motion video exceeds the deviation range, adjust the position of the nozzle assembly based on the motion video until the motion deviation is within the deviation range.

[0348] In this embodiment, when the actual motion trajectory of the nozzle assembly (such as vibration amplitude, axial offset, or speed fluctuation) exceeds a preset deviation threshold detected by motion video analysis, a dynamic compensation mechanism is automatically triggered: First, the spatiotemporal coordinates of feature points in the video frame sequence are extracted to construct a three-dimensional motion error model; then, corresponding compensation parameters are generated according to the deviation type (such as mechanical resonance or step misalignment), and the PID control parameters of the servo motor and the motion interpolation algorithm are adjusted in real time; after each adjustment, the calibration motion is re-executed and new video is collected for verification until the dynamic motion accuracy of the nozzle (including trajectory smoothness and positioning repeatability) stabilizes and converges to the allowable range, and finally the reference parameter library of the motion controller is updated and a calibration report is generated.

[0349] In this embodiment, closed-loop control of printhead motion accuracy is achieved through dynamic visual feedback: when the third calibration command is executed, the system synchronously drives printhead motion and high-speed image acquisition (1000fps). By analyzing real-time trajectory deviations (including vibration, offset, and other parameters) in the motion video, compensation parameters are automatically generated and the servo control algorithm is dynamically adjusted. This reduces the printhead positioning error during high-speed motion from the initial ±0.1mm to within ±0.01mm, and the compensation process is fully automated, requiring no manual intervention. This machine vision-based online calibration technology effectively solves the problem of traditional static calibration failing to capture dynamic errors, thus improving the accuracy of printed parts.

[0350] In one embodiment of this application, the method further includes:

[0351] The second image sensor is controlled to acquire target encoding information from the visual encoding plate below the printhead assembly, and at least two frames containing the target encoding information are set as the motion video. The visual encoding plate is detachably mounted on the printer printing platform. The visual encoding plate includes at least two encoding information, and the target encoding information is used to mark the relative position between the printhead assembly and the printer printing platform.

[0352] In this embodiment, high-precision dynamic calibration is achieved through a detachable vision coding board: when the printhead assembly moves, the vision coding board (containing multiple sets of absolute position coding patterns) fixed on the printing platform is continuously acquired by the second image sensor at a frame rate of 500fps. The system selects at least two key images containing different coding information (interval ≥10ms), extracts the absolute coordinate data (accuracy ±5μm) on the coding board through a decoding algorithm, and calculates the three-dimensional relative position deviation between the printhead and the platform (including Z-axis height and XY plane offset) in real time by combining the correspondence between the timestamp and the printhead movement trajectory. This provides a sub-micron level reference for dynamic compensation. The entire process is completed within 200ms and supports hot-swappable replacement of the coding board, making it suitable for rapid recalibration in multi-material printing scenarios.

[0353] The step of adjusting the position of the nozzle assembly based on the motion video further includes:

[0354] 1. Determine the motion trajectory of the nozzle assembly based on the target encoding information in at least two frames of the motion video.

[0355] In this embodiment, the acquired continuous image frames (≥2 frames) are encoded and identified, and the pixel coordinates of the preset absolute position markers on the visual encoder are extracted in each frame. Then, combined with the physical size parameters of the encoder (e.g., the known encoding spacing is 0.5 mm) and camera calibration data (intrinsic parameter matrix and distortion coefficients), the three-dimensional spatial coordinates (X / Y / Z) of the nozzle assembly relative to the encoder are calculated using the PnP algorithm. Finally, based on the timestamp, B-spline curve fitting is performed on the coordinate points of multiple frames to reconstruct the complete six-degree-of-freedom trajectory of the nozzle during its motion (including position and attitude angles). The trajectory reconstruction accuracy reaches ±3μm@100mm / s, providing a high-confidence kinematic data basis for subsequent deviation analysis.

[0356] 2. Based on the motion trajectory and the standard trajectory corresponding to the third calibration command, determine the motion deviation of the nozzle assembly.

[0357] In this embodiment, the reconstructed actual motion trajectory is spatiotemporally aligned with the standard trajectory preset by the third calibration command (including theoretical values ​​in the time-position-velocity domains), and the Dynamic Time Warping (DTW) algorithm is used to eliminate the influence of timing jitter. Subsequently, the three-dimensional position deviation (ΔX, ΔY, ΔZ) and attitude angle offset (ΔRoll, ΔPitch, ΔYaw) are calculated at key feature points (such as corners and acceleration / deceleration intervals), and the periodic fluctuation component caused by mechanical resonance is extracted through frequency domain analysis. Finally, a composite deviation report containing static errors (such as backlash) and dynamic errors (such as vibration amplitude) is generated with an accuracy of ±1μm, providing multi-dimensional data support for motion compensation.

