Printer control method, printer and computer readable storage medium

Abstract

The invention discloses a control method of a printer, the printer and a computer readable storage medium, and the method comprises the steps: controlling a nozzle assembly of the printer to print a target outer wall set of a three-dimensional model, controlling the nozzle assembly to print a target filling set corresponding to the target outer wall set, and enabling the number of layers contained in the target filling set to be smaller than the number of layers contained in the target outer wall set; and the printing time is shortened while the surface effect of the three-dimensional model is enhanced.

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] FDM 3D printers build 3D models by layering molten filament. Since each layer has a height, the higher the layer, the less smooth the surface of the 3D model becomes, which reduces the structural strength of the 3D model and increases post-processing costs. Reducing the layer height can improve the surface effect of the 3D model, but the number of exterior wall layers and infill layers will increase accordingly, greatly increasing the printing time. Summary of the Invention

[0005] This application provides a printer control method, a printer, and a computer-readable storage medium to solve the problem in related technologies where FDM 3D printers cannot simultaneously achieve both surface accuracy and long printing time in printed 3D models. The technical solution of this application is implemented as follows:

[0006] This application provides a printer control method, the control method including:

[0007] The printer's printhead assembly 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.

[0008] 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.

[0009] 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.

[0010] In some embodiments, the printhead assembly includes a nozzle; controlling the printhead assembly of the printer to print a target exterior wall set of a 3D model includes: controlling the nozzle to print the target exterior wall set; controlling the printhead assembly to print a target fill set corresponding to the target exterior wall set includes: controlling the nozzle to print the target fill set corresponding to the target exterior wall set.

[0011] In this embodiment, printing both the exterior wall set and the infill set using the same nozzle has several advantages. First, maintaining consistent material extrusion parameters (e.g., temperature, flow rate) reduces interlayer bonding issues caused by parameter differences, enhancing the overall integrity of the internal and external structures. Second, 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 issues caused by switching, improving equipment reliability and shortening the overall printing cycle. Finally, continuous extrusion with a single nozzle reduces the frequency of printhead assembly movement, lowering vibration errors caused by frequent start-stop cycles, improving dimensional accuracy, and thus enhancing printing quality.

[0012] In some embodiments, the control method further includes: for each layer of the target outer wall set, adjusting the height of the nozzle to a height corresponding to the outer wall, and controlling the nozzle to print the outer wall; and for each layer of the target filling set, adjusting the height of the nozzle to a height corresponding to the filling, and controlling the nozzle to print the filling.

[0013] In one embodiment of this application, by dynamically adjusting the nozzle height to match the printing requirements of the exterior wall and the infill layer respectively, the precise construction of the building structure layer by layer is achieved: when printing the exterior wall, the corresponding layer height is automatically aligned to ensure the continuity and vertical accuracy of the facade outline; at the same time, the internal structure is printed at the corresponding height in the infill layer, which not only ensures the mechanical performance of the overall building, but also optimizes the material distribution efficiency through layer control, and finally achieves a dual improvement in structural integrity and construction accuracy in the process of building 3D printing.

[0014] In some embodiments, the printhead assembly includes a first nozzle and a second nozzle; controlling the printhead assembly of the printer to print a target exterior wall set of a three-dimensional model includes: controlling a first target nozzle to print the target exterior wall set, wherein the first target nozzle includes either the first nozzle or the second nozzle; controlling the printhead assembly to print a target fill set corresponding to the target exterior wall set includes: controlling a second target nozzle to print the target fill set corresponding to the target exterior wall set, wherein the second target nozzle includes either the first nozzle or the second nozzle.

[0015] In this embodiment, on the one hand, if both the exterior wall set and the infill set are printed using a single nozzle, and the material extrusion parameters remain consistent, interlayer bonding problems caused by parameter differences can be reduced, enhancing the integrity of the internal and external structures. Simultaneously, since no nozzle switching process is required, printing interruptions or material residue issues caused by switching are reduced, improving equipment reliability and shortening the overall printing cycle. On the other hand, if the exterior wall set and the infill set are printed using two separate nozzles, the possibility of residual contamination during material switching with a single nozzle is reduced. This not only ensures the purity of the exterior wall and infill but also reduces unnecessary consumable consumption and ensures... While improving the printing effect on the outer surface, it also strengthens the internal structural strength, thereby optimizing print quality and reducing printing costs. On the other hand, 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 the simultaneous printing of two different materials (e.g., metal + ceramic, two polymers), giving the model multi-region functional characteristics (e.g., local conductivity, high temperature resistance), which is especially suitable for scenarios with high requirements for complexity, functional diversity, or production efficiency.

