Control method of 3D printer, 3D printer and storage medium

Abstract

The invention provides a control method of a 3D printer, the 3D printer and a storage medium, and relates to the technical field of 3D printing control. The method comprises the steps that when a leveling instruction is triggered, a detection device in a printing head is controlled, and height information of at least two detection points in a target area is collected; the target area is larger than an actual printing area of the target model; and when the height information of the detection points is not completely the same, leveling operation is executed, and the leveling operation comprises adjustment of the Z-axis height of at least one Z-axis of the printing platform based on the height information of the detection points and / or adjustment of the nozzle height of the printing head based on the height information of the detection points so as to adjust the printing layer height of the target model. According to the technical scheme, the laminating precision of first-layer printing and the stability of overall printing can be remarkably improved while the leveling preparation time is shortened.

Description

Technical Field

[0001] This disclosure relates to the field of 3D printing control technology, and more specifically, to a control method for a 3D printer, a 3D printer, and a computer-readable storage medium. Background Art

[0002] With the development of 3D printing technology, Fused Deposition Modeling (FDM) type 3D printing equipment is becoming increasingly popular in consumer and industrial applications. The stability and accuracy of the first layer of printing have a decisive impact on the printing quality.

[0003] Currently, existing printing platform leveling solutions require the leveling process to cover the entire printing platform. The large detection range and fixed number of sampling points result in lengthy leveling times, especially in devices with large printing platform areas. This significantly extends the preparation period before printing, leading to low leveling efficiency and consequently longer printing cycles. Furthermore, with increased printing platform usage frequency and accumulated thermal deformation, existing printing platform leveling solutions are prone to causing poor first-layer adhesion or height deviations in localized areas, resulting in poor leveling accuracy.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a control method for a 3D printer, a 3D printer, and a storage medium, thereby significantly improving the bonding accuracy of the first layer and the overall printing stability while shortening the leveling preparation time.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to a first aspect of the present disclosure, a method for controlling a 3D printer is provided, the 3D printer including a print head and a printing platform, the method comprising:

[0008] Receive leveling instructions triggered for the target model to be printed;

[0009] The detection device in the print head is controlled to collect height information of at least two detection points in the target area on the printing platform; the target area is larger than the actual printing area of ​​the target model.

[0010] If the height information of the detection points is not completely identical, a leveling operation is performed. The leveling operation includes adjusting the Z-axis height of at least one Z-axis of the printing platform based on the height information of the detection points, and / or adjusting the nozzle height of the print head based on the height information of the detection points, so as to adjust the printing layer height of the target model.

[0011] By setting a target area on the printing platform that is larger than the actual printing area of ​​the target model, the leveling range is ensured to cover the key printing areas of the target model, forming a more reasonable sampling point layout. This makes the density and distribution of the local mesh more suitable for printing requirements, thereby improving the accuracy and precision of the collected height information. At the same time, the coordination between the printing platform and the print head in height compensation allows the nozzle to precisely adjust its height within the target area, resulting in more uniform and stable deposition of the first layer of material. This reduces printing quality issues such as warping, peeling, and voids, and enhances the adhesion stability of the first layer of printing. By collecting height information and performing leveling operations only on the target area of ​​the printing platform, the stability of the first layer of printing on the target model can be ensured without the need for overall detection and sampling of the printing platform. This significantly reduces the travel distance of the printing table and the number of invalid sampling points when collecting height information, allowing users to complete the leveling preparation without manual intervention, improving leveling efficiency, and thus shortening the printing cycle of the target model.

[0012] In some example embodiments of this disclosure, based on the foregoing scheme, the method includes:

[0013] If the deviation between the height information of the detection points conforms to the platform adjustment rules, adjust the Z-axis height of at least one Z-axis of the printing platform according to the height compensation value corresponding to the height information of the detection points to complete the leveling of the printing platform; or,

[0014] If the deviation between the height information of the detection points does not conform to the platform adjustment rules, the nozzle height of the print head is adjusted according to the height compensation value corresponding to the height information of the detection points to complete the printing layer height leveling of the target model.

[0015] By using a coordinated leveling compensation method for the printing platform and nozzle height, the leveling efficiency of the printing platform can be further improved. Even if there are complex local height variations in the printing platform, layered compensation can be performed during nozzle height adjustment to ensure that each position of the first layer of the model has a consistent deposition thickness and adhesion quality, thereby avoiding the first layer warping or printing failure caused by local deviations of the platform.

[0016] In some example embodiments of this disclosure, based on the foregoing scheme, the platform adjustment rules include at least one of the following: the deviation between the height information of the detection points is greater than a preset deviation threshold, and the deviation between the height information of at least two detection points shows a linear trend.

[0017] By combining adjustment rules from multiple platforms, the control system can intelligently identify the type of flatness problem on the printing platform, thereby selecting a more efficient and precise leveling operation. This effectively improves leveling speed, reduces repetitive adjustments, increases leveling efficiency, and reduces the workload of leveling.

[0018] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0019] Adjust the nozzle height corresponding to the print head. The nozzle height represents the sum of the height compensation value of the print head at the printing position and the model layer height at the printing position.

[0020] The print head is controlled to print the target model along the printing path in the slicing instruction file of the target model according to the adjusted nozzle height, and the printing layer height is leveled when the print head passes the printing position.

[0021] By using the nozzle height, which represents the sum of the height compensation value at the printing position and the model layer height at the printing position, and combining it with the printing path in the slicing instruction file, the continuity and adhesion quality of the first layer can be ensured, thereby improving the yield and structural stability of the target model.

[0022] In some example embodiments of this disclosure, based on the foregoing scheme, the height compensation value is obtained by interpolating a preset height compensation matrix according to the printing position. The height compensation matrix records compensation values ​​for leveling the height information of the detection points within the target area. The interpolation of the preset height compensation matrix includes: interpolating the height compensation matrix based on the positional relationship between the printing position and the detection points.

[0023] By using a dynamic interpolation method based on the height compensation matrix and the printing position, the nozzle can obtain an accurate height compensation value at each position on the printing path, effectively offsetting the effects of local undulations and unevenness of the printing platform, and ensuring uniform deposition and good adhesion of the first layer of printing material.

[0024] In some example embodiments of this disclosure, based on the foregoing scheme, when the X and Y coordinates of the printed position are the same as any of the detection points, the height compensation value is the compensation value corresponding to the height information of the detection points with the same coordinates in the height compensation matrix; or,

[0025] When the X and / or Y coordinates of the printed position are different from those of the detection point, the height compensation value is determined by performing a bilinear interpolation algorithm on the compensation value in the height compensation matrix. The bilinear interpolation algorithm is used to interpolate the compensation value corresponding to the height information of the target detection point associated with the printed position.

[0026] By detecting and determining the current printing position and the position of the detection point, the computational overhead can be effectively reduced and the response speed improved when the projected coordinates of the printing position coincide with the detection point. When they do not coincide, the calculation method of height compensation matrix and bilinear interpolation can ensure that the print head can obtain a smooth and continuous height compensation value even when it moves to a non-detection point position. This ensures that the gap between the print nozzle and the surface of the print platform is always within a reasonable range, further improving the adhesion stability of the first layer and the uniformity of the printed surface.

[0027] In some example embodiments of this disclosure, based on the foregoing scheme, the bilinear interpolation algorithm includes:

[0028] X-axis interpolation and Y-axis interpolation;

[0029] The X-axis interpolation is for the compensation value at the first detection point among the target detection points;

[0030] The Y-axis interpolation is for the compensation value at the second detection point in the target detection points, or the Y-axis interpolation is for the interpolation result obtained by interpolation in the X-axis direction;

[0031] The target detection points are detection points located around the X and Y coordinates of the printing position. The first detection point is the target detection point with the same Y coordinate, and the second detection point is the target detection point with the same X coordinate.

[0032] By performing step-by-step interpolation calculations in the X and Y axes, bilinear interpolation can dynamically generate compensation values ​​that match the height of the printing position. This allows for seamless transitions in height adjustment as the nozzle moves continuously in the printing path, preventing uneven material accumulation or unstable first-layer adhesion caused by local unevenness of the platform. This, in turn, improves the overall flatness and adhesion quality of the first layer of printing.

[0033] In some example embodiments of this disclosure, based on the foregoing scheme, the printhead includes at least two nozzles, and the method further includes:

[0034] After the printhead is switched to the target nozzle, the nozzle height of the target nozzle is adjusted; the height compensation value in the nozzle height is determined based on the target height compensation matrix, which is the height compensation matrix corresponding to the target nozzle in the height compensation matrix set corresponding to the printhead;

[0035] Control the target nozzle to print the target model according to the nozzle height, and complete the printing layer height leveling of the target model.

[0036] By combining multiple nozzles with a height compensation matrix, it is possible to maintain the consistency of printed layer height and deposition accuracy after nozzle switching, avoiding problems such as uneven material accumulation or insufficient interlayer adhesion caused by height differences between nozzles. At the same time, it can also effectively improve the consistency of the first layer in multi-material or multi-color printing tasks, making the printing process more stable and efficient, and ensuring the overall printing quality of complex models after multi-nozzle switching.

[0037] In some example embodiments of this disclosure, based on the foregoing scheme, the target region includes a first region determined according to the slicing instruction file of the target model, and a second region obtained by expanding the first region;

[0038] The first region includes the orthographic projection region of the target model on the printing platform, parsed from the slicing instruction file, and the second region surrounds the orthographic projection region; or,

[0039] The first region includes the minimum bounding rectangle of the orthographic projection region of the target model on the printing platform, which is parsed from the slicing instruction file, and the second region surrounds the minimum bounding rectangle.