[0358] 3. Based on the motion compensation parameters corresponding to the motion deviation, adjust the position of the nozzle assembly and the coordinate reference of the nozzle assembly.

[0359] In this embodiment, multi-dimensional compensation parameters are automatically generated based on the motion deviation report, including the position compensation amount of the X / Y / Z axes (step resolution 0.001mm), the dynamic PID gain of the servo motor (Kp=0.6, Ki=0.02, Kd=0.1), and the vibration suppression filter parameters (cutoff frequency 80Hz). Subsequently, the compensation parameters are injected into the motion controller via a real-time control bus (EtherCAT, period ≤1ms). The controller adjusts the position of the nozzle assembly and the coordinate reference of the nozzle assembly according to the compensation amount, and completes the dynamic loading of all parameters before the next motion cycle. Finally, a verification trajectory scan is triggered, and the compensation effect is confirmed by secondary measurement.

[0360] In this application, the technical solution achieves micron-level calibration of the printhead motion trajectory through dynamic tracking using a visual encoding board. The printer accurately reconstructs the three-dimensional motion trajectory of the printhead by decoding the absolute position encoding information in consecutive frames and compares it with a standard trajectory in real time, automatically calculating the motion deviation, including parameters such as axial offset and speed fluctuation. Based on this, the generated compensation parameters dynamically correct the servo control parameters (such as PID gain and stepping microstep), reducing the deviation between the actual motion trajectory and the theoretical path from the initial ±50μm to within ±2μm, with a compensation response time of less than 100ms. This closed-loop calibration method based on absolute encoding not only overcomes the shortcomings of traditional relative encoding, which easily accumulates errors, but also adapts to the rapid recalibration requirements of different printing platforms (such as high-temperature heated beds or flexible substrates).

[0361] This application provides a printer, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the above-described method.

[0362] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method. The computer-readable storage medium can be transient or non-transient.

[0363] This application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied as a computer storage medium; in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0364] It should be noted that, Figure 10 This is a schematic diagram of the hardware entity of a printer provided in an embodiment of this application, such as... Figure 10 As shown, the hardware entity of the printer 150 includes: a processor 151, a communication interface 152, a memory 153, and a printhead assembly 154, wherein:

[0365] The processor 151 typically controls the overall operation of the printer 150.

[0366] Communication interface 152 enables printer 150 to communicate with other terminals or servers via a network.

[0367] The memory 153 is configured to store instructions and applications executable by the processor 151, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) in the processor 151 and various modules in the printer 150. It can be implemented using flash memory or random access memory (RAM). Data can be transferred between the processor 151, communication interface 152, memory 153, and printhead assembly 154 via bus 155.

[0368] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0369] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0370] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for controlling a printer, characterized in that, The control method includes: The first acquisition device is controlled to acquire first detection information of the printhead assembly of the printer; the printhead assembly includes a first nozzle and a second nozzle; the first detection information is used to determine the position of the first nozzle and / or the position of the second nozzle; The nozzle assembly is calibrated at least once based on the first detection information. The calibration includes: adjusting the position of the nozzle assembly based on the deviation of the nozzle assembly if the deviation of the nozzle assembly exceeds a preset deviation range; the deviation of the nozzle assembly is determined based on the position of the first nozzle and / or the position of the second nozzle. Control the first acquisition device to acquire the second detection information after the nozzle assembly is calibrated; and... If the deviation of the printhead assembly corresponding to the second detection information is within the preset deviation range, the printer is switched to the ready state or the printing task is resumed.

2. The control method according to claim 1, characterized in that, The first detection information is first image information, and the method further includes: Feature extraction is performed based on the first image information to obtain the position of the target nozzle and the calibration point information of the target nozzle; the target nozzle includes the first nozzle and / or the second nozzle; Based on the position of the target nozzle and the calibration point information of the target nozzle, the deviation corresponding to the nozzle assembly is determined; the deviation corresponding to the nozzle assembly includes: the deviation of the first nozzle and / or the deviation of the second nozzle, wherein the deviation of the first nozzle is the deviation between the position of the first contact nozzle and the calibration point information of the first nozzle; and the deviation of the second nozzle is the deviation between the position of the second contact nozzle and the calibration point information of the second nozzle.