[0016] In some embodiments, controlling the first target nozzle to print the target outer wall set includes: for each of at least two outer walls in the target outer wall set, adjusting the height of the first target nozzle to a height corresponding to the outer wall, and controlling the first target nozzle to print the outer wall.

[0017] 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.

[0018] In some embodiments, controlling the second target nozzle to print the target fill set corresponding to the target outer wall set includes: for each fill layer in at least one layer of the target fill set, adjusting the height of the second target nozzle to a height corresponding to the fill, and controlling the second target nozzle to print the fill.

[0019] 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.

[0020] In some embodiments, the control method further includes: determining the first target nozzle based on the attributes of the first nozzle, the attributes of the second nozzle, and the height of each layer of the target outer wall; and determining the second target nozzle based on the attributes of the first nozzle, the attributes of the second nozzle, and the height of each layer of the target filling concentration; wherein the attributes of the first nozzle include at least one of the following: the diameter of the first nozzle, the color of the consumable in the first nozzle, and the type of consumable in the first nozzle; and the attributes of the second nozzle include at least one of the following: the diameter of the second nozzle, the color of the consumable in the second nozzle, and the type of consumable in the second nozzle.

[0021] In this embodiment, the collaborative optimization of multi-material and multi-precision building 3D printing is achieved by intelligently matching nozzle attributes with printing requirements: based on the structural characteristics of the exterior wall and the filling layer (such as height and functional requirements), combined with the diameter, consumable type and color attributes of different nozzles, the first target nozzle (dedicated to the exterior wall) and the second target nozzle (dedicated to the filling) are dynamically allocated, so as to simultaneously achieve high-precision and aesthetic shaping of the exterior wall and functional and efficient construction of the filling layer in a single printing, which not only meets the mechanical performance and decorative requirements of the building, but also improves the material utilization rate and overall construction efficiency through differentiated configuration.

[0022] In some embodiments, the control method further includes: for each layer of the target outer wall cluster, determining a first control parameter corresponding to the height of the outer wall, and controlling the first target nozzle to extrude consumables and print the outer wall of the three-dimensional model according to the first control parameter; for each layer of the target fill cluster, determining a second control parameter corresponding to the height of the fill, and controlling the second target nozzle to extrude consumables and print the fill of the three-dimensional model according to the second control parameter. The first control parameter includes a first temperature and / or a first flow rate; and the second control parameter includes a second temperature and / or a second flow rate.

[0023] In this embodiment, precise layer control for architectural 3D printing is achieved through dynamic optimization of nozzle control parameters: for the exterior wall layer, a first temperature / flow rate parameter is matched according to the height to ensure high-precision forming and surface quality of the facade structure; simultaneously, a second temperature / flow rate parameter is adapted for the infill layer to balance the strength of the internal structure and printing efficiency. Through differentiated parameter control of the dual nozzles, the aesthetic and durability requirements of the exterior wall and the functional requirements of the infill layer are simultaneously met in a single construction process, improving overall building performance and reducing material waste and shortening the construction period through parameter adaptive mechanisms.

[0024] 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.

[0025] 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.

[0026] In some implementations, the height of the exterior walls on each floor of the exterior wall cluster is the same.

[0027] In this embodiment, by setting the same height for all exterior walls in a concentrated area, printing efficiency is ensured while maintaining printing quality. The fixed exterior wall height enables a standardized printing process, significantly improving construction efficiency and consistency. Since the height of each exterior wall is the same, the first target nozzle can maintain a constant first control parameter (temperature / flow rate), avoiding accuracy fluctuations caused by frequent adjustments and ensuring a uniform and flat building facade. At the same time, it complements the dynamic parameters of the filling layer, maintaining structural integrity while reducing system complexity through modular printing of the exterior wall layers, balancing printing speed and building appearance quality. This is particularly suitable for the rapid prototyping of standardized building components.

[0028] 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, wherein the target direction is perpendicular to the cross-section corresponding to the outer wall set.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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).

[0034] 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.

[0035] 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.

[0036] In some implementations, the height of each layer of the outer wall in the outer wall cluster is proportional to the included angle of the target.