[0040] By analyzing the slicing instruction file to determine the first and second regions, targeted leveling based on the model layout can be achieved, ensuring the efficiency and intelligence of the leveling process. This reduces invalid detection caused by full-bed leveling, improves the automation level of the print preparation stage, and enhances the first-layer print quality. At the same time, by introducing the second region, the leveling detection points can be distributed within a certain range outside the model edge, thereby improving the height compensation accuracy of the edge area and avoiding problems such as first-layer warping or uneven bonding during the printing process.

[0041] In some example embodiments of this disclosure, based on the foregoing scheme, the second region includes the region extended outward from the outermost point of the orthographic projection region in the target direction. The distance between the boundary of each second region and the outermost point is a preset boundary redundancy compensation value. The target direction includes four positive directions along the X-axis and Y-axis corresponding to the printing platform; or,

[0042] The second region includes the region obtained by expanding outward from the boundaries of the minimum bounding rectangle, and the distance between the boundary of each second region and the corresponding boundary on the minimum bounding rectangle is a preset boundary redundancy compensation.

[0043] By adopting an expansion method based on the outermost point or the smallest circumscribed rectangle, and introducing a second region, the leveling area is ensured to not only completely cover the target model, but also to provide a certain safety buffer. This makes height compensation more accurate near the model edge, effectively reducing problems such as peeling and material shortage caused by unstable edge position of the first layer of the model, thereby improving the uniformity of the first layer adhesion and the overall printing quality.

[0044] In some example embodiments of this disclosure, based on the foregoing scheme, the preset boundary redundancy compensation is dynamically adjusted according to the size of the first region; and / or,

[0045] The preset boundary redundancy compensation is obtained based on the visual adjustment results of the boundary position of the second region in the graphical user interface.

[0046] By combining automatic calculation with user interaction in this boundary redundancy compensation strategy, the reliability and leveling accuracy of the first layer printing can be significantly improved while ensuring the leveling automation level and taking into account personalized needs and special leveling requirements of model edges.

[0047] In some example embodiments of this disclosure, based on the foregoing scheme, the at least two detection points are grid nodes obtained by grid division within the target area; the grid nodes include: a first grid node between grid lines, and / or a second grid node at the intersection of the grid and the boundary of the target area, and the density of the grid is determined according to at least one of the following: the size of the target area, the leveling accuracy parameter, the printing accuracy of the target model, and the nozzle diameter in the print head.

[0048] By using a multi-parameter integrated calculation method for grid division, it is possible to ensure a moderate number of detection points and high leveling efficiency, while also ensuring a reasonable distribution of detection points. This effectively captures local deformation of the platform, ultimately improving the adhesion uniformity of the first layer of printing and the overall quality of the finished product.

[0049] In some example embodiments of this disclosure, based on the foregoing scheme, the method further includes:

[0050] After initiating a print job for the target model, a control to enable print platform leveling is provided in the graphical user interface;

[0051] In response to the control that triggers the printing platform leveling function, the leveling command is confirmed to be triggered.

[0052] By providing a graphical user interface leveling control before the start of a print job, users can clearly understand the leveling status and flexibly choose whether to perform leveling, thereby controlling and adjusting the printing process cycle. This allows for quick printing when leveling is not required on the platform, improving the user experience. At the same time, the control's triggering logic is combined with the leveling command confirmation process to ensure the execution order of leveling operations and the accuracy of data collection, ultimately improving the automation of print preparation and the stability of the first-layer printing.

[0053] According to a second aspect of the present disclosure, a 3D printer is provided, comprising: one or more processors; a memory storing computer instructions; wherein the one or more processors are configured to, when executing the computer instructions, implement the method as described in the first aspect.

[0054] According to a third aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described in the first aspect.

[0055] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Attached Figure Description

[0056] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0057] Figure 1 The schematic diagram illustrates a flow chart of a control method for a 3D printer according to some embodiments of the present disclosure.

[0058] Figure 2 The schematic diagram illustrates a flow chart of a leveling operation according to some embodiments of the present disclosure.

[0059] Figure 3 The illustration schematically shows a process diagram of achieving print layer height leveling by adjusting the nozzle height of the print head according to some embodiments of the present disclosure.

[0060] Figure 4 The illustration shows a schematic diagram of a second region obtained by expanding a first region, which is an orthographic projection region, according to some embodiments of the present disclosure.

[0061] Figure 5A schematic diagram illustrating a second region obtained by extending a first region onto the minimum bounding rectangle of a first region according to some embodiments of the present disclosure is shown.

[0062] Figure 6 The schematic diagram illustrates the structural layout of a computer system for a 3D printer according to some embodiments of the present disclosure.

[0063] Figure 7 A schematic diagram of a computer-readable storage medium according to some embodiments of the present disclosure is shown.

[0064] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts. Detailed Implementation

[0065] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0066] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0067] Furthermore, the accompanying drawings are for illustrative purposes only and are not necessarily drawn to scale. The block diagrams shown in the drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0068] Current printing platform leveling solutions primarily involve analyzing the layout area of ​​the model on the printing platform from the slice file, setting a preset rectangular range close to this area, and then setting several detection points within this rectangle. A detection device samples the height of the printing platform surface, and the flatness of the platform surface is achieved through overall leveling or nozzle height correction. For example, regarding the selection of the leveling range, relevant printing platform leveling solutions propose three methods: first, combining the minimum values ​​of the x and y coordinates of the printing path of the X layers of the model to be printed to obtain four vertex coordinates, and then drawing rectangles for the vertices using these coordinates as the leveling range; second, drawing rectangles for the vertices using at least two pre-written coordinate points from the printing model; and third, using the smallest bounding rectangle corresponding to the printing range of the X layers of the slice model as the leveling range. Therefore, it is evident that the leveling range in these technologies is set close to the model edge, and the leveling process only compensates for the relative distance between the leveling detection points.

[0069] However, since the leveling range in related technologies is generally limited to the layout area of ​​the model, there are insufficient edge detection points. As a result, when the edge of the printed model is close to the edge of the platform or local thermal deformation occurs, the leveling data cannot effectively cover these areas, resulting in inaccurate nozzle height compensation, which affects the stability and adhesion of the first layer of printing. In addition, the related technologies only rely on the relative distance at the leveling detection points for compensation, making the leveling process too rigid. When there is a large degree of flatness deviation on the printing platform, it leads to problems such as prolonged leveling time due to frequent movement of the print head during the leveling process or poor stability of the first layer of printing.

[0070] Based on one or more problems existing in related technologies, this example embodiment first provides a control method for a 3D printer. This method can be applied to fused deposition modeling (FDM) 3D printers with automatic leveling functions, and is particularly suitable for printing tasks with large build platform areas, complex geometric structures of printed models, or high requirements for the accuracy of the first layer. In tasks such as industrial manufacturing, prototyping, and customized parts production, this control method can significantly shorten the leveling preparation time, improve the reliability of the first layer bonding, and increase the overall printing success rate. For example, in batch parts printing scenarios, the printing platform often needs frequent leveling, while this solution reduces invalid probes by focusing on the actual printing area, making the leveling step more efficient. When printing relatively small precision models on a large build platform, this solution can precisely adjust the nozzle height to avoid first-layer warping or uneven deposition caused by overall platform deformation, thereby ensuring high-quality printing results.

[0071] The control method of the 3D printer in this embodiment can be implemented using a 3D printer, which may include a print head and a printing platform. The print head refers to the component used to deposit molten printing material layer by layer onto the platform surface. For example, the print head may include a nozzle, a heating block, a temperature sensor, a heat dissipation module, and an extrusion mechanism that works in conjunction with it. Of course, the print head in this embodiment is not limited to the above structures. The nozzle melts the printing filament through the heating block and extrudes it in the form of a molten fluid of a specific diameter, moving in the XY plane according to the path of the slicing instruction file to achieve precise material stacking. The print head can typically integrate a detection device for performing height information detection. This detection device can adopt a contact structure, such as a micro-motion probe (which detects height by slightly contacting the platform to trigger a signal), or a non-contact structure, such as a laser rangefinder, a capacitive rangefinder, or an optical displacement sensor, to meet accuracy requirements in different environments. This embodiment does not specifically limit the specific structure of the print head.

[0072] A printing platform refers to the planar base that supports the printed model. For example, a printing platform may include a heated bed, temperature control sensors, a surface coating layer, and a support structure. The heated bed can improve the adhesion between the material and the platform through constant temperature control, and, in conjunction with surface coatings or texture design, prevent the model from lifting during printing. The height and levelness of the printing platform have a decisive impact on print quality. Adjustable fixing structures, such as mechanical nut leveling mechanisms, or servo motor-driven automatic lifting platforms, can be configured to level the model based on height information obtained from a detection device. The print head and printing platform can work collaboratively through a three-dimensional motion control system to achieve precise nozzle positioning in the X, Y, and Z directions. This allows the solution to perform dynamic leveling operations in the target area and ensure uniform deposition of the first layer.