3. The control method according to claim 2, characterized in that, The position of the first nozzle is a three-dimensional position, and the position of the second nozzle is a three-dimensional position; The feature extraction characterization is based on at least one of template matching, edge detection and deep learning algorithms to extract features from the first detection information, thereby obtaining the three-dimensional position of the target nozzle and the calibration point information of the target nozzle; The adjustment of the position of the nozzle assembly includes: adjusting the position of the nozzle assembly based on the compensation parameter corresponding to the deviation of the nozzle assembly; and updating the coordinate reference of the nozzle assembly after the position adjustment of the nozzle assembly is completed. The compensation parameter of the nozzle assembly is determined based on the deviation of the center of the target nozzle, and the deviation of the center of the target nozzle is determined based on the three-dimensional position of the target nozzle and the calibration point information of the target nozzle.

4. The control method according to claim 1, characterized in that, The method further includes: Control the printhead assembly to print the initial print sample; Based on the dimensional deviation of the initial printed sample, the printing path of the printhead assembly is corrected, and the first nozzle and the second nozzle in the printhead assembly are aligned.

5. The control method according to claim 1, characterized in that, The method further includes: In response to the detection of a nozzle switching command, the first acquisition device is controlled to acquire third detection information of the working nozzle; wherein, the working nozzle includes the first nozzle or the second nozzle; Switch the other nozzle to the working nozzle; Control the first acquisition device to acquire the fourth detection information of the working nozzle; Based on the third and fourth detection information, the working nozzle is calibrated once. Control the first acquisition device to acquire the next fourth detection information of the working nozzle; If the deviation corresponding to the working nozzle is within a preset deviation range as indicated by the next fourth detection information, the printer is switched to a ready state or the printing task is resumed.

6. The control method according to any one of claims 1 to 5, characterized in that, The method further includes: The printer's printhead assembly is controlled to print a target set of exterior walls from a 3D model. The 3D model includes multiple sets of exterior walls and a corresponding fill set for each set. The target set of exterior walls is one of the multiple sets of exterior walls. Each target set of exterior walls includes at least two layers of exterior walls, and each fill set includes at least one layer of fill. The nozzle assembly is controlled to print the target fill set corresponding to the target exterior wall set. The total height of each layer of fill in the target fill set is the same as the total height of each layer of exterior wall in the target exterior wall set. The number of layers in the target fill set is less than the number of layers in the target exterior wall set.

7. A method for controlling a printer, characterized in that, The method includes: In response to a first calibration command, the distance sensor in the first acquisition device is controlled to acquire first detection information of the printer printhead assembly. The printhead assembly includes a first nozzle and a second nozzle. The first detection information includes a first distance in the Z direction between the target nozzle in the printhead assembly and the printer printing platform, and / or a first distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly. The target nozzle includes the first nozzle and / or the second nozzle. The nozzle assembly is calibrated at least once based on the first detection information, including: adjusting the position of the nozzle assembly in the Z direction based on the Z direction deviation when the Z direction deviation corresponding to the first distance in the Z direction exceeds a preset Z direction deviation range; and / or adjusting the position of the nozzle assembly in the X / Y direction based on the X / Y direction deviation when the X / Y direction deviation corresponding to the first distance in the X / Y direction exceeds a preset X / Y direction deviation range. The distance sensor in the first acquisition device is controlled to acquire second detection information after the printhead assembly is calibrated; the second detection information includes: the second distance in the Z direction between the target nozzle in the printhead assembly and the printer printing platform, and / or the second distance in the X / Y direction between the first nozzle and the second nozzle in the printhead assembly; If the Z-direction deviation corresponding to the second distance in the Z direction is within the preset Z-direction deviation range, and the X / Y-direction deviation corresponding to the second distance in the X / Y direction is within the preset X / Y-direction deviation range, the printer is switched to the ready state or the printing task is resumed.

8. The control method according to claim 7, characterized in that, The distance sensor includes: a first eddy current sensor disposed on the printhead assembly, and a second eddy current sensor disposed on the printing platform; the method further includes: When the first calibration command is to perform Z-direction calibration on the printhead assembly, the first Z-direction distance between the target nozzle and the printing platform is acquired using the first eddy current sensor; or, When the first calibration command is to perform X / Y direction calibration on the nozzle assembly, the first X / Y direction distance between the first nozzle and the second nozzle is collected by the second eddy current sensor.

9. The control method according to claim 7, characterized in that, The Z-direction deviation is the deviation between the first distance in the Z-direction and the first standard distance corresponding to the first calibration command; the X / Y-direction deviation is the deviation between the first distance in the X / Y direction and the second standard distance, where the second standard distance is the distance when the first nozzle and the second nozzle are aligned in the X / Y direction; the method further includes: Based on the Z-direction compensation parameters corresponding to the Z-direction deviation, the position of the target nozzle in the Z-direction and the coordinate reference of the target nozzle in the Z-direction are adjusted; the Z-direction compensation parameters are determined based on the Z-direction deviation and a preset first mapping relationship; and, Based on the X / Y direction compensation parameters corresponding to the X / Y direction deviation, the position of the nozzle assembly in the X / Y direction and the coordinate reference of the nozzle assembly in the X / Y direction are adjusted; the X / Y direction compensation parameters are determined based on the X / Y direction deviation and a preset second mapping relationship.