[0037] In this embodiment, by making the layer height proportional to the target angle, the accuracy requirements of each printing area can be identified more accurately. A smaller layer height is used in areas with smaller angles to reduce errors, while a larger layer height is used in areas with larger angles to improve printing efficiency. This ensures that the printing results meet the accuracy requirements while optimizing printing efficiency, achieving an optimal balance between quality and speed.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] In this embodiment, the corresponding number of filling layers and filling height are dynamically determined based on the number and height of the exterior wall layers. By matching the filling height with the exterior wall height, on the one hand, the mechanical properties of the internal support structure can be optimized, so that the three-dimensional model obtains uniform compressive and tensile strength in the XY plane and Z-axis directions, avoiding deformation, collapse or local fragility caused by stress concentration and directional differences in the exterior wall. On the other hand, the stress requirements of the model can be accurately matched, reducing material waste. At the same time, the goal of flexible configuration of the number of filling layers and filling height is achieved, realizing the optimal balance between strength, efficiency, cost and environmental protection in the printed model.

[0042] In some embodiments, the control method further includes: controlling the printhead assembly of the printer to print a target set of interior walls of a three-dimensional model; the three-dimensional model may further include at least one layer of interior walls, each interior wall corresponding to at least two sets of interior walls, the sets of interior walls being located between the sets of exterior walls and the fill set, the sets of interior walls being used to support the sets of exterior walls and connect the fill set; controlling the printhead assembly to print the target set of exterior walls corresponding to the set of interior walls.

[0043] In this application's implementation scheme, by introducing an inner wall set as a structural transition layer, multi-level collaborative optimization of building 3D printing is achieved: the inner wall set forms a mechanical buffer zone between the outer wall set and the infill set, ensuring facade stability by supporting the outer wall set and enhancing the overall structural rigidity by connecting the infill set; by synchronously controlling the nozzle assembly to print the inner wall set and the corresponding outer wall set, seamless connection between the load-bearing system and the infill structure is achieved while ensuring the functional zoning of the building, thus achieving a balance between printing efficiency, structural strength and space utilization, which is especially suitable for the integrated molding of complex building structures.

[0044] This application provides a printer control method, the control method further comprising:

[0045] The system controls the first acquisition device 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 the position of the second nozzle; the system performs at least one calibration on the printhead assembly based on the first detection information, the calibration including: if the deviation of the printhead assembly exceeds a preset deviation range, adjusting the coordinate reference of the printhead assembly based on the deviation of the printhead assembly; the deviation of the printhead assembly is determined based on the position of the first nozzle and the position of the second nozzle; the system controls the first acquisition device to acquire second detection information of the calibrated printhead assembly; and if the deviation of the printhead assembly corresponding to the second detection information is within the preset deviation range, the system switches the printer to a ready state or resumes the printing task.

[0046] 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.

[0047] This application provides a printer control system, including a controller, which controls a running computer program to implement any of the methods described above when the computer program is executed.

[0048] 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.

[0049] 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.

[0050] This application provides a computer product that stores a computer program, which, when executed by a processor, implements any of the methods described above.

[0051] 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

[0052] 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.

[0053] Figure 1 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 1 ;

[0054] Figure 2 A schematic diagram of a nozzle assembly for printing exterior walls and filling, provided as an embodiment of this application;

[0055] Figure 3 A schematic diagram of the composition structure of a printer control system provided in this application embodiment. Figure 1 ;

[0056] Figure 4 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 2 ;

[0057] Figure 5 A schematic diagram of the composition structure of a printer control system provided in this application embodiment. Figure 2 ;

[0058] Figure 6 A schematic diagram of the implementation process of a printer control method provided in this application embodiment. Figure 3 ;

[0059] Figure 7 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, where the result is a when t=0, b when t=1, and a linear variation between a and b when t takes the intermediate value (0,1).

[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):

[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] 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.

[0255] 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.

[0256] 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.

[0257] It should be noted that, Figure 7 This is a schematic diagram of the hardware entity of a printer provided in an embodiment of this application, such as... Figure 7 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:

[0258] The processor 151 typically controls the overall operation of the printer 150.

[0259] Communication interface 152 enables printer 150 to communicate with other terminals or servers via a network.

[0260] 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.

[0261] 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.

[0262] 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.

[0263] 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, include: The printer's printhead assembly 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. as well as, 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.