[0073] Figure 1 The schematic diagram illustrates a flow chart of a control method for a 3D printer according to some embodiments of the present disclosure. Reference Figure 1 As shown, the control method for this 3D printer may include the following steps:

[0074] Step S110: Receive a leveling command triggered for the target model to be printed;

[0075] Step S120: Control the detection device in the print head to collect the height information of at least two detection points in the target area on the printing platform; the target area is larger than the actual printing area of ​​the target model;

[0076] Step S130: If the height information of the detection points is not completely the same, a leveling operation is performed. The leveling operation includes adjusting the Z-axis height of at least one Z-axis of the printing platform based on the height information of the detection points, and / or adjusting the nozzle height of the print head based on the height information of the detection points, so as to adjust the printing layer height of the target model.

[0077] According to the control method of the 3D printer in this example embodiment, on the one hand, by setting a target area on the printing platform that is larger than the actual printing area of ​​the target model, it is ensured that the leveling range covers the key printing areas of the target model, forming a more reasonable sampling point layout, making the density and distribution of the local mesh more suitable for printing needs, thereby improving the accuracy and precision of the collected height information; at the same time, the coordination between the printing platform and the print head in height compensation enables the nozzle to accurately adjust the height within the target area, thereby making the first layer of material deposition more uniform and stable, reducing printing quality problems such as warping, peeling, and voids, and enhancing the adhesion stability of the first layer of printing; on the other hand, by collecting height information and performing leveling operations only on the target area of ​​the printing platform, the stability of the first layer of printing of the target model can be ensured without the need for overall leveling of the printing platform, greatly reducing the moving distance and invalid sampling points of the printing table when collecting height information, allowing the user to complete the leveling preparation without manual intervention, improving leveling efficiency, and thus shortening the printing cycle of the target model.

[0078] The control method of the 3D printer in this example embodiment will be further explained below.

[0079] In step S110, a leveling command triggered for the target model to be printed is received.

[0080] In one example embodiment of this disclosure, the leveling command refers to the command issued by the print control system to start the leveling process of the print platform. For example, the leveling command can be triggered manually by the user in the graphical user interface or by voice command input through a voice assistant, or it can be automatically called by the system after the print job is loaded. This example embodiment does not make any special limitation on the triggering method of the leveling command.

[0081] In step S120, the detection device in the print head is controlled to collect the height information of at least two detection points in the target area on the printing platform; the target area is larger than the actual printing area of ​​the target model.

[0082] In one example embodiment of this disclosure, the detection device refers to a sensing device disposed on the print head for detecting height information. The detection device may include a contact height sensor or a non-contact sensor. For example, the detection device may utilize a pressure sensor, an optical laser ranging module, a distance sensor (eddy current sensor), or a capacitive sensor that uses a probe to micro-press the surface of the platform. This embodiment does not impose any special limitation on the type of detection device.

[0083] A detection point refers to a representative sampling location within the target area, used to reflect the actual height data of the platform at that location. The number of detection points is generally no less than two, used to obtain height differences at different locations within the target area to construct reference data for the platform surface flatness. In practical applications, the number of detection points can be dynamically adjusted according to the area of ​​the target region, the geometric complexity of the model, and preset leveling accuracy parameters. For example, when the printing task involves a large or complex-shaped target area, the number of detection points can be automatically increased to improve the coverage and accuracy of height sampling; while in scenarios where the target area is small or the leveling accuracy requirement is low, the number of detection points can be appropriately reduced to shorten the leveling time. This embodiment does not specifically limit the number of detection points.

[0084] The detection points can be distributed based on a grid partitioning strategy. The target area can be divided at equal intervals along the X and Y axes, generating several grid nodes as detection point locations. A uniformly distributed grid of detection points can comprehensively reflect the overall flatness of the platform within the target area. Alternatively, the distribution of detection points can be dynamically adaptive. For example, higher density detection points can be placed near model edges, convex corners, grooves, or critical printing paths, while fewer detection points are placed in flat areas. In some optional implementations, the location or number of detection points can be manually selected by the user through a graphical user interface (GUI) to meet the leveling requirements of a specific model. This embodiment does not impose any special limitations on the method of setting the distribution of detection points.

[0085] By controlling the print head to move along a predetermined path to the position coordinates of the detection point and driving the detection device to measure the Z-axis height, height information related to the local flatness of the printing platform can be obtained.

[0086] The target area refers to a specific region on the printing platform selected for high-precision leveling before the printing task is executed. The target area is larger than the actual printing area of ​​the target model. For example, the target area can be the actual printing area of ​​the target model to be printed on the printing platform, i.e., the actual occupied area, and the redundancy compensation range outside the actual occupied area. For example, the redundancy compensation range can be 2mm or 3mm, or 5mm or 7mm, or even 8mm or 10mm. This embodiment does not make any special limitation on the specific value of the redundancy compensation range. For example, when determining the target area, the projection contour information of the target model on the XY plane of the printing platform obtained by parsing the slicing instruction file can be used. By traversing the coordinate points of all valid printing paths, the boundary coordinate range of the minimum bounding rectangle can be extracted. Based on this, it can be expanded outward by a certain distance to form an overall target area including the first area and the second area. The first area can be the actual printing area of ​​the target model, and the second area is the area with redundancy compensation range obtained by expanding outward based on the first area.

[0087] The distribution of detection points within the target area can be determined in various ways. For example, it can be generated using a grid partitioning strategy. The grid node coordinates can be used to determine the grid density based on the length, width, and leveling accuracy parameters of the target area. Higher grid density results in more accurate detection of minor local height differences on the platform. Performing height information detection and height compensation matrix construction within this target area can significantly reduce the detection of invalid printing areas on the printing platform, improving leveling efficiency and accuracy.

[0088] In step S130, if the height information of the detection points is not completely the same, a leveling operation is performed. The leveling operation includes adjusting the Z-axis height of at least one Z-axis of the printing platform based on the height information of the detection points, and / or adjusting the nozzle height of the print head based on the height information of the detection points, so as to adjust the printing layer height of the target model.

[0089] In one example embodiment of this disclosure, the fact that the height information of the detection points is not completely the same means that there are differences between the measured values ​​of different detection points. Such differences may be caused by factors such as overall platform tilt, local warping, thermal expansion, material deformation or surface unevenness.

[0090] The process of determining that the height information of detection points is not completely identical can include multi-dimensional analysis. For example, the control system can compare the height information of all detection points with a set reference height, calculate the height difference of each detection point, and form a set of height deviation data. This deviation data can be identified by comparing the absolute value of the height difference with a preset threshold. If the deviation value of at least one detection point exceeds the threshold, it can be determined that the height information of the detection points is not completely identical. Secondly, statistical analysis can be performed on the height data of all detection points, such as calculating the average value, variance, and difference between the maximum and minimum values ​​of the detection point heights. If the height differences show a non-uniform distribution or excessively large local outliers, it can also be determined that the height information of the detection points is not completely identical. Methods for determining that the height information of detection points is not completely identical can also include plane analysis based on least squares fitting. By fitting a reference plane and calculating the offset of each detection point relative to this plane, the overall unevenness characteristics of the platform can be obtained. Alternatively, the detection points can be sorted according to the X-axis and Y-axis directions, and the height gradient between adjacent detection points can be calculated. If the gradient exceeds a certain range, the height information of the detection points can also be determined. In addition, in some high-precision printing systems, machine learning models can be used to identify features of the height data of the detection points, thereby more accurately determining the existence and distribution trend of deviations. Of course, there are other ways to determine the height information of the detection points that are not exactly the same, and this example embodiment does not impose any special limitations on this.

[0091] When the height information of the detection points is not completely identical, it can be determined that there is a deviation between the height information of the detection points. The deviation refers to the difference between the actual measured height of the detection point and the height of the preset reference plane. This deviation can be judged by calculating the error value between the height of each detection point and the preset reference plane. Different leveling operations can be determined by the detected deviation. For example, when the deviation is within the adjustable range of the platform, the printing platform can be leveled by driving the Z-axis height of at least one Z-axis, thereby correcting the overall flatness of the printing platform. When the deviation is not suitable for compensation by adjusting the printing platform, the printing layer height of the printing path can be dynamically corrected by adjusting the nozzle height of the print head. Of course, this is only an illustrative example and this embodiment is not limited thereto.

[0092] For example, when there is an overall deviation in the height information of the detection points, such as when the deviation exceeds a preset deviation threshold, the number of detection points corresponding to the deviation exceeds a preset number threshold, the detection points corresponding to the deviation are evenly distributed, or at least two deviations show a linear trend, it can be considered that there is an overall deviation in the height information of the detection points. In this case, flatness correction can be achieved by leveling the entire printing platform. In some optional embodiments, the printing platform is equipped with multiple Z-axis drive mechanisms to adjust and control the overall posture of the platform. The multiple Z-axis drive mechanisms include at least two Z-axis lifting components distributed along the edge or diagonal of the printing platform. Each Z-axis lifting component is driven by an independent stepper motor or servo motor. The Z-axis lifting component is used to adjust the Z-axis height of the printing platform in its corresponding direction, thereby adjusting the overall height of the printing platform plane. Based on the height data of multiple detection points, the tilt trend of the printing platform can be calculated using a fitting algorithm. By driving at least one Z-axis drive mechanism of the printing platform, multiple support points of the printing platform can be adjusted by slight displacement along the Z-axis direction to make the overall printing platform tend towards the reference plane. The height difference of all detection points can be re-detected after each adjustment. The overall leveling process of the printing platform terminates when the height error of all detection points is less than the preset deviation threshold in two consecutive rounds of detection, the number of detection points corresponding to the deviation is less than the preset number threshold, the detection points corresponding to the deviation show a small number of non-uniform distributions, and at least two deviations do not show a linear trend. Understandably, if during the leveling process of the printing platform, the detection results show that the local deviation exceeds the adjustment range allowed by the Z-axis drive mechanism of the printing platform, or if non-linear height fluctuations occur that cannot be eliminated through overall leveling, a mode switch can be triggered to use nozzle height leveling for the leveling operation.