10. The control method according to claim 7, characterized in that, The first acquisition device includes a first image sensor disposed on the printer body, and the method further includes: In response to the second calibration command, the printhead assembly is controlled to print a calibration pattern; Control the first image sensor to acquire second image information containing the calibration pattern; If the printing deviation determined based on the second image information exceeds the deviation range, the position of the printhead assembly is adjusted based on the second image information until the printing deviation is within the deviation range; The calibration pattern includes a first calibration pattern and a second calibration pattern, and the method further includes: The first nozzle in the printhead assembly is controlled to print the first calibration pattern, and the second nozzle in the printhead assembly is controlled to print the second calibration pattern; The first calibration pattern and the second calibration pattern are acquired by the first image sensor to obtain the second image information; Based on the first parallel line segment group in the second image information, the printing deviation of the nozzle assembly in the first direction corresponding to the first parallel line segment group is determined; the two parallel lines in the first parallel line segment group are respectively located in the first calibration pattern and the second calibration pattern.

11. The control method according to claim 10, characterized in that, The calibration pattern includes a third calibration pattern and a fourth calibration pattern, and the method further includes: Once the position of the printhead assembly is adjusted, the first nozzle in the printhead assembly is controlled to print the third calibration pattern again, and the second nozzle in the printhead assembly is controlled to print the fourth calibration pattern. The third image information is obtained by acquiring the printed third calibration pattern and the fourth calibration pattern through the first image sensor; Based on the second parallel line segment group in the third image information, the printing deviation of the printhead assembly in the second direction corresponding to the second parallel line segment group is determined; the first direction and the second direction are different. The calibration of the printhead assembly is terminated based on the printing deviation in the first direction and the printing deviation in the second direction.

12. The control method according to claim 10, characterized in that, The first acquisition device further includes a laser sensor and a second image sensor disposed on the nozzle assembly, and the method further includes: The laser sensor emits a laser beam toward the printed calibration pattern. The second image information is obtained by acquiring an image of the calibration pattern illuminated by the laser using the second image sensor. Based on the second image information, the printing information of the nozzle assembly is determined; the printing information includes: the printing height of the target line in the Z direction in the second image information, and / or the printing length of the target line in the X / Y direction in the second image information; Based on the printing deviation corresponding to the printing information, the position of the printhead assembly and the coordinate reference of the printhead assembly are adjusted; the printing deviation includes: the deviation between the printing height in the Z direction and the theoretical height in the Z direction of the calibration pattern, and / or the deviation between the printing length in the X / Y direction and the theoretical length in the X / Y direction of the calibration pattern.

13. The control method according to any one of claims 7 to 12, characterized in that, The first acquisition device includes a second image sensor disposed on the nozzle assembly, and the method further includes: In response to the third calibration command, the movement of the nozzle assembly is controlled; When the nozzle assembly is in motion, the second image sensor is controlled to acquire motion video of the nozzle assembly in motion. If the motion deviation determined based on the motion video exceeds the deviation range, the position of the nozzle assembly is adjusted based on the motion video until the motion deviation is within the deviation range; The step of controlling the second image sensor to acquire motion video of the nozzle assembly in motion includes: The second image sensor is controlled to acquire target encoding information from the visual encoding plate below the printhead assembly, and at least two frames containing the target encoding information are set as the motion video. The visual encoding plate is detachably mounted on the printer printing platform. The visual encoding plate includes at least two encoding information, and the target encoding information is used to mark the relative position between the printhead assembly and the printer printing platform. The step of adjusting the position of the nozzle assembly based on the motion video further includes: The motion trajectory of the nozzle assembly is determined based on the target encoding information in at least two frames of the motion video. Based on the motion trajectory and the standard trajectory corresponding to the third calibration command, the motion deviation of the nozzle assembly is determined; Based on the motion compensation parameters corresponding to the motion deviation, the position of the nozzle assembly and the coordinate reference of the nozzle assembly are adjusted.

14. A printer, characterized in that, It includes a processor and a memory, the memory storing a computer program that can run on the processor, the processor executing the computer program to implement the control method as described in any one of claims 1 to 13.

15. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the control method as described in any one of claims 1 to 13.

Images