2. The control method according to claim 1, characterized in that, The nozzle assembly includes a nozzle; The target exterior wall set of the three-dimensional model that controls the printhead assembly of the printer to print includes: For each layer of the target exterior wall cluster, the height of the nozzle is adjusted to the height corresponding to the exterior wall, and the nozzle is controlled to print on the exterior wall; The control of the nozzle assembly to print the target fill set corresponding to the target exterior wall set includes: For each layer of filling in the target filling set, the height of the nozzle is adjusted to the height corresponding to the filling, and the nozzle is controlled to print the filling.

3. The control method according to claim 1, characterized in that, The nozzle assembly includes a first nozzle and a second nozzle; The target exterior wall set of the three-dimensional model that controls the printhead assembly of the printer to print includes: 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; The control of the nozzle assembly to print the target fill set corresponding to the target exterior wall set includes: 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.

4. The control method according to claim 3, characterized in that, The control of the first target nozzle to print the target exterior wall set includes: For each of the at least two layers of exterior walls in the target exterior wall concentration, the height of the first target nozzle is adjusted to the height corresponding to the exterior wall, and the first target nozzle is controlled to print the exterior wall; The control of the second target nozzle to print the target fill set corresponding to the target outer wall set includes: For each layer of at least one layer in the target fill set, the height of the second target nozzle is adjusted to the height corresponding to the fill, and the second target nozzle is controlled to print the fill.

5. The control method according to claim 3, characterized in that, The first target nozzle is determined based on the properties of the first nozzle, the properties of the second nozzle, and the height of each layer of the target outer wall. as well as, The second target nozzle is determined based on the properties of the first nozzle, the properties of the second nozzle, and the height of each layer of the target filling set. The attributes of the first nozzle include at least one of the following: the diameter of the first nozzle, the color of the consumable in the first nozzle, and the type of the consumable in the first nozzle; the attributes of the second nozzle include at least one of the following: the diameter of the second nozzle, the color of the consumable in the second nozzle, and the type of the consumable in the second nozzle.

6. The control method according to claim 3, characterized in that, The method further includes: For each layer of the target exterior wall, a first control parameter corresponding to the height of the exterior wall is determined, and the first target nozzle is controlled to extrude consumables and print the exterior wall of the 3D model according to the first control parameter; the first control parameter includes: a first temperature and / or a first flow rate, and, For each layer of the target filling set, a second control parameter corresponding to the height of the filling is determined, and the second target nozzle is controlled to extrude consumables and print the filling of the three-dimensional model according to the second control parameter. The second control parameter includes: a second temperature and / or a second flow rate.

7. The control method according to claim 1, characterized in that, The three-dimensional model includes at least one cross-section, and the height of each layer of the outer wall in the outer wall set is determined based on the cross-section corresponding to the outer wall set; The cross-section corresponding to the set of exterior walls includes multiple triangles. The height of each layer of exterior walls in the set of exterior walls is determined based on the target angle between the normal vector of the target triangle in the cross-section corresponding to the set of exterior walls and the target direction. The target direction is the direction perpendicular to the cross-section corresponding to the set of exterior walls.

8. The control method according to claim 7, characterized in that, 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; The maximum surface deviation is determined based on the printer's printing parameters, which include layer height information and a target ratio between print detail and print speed; or, 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 ratio.

9. The control method according to claim 1, characterized in that, 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; or, 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.

10. The control method according to claim 1, characterized in that, The method further includes: The printer's printhead assembly is controlled to print a target set of interior walls of a 3D model; the 3D model also includes at least one layer of interior walls, each interior wall corresponds to at least two sets of interior walls, the sets of interior walls are located between the sets of exterior walls and the infill set, and the sets of interior walls are used to support the sets of exterior walls and connect the infill set; The nozzle assembly is controlled to print the target exterior wall set corresponding to the target interior wall set.

11. The control method according to any one of claims 1-10, characterized in that, Before the printer's printhead assembly prints the target exterior wall set of the 3D model, the method further 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 the position of the second nozzle; The nozzle assembly is calibrated at least once based on the first detection information. The calibration includes: if the deviation of the nozzle assembly exceeds a preset deviation range, adjusting the coordinate reference of the nozzle assembly based on the deviation of the nozzle assembly; the deviation of the nozzle assembly is determined based on the position of the first nozzle and 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.

12. 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 11.

13. 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 11.

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