[0093] When the overall flatness of the printing platform is found to be basically satisfactory, but minor height differences still exist in local areas, the printing layer height can be leveled by adjusting the nozzle height of the print head. The printing layer height can be determined by the sum of the model layer height (defined by the layer height parameter in the slice file) and the height compensation value. Nozzle height leveling relies on the coordination of the Z-axis coordinate of the printing path (i.e., the model layer height) and the height compensation matrix (i.e., the height compensation value). During the print head movement, the corresponding compensation value is called according to the printing position, and the nozzle is continuously fine-tuned along the Z-axis. When the required height compensation value of the print head nozzles on the continuous printing path is all below the negligible threshold and stable, or when the printing of the model is completed, the nozzle leveling of the print head stops. If the detection data reflects an increased overall tilt trend of the platform or a large-scale deviation exceeding the nozzle adjustment range of the print head, the overall leveling of the printing platform can be switched back to eliminate the overall error of the printing platform.

[0094] The nozzle height can be adjusted in real time by the control system. The nozzle height compensation can be calculated from the height difference of the detection points, thereby ensuring that the nozzle maintains a reasonable distance from the printing platform throughout the target area and achieving leveling of uneven areas on the printing platform.

[0095] The system automatically identifies the actual printing area using the slicing instruction file of the target model and forms a target area larger than the actual printing area. This ensures that the leveling range covers the key printing areas of the target model, allowing the leveling data to focus on the printing range where the target model is located, resulting in a more reasonable sampling point layout. This makes the density and distribution of the local grid more suitable for printing requirements, thereby improving the accuracy and precision of the collected height information. At the same time, the synergy between the printing platform and the print head in height compensation enables the nozzle to precisely adjust its height within the target area, resulting in a more uniform and stable deposition of the first layer of material. This reduces printing quality issues such as warping, peeling, and voids, and enhances the adhesion stability of the first layer of printing.

[0096] By collecting height information and performing leveling operations only on the target area of ​​the printing platform, the stability of the first layer of printing of the target model can be ensured without the need for overall leveling of the printing platform. This significantly reduces the moving distance of the printing table and the number of invalid sampling points when collecting height information, allowing users to complete leveling preparation without manual intervention, improving leveling efficiency, and thus shortening the printing cycle of the target model.

[0097] The control method of the 3D printer in steps S110 to S130 will be described in detail below.

[0098] In one example embodiment of this disclosure, it can be done according to Figure 2 The steps in the document implement the leveling operation for the printing layer height of the model, refer to... Figure 2 As shown, it can specifically include:

[0099] Step S210: If the deviation between the height information of the detection points meets the platform adjustment rules, adjust the Z-axis height of at least one Z-axis of the printing platform according to the height compensation value corresponding to the height information of the detection points to complete the leveling of the printing platform.

[0100] Step S220: If the deviation between the height information of the detection points does not conform to the platform adjustment rules, adjust the nozzle height of the print head according to the height compensation value corresponding to the height information of the detection points to complete the printing layer height leveling of the target model.

[0101] Among them, the platform adjustment rules refer to a set of standards used to determine whether the deviation is suitable for correction by adjusting the printing platform as a whole or in part. For example, the platform adjustment rules may include deviation threshold determination, deviation distribution balance determination, or gradient change trend determination. Of course, other adjustment rules can also be used to determine whether the printing platform needs to be adjusted as a whole to achieve leveling. This embodiment is not limited to these.

[0102] When the deviation meets the platform adjustment rules, it can be considered that the overall deviation is large, and there may be an overall unevenness of the printing platform. In this case, the Z-axis drive mechanism of the printing platform can be driven. For example, the Z-axis drive mechanism can control the lifting and lowering of at least one Z-axis of the printing platform to achieve overall leveling of the printing platform.

[0103] The height compensation value refers to the adjustment value calculated from the actual height data of the detection point. This compensation value can be converted into the lifting displacement of the platform, so that the surface of the printing platform and the nozzle form a relatively parallel reference plane, thereby eliminating the first layer adhesion problem caused by local unevenness as a whole.

[0104] If the deviation does not conform to the platform adjustment rules, the nozzle height of the print head can be adjusted according to the height compensation value corresponding to the height information of the detection points to achieve layer height leveling of the target model. Specifically, when the deviation does not conform to the platform adjustment rules, the distribution of the deviation may exhibit non-linear changes or exceed the mechanical adjustment range of the platform. Forcibly adjusting through the printing platform will cause new errors in other areas. Therefore, dynamic compensation of the nozzle height in local areas can be used instead. The nozzle height refers to the precise position of the print head in the Z-axis direction. The nozzle height can be dynamically adjusted according to the height data of the detection points and the height compensation value, so that the gap between the nozzle and the printing platform is corrected in real time as the printing position changes. For example, the height compensation value corresponding to the current printing position can be calculated by interpolation based on the height compensation matrix constructed from the detection points in the target area, and the Z-axis position of the nozzle can be adjusted accordingly.

[0105] By using a coordinated leveling compensation method for the printing platform and nozzle height, the leveling efficiency of the printing platform can be further improved. Even if there are complex local height variations in the printing platform, layered compensation can be performed during nozzle height adjustment to ensure that each position of the first layer of the model has a consistent deposition thickness and adhesion quality, thereby avoiding the first layer warping or printing failure caused by local deviations of the platform.

[0106] In an optional implementation, the platform adjustment rules may include at least one of the following: the deviation between the height information of the detection points is greater than a preset deviation threshold; the number of detection points corresponding to the deviation between the height information of the detection points is greater than a preset number threshold; the position of the detection points corresponding to the deviation between the height information of the detection points is evenly distributed on the printing platform; and the deviation between the height information of at least two detection points shows a linear trend.

[0107] The preset deviation threshold is a critical value determined in advance based on extensive experimental data and printing experience. It is used to determine whether the deviation is within a reasonable range for overall leveling of the printing platform. When the height deviation of any detection point exceeds the preset deviation threshold, the control system can assume that the printing platform needs overall leveling to avoid reduced adhesion of the first layer. For example, in high-precision printing tasks, the preset deviation threshold can be set to a range of 0.05 mm to 0.08 mm to ensure the uniformity of the first layer thickness; in ordinary model printing or rapid prototyping tasks, the preset deviation threshold can be set to a range of 0.10 mm to 0.15 mm to balance leveling efficiency and printing quality. It is understood that this is only an illustrative example, and the specific preset deviation threshold can be customized according to the actual usage scenario. This embodiment does not impose any special limitations on the specific value of the preset deviation threshold.

[0108] The preset quantity threshold refers to a pre-set parameter used to determine whether the printing platform needs overall adjustment. When the number of detection points corresponding to the deviation exceeds the preset quantity threshold, the printing platform is considered to have a deviation, thus requiring overall leveling to reduce the workload of local leveling via the print nozzles. For example, in a conventional desktop 3D printer, the preset quantity threshold can be set according to the proportion of the total number of detection points in the target area. For instance, when the height information of more than 30% to 40% of the detection points has a deviation, overall leveling of the printing platform can be triggered. In high-precision or industrial-grade equipment, the preset quantity threshold can be limited to a fixed number. For instance, when the height information of more than 5, 6, 7, 8, 9, or 10 detection points has a deviation, it can be determined that the printing platform needs overall leveling to ensure the stability and accuracy of the first layer of printing. It is understood that this is only an illustrative example, and the specific preset quantity threshold can be customized according to the actual usage scenario. This embodiment does not specifically limit the specific proportion or value of the preset quantity threshold.

[0109] The uniform distribution of deviation detection points refers to the uniform distribution of detection points with height deviations among multiple detection points distributed within the target area. For example, if deviations occur in different positions of the printing platform, it can be considered that the printing platform is tilted or uneven over a large area. In this case, overall leveling of the printing platform can be used to more efficiently level the overall plane of the printing platform. It is understandable that if the deviation distribution of detection points is concentrated in only a local area, the control system can determine that nozzle height compensation is more efficient and accurate, thus avoiding errors in other areas caused by overall leveling of the printing platform.

[0110] The linear trend of at least two deviations refers to fitting the height deviation values ​​of the detection points to their X-axis and Y-axis coordinates. If the deviations show a linear increasing or decreasing trend along a certain axis—for example, the height gradually increases from one side of the printing platform to the other—it can be assumed that the printing platform as a whole has a certain tilt angle. In this case, the tilt trend can be eliminated by adjusting the height of the support points of the printing platform, and leveling can be achieved with fewer adjustment steps. For example, when determining whether at least two deviations show a linear trend, a linear fitting algorithm based on the least squares method can be used, or the trend can be determined by setting a threshold for the difference between the detection points.

[0111] By combining adjustment rules from multiple platforms, the control system can intelligently identify the type of flatness problem on the printing platform, thereby selecting a more efficient and precise leveling operation. This effectively improves leveling speed, reduces repetitive adjustments, increases leveling efficiency, and reduces the workload of leveling.

[0112] In one example embodiment of this disclosure, it can be achieved through Figure 3 The steps described in the text, when the deviation does not conform to the platform's adjustment rules, involve adjusting the nozzle height of the print head according to the height compensation value corresponding to the height information of the detection point, thereby completing the leveling of the printed layer height of the target model. (Refer to...) Figure 3 As shown, it can specifically include:

[0113] Step S310: Adjust the nozzle height corresponding to the print head. The nozzle height represents the sum of the height compensation value of the print head at the printing position and the model layer height at the printing position.

[0114] Step S320: Control the print head to print the target model along the printing path in the slicing instruction file of the target model according to the adjusted nozzle height, and perform printing layer height leveling when the print head passes the printing position.

[0115] Nozzle height refers to the vertical distance between the nozzle extrusion orifice and the surface of the printing platform. The nozzle height is not only related to the model layer height set during model slicing but also needs to be corrected by the height compensation value calculated from the height information of the detection points during leveling. The control system adds the model layer height to the corresponding height compensation value to obtain the target nozzle height for each printing position, and then precisely adjusts it through the Z-axis drive mechanism of the print head. The Z-axis drive mechanism can use a stepper motor in conjunction with a lead screw, guide rail, or linear module to ensure micron-level lifting control. During height adjustment, the height compensation value can be called in real time based on the coordinate information of the current printing position to ensure a constant and reasonable gap between the printing nozzle and the printing platform, thereby achieving stable material extrusion and interlayer stacking.

[0116] The print path refers to the three-dimensional coordinate sequence generated by the slicing instruction file, which guides the movement trajectory of the nozzles. When executing a printing task, the control system combines the dynamically calculated nozzle height with the print path, enabling real-time fine-tuning of the Z-axis height while the print head moves in the XY plane. To ensure the nozzle height matches the platform surface, a height compensation value corresponding to each printing position can be applied to ensure uniform material deposition thickness during the first layer of printing, avoiding localized warping or material voids.

[0117] In practice, nozzle height adjustment can be achieved through collaboration between a servo control algorithm and a motion control structure. As the print head moves along the path, a compensation value can be dynamically interpolated based on the current coordinates, driving the Z-axis servo system to correct the height. Optionally, for multi-nozzle printers, the target nozzle height can be recalculated based on parameters such as the nozzle diameter and installation height deviation of the current nozzle when switching between different nozzles.

[0118] By using the nozzle height, which represents the sum of the height compensation value at the printing position and the model layer height at the printing position, and combining it with the printing path in the slicing instruction file, the continuity and adhesion quality of the first layer can be ensured, thereby improving the yield and structural stability of the target model.

[0119] In some optional implementations, the height compensation value is obtained by interpolating a preset height compensation matrix based on the printing position. The height compensation matrix records compensation values ​​for leveling the height information of detection points within the target area. Interpolating the height compensation matrix includes interpolating the height compensation matrix based on the positional relationship between the printing position and the detection points.

[0120] The height compensation matrix is ​​a two-dimensional data table generated by calculating the height information of multiple detection points pre-collected by the detection device within the target area. Each element in the height compensation matrix corresponds to the height compensation value of a detection point, used to correct unevenness on the platform surface. The interpolation process occurs when the print head's current position does not directly fall on a detection point during its printing path movement. Therefore, an interpolation algorithm is needed to calculate the height compensation value of the current printing position from the compensation values ​​of neighboring detection points. For example, when establishing the height compensation matrix, multiple detection points can be divided into a preset grid within the target area. Height information is acquired for each detection point using contact or non-contact sensors. The height information of each detection point is compared with the height of a reference plane to calculate the compensation value, and these compensation values ​​are then filled into the matrix to form two-dimensional compensation data. This height compensation matrix is ​​the basic data structure for real-time querying by the control system, ensuring continuous, smooth, and accurate nozzle height compensation during the printing process.

[0121] The interpolation process can determine the position of the current printing position of the print head within the matrix based on its X and Y coordinates on the X and Y axes. For example, it can determine whether the print head is located inside or at the boundary of a certain grid cell. Interpolation calculations can employ bilinear interpolation, bicubic interpolation, or other higher-order interpolation algorithms. This embodiment is not limited to these algorithms; for ease of explanation and understanding, bilinear interpolation will be used as an example in the following descriptions.

[0122] In practical implementation, the control system can obtain the height compensation values ​​of four nearby detection points around the projected coordinates of the current printing position of the print head on the printing platform, and perform weighted calculations according to the relative proportional coefficients of the projected coordinates of the current printing position in the X and Y directions relative to these four detection points to finally obtain the height compensation value of the current printing position. Alternatively, the height compensation matrix can be discretized into a series of lookup tables in advance, and the height compensation value can be determined during the printing process by fast table lookup and linear interpolation, thereby reducing the amount of real-time calculation.

[0123] By using a dynamic interpolation method based on the height compensation matrix and the printing position, the nozzle can obtain an accurate height compensation value at each position on the printing path, effectively offsetting the effects of local undulations and unevenness of the printing platform, and ensuring uniform deposition and good adhesion of the first layer of printing material.

[0124] In some optional implementations, when the X and Y coordinates of the printing position are the same as any detection point, the height compensation value is the compensation value corresponding to the height information of the detection point with the same coordinates in the height compensation matrix; or, when the X and / or Y coordinates of the printing position are different from those of the detection point, the height compensation value is determined by a bilinear interpolation algorithm on the compensation value in the height compensation matrix, wherein the bilinear interpolation algorithm is to interpolate the compensation value based on the height information of the target detection point associated with the printing position.

[0125] Specifically, when the X and Y coordinates of the printing position traversed by the printhead coincide with the coordinates of a certain detection point, the control system does not need to perform interpolation calculations. Instead, it directly calls the compensation value corresponding to that detection point from the height compensation matrix. This compensation value is calculated by the difference between the actual height measured by the detection device during leveling and the ideal plane height. It directly reflects the true height deviation of that point. When it coincides with the detection point, direct calling effectively reduces computational overhead, improves response speed, and ensures the real-time performance and accuracy of nozzle height adjustment during high-frequency printing.

[0126] When the X and / or Y coordinates of the printing position differ from those of the detection point (e.g., the X coordinate of the printing position differs from the detection point, or the Y coordinate of the printing position differs from the detection point, or both the X and Y coordinates of the printing position differ from the detection point), the height compensation value is determined by a bilinear interpolation algorithm on the compensation values ​​in the height compensation matrix. Bilinear interpolation is a weighted averaging method in two-dimensional space, suitable for calculating compensation values ​​at any position within a matrix grid cell. To improve the smoothness and accuracy of interpolation, bicubic interpolation or higher-order spline interpolation methods can also be used to adapt to situations where the platform surface has complex curvature variations; this example embodiment does not impose any special limitations on this.

[0127] By detecting and determining the current printing position and the position of the detection point, the computational overhead can be effectively reduced and the response speed improved when the projected coordinates of the printing position coincide with the detection point. When they do not coincide, the calculation method of height compensation matrix and bilinear interpolation can ensure that the print head can obtain a smooth and continuous height compensation value even when it moves to a non-detection point position. This ensures that the gap between the print nozzle and the surface of the print platform is always within a reasonable range, further improving the adhesion stability of the first layer and the uniformity of the printed surface.

[0128] In some optional implementations, the bilinear interpolation algorithm includes interpolation in the X-axis direction and interpolation in the Y-axis direction; the X-axis interpolation is for the compensation value at a first detection point in the target detection points; the Y-axis interpolation is for the compensation value at a second detection point in the target detection points, or the Y-axis interpolation is for the interpolation result obtained by interpolation in the X-axis direction; the target detection points are detection points located around the X and Y coordinates of the printing position, the first detection point is the detection point with the same Y coordinate among the target detection points, and the second detection point is the detection point with the same X coordinate among the target detection points.

[0129] As is easily understood, when the X and Y coordinates of the printing position are both located inside the grid cell formed by the detection points, that is, when the X and Y coordinates of the printing position are different from those of the detection points, bilinear interpolation can perform at least two interpolation calculations based on the height compensation values ​​of the detection points (i.e., the target detection points) at the four corners of the grid cell: First, interpolate along the X-axis according to the ratio of the horizontal distance between the printing position and the left and right corners of the grid cell to obtain two sets of interpolation results in the X-axis direction; then, interpolate again along the Y-axis according to the ratio of the vertical distance between the printing position and the top and bottom corners of the grid cell to obtain the height compensation value corresponding to the printing position.

[0130] When the X or Y coordinate of the printing position falls exactly on the edge of a grid cell (i.e., the X coordinate of the printing position is different from the detection point but the Y coordinate is the same as the detection point, or vice versa), bilinear interpolation degenerates into one-dimensional interpolation. For example, when the printing position is located on a grid segment of a grid cell, two detection points (i.e., target detection points) on that grid segment can be directly selected, and the height compensation value of these two detection points can be calculated by unidirectional interpolation based on the distance ratio between the printing position and these two detection points, thus obtaining an accurate compensation value.

[0131] For example, let's consider a scenario where the X and Y coordinates of the printing position are both located within the grid cells formed by the detection points, meaning that the X and Y coordinates of the printing position are different from those of the detection points. The projected coordinates (x, y) of the printing position on the printing platform are within a two-dimensional grid cell (usually a rectangle or square) of the target area on the printing platform. The compensation values ​​of the four corner points of the two-dimensional grid cell are known. Let's assume the compensation values ​​of the four corner points are H... 00 (This can represent the compensation value of the bottom left corner point (x0, y0), H) 10 (This can represent the compensation value of the bottom left corner point (x1, y0), H) 01 (This can represent the compensation value of the bottom left corner point (x0, y1), H 11(This can represent the compensation value of the lower left corner point (x1, y1)) To calculate the height compensation value at the projected coordinates (x, y) of any printed position, we can first calculate the horizontal distance ratio and vertical distance ratio in the X-axis and Y-axis directions:

[0132] t = x-x0 ;

[0133] x1-x0

[0134] u= y-y0 ;

[0135] y1-y0

[0136] Where t can represent the proportion of the horizontal distance between the target detection points along the X-axis, and u can represent the proportion of the vertical distance between the target detection points along the Y-axis.

[0137] We can first perform weighted interpolation calculations on the compensation values ​​corresponding to the height information of the two pairs of target detection points along the X-axis to obtain the first interpolation result and the second interpolation result:

[0138] Z0(x)=(1-t)H 00 +tH 10 ;

[0139] Z1(x)=(1-t)H 01 +tH 11 ;

[0140] Z0(x) can represent the first interpolation result, that is, the interpolation result of the compensation values ​​of the two detection points in the row y = y0, and Z1(x) can represent the second interpolation result, that is, the interpolation result of the compensation values ​​of the two detection points in the row y = y1.

[0141] Next, the first and second interpolation results can be interpolated again along the Y-axis to obtain the height compensation value corresponding to the printing position:

[0142] Z(x,y)=(1-u)Z0(x)+uZ1(x);

[0143] Where Z(x,y) represents the height compensation value corresponding to the printing position of the print head. Substituting the relationship between the first and second interpolation results, we can obtain:

[0144] Z(x,y)=(1-u)(1-t)H 00 +t(1-u)H 10 +u(1-t)H 01 +tuH 11 ;

[0145] It should be noted that the above is only an illustrative example and this embodiment is not limited thereto.

[0146] By performing step-by-step weighted calculations in the X and Y axes, bilinear interpolation can dynamically generate compensation values ​​that match the height of the printing position. This allows for seamless height adjustment as the nozzle moves continuously in the printing path, preventing uneven material accumulation or unstable first-layer adhesion caused by local unevenness of the platform. As a result, the overall flatness and adhesion quality of the first layer of printing is improved.

[0147] In one example embodiment of this disclosure, the printhead includes at least two nozzles, and height compensation after nozzle switching can be achieved through the following steps, specifically including:

[0148] After the printhead is switched to the target nozzle, the nozzle height of the target nozzle can be adjusted. The height compensation value in the nozzle height is determined based on the target height compensation matrix, which is the height compensation matrix corresponding to the target nozzle in the height compensation matrix set corresponding to the printhead. The target nozzle is controlled to print the target model according to the nozzle height, thus completing the leveling of the printing layer height of the target model.

[0149] In multi-nozzle printing equipment, the printhead typically contains two or more nozzles, each potentially with different diameters, heating elements, material compatibility characteristics, or installation height deviations. During nozzle switching, the control system determines the target nozzle to be activated based on the material or color allocation information in the print path planning and slicing instruction file. After the printhead switches from the current nozzle to the target nozzle, the nozzle height reference must be recalibrated to ensure that the relative clearance between the target nozzle orifice and the printing platform remains the same as before. At this point, model layer height information matching the target nozzle parameters can be read, including the theoretical layer height of the current print layer and the required extrusion thickness of the printing material. Combining these parameters, the control system calculates the reference height of the target nozzle and, based on this, uses the corresponding target height compensation matrix for compensation and correction.

[0150] The height compensation matrix set is an extended storage structure for multi-nozzle systems. Each nozzle has an independent height compensation matrix to reflect the height differences of that nozzle at various positions within the target area. The process of determining the target height compensation matrix involves measuring the height information of the target nozzle at multiple detection points using a detection device during the leveling stage, calculating compensation values ​​based on the platform's reference plane, and storing these compensation values ​​in the corresponding matrix units. When the system detects a nozzle switching command, it automatically loads the height compensation matrix for that nozzle to ensure that the nozzle's height adjustment along the printing path matches its independent calibration data.

[0151] During nozzle height adjustment, the control system can obtain the compensation value of the current printing position from the target height compensation matrix through interpolation calculation, and superimpose this compensation value with the model layer height to update the nozzle's movement command in the Z-axis direction in real time. Optionally, for some multi-nozzle modules with independent lifting structures, a micro-adjustment unit can also provide independent mechanical leveling compensation for each nozzle to reduce switching errors.

[0152] By combining multiple nozzles with a height compensation matrix, it is possible to maintain the consistency of printed layer height and deposition accuracy after nozzle switching, avoiding problems such as uneven material accumulation or insufficient interlayer adhesion caused by height differences between nozzles. At the same time, it can also effectively improve the consistency of the first layer in multi-material or multi-color printing tasks, making the printing process more stable and efficient, and ensuring the overall printing quality of complex models after multi-nozzle switching.

[0153] In one example embodiment of this disclosure, the target region includes a first region determined according to a slicing instruction file of the target model, and a second region obtained by expanding the first region; the first region includes the orthographic projection region of the target model on the printing platform as parsed from the slicing instruction file, and the second region surrounds the orthographic projection region; or, the first region includes the minimum bounding rectangle of the orthographic projection region of the target model on the printing platform as parsed from the slicing instruction file, and the second region surrounds the minimum bounding rectangle.

[0154] Among them, the layout information, printing path information and parameters related to the model layer height of the target model on the printing platform can be obtained by parsing the slicing instruction file. These parameters can accurately reflect the projection range of the model to be printed on the printing platform.

[0155] The first region refers to the core area of ​​the target model on the printing platform derived from the slicing instruction file. For example, in some optional implementations, the first region can be determined by extracting the coordinate range of the minimum bounding rectangle of the target model in the X and Y axes, or it can be obtained by combining the geometric constraints of the target model's shape boundary features. This embodiment does not impose any special limitations on the method of determining the first region. The first region can be used to guide the initial range of subsequent leveling and sampling, thereby avoiding redundant detection of irrelevant printing platform areas.

[0156] To avoid uneven leveling or error accumulation caused by the model boundary being too close to the platform edge, a second region extending outward can be included in addition to the first region. The range of the second region can be determined by a preset boundary redundancy compensation value. This compensation value can be dynamically calculated based on the model size, printing platform area, and leveling accuracy requirements, or it can be manually adjusted by the user in the graphical interface. This embodiment does not impose any special limitations on this. The introduction of the second region can provide additional detection points for the model edge, ensuring more accurate nozzle height compensation when printing near the model edge, and avoiding poor first-layer adhesion caused by local platform deformation or edge warping.

[0157] A slicing instruction file is a control file generated after processing 3D model data using slicing software, typically in G-code format. The slicing instruction file can contain all path instructions for the model printing process, extrusion parameters, layer height information, printing speed, and temperature settings, among other key data. The control system can parse the slicing instruction file to extract all valid extrusion paths (i.e., G1 commands containing E values ​​greater than zero), and calculate the orthographic projection area of ​​the model on the printing platform from these path points, i.e., the actual area occupied by the model in the XY plane.

[0158] The first region can be the orthographic projection area of ​​the target model or its smallest bounding rectangle, which completely covers the printing platform plane. The orthographic projection area can be determined by traversing the X and Y coordinates of all valid print points in the slicing instruction file and identifying their maximum and minimum values, thereby calculating the coordinates of the four vertices of the rectangular bounding box, namely (X_min, Y_min) and (X_max, Y_max). In cases where the model shape is complex, to simplify calculations and the leveling path, the smallest bounding rectangle of the orthographic projection area can be used as the basis for the first region. By defining the first region in this way, the leveling operation can focus on the actual printable area of ​​the model, avoiding unnecessary detection of non-printable areas and improving leveling efficiency.

[0159] The second region is an extension of the first region, providing a safety redundancy boundary to prevent insufficient height compensation when the model edges are too close to the platform edges. The second region is defined by extending outwards from the boundaries of the first region at preset distances, for example, by adding certain extension values ​​(boundary redundancy compensation) in the four directions of the X and Y axes, forming a larger rectangular area. The extension values ​​can be dynamically adjusted based on the size of the target model, the available area of ​​the printing platform, and the user-defined leveling accuracy parameters. Alternatively, the system can provide manual boundary extension settings through a graphical user interface, allowing users to directly adjust the size and position of the second region according to printing needs. By introducing the second region, leveling detection points can be distributed within a certain range outside the model edges, thereby improving the height compensation accuracy of the edge areas and avoiding problems such as first-layer warping or uneven adhesion during printing.

[0160] By analyzing the slicing instruction file to determine the first and second regions, targeted leveling based on the model layout can be achieved, ensuring the efficiency and intelligence of the leveling process. This reduces invalid detection caused by full-bed leveling, improves the automation level of the print preparation stage, and enhances the first-layer print quality. At the same time, by introducing the second region, the leveling detection points can be distributed within a certain range outside the model edge, thereby improving the height compensation accuracy of the edge area and avoiding problems such as first-layer warping or uneven bonding during the printing process.

[0161] In an optional embodiment of this first embodiment, the second region includes the region extended outward from the outermost point of the orthographic projection region in the target direction. The distance between the boundary of each second region and the outermost point is a preset boundary redundancy compensation. The target direction includes the four positive directions along the X-axis and Y-axis corresponding to the printing platform. Alternatively, the second region includes the region extended outward from the boundaries of each minimum bounding rectangle. The distance between the boundary of each second region and the corresponding boundary on the minimum bounding rectangle is a preset boundary redundancy compensation.

[0162] The second region is an extended region used to improve edge accuracy and stability during the leveling operation. It is determined by extending outwards based on the distribution characteristics of the target model on the XY plane and the boundary information of the first region.

[0163] The outermost points refer to the extreme points of the orthographic projection region of the target model in each direction. These points are obtained by parsing all valid print path coordinates in the slicing instruction file. Specifically, the outermost points of the model in the left-right and front-back directions can be determined by scanning the maximum and minimum values ​​of the X-coordinate and Y-coordinate in the slicing instruction file. When the orthographic projection region is selected as the first region, the expansion method of the second region is as follows: based on these outermost points, a fixed redundancy compensation distance is added along the positive X-axis, negative X-axis, positive Y-axis, and negative Y-axis directions. For example, when the X-axis range of the model is X_min to X_max, the X-axis boundary of the second region will be expanded to X_min-MARGIN and X_max+MARGIN, where MARGIN is the boundary redundancy compensation value.

[0164] refer to Figure 4 As shown, the first region 410 is the orthographic projection region of the target model on the printing platform. The second region 420 can be the region extended outward from the outermost point 430 of the orthographic projection region along the four positive directions of the X and Y axes corresponding to the printing platform. The distance between the boundary of each second region 420 and the outermost point 430 is a preset boundary redundancy compensation 440.

[0165] Boundary redundancy compensation value refers to a parameter used to ensure that the leveling area extends a certain range beyond the edge of the model. It is typically determined based on the model's stability requirements during printing, the initial layer adhesion strength, and the available platform dimensions. The boundary redundancy compensation value can be set by a preset fixed value, such as 3mm or 5mm, or it can be dynamically adjusted according to the overall size of the target model. For example, larger models can use greater boundary compensation to increase initial layer stability. Alternative implementations include providing a user-visual adjustment function through a graphical user interface, allowing users to directly drag or input values ​​on the interface to adjust the boundary redundancy compensation distance. This example embodiment does not specifically limit the method for determining the boundary redundancy compensation value.

[0166] When the first region is determined using a minimum bounding rectangle, the expansion logic for the second region is similar to that of the orthographic projection region. The control system can extend fixed boundary redundancy compensation values ​​outward from the four boundaries of this minimum bounding rectangle to form new boundaries. For example, if the boundary coordinates of the rectangle are (X_min, Y_min) and (X_max, Y_max), then the expanded boundaries of the second region are (X_min-MARGIN, Y_min-MARGIN) and (X_max+MARGIN, Y_max+MARGIN). This rectangular expansion method ensures that the leveling area has a safety redundancy zone at any edge position of the model, avoiding the first layer warping caused by local unevenness of the platform or thermal stress near the boundary when the nozzle is printing at the edge.

[0167] refer to Figure 5 As shown, the first region 510 is the orthographic projection region of the target model on the printing platform, and the second region 530 can be the region obtained by expanding outward based on the boundaries of the minimum bounding rectangle 520 of the orthographic projection region. The distance between the boundary of each second region 530 and the corresponding boundary on the minimum bounding rectangle 520 is a preset boundary redundancy compensation 540.

[0168] By adopting an expansion method based on the outermost point or the smallest circumscribed rectangle, and introducing a second region, the leveling area is ensured to not only completely cover the target model, but also to provide a certain safety buffer. This makes height compensation more accurate near the model edge, effectively reducing problems such as peeling and material shortage caused by unstable edge position of the first layer of the model, thereby improving the uniformity of the first layer adhesion and the overall printing quality.

[0169] In an optional implementation of this first embodiment, the preset boundary redundancy compensation is dynamically adjusted based on the size of the first region; and / or, the preset boundary redundancy compensation is based on the visual adjustment results of the boundary position of the second region in the graphical user interface.

[0170] The dynamic adjustment of preset boundary redundancy compensation is achieved by detecting the length and width dimensions of the first region and calculating an appropriate extension distance based on its area, the complexity of the printed model's shape, and the overall size of the platform. For example, when the first region is small and located in the center of the platform, the boundary redundancy compensation value can be set to a small fixed value (e.g., 3 mm); while when the first region is large and close to the edge of the platform, to ensure that the edge area is also fully detected, the boundary redundancy compensation value can be automatically increased to 5 mm or more. This dynamic adjustment strategy can be implemented through software algorithms, such as by pre-setting a mapping table or calculation formula based on the region area and boundary distance, so as to automatically generate appropriate compensation values ​​during the leveling preparation stage.

[0171] Boundary redundancy compensation can also be visually adjusted via a graphical user interface (GUI), allowing users to fine-tune it according to their needs. The GUI displays a diagram of the first region and the expanded second region, allowing users to directly modify the compensation value by dragging boundary lines, entering values, or selecting preset options. This interface can be integrated with slicing software, displaying real-time changes in the leveling area and working in conjunction with G-code generation logic to ensure consistency between the printed path and the leveling area. To enhance the user experience, automatic recommended values ​​can be provided. For example, during the initial adjustment, the system provides an initial boundary redundancy compensation based on the calculation results of the first region, which users can then fine-tune.

[0172] In practice, dynamic adjustment of boundary redundancy compensation and user-visualized adjustment can be combined. For example, the system can generate an initial compensation value according to the algorithm in the default state, and then provide users with adjustment options through the interface. The user's adjustment result will directly replace or superimpose the initial value to finally determine the boundary of the second region.

[0173] By combining automatic calculation with user interaction in this boundary redundancy compensation strategy, the reliability and leveling accuracy of the first layer printing can be significantly improved while ensuring the leveling automation level and taking into account personalized needs and special leveling requirements of model edges.

[0174] In one example embodiment of this disclosure, at least two detection points are grid nodes obtained by grid division within the target area; the grid nodes include: a first grid node between grid lines, and / or a second grid node at the intersection of the grid and the boundary of the target area, and the grid density is determined according to at least one of the following: the size of the target area, the leveling accuracy parameter, the printing accuracy of the target model, and the nozzle diameter in the print head.

[0175] By employing a grid-based method within the target area, the distribution of detection points can be made regular and uniform. Grid division typically uses the length and width of the target area as boundaries, forming rectangular grid cells by dividing the area along the X and Y axes with several equally spaced lines. Grid nodes are the intersections of these grid lines, usually serving as the first grid node, ensuring balanced spatial coverage of height sampling within the target area. Grid nodes closer to the target area boundary are called second grid nodes. These nodes are located at the intersection of the boundary and the grid lines, ensuring that height information at the edge locations can also be accurately measured, avoiding first-layer adhesion problems near the boundary due to insufficient leveling.

[0176] Grid density refers to the number of grid cells or nodes per unit length, which directly determines the number and distribution accuracy of detection points. Determining grid density requires comprehensive consideration of factors such as the size of the target area, the leveling accuracy requirements of the printing task, the required initial layer printing accuracy, and the nozzle diameter. For example, when the target area is large, the system can automatically increase the number of grid lines to ensure that there are enough detection points for height measurement throughout the area; when the target area is small, the system can reduce the number of grid divisions to reduce leveling time and avoid redundant sampling.

[0177] Leveling accuracy parameters are user- or system-preset control indicators used to define the desired flatness or height control range for leveling, such as an error range of 0.05 mm or 0.1 mm. Printing accuracy refers to the design layer height, detail requirements, and material deposition accuracy of the target model. Higher printing accuracy requires denser detection points to ensure precise control of the initial layer height. Nozzle diameter is also an important factor; smaller diameter nozzles print finer details and tolerate less height error, thus requiring a higher grid density. Larger diameter nozzles, on the other hand, can appropriately reduce the grid density to improve leveling efficiency.

[0178] In practice, the grid generation can be automatically calculated by the printing control software based on the target area boundary. For example, the system can generate grid lines based on the aspect ratio of the target area and the user-defined grid spacing (such as 10 mm or 20 mm), and then calculate the coordinates of all grid nodes through cross-calculation. Alternatively, the user can manually set the grid density through the graphical user interface, such as by inputting row and column values ​​or directly adjusting the spacing parameters, and the system will then generate the corresponding grid based on the user's settings.

[0179] By using a multi-parameter integrated calculation method for grid division, it is possible to ensure a moderate number of detection points and high leveling efficiency, while also ensuring a reasonable distribution of detection points. This effectively captures local deformation of the platform, ultimately improving the adhesion uniformity of the first layer of printing and the overall quality of the finished product.

[0180] In one example embodiment of this disclosure, after initiating a printing task for the target model, a control to enable the printing platform leveling function can be provided in the graphical user interface; in response to triggering the control to enable the printing platform leveling function, the triggering of the leveling command is confirmed.

[0181] The initiation of a printing task refers to the process by which the user loads the target model and generates a slicing instruction file through the 3D printing control software, and then sends the task to the printing equipment. During this process, the control system parses the printing path, model layer height, material, and printing area information in the slicing file, providing preliminary data support for the leveling operation. To enhance the intuitiveness and convenience of user operation, the system automatically generates leveling function controls in the graphical user interface. For example, these controls can be presented as interactive elements such as buttons, switches, or drop-down menus, typically displayed on the print preparation interface or task details interface, to prompt the user whether leveling is required before starting printing.

[0182] The controls in the graphical user interface are not only used to trigger the leveling process, but also to display real-time status or parameters related to leveling. For example, they can display the height deviation detection results of the current printing platform, a schematic diagram of the leveling area, or the distribution of detection points. Users can actively enable the platform leveling function by clicking or selecting the controls. The controls can be implemented using a touch screen, physical buttons combined with a virtual interface, or operated through a remote control terminal; this embodiment does not impose any special limitations on this. To improve the user experience, the interface can also integrate automation logic. For example, when the system detects a large platform deviation or high printing accuracy requirements, a leveling prompt can be automatically displayed to guide the user in using the controls.

[0183] Once the control is triggered, the system confirms the triggering of the leveling command. The leveling command is a set of control commands that guide the printing device to perform platform height detection, data acquisition, and nozzle height compensation calculation. This confirmation process may include detecting the current task status, printhead position, and platform readiness to ensure that leveling execution does not conflict with other operations. In implementation, the leveling command can be directly sent to the motion control module via the printing device's firmware, driving the printhead to the predetermined detection point and activating the detection device to collect height data. Optionally, the user can also set leveling parameters via software, such as selecting the leveling range, grid density, or boundary compensation value; the system will then automatically execute the leveling process based on these parameters after the control is triggered.

[0184] By providing a graphical user interface leveling control before the start of a print job, users can clearly understand the leveling status and flexibly choose whether to perform leveling, thereby controlling and adjusting the printing process cycle. This allows for quick printing when leveling is not required on the platform, improving the user experience. At the same time, the control's triggering logic is combined with the leveling command confirmation process to ensure the execution order of leveling operations and the accuracy of data collection, ultimately improving the automation of print preparation and the stability of the first-layer printing.

[0185] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0186] Furthermore, in an exemplary embodiment of this disclosure, a 3D printer capable of implementing the control method of the 3D printer described above is also provided.

[0187] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be embodied in the following forms: a completely hardware embodiment, a completely software embodiment (including firmware, microcode, etc.), or an embodiment combining hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0188] The following reference Figure 6 To describe a 3D printer 600 according to such an embodiment of the present disclosure. Figure 6 The 3D printer 600 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0189] like Figure 6 As shown, the 3D printer 600 is presented in the form of a general-purpose computing device. The components of the 3D printer 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including storage unit 620 and processing unit 610), and a display unit 640.

[0190] The storage unit stores program code that can be executed by the processing unit 610, causing the processing unit 610 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 610 can perform actions such as... Figure 1 In step S110, a leveling command triggered for the target model to be printed is received; in step S120, the detection device in the print head is controlled to collect the height information of at least two detection points in the target area on the printing platform; the target area is larger than the actual printing area of ​​the target model; in step S130, if the height information of the detection points is not completely the same, a leveling operation is performed, the leveling operation includes adjusting the Z-axis height of at least one Z-axis of the printing platform based on the height information of the detection points, and / or adjusting the nozzle height of the print head based on the height information of the detection points, so as to adjust the printing layer height of the target model.

[0191] Storage unit 620 may include readable media in the form of volatile storage units, such as random access memory (RAM) 621 and / or cache memory 622, and may further include read-only memory (ROM) 623.

[0192] Storage unit 620 may also include a program / utility 624 having a set (at least one) of program modules 625, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0193] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0194] The 3D printer 600 can also communicate with one or more external devices 670 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the 3D printer 600, and / or any device that enables the 3D printer 600 to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, the 3D printer 600 can also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapter 660. As shown, network adapter 660 communicates with other modules of the 3D printer 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the 3D printer 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0195] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0196] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0197] refer to Figure 7 As shown, a program product 700 for implementing the control method of the 3D printer described above according to an embodiment of the present disclosure is illustrated. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0198] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0199] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0200] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0201] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0202] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0203] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0204] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0205] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method for a 3D printer, the 3D printer comprising a print head and a printing platform, characterized in that, The method includes: Receive leveling instructions triggered for the target model to be printed; The detection device in the print head is controlled to collect height information of at least two detection points in the target area on the printing platform; the target area is larger than the actual printing area of ​​the target model. If the height information of the detection points is not completely identical, a leveling operation is performed. The leveling operation includes adjusting the Z-axis height of at least one Z-axis of the printing platform based on the height information of the detection points, and / or adjusting the nozzle height of the print head based on the height information of the detection points, so as to adjust the printing layer height of the target model.

2. The method according to claim 1, characterized in that, The method includes: If the deviation between the height information of the detection points conforms to the platform adjustment rules, adjust the Z-axis height of at least one Z-axis of the printing platform according to the height compensation value corresponding to the height information of the detection points to complete the leveling of the printing platform; or, If the deviation between the height information of the detection points does not conform to the platform adjustment rules, the nozzle height of the print head is adjusted according to the height compensation value corresponding to the height information of the detection points to complete the printing layer height leveling of the target model.

3. The method according to claim 2, characterized in that, The platform adjustment rules include at least one of the following: the deviation between the height information of the detection points is greater than a preset deviation threshold, and the deviation between the height information of at least two detection points shows a linear trend.

4. The method according to claim 2, characterized in that, The method further includes: Adjust the nozzle height corresponding to the print head. The nozzle height represents the sum of the height compensation value of the print head at the printing position and the model layer height at the printing position. The print head is controlled to print the target model along the printing path in the slicing instruction file of the target model according to the adjusted nozzle height, and the printing layer height is leveled when the print head passes the printing position.

5. The method according to claim 4, characterized in that, The height compensation value is obtained by interpolating a preset height compensation matrix based on the printing position. The height compensation matrix records compensation values ​​for leveling the height information of the detection points within the target area. The step of interpolating the preset height compensation matrix includes: interpolating the height compensation matrix based on the positional relationship between the printing position and the detection point.

6. The method according to claim 5, characterized in that, When the X and Y coordinates of the printed position are the same as any of the detection points, the height compensation value is the compensation value corresponding to the height information of the detection points with the same coordinates in the height compensation matrix; or, When the X and / or Y coordinates of the printed position are different from those of the detection point, the height compensation value is determined by performing a bilinear interpolation algorithm on the compensation value in the height compensation matrix. The bilinear interpolation algorithm is used to interpolate the compensation value corresponding to the height information of the target detection point associated with the printed position.

7. The method according to claim 6, characterized in that, The bilinear interpolation algorithm includes: X-axis interpolation and Y-axis interpolation; The X-axis interpolation is for the compensation value at the first detection point among the target detection points; The Y-axis interpolation is for the compensation value at the second detection point in the target detection points, or the Y-axis interpolation is for the interpolation result obtained by interpolation in the X-axis direction; The target detection points are detection points located around the X and Y coordinates of the printing position. The first detection point is the target detection point with the same Y coordinate, and the second detection point is the target detection point with the same X coordinate.

8. The method according to claim 1, characterized in that, The printhead includes at least two nozzles, and the method further includes: After the printhead is switched to the target nozzle, the nozzle height of the target nozzle is adjusted; the height compensation value in the nozzle height is determined based on the target height compensation matrix, which is the height compensation matrix corresponding to the target nozzle in the height compensation matrix set corresponding to the printhead; Control the target nozzle to print the target model according to the nozzle height, and complete the printing layer height leveling of the target model.

9. The method according to claim 1, characterized in that, The target region includes a first region determined according to the slicing instruction file of the target model, and a second region obtained by expanding the first region; The first region includes the orthographic projection region of the target model on the printing platform, which is parsed from the slicing instruction file, and the second region surrounds the orthographic projection region; or, The first region includes the minimum bounding rectangle of the orthographic projection region of the target model on the printing platform, which is parsed from the slicing instruction file, and the second region surrounds the minimum bounding rectangle.

10. The method according to claim 9, characterized in that, The second region includes the region extended outward from the outermost point of the orthographic projection region in the target direction. The distance between the boundary of each second region and the outermost point is a preset boundary redundancy compensation. The target direction includes four positive directions along the X-axis and Y-axis corresponding to the printing platform. or, The second region includes the region obtained by expanding outward from the boundaries of the minimum bounding rectangle, and the distance between the boundary of each second region and the corresponding boundary on the minimum bounding rectangle is a preset boundary redundancy compensation.

11. The method according to claim 10, characterized in that, The preset boundary redundancy compensation is dynamically adjusted based on the size of the first region; and / or, The preset boundary redundancy compensation is obtained based on the visual adjustment results of the boundary position of the second region in the graphical user interface.

12. The method according to claim 1, characterized in that, The at least two detection points are grid nodes obtained by grid division within the target area; the grid nodes include: a first grid node between grid lines, and / or a second grid node at the intersection of the grid and the boundary of the target area, and the density of the grid is determined according to at least one of the following: the size of the target area, the leveling accuracy parameter, the printing accuracy of the target model, and the nozzle diameter in the print head.

13. The method according to any one of claims 1 to 12, characterized in that, The method further includes: After initiating a print job for the target model, a control to enable print platform leveling is provided in the graphical user interface; In response to the control that triggers the printing platform leveling function, the leveling command is confirmed to be triggered.

14. A 3D printer, characterized in that, include: one or more processors; A memory that stores computer instructions; Wherein, when the one or more processors are configured to execute the computer instructions, they implement the method as described in any one of claims 1 to 13.

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

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